WO2022156125A1 - Nursing robot system - Google Patents

Abstract

A nursing robot system, which comprises a nursing bed (100), a wheelchair (200), a sanitary cabin (300) and a human body transfer mechanism (400). The human body transfer mechanism (400) comprises a main body (401) capable of moving horizontally, and mechanical arms (402) arranged on the main body (401), wherein the main body (401) is provided with several mattress panels (405) arranged separately, and there are several mechanical arms (402) and same are respectively arranged in a gap between two adjacent mattress panels (405). In the nursing robot system, by means of the human body transfer mechanism (400), a human body is transferred between the nursing bed (100), the wheelchair (200) and the sanitary cabin (300), so that automatic bathing is achieved, and the system is easy to operate, such that the labor intensity of nursing staff is reduced. The mechanical arms (402) can be inserted into the gap between two adjacent mattress panels so as to be located below the human body, and the mechanical arms (402) move upward so that the human body can be lifted and same can drive the human body to move horizontally so as to transfer the human body. The structure of the system is simple, and the safety and the reliability thereof are high.

Description

护理机器人***Nursing Robot System 技术领域technical field

本发明涉及医疗和护理设备技术领域，尤其涉及一种护理机器人***。The invention relates to the technical field of medical and nursing equipment, in particular to a nursing robot system.

背景技术Background technique

我国人口老龄化问题将越来越突出，老人，特别是失能老人亟须得到更加周全、体面的照料，而目前我国的老年人护理行业现状是：学校开设的养老服务护理专业招生困难，养老机构招工困难，由此，近年来针对失能老人的护理出现了各种各样的护理产品，然而没有出现能够将失能老人再护理床上、轮椅上和卫生舱上相互转移的产品，目前仍需要护理人员将失能老人报到护理床上、轮椅上和卫生舱上，这对护理人员的体力是极大的考验，而且还存在一定的安全隐患，尤其是刚做完手术不久或者是身体需要保持相对稳定的病人，难度都非常大。The problem of population aging in my country will become more and more prominent. The elderly, especially the disabled elderly, urgently need more comprehensive and decent care. However, the current status of the elderly care industry in my country is: the school's elderly care services are difficult to recruit, and elderly care services are difficult to recruit. It is difficult for institutions to recruit workers. Therefore, in recent years, various nursing products have appeared for the nursing of the disabled elderly. However, there is no product that can transfer the disabled elderly to nursing beds, wheelchairs and sanitary cabins. Nursing staff are required to report the disabled elderly to nursing beds, wheelchairs and sanitary cabins. This is a great test for the physical strength of the nursing staff, and there are certain safety hazards, especially after the operation is completed or the body needs to be maintained. Relatively stable patients are very difficult.

发明内容SUMMARY OF THE INVENTION

为了克服上述现有技术的不足，本发明提供了一种护理机器人***，包括：护理床，具有供人平躺的床面；轮椅，可调节为坐姿状态和放平状态；卫生舱，具有第一喷淋组件和烘干组件，用于对人体进行清洗护理及烘干；人体转移机构，包括可水平移动的主体以及设置在所述主体上的机械臂，人体可平躺于所述主体上，所述机械臂用于抬起并转移人体，所述主体上具有若干个分隔设置的床垫，所述机械臂有若干个并且对应设置于相邻两个所述床垫之间的间隙中。In order to overcome the above-mentioned deficiencies of the prior art, the present invention provides a nursing robot system, including: a nursing bed, which has a bed surface for people to lie on; a wheelchair, which can be adjusted to a sitting state and a flat state; a spray component and a drying component for cleaning, nursing and drying the human body; the human body transfer mechanism includes a main body that can move horizontally and a mechanical arm arranged on the main body, and the human body can lie flat on the main body , the mechanical arm is used to lift and transfer the human body, the main body has several mattresses arranged separately, and the mechanical arms have several and are correspondingly arranged in the gap between two adjacent mattresses .

进一步地，所述主体上设置有承重框架，若干个所述机械臂的一端均与移动杆连接，所述移动杆连接有水平移动驱动组件，所述水平移动驱动组件用于驱使所述移动杆沿水平方向在所述承重框架上往复移动。Further, the main body is provided with a load-bearing frame, one end of several of the mechanical arms is connected with a moving rod, and the moving rod is connected with a horizontal moving driving assembly, and the horizontal moving driving assembly is used to drive the moving rod Reciprocate on the load-bearing frame in a horizontal direction.

进一步地，所述承重框架还连接有上下移动驱动组件，所述上下移动驱 动组件通过所述承重框架驱使所述机械臂沿竖向往复移动。Further, the load-bearing frame is also connected with an up-and-down movement drive assembly, and the up-and-down movement drive assembly drives the mechanical arm to reciprocate vertically through the load-bearing frame.

进一步地，所述承重框架上间隔设置有若干个承重条，若干个所述承重条对应于若干个所述床垫的间隙中。Further, several load-bearing bars are arranged at intervals on the load-bearing frame, and several of the load-bearing bars correspond to the gaps of several of the mattresses.

进一步地，若干个所述机械臂对应设置在若干个所述承重条上，并且所述机械臂与所述承重条之间设置有滑轮。Further, several of the mechanical arms are correspondingly arranged on several of the load-bearing bars, and pulleys are arranged between the mechanical arms and the load-bearing bars.

进一步地，所述水平移动驱动组件包括水平设置的平移轨道以及设置在所述平移轨道上的滑块，所述滑块连接有第三驱动机构。Further, the horizontal movement drive assembly includes a horizontally arranged translation track and a slider arranged on the translation track, and the slider is connected with a third drive mechanism.

进一步地，所述移动杆上设置有护栏，所述护栏随所述移动杆沿所述平移轨道移动至所述主体的一侧。Further, a guardrail is provided on the moving rod, and the guardrail moves along the translation track to one side of the main body along with the moving rod.

进一步地，包括舱体、固定架组件、第一交替架组件和第二交替架组件，所述第一交替架组件连接有第一驱动组件并设置于所述舱体内用于支撑人体上部的位置，所述第二交替架组件连接有第二驱动组件并设置于所述舱体内用于支撑人体脚部的位置，所述第一交替架组件、所述第二交替架组件分别与所述固定架组件错位设置，所述舱体的中部还设置有***物收集器，所述第一驱动组件可驱使所述第一交替架组件相对所述舱体转动以抬起人体上部，所述第二驱动组件可驱使所述第二交替架组件相对所述舱体转动以抬起人体脚部进而使人体呈坐姿状态并且臀部对准所述***物收集器。Further, it includes a cabin, a fixed frame assembly, a first alternate frame assembly and a second alternate frame assembly, wherein the first alternate frame assembly is connected with a first drive assembly and is arranged in the cabin for supporting the upper part of the human body. , the second alternating frame assembly is connected with a second driving assembly and is arranged in the cabin for supporting the foot of the human body, and the first alternating frame assembly and the second alternating frame assembly are respectively connected with the fixed The frame assemblies are dislocated, the middle part of the cabin is also provided with a waste collector, the first drive assembly can drive the first alternate frame assemblies to rotate relative to the cabin to lift the upper part of the human body, the second The drive assembly can drive the second alternating frame assembly to rotate relative to the pod to lift the foot of the human body so that the human body is in a sitting position and the buttocks are aligned with the waste collector.

