CN103610545B - Nursing robot with bathing and massaging functions - Google Patents
Nursing robot with bathing and massaging functions Download PDFInfo
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- CN103610545B CN103610545B CN201310616500.3A CN201310616500A CN103610545B CN 103610545 B CN103610545 B CN 103610545B CN 201310616500 A CN201310616500 A CN 201310616500A CN 103610545 B CN103610545 B CN 103610545B
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- lath
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- 230000000474 nursing effect Effects 0.000 title claims abstract description 48
- 230000006870 function Effects 0.000 title claims abstract description 42
- 238000003287 bathing Methods 0.000 title abstract 4
- 230000005540 biological transmission Effects 0.000 claims description 45
- 210000003141 lower extremity Anatomy 0.000 claims description 45
- 238000004140 cleaning Methods 0.000 claims description 17
- 230000013872 defecation Effects 0.000 claims description 11
- 210000001217 buttock Anatomy 0.000 claims description 9
- 210000000245 forearm Anatomy 0.000 claims description 9
- 230000005611 electricity Effects 0.000 claims description 4
- 239000000835 fiber Substances 0.000 claims description 4
- 210000004247 hand Anatomy 0.000 claims description 3
- 239000002351 wastewater Substances 0.000 claims description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 210000002700 urine Anatomy 0.000 description 2
- 238000001035 drying Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 210000003608 fece Anatomy 0.000 description 1
- 210000002414 leg Anatomy 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Landscapes
- Devices For Medical Bathing And Washing (AREA)
- Invalid Beds And Related Equipment (AREA)
Abstract
The invention provides a nursing robot with bathing and massaging functions. The robot can be used for assisting personnel to be nursed in turning over, sitting up, lying down, massaging and bathing and can also serve as an electric wheelchair and a bed. The robot can provide certain nursing for the personnel to be nursed and can effectively relieve the burden on nurses. The robot with the bathing and massaging functions is not only practical but also powerful and can be applied to places such as hospitals and families.
Description
Technical field
The present invention is a kind of electrical category product, is a kind of machine that can provide the service such as have a bath, massage for user
Device people.
Background technology
Nursing bedfast people is a kind of onerous toil.If object of nursing is unable to leave the bed and gatism
People, this nursery work is more heavy.Design one kind can quickly, in time, easily clear up and be unable to leave the bed and gatism
People discharge dung, urine, and can seem highly significant for the robot that patient has a bath.This robot can effectively mitigate caregiver
The work load of member, improves nursing quality.
Content of the invention
The present invention proposes a kind of nursing robot having and having a bath with massage functions, and this robot can assist by nursing staff
Complete as stood up, sitting up, lie down, massage, have a bath, and the function of also electric wheelchair and bed.Can be to be provided by nursing staff
Certain nursery work, can effectively mitigate the burden of care-giver.The present invention is not only practical, and powerful.One kind is had a bath
Can be applicable to the places such as hospital, family with the nursing robot of massage functions.
The technical scheme is that a kind of have the nursing robot having a bath with massage functions, comprising: backboard 1,
First axle 2, second hinge 3, podical plate 4, third hinge 5, lower limb plate 6, the 4th hinge 7, the first electric pushrod 8, the 5th hinge 9,
Bracing frame 10, deflecting roller 11, universal wheel 12, runner 13, driving wheel 14, the 6th hinge 15, the second electric pushrod 16, the 7th hinge
17th, the 8th hinge 18, the 3rd electric pushrod 19, the oneth the 9th hinge 20, bathtub 21, cleaning device 22, catcher 23, warm-air drier
24th, controller 25, steer motor 26, accumulator 27, running motor 28 and defecation sensor 29.
Backboard 1 is connected with podical plate 4 by first axle 2, and lower limb plate 6 passes through third hinge 5 and podical plate 4 connects, and podical plate 4 leads to
Cross second hinge 3 and bracing frame 10 connects, backboard 1 can be around the rotating shaft of first axle 2 in the presence of the 3rd electric pushrod 19
Rotate clockwise or counterclockwise, lower limb plate 6 in the presence of the first electric pushrod 8 can around the rotating shaft of third hinge 5 clockwise or
Rotate counterclockwise, podical plate 4 can turn around the rotating shaft of second hinge 3 in the presence of the second electric pushrod 16 clockwise or counterclockwise
Dynamic.
