Displacement machine with human body support device

Abstract

The application relates to a displacement machine with a human body supporting device, which comprises a mounting frame, a hip lifting device, an armpit supporting device, a moving chassis, a connecting rod, a first driving device and a second driving device; the mounting frame is arranged on the moving chassis, the connecting rod is arranged on the mounting frame, and the armpit supporting device is sleeved on the connecting rod; the first driving device is arranged on the moving chassis, the driving end of the first driving device is connected with the armpit supporting device, the first driving device is suitable for driving the armpit supporting device to swing around the connecting rod as the shaft and then adjusting the height of the armpit supporting part; the hip lifting device is movably arranged on the mounting frame and is suitable for supporting the hip of a user; the second driving device is arranged on the moving chassis, the driving end of the second driving device is connected with the hip lifting device, and the second driving device is suitable for driving the hip lifting device to lift or retract.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to a displacement machine with a human body support device. Background Technology

[0002] For people with disabilities or lower limb disabilities, the most basic daily activity is moving between beds, toilets, wheelchairs, dining tables, and sofas. Without the assistance of caregivers or transfer devices, such transfers are extremely difficult. Currently, most transfer devices used for people with mobility impairments are seated transfer machines. However, these machines generally lack an effective power-assisted lifting structure. When transferring users, caregivers rely on their own strength to support the user's buttocks and armpits. For users who are heavier or have special physical conditions, multiple caregivers are needed to complete the transfer. The entire process is cumbersome and inconvenient. Summary of the Invention

[0003] In view of this, this application proposes a displacement machine with a human body support device, including: a mounting frame, a buttock lifting device, an armpit support device, a movable chassis, a connecting rod, a first drive device, and a second drive device; The mounting frame is set on the mobile chassis, the connecting rod is set on the mounting frame, and the armpit support device is sleeved on the connecting rod; The first drive device is mounted on the mobile chassis, and the drive end of the first drive device is connected to the armpit support device, which is suitable for driving the armpit support device to swing around the connecting rod as an axis to adjust the height of the armpit support. The hip lift device is movably mounted on the mounting frame and is designed to support the user's hips. The second drive unit is mounted on the mobile chassis, and the drive end of the second drive unit is connected to the hip lifting device, which is suitable for driving the hip lifting device to lift or retract.

[0004] In one possible implementation, the mounting bracket includes: two mounting plates arranged parallel to each other; a first drive unit and a second drive unit are both located between the two mounting plates.

[0005] In one possible implementation, the hip-lifting device includes: a seat cushion, a connecting assembly, and a connecting shaft; the connecting shaft is disposed on two mounting plates, the seat cushion is mounted on the connecting assembly, and the connecting assembly is sleeved on the connecting shaft; the drive end of a second drive device is hinged to the connecting assembly.

[0006] In one possible implementation, the connecting assembly includes: two connecting plates arranged parallel to each other; one end of the two connecting plates is sleeved on the connecting shaft; and a seat cushion is disposed on the side of the two connecting plates opposite to the second drive device.

[0007] In one possible implementation, it also includes: knee pads; the knee pads are positioned opposite each other on both sides of the mounting bracket.

[0008] In one possible implementation, the armpit support device includes: a hinge frame and an armpit support portion; one end of the hinge frame is sleeved on a connecting rod, and the other end of the hinge frame is connected to the armpit support portion; The first drive unit is mounted on the mobile chassis and the drive end of the first drive unit is hinged to the hinge frame.

[0009] In one possible implementation, the articulated frame includes: a support arm, two hinge plates, and a connecting plate; Two hinge plates are arranged parallel to each other inside the opening of the support arm; two or more connecting plates are provided between the two hinge plates.

[0010] In one possible implementation, it also includes: an angle adjustment device; the armpit support is connected to the hinge frame via the angle adjustment device.

[0011] In one possible implementation, it also includes: handrails; the handrails are arranged opposite each other on both sides of the hinge frame.

[0012] In one possible implementation, it also includes: an environmental monitoring device; the environmental monitoring device is mounted on the mobile chassis and is located on the side of the mounting frame away from the hip lifting device.