进一步地，所述固定架组件和/或所述第一交替架组件和/或所述第二交替架组件具有若干个间隔设置的护垫。Further, the fixed frame assembly and/or the first alternate frame assembly and/or the second alternate frame assembly have several spaced protective pads.

进一步地，所述第一交替架组件和所述第二交替架组件还连接有提升驱动组件，所述第一交替架组件和第二交替架组件可通过所述提升驱动组件同步朝上或朝下移动。Further, the first alternating frame assembly and the second alternating frame assembly are also connected with a lifting drive assembly, and the first alternating frame assembly and the second alternating frame assembly can be synchronously directed upward or downward through the lifting drive assembly. move down.

进一步地，还包括第一喷淋组件和防水帘，所述第一喷淋组件设置于所述舱体的上方并且可沿所述舱体的长度方向水平往复移动，所述防水帘可展开设置于所述舱体的周侧。Further, it also includes a first spray assembly and a waterproof curtain, the first spray assembly is arranged above the cabin and can be horizontally reciprocated along the length direction of the cabin, and the waterproof curtain can be deployed on the peripheral side of the cabin.

进一步地，还包括第二喷淋组件，所述第二喷淋组件设置在所述第一交替架组件和/或所述第二交替架组件上，所述第二喷淋组件可随所述第一交替架组件和/或所述第二交替架组件转动以对准人体背部和/或人体臀部和/或人体腿部。Further, it also includes a second spray assembly, the second spray assembly is arranged on the first alternate frame assembly and/or the second alternate frame assembly, and the second spray assembly can follow the The first alternating frame assembly and/or the second alternating frame assembly is rotated to align the back of the human body and/or the buttocks of the human body and/or the legs of the human body.

进一步地，所述第一喷淋组件和/或所述第二喷淋组件还连接有肥皂液盒。Further, the first spray assembly and/or the second spray assembly is also connected with a soap liquid box.

进一步地，所述第一喷淋组件和/或所述第二喷淋组件还连接有臭氧消毒组件。Further, the first spray assembly and/or the second spray assembly is also connected with an ozone disinfection assembly.

进一步地，所述护理床包括床架以及并排设置在所述床架上的若干个独立升降单元，若干个所述的独立升降单元的上端分别设置有用于支撑人体的护垫，并且初始状态下若干个所述独立升降单元的高度一致以形成可供人体平躺的床面。Further, the nursing bed includes a bed frame and several independent lifting units arranged side by side on the bed frame, and the upper ends of the several independent lifting units are respectively provided with pads for supporting the human body, and in the initial state The heights of several of the independent lifting units are the same to form a bed surface on which the human body can lie flat.

进一步地，所述独立升降单元包括第一支撑板以及通过第一剪刀架驱使所述第一支撑板沿竖向上下移动的第一电动推杆，所述护垫固定安装在所述第一支撑板的上端面。Further, the independent lifting unit includes a first support plate and a first electric push rod that drives the first support plate to move vertically up and down through a first scissor frame, and the pad is fixedly installed on the first support. the upper end of the board.

进一步地，所述床架上还设置有依次铰接的至少两个支撑架，若干个所述独立升降单元设置在所述支撑架上。Further, the bed frame is also provided with at least two support frames that are hinged in sequence, and a plurality of the independent lifting units are arranged on the support frames.

进一步地，所述支撑架有四个并且分为第一支撑架、第二支撑架、第三支撑架和第四支撑架，其中所述第一支撑架用于提升人体背部，所述第二支撑架固定安装在所述床架上用于支撑人体臀部，所述第二支撑架用于支撑人体大腿部曲起，所述第四支撑架用于支撑人体小腿部曲起。Further, there are four support frames and are divided into a first support frame, a second support frame, a third support frame and a fourth support frame, wherein the first support frame is used to lift the back of the human body, the second support frame The support frame is fixedly installed on the bed frame to support the buttocks of the human body, the second support frame is used to support the bending of the thigh of the human body, and the fourth support frame is used to support the bending of the lower leg of the human body.

进一步地，所述第一支撑架连接有第一驱动器，所述第三支撑架连接有第二驱动器，并且所述第一驱动器和所述第二驱动器均可转动安装在所述床架上。Further, the first support frame is connected with a first driver, the third support frame is connected with a second driver, and both the first driver and the second driver can be rotatably mounted on the bed frame.

进一步地，所述轮椅包括连接有第一移动装置的座椅部，所述座椅部的两端分别铰接有靠背部和脚踏部，并且所述座椅部、所述靠背部和所述脚 踏部上均具有若干个间隔设置的护垫，所述座椅部上相邻两个所述护垫之间设置有填补支撑组件，所述填补支撑组件连接有驱动机构，所述驱动机构用于驱使所述填补支撑组件朝上移动以至与所述护垫水平以支撑人体或朝下移动以在相邻两个所述护垫之间形成能够容机械臂***的凹槽。Further, the wheelchair includes a seat portion connected with the first moving device, two ends of the seat portion are hinged with a backrest portion and a footrest portion, respectively, and the seat portion, the backrest portion and the There are several spaced pads on the footrest, and a filling support assembly is arranged between two adjacent pads on the seat portion, and the filling support assembly is connected with a driving mechanism, and the driving mechanism It is used to drive the filling support assembly to move upwards to be horizontal with the pads to support the human body or to move downwards to form a groove for inserting a robotic arm between two adjacent pads.

进一步地，所述填补支撑组件包括第二支撑板以及通过第二剪刀架驱使所述第二支撑板沿竖向上下移动的第二电动推杆，所述第二支撑板上具有若干个间隔设置的填补垫，所述填补垫可自相邻两个所述护垫之间的间隙处上下移动。Further, the filling support assembly includes a second support plate and a second electric push rod that drives the second support plate to move vertically up and down through the second scissor frame, and the second support plate has several spaced settings. The padding pad can move up and down from the gap between two adjacent pads.