One end of first electric pushrod 8 is connected with lower limb plate 6 by the 4th hinge 7, and the other end passes through the 5th hinge 9 and supports
Frame 10 connects；One end of 3rd electric pushrod 19 is connected with backboard 1 by the oneth the 9th hinge 20, and the other end passes through the 8th hinge
18 are connected with bracing frame 10；One end of second electric pushrod 16 is connected with podical plate 4 by the 7th hinge 17, and the other end passes through the 6th
Hinge 15 is connected with bracing frame 10；In the presence of electric pushrod, backboard 1, podical plate 4, the plate face of lower limb plate 6 are in a horizontal plane
On, or, podical plate 4 level, backboard 1 is tilted upward with first axle 2 for the axle other end, and lower limb plate 6 is with third hinge 5 for the axle other end
Diagonally downward.
The bottom of bracing frame 10 is equipped with deflecting roller 11, universal wheel 12, runner 13, driving wheel 14, deflecting roller 11, universal wheel
12nd, runner 13, driving wheel 14 support a kind of nursing robot having and having a bath with massage functions jointly, and one kind is had a bath and massaged
The nursing robot of function can indoors with outdoor traveling；Accumulator 27 can be run for robot and provide the energy, running motor 28
Driving wheel 14 can be driven to rotate, driving wheel 14 rotates the power that can provide motion for robot, steer motor 26 passes through deflecting roller
The direction of motion of 11 control robots.
Bathtub 21 is arranged on below podical plate 4, and defecation sensor 29 is arranged on podical plate 4, and cleaning device 22 is arranged on bath
In basin 21, for cleaning podical plate 4 and by care-giver's body, warm-air drier 24 is arranged on bathtub 21, for drying up podical plate 4 and being protected
The body of reason person, catcher 23 is arranged on bathtub 21 bottom, for the waste water producing after temporary cleaning.
Controller 25 and the first electric pushrod 8, the second electric pushrod 16, the 3rd electric pushrod 19, defecation sensor 29,
Cleaning device 22 and warm-air drier 24 electrically connect.
Further, backboard 1 includes: lath 888, backplane rack 101, the first motor 102, the first drive 103, first
Transmission belt 104, guide rail 105, slide block 106, connecting rod 107, the tenth hinge 108, the 4th electric pushrod 109, the 11st hinge 110,
Second motor 111, the tenth two hinge 112 and mechanical arm, described mechanical arm includes: upper arm 113, three-motor 114,
Forearm 115 and handrail 116.
Guide rail 105 is arranged in backplane rack 101, and slide block 106 is arranged on guide rail 105, and two slide blocks 106 pass through connecting rod
107 link together, and the end of connecting rod 107 connects machine handss tool arm by the tenth two hinge 112；4th electric pushrod 109 one end
It is connected in backplane rack 101 by the 11st hinge 110, the other end is connected on connecting rod 107 by the tenth hinge 108；?
In the presence of four electric pushrods 109, slide block 106, connecting rod 107 and mechanical arm can be mobile along guide rail 105.
Under the drive of the second motor 111, mechanical arm can be electronic around the axis of rotation of the tenth two hinge 112, the 3rd
Machine 114 can drive forearm 115 to rotate, and forearm 115 rotates and will drive handrail 116 around three-motor 114 axis of rotation.
The axle head of the first motor 102 is provided with the first drive 103, and the axle head of the plate 888 of backboard 1 is also provided with first
Drive 103, the first motor 102 passes through the first drive 103 and the first transmission belt 104 can drive 888 turns of the lath of backboard 1
Dynamic, a plurality of lath 888 being collectively aligned constitutes the plate face of backboard 1.
