Electric displacement robot with liftable and telescopic seat plate

Abstract

The electric displacement robot with the liftable and telescopic seat plate is suitable for various bed heights and use scenes, the three-degree-of-freedom lifting mechanism can achieve large-range adjustment of the seat plate in the horizontal direction and the height direction, the robot can be flexibly in butt joint with sickbeds, wheelchairs and pedestal pans of different heights, adaptability is improved, and the robot is suitable for being used in various bed heights and use scenes. Posture adjustment and repeated operation in the patient shifting process are reduced; the structure supports the patient to autonomously adjust the position of the seat plate through a simple control interface (such as a button, a remote controller or a voice instruction), is particularly suitable for the old or the postoperative rehabilitation person with sober consciousness but limited action, relieves the nursing burden, and improves the independence and dignity of the patient; the seat plate is provided with a defecation hole structure, so that the seat plate can be directly butted with a pedestal pan, and the patient can conveniently defecate. Meanwhile, nursing personnel can conveniently clean the buttocks on the premise that the patient does not need to be greatly moved, and the nursing efficiency and comfort are improved.

Description

Technical Field

[0001] This utility model belongs to the field of transfer robot technology, and in particular relates to an electric transfer robot with a seat that can be raised, lowered and extended. Background Technology

[0002] With the increasing aging of the population and the growing demand for postoperative rehabilitation and care for disabled patients, transfer robots are being used more and more widely in medical and home care.

[0003] In existing technologies, the seat height of transfer robots is usually fixed or has a limited adjustment range, and the horizontal adjustment of the seat is not possible, making it difficult to adapt to beds, wheelchairs, or commodes of different heights. This forces patients to adjust their posture multiple times during transfer, increasing the risk of falls. Furthermore, existing transfer robots largely rely on nursing staff for operation, making it difficult for patients with limited mobility but who are still conscious (such as postoperative recovering patients or the elderly) to use them independently, affecting their independence and dignity. Therefore, there is an urgent need for a height-adjustable, height-adjustable mechanism that facilitates toileting care and supports patient autonomy, thereby improving the safety and convenience of patient transfer. Utility Model Content

[0004] This invention provides an electric transfer robot with a height-adjustable and telescopic seat, aiming to solve the problems mentioned in the background art.

[0005] This utility model is implemented as follows: an electric transfer robot with a seat that can be raised, lowered, and extended includes a horizontal support plate, a rotating support plate linkage seat, a rotating electric push rod, an ascending electric push rod, a first rotating support plate, a horizontal electric push rod, a second rotating support plate, and a seat.

[0006] The horizontal support plate is horizontally arranged, and a control box is provided on one side of the top surface of the horizontal support plate. The rotating support plate connecting rod seat is located on one side of the control box and is fixedly connected to the horizontal support plate. Two counterweight boxes are provided on the side of the rotating support plate connecting rod seat away from the control box. A battery is provided on the side of the counterweight box away from the rotating support plate connecting rod seat. The rotating support plate connecting rod seat is rotatably connected to the first rotating support plate. A second rotating support plate is provided on the top of the first rotating support plate and the two are slidably connected. A toilet board is provided on the top of the second rotating support plate and the two are rotatably connected. An angle sensor is provided at the bottom of the toilet board, and a toilet bowl hole is opened on the toilet board.

[0007] When the first rotating support plate is in the initial state, the extended end of the rotating electric push rod extends to its maximum stroke. At this time, the first rotating support plate is in a vertical state. When the extended end of the rotating electric push rod retracts, it drives the first rotating support plate to rotate downwards, with a rotation angle of 55-90°.

[0008] The rising electric push rod is used to drive the extension and retraction of the second rotating support plate;

[0009] When the bedpan is in its initial state, the horizontal electric push rod extends to its minimum extent, and the bedpan is in a horizontal state. When the machine is carrying a patient, during the process of the rotating electric push rod pulling the first rotating support plate to tilt, the horizontal electric push rod receives the signal from the tilt sensor and adjusts its extension to keep the bedpan always in a horizontal position.

[0010] Preferably, a fixed support is provided between the two counterweight boxes, and the rotary electric push rod is connected to the horizontal support plate through the fixed support. A fixed support is provided on one side of the first rotary support plate, and the extended end of the rotary electric push rod is connected to the fixed support through a pin.

[0011] Preferably, a fixed support three is provided on the other side of the first rotating support plate, and the rising electric push rod is connected to the first rotating support plate through the fixed support three. A fixed support four is provided on one side of the second rotating support plate, and the extended end of the rising electric push rod is connected to the fixed support four through a pin.

[0012] Preferably, a fixed support five is provided on the other side of the second rotating support plate, and the horizontal electric push rod is connected to the second rotating support plate through the fixed support five. A fixed support six is ​​provided at the bottom of the plate, and the extended end of the horizontal electric push rod is connected to the fixed support six through a pin.