[0013] Beneficial effects of this application This application utilizes a first and a second driving device to achieve mechanical power to support the user instead of manual labor. The first driving device drives the axillary support device to swing around a connecting rod as an axis to adjust its height, thereby replacing manual lifting and supporting of the user's upper limbs. The second driving device drives the hip lifting device to lift or retract, allowing it to support the user's hips and lift them off the support surface, thus replacing manual lifting of the hips. Caregivers no longer need to rely on their own physical strength to support the user's hips and armpits; a single person can complete the transfer operation, significantly reducing workload and avoiding transfer difficulties caused by insufficient manpower. Furthermore, the first and second driving devices independently control the axillary support device and the hip lifting device, allowing caregivers to flexibly adjust the support height of the axillary support device and the lifting range of the hip lifting device according to the user's weight, physical condition, and transfer scenario, adapting to the support needs of different users, thus enhancing adaptability and practicality.

[0014] Other features and aspects of this application will become clear from the following detailed description of exemplary embodiments with reference to the accompanying drawings. Attached Figure Description

[0015] The accompanying drawings, which are included in and form part of this specification, illustrate exemplary embodiments, features, and aspects of this application together with the specification and serve to explain the principles of this application.

[0016] Figure 1 This diagram shows the main structure of a displacement machine with a human body support device according to an embodiment of this application. Figure 2 An internal view of a displacement machine with a human body support device according to an embodiment of this application is shown; Figure 3 This diagram illustrates the main structural structure of the mobile chassis according to an embodiment of this application. Figure 4 This diagram shows the main structure of the base according to an embodiment of this application; Figure 5 This diagram illustrates the main structure of the caster wheel assembly according to an embodiment of this application. Figure 6 This diagram shows the main structural structure of the drive wheel assembly according to an embodiment of this application; Figure 7 This diagram shows the main structure of the hip-lifting device according to an embodiment of this application; Figure 8 Show Figure 7 Internal view; Figure 9 This diagram illustrates the main structural structure of the connecting component according to an embodiment of this application. Figure 10 This diagram illustrates the main structure of a knee brace according to an embodiment of this application. Figure 11 This diagram shows the main structural structure of the armpit support device according to an embodiment of this application; Figure 12 Show Figure 11 A magnified view of a portion of the image. Detailed Implementation

[0017] Various exemplary embodiments, features, and aspects of this application will now be described in detail with reference to the accompanying drawings. The same reference numerals in the drawings denote elements that have the same or similar functions. Although various aspects of the embodiments are shown in the drawings, they are not necessarily drawn to scale unless specifically indicated otherwise.

[0018] It should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model or 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. Therefore, they should not be construed as limitations on this utility model.

[0019] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0020] The term “exemplary” as used herein means “serving as an example, embodiment, or illustration.” Any embodiment illustrated herein as “exemplary” is not necessarily to be construed as superior to or better than other embodiments.

[0021] Furthermore, to better illustrate this application, numerous specific details are provided in the following detailed embodiments. Those skilled in the art should understand that this application can be implemented without certain specific details. In some instances, methods, means, components, and circuits well-known to those skilled in the art have not been described in detail in order to highlight the main points of this application.

[0022] This application proposes a displacement machine with a human body support device, such as Figure 1 , Figure 2 As shown, the device includes: a mounting frame 340, a hip lift device 300, an armpit support device, a movable base, a connecting rod 441, a first drive device 430, and a second drive device 350. The mounting frame 340 is mounted on the movable base, the connecting rod 441 is mounted on the mounting frame 340, and the armpit support device is sleeved on the connecting rod 441. The first drive device 430 is mounted on the movable base, and its drive end is connected to the armpit support device, which is used to drive the armpit support device to swing around the connecting rod 441 to adjust the height of the armpit support. The hip lift device 300 is movably mounted on the mounting frame 340 and is used to support the user's hips. The second drive device 350 is mounted on the movable base, and its drive end is connected to the hip lift device 300, which is used to drive the hip lift device 300 to lift or retract.

[0023] It should be noted that the mobile chassis provides a mounting base for the entire device, enabling the entire device to move during transport. The mounting frame 340 provides a mounting base for the hip lift device 300 and the axillary support device. The axillary support device is designed to contact the user's armpits and provide upward support, helping to maintain upper body balance and preventing body swaying or tilting during transfer, ensuring safety during use. The first drive device 430 provides power for adjusting the height of the axillary support device. The telescopic movement of the first drive device 430 drives the axillary support device to rotate around the connecting rod 441, thereby adjusting the height of the axillary support device. The hip lift device 300 supports the user's hips, providing a reclining function, allowing disabled patients to move more easily during transport. During the process, the user can maintain a seated posture, thereby effectively reducing the pressure on the underarm area and avoiding discomfort caused by prolonged standing. The second drive device 350 is used to provide power to the buttock lifting device 300. When the underarm support device lifts the user from the original position, the user's buttocks are placed against the buttock lifting device 300. Then, the drive end of the second drive device 350 extends and pushes the buttock lifting device 300 to lift it into the horizontal plane, allowing the user's buttocks to sit on the buttock lifting device 300. When the user needs to leave the transfer machine, the underarm support device lifts the user off the buttock lifting device 300. Then, the drive end of the second drive device 350 retracts and pulls the buttock lifting device 300 downwards to the initial position, allowing the user to leave the buttock lifting device 300.