Further, podical plate 4 includes: lath 888, buttockss grillage 401, the second drive 402, the second transmission belt the 403, the 4th
Motor 404 and the 3rd transmission belt 405；The axle head of the 4th motor 404 is provided with the second drive 402, the lath of podical plate 4
888 axle head is also provided with the second drive 402；4th motor 404 passes through the second drive 402 and the second transmission belt 403
The lath 888 driving podical plate 4 with the 3rd transmission belt 405 rotates, and a plurality of lath 888 being collectively aligned constitutes the plate face of podical plate 4.
Further, lower limb plate 6 includes: lath 888, lower limb grillage 601, the 3rd drive 602, the 4th transmission belt the 603, the 5th
Motor 604 and the 5th transmission belt 605；The axle head of the 5th motor 604 is provided with the 3rd drive 602, the lath of lower limb plate 6
888 axle head is also provided with the 3rd drive 602；Logical 3rd drive 602 of 5th motor 604, the 4th transmission belt 603, the
Five transmission belt 605 drives the lath 888 of lower limb plate 6 to rotate, and a plurality of lath 888 being collectively aligned constitutes the plate face of lower limb plate 6.
Further, the first motor 102, the 4th motor 404 are direct currents, exchange or stepping with the 5th motor 604
Motor, the first transmission belt 104, the second transmission belt 403, the 3rd transmission belt 405, the 4th transmission belt 603 and the 5th transmission belt 605 are
Chain or synchronous cog belt.
Further, lath 888 includes: rotating shaft 8881, lath body 8882, soft fibre 8883, and rotating shaft 8881 is arranged on plate
Bar body 8882 two ends, on the outer wall in lath body 8882 of soft fibre 8883 setting.
Further, the cross section of lath body 8882 is the centrosymmetry that oval, two sections of circular arcs and two straight lines surround
Rectangle after figure or chamfering, the distance with diameter greater than described two straight lines of described two sections of circular arcs.
Brief description
Fig. 1 is a kind of nursing robot's schematic diagram having and having a bath with massage functions.
Fig. 2 is when left sides, and a kind of have the nursing robot's schematic diagram having a bath with massage functions.
Fig. 3 is bracing frame 10, running motor 28, steer motor 26, deflecting roller 11, universal wheel 12, runner 13, driving wheel 14
Critical piece assembles the structural representation after finishing.
Fig. 4 be observer from above, the left side, the different angle in three, front be when observing backplane rack 101, the backboard respectively obtaining
3 structural representations of frame 101.
Fig. 5 be observer from above, the left side, the different angle in three, front be when observing buttockss grillage 401, the podical plate respectively obtaining
3 structural representations of frame 401.
Fig. 6 be observer from above, the left side, the different angle in three, front be when observing lower limb grillage 601, the sole respectively obtaining
3 structural representations of frame 601.
Fig. 7 be observer from above, the left side, the different angle in three, front be when observing bracing frame 10, the support respectively obtaining
3 structural representations of frame 10.
Fig. 8 is a kind of structural representation having and having a bath with nursing robot's backboard 1 of massage functions, does not include carrying on the back in Fig. 8
First motor 102 of plate 1, the first drive 103, the first transmission belt 104, lath 888 part.
Fig. 9 is a kind of structural representation having and having a bath with the mechanical arm of the nursing robot of massage functions.
Figure 10 is a kind of structural representation having and having a bath with nursing robot's backboard 1 of massage functions, only includes in Figure 10
The backplane rack 101 of backboard 1, the first motor 102, the first drive 103, the first transmission belt 104, lath 888 part.
Figure 11 is lath 888 position as shown in Figure 10 of backboard 1, around lath 888 rotating shaft 8881 ratate 90 degrees after, the back of the body
Plate 1 only includes the backplane rack 101 of backboard 1, the first motor 102, the first drive 103, the first transmission belt 104, lath 888
Partial structural representation.
Figure 12 is a kind of structural representation having and having a bath with the podical plate 4 of the nursing robot of massage functions.
Figure 13 be podical plate 4 lath 888 as shown in Figure 12 position around lath 888 rotating shaft 8881 ratate 90 degrees after, buttockss
The structural representation of plate 4.