进一步地，所述靠背部连接有第一驱动机构，所述第一驱动机构能够驱使所述靠背部相对所述座椅部转动至与所述座椅部水平。Further, the backrest portion is connected with a first driving mechanism, and the first driving mechanism can drive the backrest portion to rotate relative to the seat portion to be horizontal with the seat portion.

进一步地，所述脚踏部连接有第二驱动机构，所述第二驱动机构能够驱使所述脚踏部相对所述座椅部转动至与所述座椅部水平。Further, the footrest portion is connected with a second driving mechanism, and the second driving mechanism can drive the footrest portion to rotate relative to the seat portion to be horizontal with the seat portion.

进一步地，所述人体转移机构的一侧或两侧还设置有对接组件，所述护理床和/或所述轮椅和/或所述卫生舱上设置有与所述对接组件相配合的定位导向组件，所述对接组件可插接固定到所述定位导向组件中。Further, one side or both sides of the human body transfer mechanism is also provided with a docking assembly, and a positioning guide matched with the docking assembly is provided on the nursing bed and/or the wheelchair and/or the sanitary cabin. assembly, the docking assembly can be plugged and fixed into the positioning guide assembly.

进一步地，所述对接组件包括安装杆以及分别设置在所述安装杆上的导向杆和锁定钩，所述锁定钩铰接在所述安装杆上，所述定位导向组件包括对应于所述导向杆的导向孔以及对应于所述锁定钩的锁定杆。Further, the docking assembly includes an installation rod, a guide rod and a locking hook respectively arranged on the installation rod, the locking hook is hinged on the installation rod, and the positioning guide assembly includes a guide rod corresponding to the guide rod the guide hole and the locking lever corresponding to the locking hook.

进一步地，所述锁定钩的前端面为倾斜面，所述锁定钩水平移动以靠近并越过所述锁定杆进而勾接在所述锁定杆上。Further, the front end surface of the locking hook is an inclined surface, and the locking hook moves horizontally to approach and pass over the locking rod and then hook on the locking rod.

进一步地，还包括位于所述锁定钩下端面的移动轴，所述锁定钩的下端面为倾斜面，所述移动轴连接有伸缩电缸，所述移动轴通过所述伸缩电缸驱动以水平往复移动进而驱使所述锁定钩相对所述安装杆转动以松开所述锁定杆。Further, it also includes a moving shaft located on the lower end surface of the locking hook, the lower end surface of the locking hook is an inclined surface, the moving shaft is connected with a telescopic electric cylinder, and the moving shaft is driven by the telescopic electric cylinder to horizontally. The reciprocating movement then drives the locking hook to rotate relative to the mounting lever to release the locking lever.

进一步地，所述锁定钩有若干个并排设置在所述安装杆上，所述移动轴 能够驱使若干个所述锁定钩同步转动。Further, a plurality of the locking hooks are arranged side by side on the mounting rod, and the moving shaft can drive the plurality of locking hooks to rotate synchronously.

本发明的有益效果有：本发明的护理机器人***通过人体转移机构实现人体在护理床、轮椅和卫生舱之间的转移，自动化洗浴和烘干，操作简单，降低护理人员的劳动强度，并且本发明的人体转移机构采用具有若干个分隔设置的床垫，机械臂可插接到相邻两个床垫的间隙中进而位于人体的下方，机械臂朝上移动即可将人体抬起并且驱使人体水平移动而实现转移，结构简单，安全和可靠性高。The beneficial effects of the present invention are as follows: the nursing robot system of the present invention realizes the transfer of the human body between the nursing bed, the wheelchair and the sanitary cabin through the human body transfer mechanism, automates bathing and drying, the operation is simple, the labor intensity of the nursing staff is reduced, and the The human body transfer mechanism of the invention adopts a number of mattresses arranged separately, the mechanical arm can be inserted into the gap between two adjacent mattresses and is located under the human body, and the mechanical arm can move up to lift the human body and drive the human body. The transfer can be realized by moving horizontally, with simple structure, high safety and reliability.

附图说明Description of drawings

本发明的上述和/或附加的方面和优点从结合下面附图对实施例的描述中将变得明显和容易理解，其中：The above and/or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of embodiments taken in conjunction with the accompanying drawings, wherein:

图1是本发明实施例的护理机器人***的结构示意图；1 is a schematic structural diagram of a nursing robot system according to an embodiment of the present invention;

图2是本实用新型实施例的人体转移机构的结构示意图；Fig. 2 is the structural representation of the human body transfer mechanism of the embodiment of the present invention;

图3是本实用新型实施例的人体转移机构的部分结构示意图；Fig. 3 is the partial structure schematic diagram of the human body transfer mechanism of the embodiment of the present invention;

图4是本实用新型实施例的护理床的结构示意图；4 is a schematic structural diagram of a nursing bed according to an embodiment of the present invention;

图5是本实用新型实施例的护理床呈坐姿状态下的结构示意图；5 is a schematic structural diagram of the nursing bed according to the embodiment of the present invention in a sitting position;

图6是本实用新型实施例的独立升降单元的结构示意图；6 is a schematic structural diagram of an independent lifting unit according to an embodiment of the present invention;

图7是本实用新型实施例的轮椅在坐姿状态下的结构示意图；7 is a schematic structural diagram of the wheelchair according to the embodiment of the present invention in a sitting position;

图8是本实用新型实施例的轮椅在放平状态下的结构示意图；8 is a schematic structural diagram of the wheelchair according to the embodiment of the present invention in a flat state;

图9是本实用新型实施例的填补支撑组件的结构示意图；9 is a schematic structural diagram of a filling support assembly according to an embodiment of the present invention;

图10是本实用新型实施例的卫生舱的结构示意图；10 is a schematic structural diagram of a sanitary cabin according to an embodiment of the present invention;

图11是本实用新型实施例的卫生舱的部分内部结构图；11 is a partial internal structure diagram of the sanitary cabin of the embodiment of the present invention;

图12是本实用新型实施例的对接组件的结构示意图；12 is a schematic structural diagram of a docking assembly according to an embodiment of the present invention;

图13是本实用新型实施例的定位导向组件的结构示意图。13 is a schematic structural diagram of a positioning guide assembly according to an embodiment of the present invention.

具体实施方式Detailed ways

为了使本发明的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本发明进行进一步详细说明。应当理解，此处所描述的具体 实施例仅用以解释本发明，并不用于限定本发明。In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present invention.