[0024] This application utilizes a first driving device 430 and a second driving device 350 to achieve mechanical power to lift the user instead of manual labor. The first driving device 430 drives the armpit support device to swing around the connecting rod 441 to adjust its height, thereby replacing manual lifting and supporting of the user's upper limbs. The second driving device 350 drives the hip lifting device 300 to lift or retract, allowing the hip lifting device 300 to support the user's hips and lift them off the support surface, thus replacing manual lifting of the hips. Caregivers do not need to rely on their own physical strength to lift the user's hips and armpits; a single person can complete the transfer operation, significantly reducing workload and avoiding transfer difficulties caused by insufficient manpower. At the same time, the first driving device 430 and the second driving device 350 independently control the armpit support device and the hip lifting device 300, respectively. Caregivers can flexibly adjust the support height of the armpit support device and the lifting range of the hip lifting device 300 according to the weight, physical condition, and transfer scenario of different users to adapt to the support needs of different users, making it more adaptable and practical.

[0025] In one possible implementation, the device further includes an environmental monitoring device 200 and a controller 500; the environmental monitoring device 200 is mounted on a mobile chassis and is located on the side of the mounting bracket 340 away from the hip lifting device 300, and the controller 500 is connected to the environmental monitoring device 200.

[0026] Furthermore, the environmental monitoring device 200 includes: a housing 210, a power supply 220, a lidar 230, a camera 240, and two or more ultrasonic radars 260; the power supply 220 and the camera 240 are both installed inside the cavity of the housing 210, and the acquisition end of the camera 240 protrudes out of the housing 210; the lidar 230 is installed on the top of the housing 210; the two or more ultrasonic radars 260 are distributed around the circumference of the mobile chassis; the controller 500 is installed on the side of the support arm 411 away from the opening; the controller 500 is electrically connected to the lidar 230, the camera 240, and the ultrasonic radars 260 respectively.

[0027] It should be noted that the enclosure 210 is designed to provide physical protection for components such as the power supply 220 and camera 240, preventing damage to internal components from external impacts, dust, moisture, etc. The power supply 220 and camera 240 are both installed inside the enclosure 210, and the output of the power supply 220 is electrically connected to the lidar 230, camera 240, and ultrasonic radar 260, respectively. The power supply 220 is designed to provide a stable power supply for the detection equipment such as lidar 230, camera 240, and ultrasonic radar 260. The lidar 230 scans the surrounding environment by emitting laser beams to construct a three-dimensional map of the environment around the device, thereby identifying the position, distance, and outline of fixed obstacles such as walls and furniture.

[0028] During normal movement, the lidar 230 can detect obstacles in front in real time and achieve precise positioning of the equipment. The ultrasonic radar 260 is suitable for detecting obstacles at close range around the mobile chassis. As a supplement to the lidar 230, the ultrasonic radar 260 effectively prevents the displacement machine from colliding with surrounding objects, enhancing safety. Multiple ultrasonic radars 260 are distributed around the circumference of the mobile chassis, which can detect obstacles around the displacement machine from all directions, further improving the safety of the displacement machine. The camera 240 is suitable for collecting visual image information of the surrounding environment. Visual image recognition technology is used to help determine the type of obstacle, thereby making up for the lidar 230's deficiency in recognizing transparent obstacles. The controller 500 is installed on the support arm 411, which is convenient for nursing staff or users to debug or start the equipment. The controller 500 is suitable for receiving data transmitted from the lidar 230, camera 240 and ultrasonic radar 260, and controlling the mobile chassis to move or stop based on the received data. By operating the controller 500, the user can control the displacement machine to move safely and efficiently according to the user's intention and the surrounding environment, greatly improving the convenience and safety of use.