Figure 14 is a kind of structural representation having and having a bath with nursing robot's lower limb plate 6 of massage functions.
Figure 15 be a kind of have have a bath with the lath 888 of nursing robot's lower limb plate 6 of massage functions as shown in Figure 14 position around
Lath 888 rotating shaft 8881 ratate 90 degrees after, the structural representation of lower limb plate 6.
Figure 16 is lath 888 structural representation obtaining when lath 888 front is observed.
Figure 17 is when the left sides of lath 888, lath 888 structural representation obtaining.
Figure 18, Figure 19, Figure 20 can be the cross-sectional views of lath body 8882.
Figure 21 be backboard 1, podical plate 4, lower limb plate 6 main part be in the structural representation on a horizontal plane.
Figure 22 is another kind of state that backboard 1, podical plate 4, the main part of lower limb plate 6 present in the presence of electric pushrod
Schematic diagram.
Accompanying drawing identifies
Whole system by backboard 1, first axle 2, second hinge 3, podical plate 4, third hinge 5, lower limb plate 6, the 4th hinge 7,
First electric pushrod 8, the 5th hinge 9, bracing frame 10, deflecting roller 11, universal wheel 12, runner 13, driving wheel 14, the 6th hinge
15th, the second electric pushrod 16, the 7th hinge 17, the 8th hinge 18, the 3rd electric pushrod 19, the oneth the 9th hinge 20, bathtub 21,
Cleaning device 22, catcher 23, warm-air drier 24, controller 25, steer motor 26, accumulator 27, running motor 28, defecation pass
The major parts such as sensor 29 form.
Backboard 1 and podical plate 4 are linked together by first axle 2, and lower limb plate 6 and podical plate 4 are connected to one with third hinge 5
Rise, podical plate 4 and bracing frame 10 are linked together by second hinge 3, and the bottom of bracing frame 10 is equipped with deflecting roller 11, universal wheel
12nd, runner 13, driving wheel 14.
Backboard 1 can rotate clockwise or counterclockwise around the rotating shaft of first axle 2 in the presence of the 3rd electric pushrod 19,
Lower limb plate 6 can rotate clockwise or counterclockwise around the rotating shaft of third hinge 5 in the presence of the first electric pushrod 8, and podical plate 4 is
Can rotate clockwise or counterclockwise around the rotating shaft of second hinge 3 in the presence of two electric pushrods 16.Effect in electric pushrod
Lower a kind of have the plate face having a bath with the backboard 1 of the nursing robot of massage functions, podical plate 4, lower limb plate 6 to may be at a horizontal plane
Above as shown in figure 21 it is also possible to present version as shown in figure 22.
Wherein, backboard 1 is by lath 888, backplane rack 101, the first motor 102, the first drive 103, the first transmission belt
104th, guide rail 105, slide block 106, connecting rod 107, the tenth hinge 108, the 4th electric pushrod 109, the 11st hinge the 110, second electricity
The part such as motivation 111, the tenth two hinge 112 mechanical arm forms, and mechanical arm is by upper arm 113, three-motor 114, forearm
115th, the part such as handrail 116 forms.
Lath 888, backplane rack 101, the first motor 102, the first drive 103, the first transmission belt are provided with backboard 1
104, this part-structure of backboard 1 is as shown in Figure 10.The axle head of the first motor 102 is provided with the first drive 103, backboard
The axle head of 1 lath 888 is also provided with the first drive 103, and the first motor 102 passes through the first drive 103 and the first biography
Move and rotate with 104 laths 888 that can drive backboard 1, multiple laths 888 being collectively aligned constitute the plate face of backboard 1.