参照图1所示的一种护理机器人***，其包括人体转移机构400、护理床100、轮椅200以及卫生舱300，其中，Referring to a nursing robot system shown in FIG. 1, it includes a human body transfer mechanism 400, a nursing bed 100, a wheelchair 200 and a sanitary cabin 300, wherein,

参照图2与图3所示，所述人体转移机构400包括主体401以及设置于主体401上的机械臂402，其中所述主体401连接有第二移动装置404，人体可平躺于所述主体401上，主体401可以在水平面上移动以转移人体，该第二移动装置404可以是设置于主体401下端的若干个刹车脚轮，主体401包括床板以及若干个分隔设置的床垫405，相邻两个床垫405之间的间距大于机械臂402的宽度，机械臂402也有若干个并且对应分设于相邻两个床垫405之间的间隙中，若干个机械臂402均通过移动杆403连接有水平移动驱动组件406，该水平移动驱动组件406可以是常规的直线滑台机构，具体的，所述水平移动驱动组件406包括水平设置于主体401上的平移轨道以及设置于平移轨道上的滑块，所述滑块连接有第三驱动机构，滑块通过第三驱动机构实现在平移轨道上往复滑动，而移动杆403则固定安装在该滑块上并随滑块沿平移轨道往复移动，进而实现若干个机械臂402同步水平移动，并且该水平移动驱动组件406有两个并分设于移动杆403的两端，通过两个水平移动驱动组件406同时运动以驱动机械臂402自主体401内伸出或者是缩回所述主体401内，当然，也可以是通过其中一个水平移动驱动组件406上不设置第三驱动机构，通过一个第三驱动机构实现机械臂402的水平往复移动即可，需说明的是，所述第三驱动机构可以是常规的电动、气动、液压推杆等；所述主体401上还设置有承重框架407和上下移动驱动组件408，该上下移动驱动组件408可以是常规的升降立柱或伸缩电缸5004，该上下移动驱动组件408的一端固定安装在主体401上，另一端与承重框架407连接，即承重框架407通过上下移动驱动组件408实现沿竖向的上下移动，而在另外一些实施例中，该承重框架407还可以通过曲轴联动的方式实现上下移动，具体的示例可以是通过常规的剪 刀架机构实现其平顺地上下移动进而带动机械臂402将人体抬起脱离床面，而机械臂402和水平移动驱动组件406均设置于该承重框架407上，进而实现机械臂402上下移动以将人体抬起或者将人体放下；而人体平躺在床垫405时，上下移动驱动组件408可以通过承重框架407驱使机械臂402移动至机械臂402的上端面高度与床垫405的上端面持平，进而提升人体平躺在该人体转移机构上的舒适度。Referring to FIGS. 2 and 3 , the human body transfer mechanism 400 includes a main body 401 and a mechanical arm 402 disposed on the main body 401 , wherein the main body 401 is connected with a second moving device 404 , and the human body can lie flat on the main body On 401, the main body 401 can move on a horizontal plane to transfer the human body, the second moving device 404 can be a plurality of brake casters arranged at the lower end of the main body 401, the main body 401 includes a bed board and a number of separated mattresses 405, two adjacent ones. The distance between the mattresses 405 is greater than the width of the robotic arms 402 . There are also several robotic arms 402 and are correspondingly arranged in the gaps between two adjacent mattresses 405 . The horizontal movement drive assembly 406 can be a conventional linear slide mechanism. Specifically, the horizontal movement drive assembly 406 includes a translation track horizontally arranged on the main body 401 and a slider arranged on the translation track , the sliding block is connected with a third driving mechanism, the sliding block realizes reciprocating sliding on the translation track through the third driving mechanism, and the moving rod 403 is fixedly installed on the sliding block and moves back and forth along the translation track with the sliding block, and then The synchronous horizontal movement of several mechanical arms 402 is realized, and the horizontal movement driving components 406 are two and are respectively arranged at both ends of the moving rod 403, and the two horizontal movement driving components 406 are simultaneously moved to drive the mechanical arms 402 to extend from the main body 401. The main body 401 can be pulled out or retracted into the main body 401. Of course, it is also possible that a third driving mechanism is not provided on one of the horizontal movement driving components 406, and the horizontal reciprocating movement of the mechanical arm 402 can be realized by a third driving mechanism. It is noted that the third driving mechanism can be a conventional electric, pneumatic, hydraulic push rod, etc.; the main body 401 is also provided with a load-bearing frame 407 and an up-and-down drive assembly 408, which can be conventional One end of the up-and-down movement drive assembly 408 is fixedly installed on the main body 401, and the other end is connected with the load-bearing frame 407, that is, the load-bearing frame 407 can move up and down vertically by moving the drive assembly 408 up and down, In other embodiments, the load-bearing frame 407 can also be moved up and down by means of crankshaft linkage. A specific example can be achieved by a conventional scissor frame mechanism to smoothly move up and down to drive the mechanical arm 402 to lift the human body away from the body. On the bed surface, the robotic arm 402 and the horizontal movement drive assembly 406 are both disposed on the load-bearing frame 407, so that the robotic arm 402 can move up and down to lift or lower the human body; and when the human body is lying on the mattress 405, the up and down The moving drive assembly 408 can drive the robot arm 402 to move through the load-bearing frame 407 until the upper end surface of the robot arm 402 is at the same height as the upper end surface of the mattress 405, thereby improving the comfort of the human body lying on the human body transfer mechanism.

在一些实施例中，参照图2与图3所示，所述移动杆403上设置有护栏409，水平移动驱动组件406能驱使所述移动杆403移动至所述主体401的一侧，具体的，水平移动驱动组件406驱使机械臂402缩回主体401中，此时移动杆403上的护栏409可以位于主体401的一侧，对人体更好的防护，而且在使用机械臂402转移人体的过程中，用户可以手扶着护栏409而避免发生人体自机械臂402上跌落等意外事故；需要说明的是，该人体转移机构400的两侧均设置有护栏409，其中一侧的护栏409能够随移动杆403移动，另一侧的护栏409则是可以向下收纳的，其可以通过常规的四杆机构收纳于主体401内，方便人员转移。In some embodiments, as shown in FIG. 2 and FIG. 3 , the moving rod 403 is provided with a guardrail 409 , and the horizontal movement driving component 406 can drive the moving rod 403 to move to one side of the main body 401 , specifically , the horizontal movement drive assembly 406 drives the mechanical arm 402 to retract into the main body 401. At this time, the guardrail 409 on the moving rod 403 can be located on one side of the main body 401, which provides better protection for the human body, and in the process of using the mechanical arm 402 to transfer the human body In the middle, the user can hold the guardrail 409 to avoid accidents such as the human body falling from the mechanical arm 402; it should be noted that the guardrail 409 is provided on both sides of the human body transfer mechanism 400, and the guardrail 409 on one side can be The moving rod 403 moves, and the guardrail 409 on the other side can be stored downward, which can be stored in the main body 401 through a conventional four-bar mechanism, which is convenient for personnel to transfer.