[0029] An environmental detection device 200, a lidar 230, a camera 240, and multiple ultrasonic radars 260 work together to construct a comprehensive environmental perception system. The lidar 230 accurately maps the surrounding environment in three dimensions, the camera 240 captures visual information for target recognition and localization, and the ultrasonic radars 260 provide rapid obstacle detection at close range. The data from these three devices complement each other, making the displacement machine's perception of the surrounding environment more comprehensive and accurate, thereby effectively avoiding collisions caused by caregivers' inability to observe with the naked eye or misjudgment based on experience, and reducing the risk of collisions during the movement of the displacement machine. At the same time, the environmental detection device 200 of this application perceives the surrounding environment information in real time and feeds it back to the controller 500. The controller 500 plans a path around obstacles based on the received data and controls the mobile chassis to turn and move according to the planned path. Caregivers can set target points through the controller 500 to realize the automatic movement of the displacement machine. Caregivers do not need to concentrate on observing the path and avoiding obstacles throughout the process, reducing the operational burden on caregivers.

[0030] Furthermore, the control logic of controller 500 uses existing conventional technology, and controller 500 adopts a main control board with the existing technology model DWJY-YWJ-Ctrl-Board.

[0031] In one possible implementation, such as Figures 1 to 6 As shown, the mobile chassis includes: a base 110, a caster wheel assembly 120, and a drive wheel assembly 130; the caster wheel assembly 120 and the drive wheel assembly 130 are arranged opposite each other at the four corners of the chassis, and the housing 210 is located between the two drive wheel assemblies 130.

[0032] It should be noted that the base 110 is a grid-like rectangular frame structure formed by splicing multiple horizontal and vertical beams. This design effectively reduces the weight of the overall device, while the grid structure enhances the rigidity and deformation resistance of the base 110, ensuring stability when bearing the user's weight and preventing swaying during movement. In addition, the gaps in the grid structure allow for space under the base to integrate auxiliary components such as wiring channels, thereby improving the durability and functionality of the overall structure. A mounting part 111 is provided on one side of the base 110. The main body of the mounting part 111 is an isosceles trapezoidal structure, and the housing 210 is mounted on the mounting part 111. The universal wheel assembly 120 is installed on the side of the base 110 opposite to the mounting part 111. The universal wheel assembly 120 can rotate freely 360 degrees, allowing the displacement machine to easily change direction during movement. The drive wheel assembly 130 is located on the base 110 and on opposite sides of the mounting part 111. The drive wheel assembly 130 is used to provide driving force for the movement of the base 110.

[0033] In one possible implementation, such as Figure 5 As shown, the omnidirectional wheel assembly 120 includes: a top plate 121, a wheel hub 122, a wheel seat 123, a bearing 124, and a dust cover 125; the main body of the top plate 121 has an L-shaped structure, the top plate 121 is fixedly connected to the base 110, and the opening of the top plate 121 faces the side away from the base 110. The wheel seat 123 is rotatably disposed in the opening of the top plate 121 through the bearing 124, the wheel hub 122 is rotatably installed in the wheel seat 123, and the dust cover 125 is installed on the side of the top plate 121 away from the wheel seat 123.

[0034] Furthermore, a rotating shaft is provided on one side of the bearing 124. One end of the rotating shaft is fixedly connected to the end of the top plate 121 opposite to the base 110, and the other end of the rotating shaft is fixedly connected to the bearing 124. The wheel seat 123 is fixedly installed on the side of the bearing 124 opposite to the rotating shaft. When the displacement machine needs to turn, the base 110 drives the top plate 121 fixedly connected to it to turn synchronously. During the turning process, the top plate 121 generates a horizontal lateral force on the wheel seat 123. This lateral force is transmitted to the bearing 124 through the rotating shaft fixedly connected to the top plate 121. The thrust bearing 124 converts the lateral force into a rotational torque around the axis of the rotating shaft, driving the wheel seat 123 to rotate around the rotating shaft, thereby driving the wheel hub 122 on the wheel seat 123 to rotate synchronously, thus realizing the turning of the displacement machine.

[0035] In one possible implementation, such as Figure 6As shown, the drive wheel assembly 130 includes: a hub motor 131, a tire, a bracket 132, and a wheel cover 133; the bracket 132 is fixedly mounted on the base 110, the tire is fitted on the outside of the rotor of the hub motor 131, the stator of the hub motor 131 is rigidly connected to the bracket 132 through a fixed shaft, the bracket 132 has a connector 134 on the side facing the tire, the wheel cover 133 is mounted on the connector 134, and the wheel cover 133 covers the top of the hub motor 131 to prevent dust from entering the interior of the hub motor 131.