[0013] Preferably, the control box integrates the control system of the transfer robot, and the counterweight box moves the overall center of gravity of the transfer robot forward to balance the overturning torque when the user is carried forward on the platform.

[0014] Preferably, the top of the horizontal support plate is also provided with a steering rod, the steering rod is provided with a touch screen, the touch screen is provided with an emergency stop switch, and hand steering plates are provided on both sides of the touch screen.

[0015] Preferably, the bottom surface of the horizontal support plate is provided with casters and drive wheels.

[0016] Compared with the prior art, the beneficial effects of this utility model are:

[0017] 1. Adaptable to various bed heights and usage scenarios: The three-degree-of-freedom lifting mechanism can achieve a wide range of adjustment of the seat in both horizontal and vertical directions, which can flexibly connect to hospital beds, wheelchairs and commodes of different heights, improve adaptability, and reduce posture adjustments and repetitive operations during patient relocation.

[0018] 2. Enhance patient autonomy: This structure allows patients to adjust the seat position independently through a simple control interface (such as buttons, remote control or voice commands), which is especially suitable for elderly people who are conscious but have limited mobility or postoperative recovery patients, reducing the burden of care and enhancing the patient's independence and dignity;

[0019] 3. Facilitates toileting and hygiene: The seat has a commode hole structure that can be directly connected to a commode, making it convenient for patients to use the toilet. It also allows caregivers to clean the patient's buttocks without significantly moving the patient, improving nursing efficiency and comfort. Attached Figure Description

[0020] Figure 1 This is a three-dimensional view of the overall structure of this utility model;

[0021] Figure 2 This is a schematic diagram of the lower structure of the rotation and descent function in this utility model;

[0022] Figure 3 This is a schematic diagram of the lower structure of the telescopic lifting function in this utility model;

[0023] Figure 4 This is a schematic diagram of the horizontal support function of this utility model.

[0024] Figure 5 This is a schematic diagram of the operation of the transfer robot of this utility model.

[0025] In the picture:

[0026] 1. Casters; 2. Drive wheel; 3. Horizontal support plate; 4. Rotary support plate linkage seat; 5. Control box; 6. Counterweight box; 7. Battery; 8. Rotary electric push rod; 8-1. Fixed support one; 9. Lifting electric push rod; 10. First rotating support plate; 10-1. Fixed support two; 10-2. Fixed support three; 10-3. First rotating shaft; 11. Horizontal electric push rod; 12. Second rotating support plate; 12-1. Fixed support four; 12-2. Fixed support five; 12-3. Slide groove; 13. Toilet board linkage seat; 13-1. Second rotating shaft; 14. Toilet board; 14-1. Fixed support six; 14-2. Tilt sensor; 15. Toilet hole; 16. Steering rod; 17. Emergency stop switch; 18. Touch screen; 19. Hand steering wheel. Detailed Implementation

[0027] The technical solution of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of this utility model, but not all embodiments.

[0028] The components of the present invention embodiments described and shown in the accompanying drawings can typically be arranged and designed in a variety of different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention.

[0029] Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0030] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0031] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; 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; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0032] Please see Figures 1 to 5 This utility model provides a technical solution: an electric transfer robot with a seat that can be raised, lowered, and extended, comprising: casters 1, drive wheels 2, horizontal support plate 3, rotating support plate linkage seat 4, control box 5, counterweight box 6, battery 7, rotating electric push rod 8, rising electric push rod 9, first rotating support plate 10, horizontal electric push rod 11, second rotating support plate 12, toilet board linkage seat 13, toilet board 14, toilet hole 15, steering rod 16, emergency stop switch 17, touch screen 18, and hand steering plate 19;

[0033] The transfer robot is electrically controlled. Users can control the robot to reach the bedside and extend the bedpan 14 onto the bed surface via a wireless remote control or mobile app. At this point, the user needs to sit with the bedpan 14 positioned directly under their groin. Once the buttocks are fully supported, the user can control the robot to return to the initial position. During this process, the robot continuously adjusts the electric lifting rod 9 to keep the bedpan 14 horizontal. Upon reaching the initial position, the user can adjust the height of the bedpan 14 according to their height using the electric lifting rod 9. When moving to the toilet, the user can set the speed of the drive wheels 2 via the touchscreen 18 and control the wheels to move forward and backward. The user can stop the movement using the emergency stop switch 17. The steering plate 19 can support the user's arms and can also rotate the steering lever 16 to control the direction of the casters 1; the control box 5 integrates the control system of the transfer robot, including relay control of the rotating electric push rod 8, the rising electric push rod 9 and the horizontal electric push rod 11, including functions such as battery 7 charging management, voltage conversion and brushless motor control of the drive wheel 2, etc. The toilet plate 14 is provided with a toilet bowl hole 15, which makes it easy for the user to transfer himself to the toilet seat. The user can also install a removable toilet bowl under the toilet bowl hole 15, and the toilet plate 14 can also be closed; the counterweight box 6 moves the overall center of gravity of the vehicle forward to balance the overturning moment when the toilet plate 14 carries the user forward; in addition, a camera or tracking sensor can be installed on the bottom of the transfer robot to realize the path planning or fixed-point tracking of the transfer robot;