在一些实施例中，参照图3所示，所述承重框架407上设置有若干个承重条410，其目的在于提升承重框架407的结构强度，同时承重框架407能够起到支撑承重机械臂402的作用，该若干个承重条410对应间隔设置于若干个床垫405之间的间隙处，即，上下移动驱动组件408能够驱使该承重框架407自床垫405的下方朝上移动至床垫405中，进而保证机械臂402能够抬起人体；进一步的，若干个机械臂402对应设置在若干个承重条410上，并且机械臂402与承重条410之间设置有若干个滑轮411，水平移动驱动组件406驱使机械臂402水平移动时，机械臂402相对承重条410移动并且滑轮411转动，即，在机械臂402抬起人体过程中，承重条410通过滑轮411对机械臂402始终存在支撑作用，增强人体转移机构尤其是机械臂402与承重框架407之间的结构强度；需要说明的是，所述滑 轮411可以是转动安装在机械臂402的下端面，滑轮411随机械臂402水平移动时可发生滚动，进而减小机械臂402与承重条410之间的摩擦力，并且还能起到支撑机械臂402的作用。In some embodiments, as shown in FIG. 3 , the load-bearing frame 407 is provided with a number of load-bearing bars 410 , the purpose of which is to improve the structural strength of the load-bearing frame 407 , and at the same time, the load-bearing frame 407 can play the role of supporting the load-bearing mechanical arm 402 . The plurality of load-bearing bars 410 are arranged at intervals between the plurality of mattresses 405 correspondingly, that is, the up-and-down driving component 408 can drive the load-bearing frame 407 to move upward from the bottom of the mattress 405 into the mattress 405 , thereby ensuring that the mechanical arm 402 can lift the human body; further, several mechanical arms 402 are correspondingly arranged on several bearing bars 410, and several pulleys 411 are arranged between the mechanical arms 402 and the bearing bars 410 to move the drive assembly horizontally. 406 drives the robotic arm 402 to move horizontally, the robotic arm 402 moves relative to the load-bearing bar 410 and the pulley 411 rotates, that is, during the process of lifting the human body by the robotic arm 402, the load-bearing bar 410 always supports the robotic arm 402 through the pulley 411, enhancing the The human body transfer mechanism, especially the structural strength between the mechanical arm 402 and the load-bearing frame 407; it should be noted that the pulley 411 can be rotatably installed on the lower end face of the mechanical arm 402, and the pulley 411 can occur when the mechanical arm 402 moves horizontally. rolling, thereby reducing the friction force between the mechanical arm 402 and the load-bearing bar 410 , and can also play the role of supporting the mechanical arm 402 .

参照图4与图5所示，所述护理床100具有供人体平躺的床面，具体的包括床架105以及并排设置在所述床架105上的若干个独立升降单元501，床架105的下端面连接有带刹车的万向脚轮，其目的在于方便移动护理床100，并且每个独立升降单元501的上端均设置有用于支撑人体的护垫502，初始状态下该若干个独立升降单元501的高度一致以形成可供人体平躺的床面，该独立升降单元501可单独地沿竖向上下移动以对人体进行按摩，防止褥疮，具体的该若干个独立升降单元501交替升降从而可以对人体进行按摩，进而有效避免因长期卧床而导致人体出现褥疮的问题；并且，在需要对失能人员更换尿布时，可以通过对应的独立升降单元501抬起人体的臀部和/或腿部位置，方便护理人员操作。Referring to FIGS. 4 and 5 , the nursing bed 100 has a bed surface for the human body to lie on, and specifically includes a bed frame 105 and a plurality of independent lifting units 501 arranged on the bed frame 105 side by side. The bed frame 105 A universal caster with brakes is connected to the lower end surface of the swivel, the purpose of which is to facilitate the movement of the nursing bed 100, and the upper end of each independent lifting unit 501 is provided with a pad 502 for supporting the human body. In the initial state, the several independent lifting units The height of the 501 is the same to form a bed surface for the human body to lie on. The independent lifting unit 501 can move vertically up and down independently to massage the human body and prevent bedsores. Massage the human body, thereby effectively avoiding the problem of bedsores on the human body due to long-term bed rest; and, when the disabled person needs to change diapers, the corresponding independent lifting unit 501 can be used to lift the human body's buttocks and/or legs. , which is convenient for nursing staff to operate.

在一些实施例中，参照图6所示，所述独立升降单元501包括第一支撑板5013以及通过第一剪刀架5012驱使第一支撑板5013沿竖向上下移动的第一电动推杆5011，护垫502固定安装在第一支撑板5013的上端面，通过第一剪刀架5012保证第一支撑板5013的两端能够同步上升或下降，避免发生侧倾，并且通过护垫502直接接触人体。In some embodiments, as shown in FIG. 6 , the independent lifting unit 501 includes a first support plate 5013 and a first electric push rod 5011 that drives the first support plate 5013 to move vertically up and down through the first scissor frame 5012 , The protection pad 502 is fixedly installed on the upper end surface of the first support plate 5013 , and the first scissors frame 5012 ensures that both ends of the first support plate 5013 can rise or fall synchronously to avoid rolling, and directly contact the human body through the protection pad 502 .