[0036] Furthermore, the input terminal of the hub motor 131 is connected to the output terminal of the power supply 220, which is suitable for providing a stable power supply to the hub motor 131. The control terminal of the hub motor 131 is electrically connected to the output terminal of the controller 500. The controller 500 realizes the movement of the displacement machine by controlling the opening or closing of the hub motor 131.

[0037] In one possible implementation, the mounting bracket 340 includes two mounting plates 341 arranged parallel to each other; a first drive device 430 and a second drive device 350 are both located between the two mounting plates 341.

[0038] It should be noted that the main body of the mounting plate 341 is an irregularly shaped plate structure (the specific shape can be designed according to the structure of different types of transfer machines), which must ensure stable installation of the buttock lifting device 300 and the armpit support device. The mounting plate 341 has through holes, and the two ends of the connecting rod 441 are set through the two mounting plates 341. The two ends of the connecting rod 441 are fixed with fixing parts 442, and the fixing parts 442 are located between the mounting plate 341 and the connecting rod 441 to limit the connecting rod 441 and prevent the connecting rod 441 from detaching from the mounting plate 341. The rotating cylinder is sleeved on the connecting rod 441 and is located between the two mounting plates 341. One end of the armpit support device is sleeved on the rotating cylinder. The first drive device 430 and the second drive device 350 are located between the two mounting plates 341. This arrangement can ensure the central transmission of driving force, reduce the generation of lateral torque and avoid structural deformation. This layout optimizes the space configuration and makes the structure compact.

[0039] In one possible implementation, the hip-lifting device 300 includes: a seat cushion 310, a connecting assembly 320, and a connecting shaft 330; the connecting shaft 330 is disposed on two mounting plates 341, the seat cushion 310 is mounted on the connecting assembly 320, and the connecting assembly 320 is sleeved on the connecting shaft 330; the driving end of the second driving device 350 is hinged to the connecting assembly 320.

[0040] It should be noted that the seat cushion 310 is designed to support the user's buttocks and provide a reclining function. The connecting component 320, acting as a bridge between the second drive device 350 and the seat cushion 310, is used to support and lift the seat cushion 310. The second drive device 350 drives the connecting component 320 to rotate on the connecting shaft 330. When the armpit support device lifts the user from the original position, the drive end of the second drive device 350 extends and pushes the connecting component 320 to rotate around the connecting shaft 330. The connecting component 320 lifts the seat cushion 310 upward and extends it into the horizontal plane, allowing the user's buttocks to sit on the seat cushion 310. When the user needs to leave the transfer machine, the armpit support device lifts the user off the seat cushion 310. Then, the drive end of the second drive device 350 retracts and pulls the connecting component 320 to rotate in the opposite direction around the connecting shaft 330. The connecting component 320 drives the seat cushion 310 downward to the initial position, allowing the user to leave the seat cushion 310.

[0041] In one possible implementation, such as Figures 7 to 9 As shown, the connecting assembly 320 includes two connecting plates 321 arranged parallel to each other; one end of the two connecting plates 321 is sleeved on the connecting shaft 330, and the seat cushion 310 is arranged on the side of the two connecting plates 321 away from the second drive device 350.

[0042] It should be noted that each of the two connecting plates 321 has a through hole at one end for the connecting shaft 330 to pass through. Both ends of the connecting shaft 330 pass through the through holes of the mounting plate 341 and the connecting plate 321. Each end of the connecting shaft 330 has a limiting part 331, which is located between the mounting plate 341 and the connecting shaft 330 to limit the connecting shaft 330 and prevent it from detaching from the mounting plate 341. The outer cylinder is sleeved on the connecting shaft 330 and located between the two mounting plates 341. One end of the two connecting plates 321 is sleeved on the outer cylinder of the connecting shaft 330. The side of the two connecting plates 321 facing away from the second drive device 350 is fixedly connected to the seat cushion 310.