Guide rail 105 is arranged in backplane rack 101, and slide block 106 is arranged on guide rail 105, and two slide blocks 105 are by connecting rod even
107 are connected together, and the end of connecting rod 107 connects machine handss tool arm by the tenth two hinge 112, and the 4th electric pushrod 109 one end leads to
Cross the 11st hinge 110 to be connected in backplane rack 101, one end is connected on connecting rod 107 by the tenth hinge 108.In the 4th electricity
In the presence of dynamic push rod 109, slide block 106, connecting rod 107 and mechanical arm can be mobile along guide rail 105, this part of backboard 1
Structure is as shown in Figure 8.Under the drive of the second motor 111 mechanical arm can around the axis of rotation of the tenth two hinge 112,
Three-motor 114 can drive forearm 115 to rotate, and forearm 115 rotates and will drive handrail 116 turning around three-motor 114
Axle rotates.Mechanical arm structure is as shown in Figure 9.4th electric pushrod 109 can promote connecting rod 107 and whole mechanical arm along leading
Rail 105 is mobile.
Wherein, podical plate 4 is by lath 888, buttockss grillage 401, the second drive 402, the second transmission belt 403, the 4th motor
404th, the part such as the 3rd transmission belt 405 forms, and structure is as shown in figure 12.The axle head of the 4th motor 404 is provided with the second transmission
Wheel 402, the axle head of the lath 888 of podical plate 4 is also provided with the second drive 402.4th motor 404 passes through the second drive
402 and second transmission belt 403 and the 3rd transmission belt 405 drive the lath 888 of podical plate 4 to rotate, multiple laths 888 being collectively aligned
Constitute the plate face of podical plate 4.
Wherein, lower limb plate 6 is by lath 888, lower limb grillage 601, the 3rd drive 602, the 4th transmission belt 603, the 5th motor
604th, the part such as the 5th transmission belt 605 forms, and structure is as shown in figure 14.The axle head of the 5th motor 604 is provided with the 3rd transmission
Wheel 602, the axle head of the lath 888 of lower limb plate 6 is also provided with the 3rd drive 602, and the 5th motor 604 can lead to the 3rd drive
602nd, the 4th transmission belt 603, the 5th transmission belt 605 drive the lath 888 of lower limb plate 6 to rotate, multiple lath 888 structures being collectively aligned
Become the plate face of lower limb plate 6.
Wherein, lath 888 is made up of major parts such as rotating shaft 8881, lath body 8882, soft fibres 8883, and structure is shown in figure
16、17.
Specific embodiment
A kind of have to have a bath use with the nursing robot of massage functions pairing, two right one kind of a first from left have a bath with by
When the nursing robot of function of rubbing is positioned over horizontal plane, two a kind of to have the structure having a bath with the nursing robot of massage functions to close
Plane symmetry in the rotating shaft by second hinge 3 and perpendicular to horizontal plane.Backboard 1, podical plate 4, lower limb plate 6 can be lain in by care-giver
The plane that is collectively forming of plate face on.
When lie in plate face when being needed to sit up by care-giver, as long as pressing the control knob that sits up on controller 25,
Three electric pushrods 19 will promote backboard 1 to turn clockwise certain angle around the rotating shaft of first axle 2.Meanwhile, lower limb plate 6 is
Under the pulling of one electric pushrod 8, the rotating shaft around third hinge 5 turns clockwise certain angle.So, backboard 1, podical plate 4, lower limb
The plate face of plate 6 can together form one " chair face " as shown in figure 22, and this " chair face " is suitable to be sat up by nursing staff.This
When, a kind of have the nursing robot having a bath with massage functions to present a kind of " class wheelchair " state.
When being needed to lie down by care-giver when sitting up, as long as pressing the control knob of lying down on controller 25, the 3rd electricity
Dynamic push rod 19 pulls backboard 1 around the rotating shaft rotate counterclockwise certain angle of first axle 2, makes the plate face of backboard 1 and podical plate 4
Plate face is coplanar.Meanwhile, the first electric pushrod 8 promotes lower limb plate 6 around the rotating shaft rotate counterclockwise certain angle of third hinge 5, makes
The plate face of lower limb plate 6 and podical plate 4 are coplanar.When backboard 1, podical plate 4, plate face one plane of coexistence of lower limb plate 6 as shown in figure 21, Yi Zhongyou
Have a bath and present a kind of " class bed " state with the nursing robot of massage functions.