在一些实施例中，参照图4与图5所示，所述床架105上还设置有依次铰接的至少两个支撑架，若干个独立升降单元501设置在支撑架上，具体的，所述支撑架有四个并且分为第一支撑架101、第二支撑架102、第三支撑架103和第四支撑架104，其中，第一支撑架101用于支撑人体背部，第二支撑架102固定安装在床架105上并且用于支撑人体臀部，第三支撑架103用于支撑人体大腿部，第四支撑架104用于支撑人体小腿部，采用该四个支撑架联动能够实现人体从护理床100上坐起，具体的，第三支撑架103与第四支撑架104之间的铰接点能够朝上移动，使得人体腿部能够 从膝盖处蜷曲，调整人体坐姿，以便卧床人员日常护理和看电视、上网、吃饭等日常活动；更进一步的，第一支撑架101连接有第一驱动器(图未示)，第三支撑架103连接有第二驱动器(图未示)，并且第一驱动器的输出端连接在第一支撑架101上远离其与第二支撑架102相铰接的位置，从而使得第一支撑架101可沿着其与第二支撑架102的铰接点朝上转动以抬起人体背部，第二驱动器的输出端连接在第三支撑架103与第四支撑架104之间的铰接点处，通过第二驱动器驱使该第三支撑架103与第四支撑架104之间的铰接点朝上移动，进而保证人体腿部能够从膝盖处蜷曲以调整坐姿，提升用户体验，需要说明的是，第一驱动器和第二驱动器的另一端均铰接在床架105上，并且该第一驱动器和第二驱动器均可以是常规的电动、气动、液压推杆等。In some embodiments, as shown in FIGS. 4 and 5 , the bed frame 105 is further provided with at least two support frames that are hinged in sequence, and several independent lifting units 501 are arranged on the support frames. There are four support frames and are divided into a first support frame 101, a second support frame 102, a third support frame 103 and a fourth support frame 104, wherein the first support frame 101 is used to support the back of the human body, and the second support frame 102 It is fixedly installed on the bed frame 105 and is used to support the buttocks of the human body, the third support frame 103 is used to support the thigh of the human body, and the fourth support frame 104 is used to support the lower leg of the human body. Sit up from the nursing bed 100, specifically, the hinge point between the third support frame 103 and the fourth support frame 104 can be moved upward, so that the human body can be curled from the knee, and the sitting posture of the human body can be adjusted so that the bedridden person can daily Nursing, watching TV, surfing the Internet, eating and other daily activities; further, the first support frame 101 is connected with a first drive (not shown), the third support frame 103 is connected with a second drive (not shown), and the third support frame 103 is connected with a second drive (not shown). The output end of a driver is connected on the first support frame 101 away from the position where it is hinged with the second support frame 102, so that the first support frame 101 can rotate upward along its hinge point with the second support frame 102 to Lift the back of the human body, the output end of the second driver is connected at the hinge point between the third support frame 103 and the fourth support frame 104, and the second driver drives the connection between the third support frame 103 and the fourth support frame 104 The hinge point moves upward, so as to ensure that the human legs can be curled from the knees to adjust the sitting posture and improve the user experience. It should be noted that the other ends of the first driver and the second driver are both hinged on the bed frame 105, and the Both the first drive and the second drive may be conventional electric, pneumatic, hydraulic push rods and the like.

需要说明的是，相邻两个所述支撑架间隔设置，其目的在于避免相邻两个支撑架相对转动时发生干涉；而在另外一些实施例中，相邻两个独立升降单元501也间隔设置，其目的在于避免独立升降单元501在上升或下降过程中与相邻的结构发生干涉，而在另外一些实施例中，相邻两个独立升降单元501之间的间隔大于外接的人体转移机构的机械臂的宽度，进而保证机械臂能够自该相邻两个独立升降单元501之间的间隙***以提升并转移人体；当然，通常是间隔的若干个独立升降单元501共同上升以抬起人体，方便机械臂插接到人体的下方以转移人体，采用这种方式的目的在于相邻两个独立升降单元501之间的间隙满足两者不相互干涉即可，避免相邻两个独立升降单元501之间的间隔过大而影响人体平躺时的体验，而采用间隔的若干个独立升降单元501提升人体的方式能够保证机械臂的宽度，进而保证机械臂的结构强度。It should be noted that the two adjacent support frames are arranged at intervals to avoid interference when the two adjacent support frames rotate relative to each other; and in other embodiments, the adjacent two independent lifting units 501 are also spaced apart The purpose is to prevent the independent lifting unit 501 from interfering with adjacent structures in the process of ascending or descending, and in other embodiments, the interval between two adjacent independent lifting units 501 is greater than the external body transfer mechanism. The width of the manipulator is determined by the width of the manipulator, so as to ensure that the manipulator can be inserted from the gap between the two adjacent independent lift units 501 to lift and transfer the human body; of course, usually several independent lift units 501 at intervals rise together to lift the human body , it is convenient for the manipulator to be inserted under the human body to transfer the human body. The purpose of this method is to ensure that the gap between the two adjacent independent lifting units 501 does not interfere with each other, so as to avoid two adjacent independent lifting units. The space between 501 is too large and affects the human body's experience when lying flat, and the way of lifting the human body by using several independent lifting units 501 at intervals can ensure the width of the robotic arm, thereby ensuring the structural strength of the robotic arm.

需要说明的是，所述床架105的侧边还设置有对应控制该若干个独立升降单元501的若干个控制按钮107，通过该若干个控制按钮107控制独立升降单元501单独地上升或下降，当然，还可以设置一个可以控制间隔 的若干个独立升降单元501同步上升或下降的总开关，进而在需要转移人体时，通过该总开关控制间隔的若干个独立升降单元501同步上升以提升人体，方便机械臂伸入人体的下方并转移人体。It should be noted that the side of the bed frame 105 is also provided with a plurality of control buttons 107 corresponding to controlling the plurality of independent lifting units 501, and the independent lifting units 501 are controlled to rise or fall individually through the plurality of control buttons 107, Of course, it is also possible to set a master switch that can control the interval of several independent lift units 501 to rise or fall synchronously, and then when the human body needs to be transferred, the master switch controls the interval of several independent lift units 501 to rise synchronously to lift the human body, It is convenient for the robotic arm to reach under the human body and transfer the human body.

在一些实施例中，床架105的一端还设置有高度可调的点滴架以及显示平板106，该点滴架方便挂接药水瓶，而显示平板106可以为手写的黑板或用于放置资料袋的槽位或者是电子显示器。In some embodiments, one end of the bed frame 105 is further provided with a height-adjustable drip rack and a display panel 106, the drip rack is convenient for attaching medicine bottles, and the display panel 106 may be a handwritten blackboard or a display panel for placing information bags. slot or electronic display.