[0034] Combined with appendix Figure 2 and attached Figure 5 The rotation and descent function of this transfer robot includes a horizontal support plate 3, a fixed support 8-1, a rotary electric push rod 8, a first rotary support plate 10, a second fixed support 10-1, a rotary shaft 10-3, and a rotary support plate connecting rod seat 4. The first fixed support 8-1 is bolted to the horizontal support plate 3. The rotary electric push rod 8 is pinned to the first fixed support 8-1. The extended end of the rotary electric push rod 8 is pinned to the second fixed support 10-1. The second fixed support 10-1 is bolted to the first rotary support plate 10. The lower end of the first rotary support plate 10 is welded to the first rotary shaft 10-3, which is connected to the rotary support plate connecting rod seat 4 via a bearing. The first rotary support plate 10 and the rotary support plate connecting rod seat 4 are rotatably connected. The rotary support plate connecting rod seat 4 is bolted to the horizontal support plate 3. The rotary electric push rod 8 in its initial state (see attached diagram). Figure 5 (See Figure 5-1) When the extension rod of the rotary electric push rod 8 extends to its maximum stroke, the first rotary support plate 10 is in a vertical state. When the rotary electric push rod 8 retracts, it drives the first rotary support plate 10 to rotate downwards through the fixed support 10-1 and the fixed support 8-1, with a rotation angle of 55-90° (see attached figure). Figure 5 (See Figure 5-3); This function, on the one hand, reduces the height of the bedpan 14 to adapt to and reach different bed surface heights, and on the other hand, extends the extension distance of the bedpan 14, making it easier for the bedpan 14 to extend into the crotch of a patient in a sitting position.

[0035] Combined with appendix Figure 3 and attached Figure 5 The telescopic and lifting function of this transfer robot includes a first rotating support plate 10, a fixed support three 10-2, a lifting electric push rod 9, a fixed support four 12-1, and a second rotating support plate 12. The fixed support three 10-2 is bolted to the first rotating support plate 10. The extended end of the lifting electric push rod 9 is connected to the fixed support four 12-1 via a pin. The fixed support four 12-1 is bolted to the second rotating support plate 12. The second rotating support plate 12 engages with the first rotating support plate 10 via a sliding groove 12-3. Under the action of the lifting electric push rod 9, the second rotating support plate 12 can be driven to perform telescopic movement. (See attached diagram) Figure 5 Figure 5-1 and Appendix Figure 5 (Comparison with Figure 5-2); The longitudinal axes of fixed support 4 12-1 and fixed support 3 10-2 are parallel to the axis of the first rotating support plate 10, and the positioning holes of the two are configured so that the extension axis of the rising electric push rod 9 is in a vertical state in the initial state. This can reduce the frictional resistance caused by the non-parallelism between the first rotating support plate 10 and the second rotating support plate 12 during the tilting process due to machining errors.

[0036] Combined with appendix Figure 4 and attached Figure 5 The horizontal support function of this transfer robot includes a toilet seat 13, a toilet 14, a fixed support six 14-1, a horizontal electric push rod 11, a fixed support five 12-2, a second rotating support plate 12, and a tilt sensor 14-2. The fixed support five 12-2 is bolted to the second rotating support plate 12. The horizontal electric push rod 11 is connected to the fixed support five 12-2 via a pin. The extended end of the horizontal electric push rod 11 is connected to the fixed support six 14-1 via a pin. The fixed support six 14-1 is welded to the toilet 14. The toilet 14 is connected to the second rotating shaft 13-1 welded to the top of the second rotating support plate 12 via the toilet seat 13 and a bearing. The toilet 14 and the second rotating support plate 12 are rotatably connected. The horizontal electric push rod 11 extends to zero in its initial position (see attached diagram). Figure 5As shown in Figure 5-1, the positions of fixed support 6 14-1 and fixed support 5 12-2 at this time can ensure that the tummy board 14 is in a horizontal position; the transfer robot is equipped with a weight sensor to identify whether there is a patient on the machine. When the machine is carrying a patient, during the process of the rotating electric push rod 8 pulling the first rotating support plate 10 to tilt, the horizontal electric push rod 11 adjusts the extension amount in real time according to the signal of the tilt angle sensor 14-2 to keep the tummy board 14 always in a horizontal position (see Appendix). Figure 5 Figure 5-1 and Appendix Figure 5 (Comparison with Figure 5-3); When the machine is not carrying a patient, the horizontal electric push rod 11 will adjust the extension amount according to the signal of the tilt sensor 14-2 to keep the stool 14 always in a horizontal position.