When being in when being needed to stand up by nursing staff of lying status, if press on 25 on controller standing up control by
Button, the second electric pushrod 16 will promote podical plate 4 around the rotating shaft rotation of second hinge 3, and podical plate 4 will drive backboard 1 and lower limb
Plate 6 is together around the rotating shaft rotation of second hinge 3.So, can assist and be completed to stand up action by care-giver, also can be by care-giver
Transfer to opposite side a kind of have have a bath with the plate face of the nursing robot of massage functions on.
Equipped with defecation sensor 29 on the lath of podical plate 4, defecation sensor 29 can perceive by the defecation of care-giver
State, when defecation sensor 29 senses and had big or urine discharge by care-giver, will pass consequent signal
To controller 25, controller 25 controls the 4th motor 404 to drive the multiple laths 888 on podical plate 4 around each itself turn
Axle 8881 rotates, and podical plate 4 has a plurality of strip space and exposes, and the warm water that cleaning device is 22 and abluent are alternately sprayed onto podical plate 4
Lath 888 and by care-giver's buttocks or leg.So, you can clean lath 888 and by care-giver's buttocks.Cleaning produces
Filthy water can be pooled to the catcher 23 positioned at podical plate 4 lower section, and keeps in.After cleaning finishes, press warm on controller 25
The control knob of blower fan 24, warm-air drier 24 can dry up podical plate 4 and the buttocks by care-giver.
When being had a bath by care-giver, the nursing robot having a bath with massage functions can be had to be arranged to " class a kind of
Chair " state, to reduce a kind of space having and having a bath with nursing robot's occupancy of massage functions, also allows for moving.A kind of
Having has a bath moves to toilet with the nursing robot of massage functions or other are easy to the place had a bath, start the first motor
102nd, the 4th motor 404, the 5th motor 604, makes the lath 888 on backboard 1, podical plate 4, lower limb plate 6 rotate, to cleaning
Device 22 is passed through warm water, and adjustment cleaning device 22 sprays the orientation of warm water and abluent, so that water for cleaning and abluent is sprayed
Reach by the body part to be cleaned of care-giver.In this manner it is possible to be had a bath by care-giver.
When by care-giver to need massage when, by the control knob of controller 25 a kind of have have a bath and massage functions
Nursing robot is arranged to massage mode, and the first motor 102, motor 405, motor 605 drive lath 888 according to massage
Mode rotate.
A kind of have have a bath with the nursing robot of massage functions can indoors with outdoor traveling, accumulator 27 can have for one kind
The nursing robot's operation offer energy having a bath with massage functions, running motor 28 can drive driving wheel 14 to rotate, driving wheel 14
Rotation can have the nursing robot having a bath with massage functions to provide the power moving for a kind of, and steer motor 26 passes through deflecting roller 11
Control is a kind of the direction of motion having a bath with the nursing robot of massage functions.