参照图7和图8所示，所述轮椅200可调节为坐姿状态和放平状态，其包括连接有第一移动装置205的座椅部201，具体的，该第一移动装置205可以是带刹车的万向轮，进而可以通过护理人员推动轮椅而将失能人员转移至户外，当然该第一移动装置205也可以是通过电动控制的方式，具体的，该第一移动装置205包括设置在座椅部201后端的两个驱动轮以及设置在座椅部201前端的两个万向轮，两个驱动轮分别连接有驱动动力源，并且座椅部201上还设置有用于控制驱动动力源启闭的控制机构210，该控制机构210可以是常规的摇杆控制器，通过遥感控制器控制轮椅的前进、后退和转弯等运动，需要说明的是，座椅部201的下端还可以安装有电池组件；座椅部201的前后两端分别铰接有靠背部202和脚踏部203，并且所述座椅部201、所述靠背部202和所述脚踏部203上均具有若干个间隔设置的护垫502，在坐姿状态下，在需要转移人体是，靠背部202和脚踏部203均可相对座椅部201转动至与座椅部201水平，进而轮椅呈可供人体平躺的放平姿态，外接的人体转移机构上的机械臂能够自相邻两个护垫502之间的间隙***至于人体的下方，机械臂朝上移动进而就可以抬起人体至脱离轮椅；更进一步的，所述座椅部201上相邻两个护垫502之间设置有填补支撑组件204，该填补支撑组件204连接有驱动机构，在坐姿状态下，该填补支撑组件204能够填补座椅部201上相邻两个护垫502之间的间隙，进而提升人体坐在轮椅上的舒适度，而在放平状态下，该填补支撑组件204能朝下移动从而在相邻两个护垫502之间形成供机械臂穿 过的凹槽，避免该填补支撑组件204与机械臂发生干涉。Referring to FIGS. 7 and 8 , the wheelchair 200 can be adjusted to a sitting state and a flat state, and includes a seat portion 201 connected with a first moving device 205. Specifically, the first moving device 205 may be a belt The braked universal wheel can then be used by the nursing staff to push the wheelchair to transfer the disabled person to the outdoors. Of course, the first mobile device 205 can also be controlled by electricity. Specifically, the first mobile device 205 includes: The two driving wheels at the rear end of the seat portion 201 and the two universal wheels arranged at the front end of the seat portion 201 are respectively connected with a driving power source, and the seat portion 201 is also provided with a driving power source for controlling the driving power source. The control mechanism 210 for opening and closing, the control mechanism 210 can be a conventional rocker controller, which controls the movement of the wheelchair such as forward, backward and turning through the remote sensing controller. It should be noted that the lower end of the seat portion 201 can also be installed with Battery assembly; the front and rear ends of the seat portion 201 are hinged with a backrest portion 202 and a footrest portion 203 respectively, and the seat portion 201 , the backrest portion 202 and the footrest portion 203 are each provided with a number of intervals The pad 502, in the sitting position, when the human body needs to be transferred, the backrest portion 202 and the footrest portion 203 can be rotated relative to the seat portion 201 to be level with the seat portion 201, so that the wheelchair is placed in a place where the human body can lie flat. In a flat posture, the mechanical arm on the external human transfer mechanism can be inserted into the lower part of the human body from the gap between the two adjacent pads 502, and the mechanical arm moves upward to lift the human body to get out of the wheelchair; further, A filling support assembly 204 is disposed between two adjacent pads 502 on the seat portion 201 , and the filling support assembly 204 is connected with a driving mechanism. In the sitting position, the filling support assembly 204 can fill the seat portion 201 . The gap between the two adjacent pads 502 further improves the comfort of the human body sitting on the wheelchair, and in the flat state, the filling support assembly 204 can move downward so as to be between the two adjacent pads 502 A groove is formed for the robot arm to pass through, so as to avoid the interference between the filling support assembly 204 and the robot arm.

在一些实施例中，参照图9所示，所述填补支撑组件204包括第二支撑板2041以及通过第二剪刀架2042驱使所述第二支撑板2041沿竖向上下移动的第二电动推杆2043，具体的，第二支撑板2041上具有若干个间隔设置的填补垫2044，该填补垫2044的数量适配于座椅部201上护垫502之间的间隙的数量，填补垫2044随第二支撑板2041沿竖向上下移动以填补座椅部201上的护垫502之间的间隙，提高人体坐在轮椅上的舒适度，本实施例在第二支撑板2041上设置若干个填补垫2044，减少驱动源的数量，降低轮椅的机构复杂程度，并且若干个填补垫2044同步上升或下降，保证填补垫2044能够与护垫502持平。In some embodiments, as shown in FIG. 9 , the filling support assembly 204 includes a second support plate 2041 and a second electric push rod that drives the second support plate 2041 to move vertically up and down through the second scissor frame 2042 2043, specifically, the second support plate 2041 has a plurality of spaced padding pads 2044, the number of the padding pads 2044 is adapted to the number of the gaps between the pads 502 on the seat portion 201, and the padding pads 2044 vary with the number of pads 2044. The second support plate 2041 moves vertically up and down to fill the gap between the pads 502 on the seat portion 201 and improve the comfort of the human body sitting on the wheelchair. In this embodiment, a number of filling pads are arranged on the second support plate 2041 2044 , the number of driving sources is reduced, the mechanism complexity of the wheelchair is reduced, and several pads 2044 are raised or lowered synchronously to ensure that the pads 2044 can be level with the pads 502 .

在一些实施例中，所述填补垫2044和护垫502均为软件，提升人体坐或/躺在轮椅上的舒适度。In some embodiments, both the padding pad 2044 and the pad 502 are software to improve the comfort of a person sitting or/laying on a wheelchair.

在一些实施例中，参照图7和图8所示，所述靠背部202连接有第一驱动机构206，所述第一驱动机构206能够驱使靠背部202相对座椅部201转动至与座椅部201水平，具体的，所述第一驱动机构206的一端铰接在座椅部201上，另一端与靠背部202铰接，通过第一驱动机构206驱使靠背部202相对座椅部201转动，并且第一驱动机构206可以是常规的电动、气动、液压推杆等，可以通过第一驱动机构206的自锁特性保证在机械臂转移人体时靠背部202始终与座椅部201水平呈放平状态。In some embodiments, as shown in FIG. 7 and FIG. 8 , the backrest portion 202 is connected with a first driving mechanism 206 , and the first driving mechanism 206 can drive the backrest portion 202 to rotate relative to the seat portion 201 to be in line with the seat. Specifically, one end of the first driving mechanism 206 is hinged on the seat portion 201, and the other end is hinged with the backrest portion 202. The first driving mechanism 206 drives the backrest portion 202 to rotate relative to the seat portion 201, and The first driving mechanism 206 can be a conventional electric, pneumatic, hydraulic push rod, etc., and the self-locking feature of the first driving mechanism 206 can ensure that the backrest portion 202 is always in a level state with the seat portion 201 when the mechanical arm transfers the human body. .