[0043] Furthermore, a circular through hole is provided in the middle of the connecting plate 321 for the first pin 351 to pass through. The first pin 351 is provided between the two connecting plates 321. The first pin 351 passes through the through hole of the two connecting plates 321. The other end of the first pin 351 is vertically inserted with a rod to limit the position of the first pin 351 and prevent the first pin 351 from disengaging from the connecting plate 321. The drive rod of the second drive device 350 is sleeved on the first pin 351. The base 110 is provided with a first hinge seat 112. The main body of the first hinge seat 112 is Π-shaped. The closed end is welded to the base 110. The open end of the first hinge seat 112 is provided with a second pin. The outer shell of the second drive device 350 is hinged to the first hinge seat 112 through the second pin.

[0044] In one possible implementation, such as Figure 9 As shown, there are two or more reinforcing plates 323 between the two connecting plates 321. The planes of the two reinforcing plates 323 are perpendicular to the planes of the connecting plates 321. The two reinforcing plates 323 are suitable for connecting the two connecting plates 321 into one unit by welding, thereby improving the overall structural strength of the connecting assembly 320.

[0045] In one possible implementation, the connecting component 320 further includes two or more support ribs 324, which are respectively disposed on opposite sides of the two connecting plates 321 and arranged sequentially along the length of the connecting plates 321. The main body of the support rib 324 is a trapezoidal plate structure. The plane of the support rib 324 is perpendicular to the plane of the connecting plate 321, and its long side faces the seat cushion 310 to support the seat cushion 310, thereby dispersing the pressure exerted by the seat cushion 310 on the connecting plate 321.

[0046] In one possible implementation, the top of the connecting component 320 is provided with a limiting buffer pad 325, and the limiting buffer pad 325 is located above the mounting bracket 340. The length of the limiting buffer pad 325 is greater than the distance between the two mounting brackets 340, so that when the seat cushion 310 is in the retracted state, the limiting buffer pad 325 abuts against the top of the mounting bracket 340. It should be noted that when the seat cushion 310 retracts downward to the initial position, the contact design between the limiting buffer pad 325 and the mounting bracket 340 can effectively prevent excessive swinging. At the same time, the limiting buffer pad 325 absorbs impact energy through its own deformation. The limiting buffer pad 325 replaces the hard contact between the mounting bracket 340 and the connecting component 320, converting the kinetic energy of the seat cushion 310 when it returns to its original position into the elastic potential energy of the limiting buffer pad 325, reducing the mechanical wear between the mounting bracket 340 and the connecting component 320. Furthermore, the limiting buffer pad 325 is made of an elastic material. Preferably, the limiting buffer pad 325 is made of any one of rubber, silicone, or foam sponge.

[0047] In one possible implementation, such as Figure 2 , Figure 8As shown, the mounting bracket 340 also includes a first stop bar 510 and a second stop bar 520, which are vertically arranged between the two mounting plates 341. The first stop bar 510 is equipped with a seat cushion rise limit switch 511, and the second stop bar 520 is equipped with a seat cushion fall limit switch 512. The seat cushion rise limit switch 511, the seat cushion fall limit switch 512, and the second drive device 350 are all electrically connected to the controller 500. When the seat cushion 310 falls, the seat cushion 3... When the side of the connecting plate 321 abuts against the control end of the seat cushion lowering limit switch 512, the seat cushion 310 falls back into place. At this time, the controller 500 controls the second drive device 350 to stop the retraction movement. When the seat cushion rises to the position, when the first limit stop on the connecting plate 321 abuts against the control end of the seat cushion rising limit switch 511, the seat cushion 310 rises to the position. At this time, the controller 500 controls the second drive device 350 to stop the extension movement, thus ensuring the stability of the device's reset state.

[0048] In one possible implementation, such as Figure 10 As shown, it also includes: a knee guard 600; the knee guard 600 is disposed opposite to each other on both sides of the mounting bracket 340. It should be noted that both ends of the first mounting rod 610 are provided through the mounting plate 341, and both ends of the first mounting rod 610 are provided with sleeves 620; and the axial direction of the sleeves 620 is perpendicular to the axial direction of the first mounting rod 610. One side of the knee guard 600 is provided with an adjusting rod 630, and the adjusting rod 630 matches the sleeve 620. The sleeve 620 is sleeved on the adjusting rod 630 and fixedly connected by bolts to achieve the fixed installation of the knee guard 600.

[0049] Furthermore, the adjustment rod 630 has two or more adjustment holes, which are equidistant from each other along the length of the adjustment rod 630. By selecting the corresponding adjustment hole, the distance between the knee guard 600 and the first mounting rod 610 can be changed to ensure that when the user sits on the seat cushion 310, his or her knee is at the knee guard 600.