[0037] Combined with appendix Figure 5 From left to right, the diagrams show the robot in its initial state, the robot in its telescopic lifting function state, and the robot in its flat support function state.

[0038] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. An electrically operated transfer robot with a height-adjustable and telescopic seat, characterized in that: It includes a horizontal support plate (3), a rotating support plate connecting rod seat (4), a rotating electric push rod (8), a rising electric push rod (9), a first rotating support plate (10), a horizontal electric push rod (11), a second rotating support plate (12), and a side plate (14). The horizontal support plate (3) is horizontally arranged. A control box (5) is provided on one side of the top surface of the horizontal support plate (3). The rotating support plate connecting rod seat (4) is located on one side of the control box (5) and is fixedly connected to the horizontal support plate (3). Two counterweight boxes (6) are provided on the side of the rotating support plate connecting rod seat (4) away from the control box (5). A battery (7) is provided on the side of the counterweight box (6) away from the rotating support plate connecting rod seat (4). The rotating support plate connecting rod seat (4) is rotatably connected to the first rotating support plate (10). The second rotating support plate (12) is provided on the top of the first rotating support plate (10) and the two are slidably connected. A toilet plate (14) is provided on the top of the second rotating support plate (12) and the two are rotatably connected. An angle sensor (14-2) is provided at the bottom of the toilet plate (14). A toilet bowl hole (15) is opened on the toilet plate (14). When the first rotating support plate (10) is in the initial state, the extended end of the rotating electric push rod (8) extends to the maximum stroke. At this time, the first rotating support plate (10) is in a vertical state. When the extended end of the rotating electric push rod (8) retracts, it drives the first rotating support plate (10) to rotate downwards. The rotation angle is 55-90°. The rising electric push rod (9) is used to drive the second rotating support plate (12) to extend and retract; When the stool (14) is in the initial state, the horizontal electric push rod (11) extends to its minimum extent, and the stool (14) is in a horizontal state. When the machine is carrying a patient, during the process of the rotating electric push rod (8) pulling the first rotating support plate (10) to tilt, the horizontal electric push rod (11) receives the signal from the tilt sensor (14-2) and adjusts the extension amount to keep the stool (14) always in a horizontal position.

2. The electrically operated transfer robot with a height-adjustable and telescopic seat as described in claim 1, characterized in that: A fixed support (8-1) is provided between the two counterweight boxes (6). The rotating electric push rod (8) is connected to the horizontal support plate (3) through the fixed support (8-1). A fixed support (10-1) is provided on one side of the first rotating support plate (10). The extended end of the rotating electric push rod (8) is connected to the fixed support (10-1) through a pin.

3. The electrically operated transfer robot with a height-adjustable and telescopic seat as described in claim 2, characterized in that: The first rotating support plate (10) has a fixed support three (10-2) on the other side. The rising electric push rod (9) is connected to the first rotating support plate (10) through the fixed support three (10-2). The second rotating support plate (12) has a fixed support four (12-1) on one side. The extended end of the rising electric push rod (9) is connected to the fixed support four (12-1) through a pin.

4. The electrically operated transfer robot with a height-adjustable and telescopic seat as described in claim 3, characterized in that: A fixed support five (12-2) is provided on the other side of the second rotating support plate (12). The horizontal electric push rod (11) is connected to the second rotating support plate (12) through the fixed support five (12-2). A fixed support six (14-1) is provided at the bottom of the side plate (14). The extended end of the horizontal electric push rod (11) is connected to the fixed support six (14-1) through a pin.

5. The electrically operated transfer robot with a height-adjustable and telescopic seat according to claim 1, characterized in that: The control box (5) integrates the control system of the transfer robot. The counterweight box (6) moves the overall center of gravity of the transfer robot forward to balance the overturning torque when the user is carried forward on the platform (14).

6. The electrically operated transfer robot with a height-adjustable and telescopic seat according to claim 1, characterized in that: The top of the horizontal support plate (3) is also provided with a steering rod (16), the steering rod (16) is provided with a touch screen (18), the touch screen (18) is provided with an emergency stop switch (17), and the touch screen (18) is provided with hand steering plates (19) on both sides.

7. The electrically operated transfer robot with a height-adjustable and telescopic seat according to claim 6, characterized in that: The bottom surface of the horizontal support plate (3) is provided with casters (1) and drive wheels (2).

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