Claims (7)
1. a kind of have the nursing robot having a bath with massage functions, it is characterized by, comprising: backboard (1), first axle (2), second
Hinge (3), podical plate (4), third hinge (5), lower limb plate (6), the 4th hinge (7), the first electric pushrod (8), the 5th hinge (9),
Bracing frame (10), deflecting roller (11), universal wheel (12), runner (13), driving wheel (14), the 6th hinge (15), second electronic push away
Bar (16), the 7th hinge (17), the 8th hinge (18), the 3rd electric pushrod (19), the oneth the 9th hinge (20), bathtub (21),
Cleaning device (22), catcher (23), warm-air drier (24), controller (25), steer motor (26), accumulator (27), traveling electricity
Machine (28) and defecation sensor (29)；
Backboard (1) is connected with podical plate (4) by first axle (2), and lower limb plate (6) passes through third hinge (5) and podical plate (4) connects
Connect, podical plate (4) passes through second hinge (3) and bracing frame (10) connects, and backboard (1) can in the presence of the 3rd electric pushrod (19)
Rotating shaft around first axle (2) rotates clockwise or counterclockwise, and lower limb plate (6) can be around in the presence of the first electric pushrod (8)
The rotating shaft third hinge (5) rotates clockwise or counterclockwise, and podical plate (4) can be around in the presence of the second electric pushrod (16)
The rotating shaft of second hinge (3) rotates clockwise or counterclockwise；
One end of first electric pushrod (8) is connected with lower limb plate (6) by the 4th hinge (7), the other end pass through the 5th hinge (9) with
Bracing frame (10) connects；One end of 3rd electric pushrod (19) is connected with backboard (1) by the oneth the 9th hinge (20), the other end
It is connected with bracing frame (10) by the 8th hinge (18)；The 7th hinge (17) and podical plate are passed through in one end of second electric pushrod (16)
(4) connect, the other end is connected with bracing frame (10) by the 6th hinge (15)；In the presence of electric pushrod, backboard (1), buttockss
Plate (4), the plate face of lower limb plate (6) are on a horizontal plane, or, podical plate (4) level, backboard (1) is another for axle with first axle (2)
One end tilts upward, and lower limb plate (6) is with third hinge (5) for the axle other end diagonally downward；
The bottom of bracing frame (10) equipped with deflecting roller (11), universal wheel (12), runner (13), driving wheel (14), deflecting roller (11),
Universal wheel (12), runner (13), driving wheel (14) support a kind of nursing robot having and having a bath with massage functions jointly, a kind of
Have have a bath with the nursing robot of massage functions can indoors with outdoor traveling；Accumulator (27) can be run for robot and provide energy
Source, running motor (28) can drive driving wheel (14) to rotate, and driving wheel (14) rotates the power that can provide motion for robot, turns
Control the direction of motion of robot to motor (26) by deflecting roller (11)；
Bathtub (21) is arranged on podical plate (4) below, and defecation sensor (29) is arranged on podical plate (4), and cleaning device (22) sets
Put in bathtub (21), for cleaning podical plate (4) and by care-giver's body, warm-air drier (24) is arranged on bathtub (21), is used for
Dry up podical plate (4) and the body by care-giver, catcher (23) is arranged on bathtub (21) bottom, for produce after temporary cleaning
Waste water；
Controller (25) and the first electric pushrod (8), the second electric pushrod (16), the 3rd electric pushrod (19), defecation sensing
Device (29), cleaning device (22) and warm-air drier (24) electrical connection.
2. have, according to a kind of described in claim 1, the nursing robot having a bath with massage functions, it is characterized by, backboard (1) wraps
Include: lath (888), backplane rack (101), the first motor (102), the first drive (103), the first transmission belt (104), guide rail
(105), slide block (106), connecting rod (107), the tenth hinge (108), the 4th electric pushrod (109), the 11st hinge (110),
Two motor (111), the tenth two hinge (112) and mechanical arm, described mechanical arm includes: upper arm (113), three-motor
(114), forearm (115) and handrail (116)；
Guide rail (105) is arranged in backplane rack (101), and slide block (106) is arranged on guide rail (105), and two slide blocks (106) are passed through
Connecting rod (107) links together, and the end of connecting rod (107) is passed through the tenth two hinge (112) and connected machine handss tool arm；4th electronic pushes away
Bar (109) one end is connected in backplane rack (101) by the 11st hinge (110), and the other end passes through the tenth hinge (108) and connects
On connecting rod (107)；In the presence of the 4th electric pushrod (109), slide block (106), connecting rod (107) and mechanical arm can edges
Guide rail (105) mobile；
Under the drive of the second motor (111), mechanical arm can be around the axis of rotation of the tenth two hinge (112), and the 3rd is electronic
Machine (114) can drive forearm (115) to rotate, and forearm (115) rotates and will drive handrail (116) around three-motor (114)
Axis of rotation；
The axle head of the first motor (102) is provided with the first drive (103), and the axle head of the plate (888) of backboard 1 is also provided with
One drive (103), the first motor (102) passes through the first drive (103) and the first transmission belt (104) can drive backboard 1
Lath (888) rotate, a plurality of lath (888) being collectively aligned constitutes the plate face of backboard 1.