[0050] In one possible implementation, the armpit support device includes: a hinge frame 410 and an armpit support portion 420; one end of the hinge frame 410 is sleeved on a connecting rod 441, and the other end of the hinge frame 410 is connected to the armpit support portion 420; a first drive device 430 is mounted on a mobile chassis and the drive end of the first drive device 430 is hinged to the hinge frame 410.

[0051] It should be noted that the articulated frame 410 serves as a connecting bridge between the armpit support 420 and the first drive device 430, and is suitable for supporting and lifting the armpit support 420. The first drive device 430 is located between the two mounting plates 341, and the output end of the first drive device 430 is connected to the articulated frame 410. The first drive device 430 is suitable for providing power for the movement of the armpit support 420. The extension and retraction movement of the first drive device 430 drives the articulated frame 410 to rotate around the connecting rod 441 as an axis, thereby adjusting the height of the armpit support 420. The armpit support 420 directly contacts the user's armpit to help maintain body balance, avoid body swaying or tilting during transfer, and ensure safety during use.

[0052] In one possible implementation, such as Figure 11 As shown, the hinge frame 410 includes: a support arm 411, two hinge plates 412 and a connecting plate 413; the two hinge plates 412 are arranged parallel to each other in the opening of the support arm 411; and two or more connecting plates 413 are provided between the two hinge plates 412.

[0053] It should be noted that the opening of the support arm 411 faces the base 110, the hinge plate 412 is vertically installed in the opening of the support arm 411, and the hinge plate 412 is fixedly connected to the support arm 411. The two ends of the connecting plate 413 are fixedly connected to the two hinge plates 412 respectively, which is suitable for stably connecting the two hinge plates 412 and ensuring that the two hinge plates 412 remain parallel to each other. The controller 500 is located in the middle of the side of the support arm 411 away from the hinge plate 412, which is convenient for the user to operate.

[0054] Furthermore, a through hole is provided in the middle of the hinge plate 412 for the third pin 431 to pass through. The third pin 431 is provided between the two hinge plates 412. The third pin 431 is provided through the through hole of the two hinge plates 412, and one end of the third pin 431 is provided through the support arm 411. The drive rod of the first drive device 430 is sleeved on the third pin 431. The base 110 is provided with a second hinge seat 113. The closed end of the second hinge seat 113 is welded to the base 110. The housing of the first drive device 430 is hinged to the second hinge seat 113 through the fourth pin.

[0055] In one possible implementation, the system also includes an armpit support rise limit switch 532 and an armpit support fall limit switch 531; a third stop bar 530 is provided between the two mounting plates 341, and the third stop bar 530 is arranged adjacent to the connecting rod 441; the armpit support fall limit switch 531 is mounted on the third stop bar 530, and the trigger end of the armpit support fall limit switch 531 is positioned facing the hinge frame 410; a second limit stop 533 is provided at the end of the hinge frame 410 connected to the connecting rod 441; the armpit support rise limit switch 532 is located on the side of the mounting plate 341 facing the first driving device 430; the contact of the armpit support rise limit switch 532... With the end facing the second limit stop 533, the armpit support rise limit switch 532, the armpit support fall limit switch 531, and the first drive device 430 are all electrically connected to the controller 500. When the armpit support 420 rises, the armpit support rise limit switch 532 abuts against the second limit stop 533, and the armpit support 420 rises to the correct position. At this time, the controller 500 controls the first drive device 430 to stop the extension of the output end. When the armpit support 420 falls, the armpit support fall limit switch 531 abuts against the hinge frame 410, and the armpit support 420 falls to the correct position. At this time, the controller 500 controls the first drive device 430 to stop the retraction movement of the output end.

[0056] Furthermore, a rubber pad is provided on the third stop lever 530.

[0057] In one possible implementation, such as Figure 12 As shown, it also includes: an angle adjustment device 700; the armpit support 420 is connected to the hinge frame 410 through the angle adjustment device 700.

[0058] It should be noted that the angle adjustment device 700 includes: a fixing rod 710 and an adjusting bolt 720; the hinge plate 412 has a through hole at one end opposite to the connecting rod 441, and both ends of the fixing rod 710 pass through the through hole of the hinge plate 412; the armpit support 420 has two opposite fixing ears 421, which are located on the same side, and the distance between the two fixing ears 421 matches the distance between the two hinge plates 412, so that when the fixing ears 421 are fitted onto the two ends of the fixing rod 710, one side of the fixing ears 421 contacts the hinge plate 412; and nuts 730 are fitted onto both ends of the fixing rod 710. Tightening the nuts 730... This achieves the connection between the fixing ear 421, the fixing rod 7110, and the hinge plate 412. The hinge plate 412 is provided with two or more adjusting screw holes 740, and the two or more adjusting screw holes 740 are equally distributed in an arc shape with the axis of the fixing rod 710 as the center. The fixing ear 421 has a fixing hole. When adjustment is required, the fixing ear 421 rotates with the fixing rod 710 as the axis to adjust the angle of the armpit support 420. When the fixing hole on the fixing ear 421 is adjusted to be coaxial with the required adjusting screw hole 740, the adjusting bolt 720 passes through the fixing hole and is threaded to the corresponding adjusting screw hole 740 to fix the adjusted armpit support 420.

[0059] In one possible implementation, the armrest 800 is also included; the armrest 800 is disposed opposite to both sides of the hinge frame 410. Specifically, the main body of the armrest 800 has an E-shaped structure, with the two ends of the second mounting rod passing through the hinge plate 412 and the support arm 411 respectively, and the second mounting rod is located between the connecting rod 441 and the third pin 431. The armrest 800 is disposed at both ends of the second mounting rod, and the opening of the armrest 800 faces the support arm 411.

[0060] The various embodiments of this application have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or improvement of the technology in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. A displacement machine with a human body support device, characterized in that, include: Mounting frame, hip lift device, armpit support device, mobile chassis, connecting rod, first drive device and second drive device; The mounting bracket is mounted on the mobile chassis, the connecting rod is mounted on the mounting bracket, and the armpit support device is sleeved on the connecting rod; The first driving device is mounted on the mobile chassis, and the driving end of the first driving device is connected to the armpit support device, which is suitable for driving the armpit support device to swing around the connecting rod as an axis to adjust the height of the armpit support device; The hip lifting device is movably mounted on the mounting frame and is suitable for supporting the user's hips; The second drive device is mounted on the mobile chassis, and the drive end of the second drive device is connected to the hip lifting device, which is suitable for driving the hip lifting device to lift or retract.

2. The displacement machine with a human body support device according to claim 1, characterized in that, The mounting bracket includes two mounting plates arranged parallel to each other; Both the first driving device and the second driving device are located between the two mounting plates.

3. The displacement machine with a human body support device according to claim 2, characterized in that, The hip-lifting device includes: a seat cushion, a connecting assembly, and a connecting shaft; The connecting shaft is disposed on the two mounting plates, the seat cushion is mounted on the connecting assembly, and the connecting assembly is sleeved on the connecting shaft; The drive end of the second drive device is hinged to the connecting component.

4. The displacement machine with a human body support device according to claim 3, characterized in that, The connecting component includes: two connecting plates arranged parallel to each other; One end of each of the two connecting plates is sleeved on the connecting shaft; The seat cushion is disposed on the side of the two connecting plates opposite to the second drive device.

5. The displacement machine with a human body support device according to claim 1, characterized in that, Also includes: Knee brace; The knee pads are positioned opposite each other on both sides of the mounting bracket.

6. The displacement machine with a human body support device according to claim 1, characterized in that, The armpit support device includes: a hinge frame and an armpit support portion; One end of the hinge frame is sleeved on the connecting rod, and the other end of the hinge frame is connected to the armpit support. The first drive unit is mounted on the mobile chassis and the drive end of the first drive unit is hinged to the hinge frame.

7. The displacement machine with a human body support device according to claim 6, characterized in that, The hinge frame includes: a support arm, two hinge plates, and a connecting plate; The two hinge plates are arranged parallel to each other within the opening of the support arm; Two or more connecting plates are provided between the two hinge plates.

8. The displacement machine with a human body support device according to claim 6, characterized in that, Also includes: Angle adjustment device; The armpit support is connected to the hinge frame via the angle adjustment device.

9. The displacement machine with a human body support device according to claim 6, characterized in that, Also includes: armrest; The handrails are positioned opposite each other on both sides of the hinge frame.

10. The displacement machine with a human body support device according to claim 1, characterized in that, Also includes: Environmental monitoring equipment; The environmental monitoring device is mounted on the mobile chassis and is located on the side of the mounting frame away from the hip lifting device.

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