3. have, according to a kind of described in claim 2, the nursing robot having a bath with massage functions, it is characterized by, podical plate (4) wraps
Include: lath (888), buttockss grillage (401), the second drive (402), the second transmission belt (403), the 4th motor (404) and
Three transmission belts (405)；The axle head of the 4th motor (404) is provided with the second drive (402), the axle of the lath (888) of podical plate 4
End is also provided with the second drive (402)；4th motor (404) passes through the second drive (402) and the second transmission belt (403)
The lath (888) driving podical plate 4 with the 3rd transmission belt (405) rotates, and a plurality of lath (888) being collectively aligned constitutes podical plate
(4) plate face.
4. have, according to a kind of described in claim 3, the nursing robot having a bath with massage functions, it is characterized by, lower limb plate (6) wraps
Include: lath (888), lower limb grillage (601), the 3rd drive (602), the 4th transmission belt (603), the 5th motor (604) and
Five transmission belts (605)；The axle head of the 5th motor (604) is provided with the 3rd drive (602), the axle of the lath (888) of lower limb plate 6
End is also provided with the 3rd drive (602)；5th motor (604) lead to the 3rd drive (602), the 4th transmission belt (603), the
Five transmission belts (605) drive the lath (888) of lower limb plate (6) to rotate, and a plurality of lath (888) being collectively aligned constitutes lower limb plate 6
Plate face.
5. have, according to a kind of described in claim 4, the nursing robot having a bath with massage functions, it is characterized by, the first motor
(102), the 4th motor (404) is direct current, exchanges or motor with the 5th motor (604), the first transmission belt (104),
Second transmission belt (403), the 3rd transmission belt (405), the 4th transmission belt (603) and the 5th transmission belt (605) are chain or synchronization
Cog belt.
6. have, according to a kind of described in claim 4, the nursing robot having a bath with massage functions, it is characterized by, lath (888)
Including: rotating shaft (8881), lath body (8882), soft fibre (8883), rotating shaft (8881) is arranged on lath body (8882) two ends, soft
On the outer wall in lath body (8882) that fiber (8883) is arranged.
7. have, according to a kind of described in claim 6, the nursing robot having a bath with massage functions, it is characterized by, lath body
(8882) rectangle after cross section is oval, two sections of circular arcs and two straight lines surround centrosymmetric image or chamfering, institute
State the distance with diameter greater than described two straight lines of two sections of circular arcs.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310616500.3A CN103610545B (en) | 2013-11-22 | 2013-11-22 | Nursing robot with bathing and massaging functions |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310616500.3A CN103610545B (en) | 2013-11-22 | 2013-11-22 | Nursing robot with bathing and massaging functions |
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| Publication Number | Publication Date |
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| CN103610545A CN103610545A (en) | 2014-03-05 |
| CN103610545B true CN103610545B (en) | 2017-02-01 |
Family
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| Application Number | Title | Priority Date | Filing Date |
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| CN201310616500.3A Expired - Fee Related CN103610545B (en) | 2013-11-22 | 2013-11-22 | Nursing robot with bathing and massaging functions |
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| CN (1) | CN103610545B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103976830A (en) * | 2014-05-27 | 2014-08-13 | 王永滨 | Sickbed capable of automatically detecting and transferring patients |
| CN104905924B (en) * | 2015-06-25 | 2018-07-06 | 王英英 | Patient cleans massage machine |
| CN109044673B (en) * | 2018-08-26 | 2021-03-16 | 张惠丽 | Detection mechanism capable of automatically shifting, wiping and drying after detection to recover detection function |
| CN109157341A (en) * | 2018-09-19 | 2019-01-08 | 深圳市创明利科技有限公司 | Wisdom nursing wheelchair and its application method |
| CN111228052A (en) * | 2020-01-14 | 2020-06-05 | 台州学院 | Bed with auxiliary rising and lying structure |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN103610545A (en) | 2014-03-05 |
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