在一些实施例中，参照图7和图8所示，所述脚踏部203连接有第二驱动机构207，所述第二驱动机构207能够驱使所述脚踏部203相对所述座椅部201转动至与所述座椅部201水平，具体的，所述第二驱动机构207的一端铰接在座椅部201上，另一端与脚踏部203铰接，通过第二驱动机构207驱使脚踏部203相对座椅部201转动，并且第二驱动机构207可以是常规的电动、气动、液压推杆等，可以通过第二驱动机构207的自锁特性保证在机械臂转移人体时脚踏部203始终与座椅部201水平呈放平状态。In some embodiments, as shown in FIGS. 7 and 8 , the footrest portion 203 is connected with a second driving mechanism 207 , and the second driving mechanism 207 can drive the footrest portion 203 to be opposite to the seat portion 201 is rotated to the level of the seat part 201, specifically, one end of the second driving mechanism 207 is hinged on the seat part 201, and the other end is hinged with the footrest part 203, and the footrest is driven by the second driving mechanism 207 The seat part 203 rotates relative to the seat part 201, and the second driving mechanism 207 can be a conventional electric, pneumatic, hydraulic push rod, etc. The self-locking feature of the second driving mechanism 207 can ensure that the footrest 203 is used when the robot arm transfers the human body. It is always in a flat state horizontally with the seat portion 201 .

在一些实施例中，所述座椅部201的两侧还设置有护栏组件208，护栏组件208的后端延伸有扶手209，具体的，该护栏组件208可以是活动护栏，在需要转移人体是，护栏组件208可以朝下收起，避免与机械臂发生干涉，而在坐姿状态下该护栏组件208可以升起，保证人体坐在轮椅上的安全性。In some embodiments, guardrail assemblies 208 are further provided on both sides of the seat portion 201, and a handrail 209 extends from the rear end of the guardrail assembly 208. Specifically, the guardrail assembly 208 may be a movable guardrail. , the guardrail assembly 208 can be retracted downward to avoid interference with the mechanical arm, and the guardrail assembly 208 can be raised in the sitting position to ensure the safety of the human body sitting on the wheelchair.

参照图10与图11所示，所述卫生舱300包括舱体301、固定架组件314、第一交替架组件311、第二交替架组件312和***物收集器308，舱体301的上方还设置有第一喷淋组件302和防水帘307，所述第一喷淋组件302可沿舱体301的长度方向水平往复移动以对人体进行喷淋清洗，具体的，舱体301的一端设置有竖板304，竖板304的上端朝向舱体301一侧延伸设置有顶板305，顶板305上设置有用于驱动第一喷淋组件302沿舱体301的长度方向水平移动的驱动机构，防水帘307设置在顶板305上并且可沿舱体301的周侧展开或收纳，顶板305上还设置有烘干组件306，所述烘干组件306用于向舱体301内输送热风，对淋浴后的人体进行烘干；舱体301内设置有浴盆303，固定架组件314、第一交替架组件311、第二交替架组件312和***物收集器308均设置于浴盆303内，常态下固定架组件314、第一交替架组件311、第二交替架组件312相对水平面的高度一致以形成供人体平躺的平面，所述舱体301为可容纳人体平躺的长方体状，第一交替架组件311、第二交替架组件312分别与固定架组件314错位设置，并且第一交替架组件311设置于用于支撑人体上部的位置，第二交替架组件312设置于用于支撑人体脚部的位置，第一交替架组件311连接有第一驱动组件315，并且通过第一驱动组件315驱使第一交替架组件311相对舱体301转动以抬起人体上部，第二交替架组件312连接有第二驱动组件316，并且通过第二驱动组件316驱使第二交替架组件312相对舱体301转动以抬起人体脚部，进而第一交替架组件311与第二交替架组件312相配合使得人体呈坐姿状态并且臀部对准***物收集器308，方便失能人 员***和护理人员清理，需要说明的是，第一交替架组件311与舱体301的铰接点位于靠近人体腰部的位置，进而实现人体上部坐起，而第二交替架组件312与舱体301的铰接点位于靠近人体脚踝的位置，进而实现人体脚部能够自膝盖部分蜷起，从而实现人体呈坐姿状态；需要说明的是，该第一驱动组件315和第二驱动组件316可以采用常规的电动、气动、液压推杆等。10 and FIG. 11 , the sanitary cabin 300 includes a cabin body 301 , a fixed frame assembly 314 , a first alternate frame assembly 311 , a second alternate frame assembly 312 and a waste collector 308 , and the upper part of the cabin body 301 also A first spray assembly 302 and a waterproof curtain 307 are provided. The first spray assembly 302 can reciprocate horizontally along the length direction of the cabin body 301 to spray and clean the human body. Specifically, one end of the cabin body 301 is provided with a The vertical plate 304 is provided with a top plate 305 extending from the upper end of the vertical plate 304 toward the side of the cabin 301. The top plate 305 is provided with a driving mechanism for driving the first spray assembly 302 to move horizontally along the length of the cabin 301. The waterproof curtain 307 It is arranged on the top plate 305 and can be unfolded or stored along the peripheral side of the cabin body 301. The top plate 305 is also provided with a drying assembly 306. The drying assembly 306 is used to transport hot air into the cabin body 301, so as to prevent the human body after showering. Drying is carried out; a bathtub 303 is arranged in the cabin 301, and the fixed frame assembly 314, the first alternate frame assembly 311, the second alternate frame assembly 312 and the excrement collector 308 are all arranged in the bathtub 303. Under normal conditions, the fixed frame assembly 314 , the heights of the first alternating frame assembly 311 and the second alternating frame assembly 312 are the same relative to the horizontal plane to form a plane for the human body to lie down. The second alternate frame assemblies 312 are respectively disposed in a dislocation position from the fixed frame assembly 314, and the first alternate frame assembly 311 is disposed at the position for supporting the upper part of the human body, the second alternating frame assembly 312 is disposed at the position for supporting the human body's feet, An alternate frame assembly 311 is connected with the first drive assembly 315, and the first alternate frame assembly 311 is driven by the first drive assembly 315 to rotate relative to the cabin 301 to lift the upper part of the human body, and the second alternate frame assembly 312 is connected with a second drive assembly 316, and the second alternating frame assembly 312 is driven to rotate relative to the cabin 301 by the second driving assembly 316 to lift the foot of the human body, and then the first alternating frame assembly 311 and the second alternating frame assembly 312 cooperate to make the human body in a sitting posture state and The buttocks are aligned with the excrement collector 308 to facilitate the excretion of the disabled and the cleaning of the nursing staff. It should be noted that the hinge point between the first alternating frame assembly 311 and the cabin body 301 is located near the waist of the human body, thereby enabling the upper part of the human body to sit up. , and the hinge point between the second alternating frame assembly 312 and the cabin body 301 is located near the ankle of the human body, so that the human foot can be curled up from the knee part, so that the human body is in a sitting posture; it should be noted that the first drive The assembly 315 and the second driving assembly 316 can use conventional electric, pneumatic, hydraulic push rods and the like.

在一些实施例中，所述固定架组件314和/或所述第一交替架组件311和/或所述第二交替架组件312具有若干个间隔设置的护垫，初始状态下固定架组件314、第一交替架组件311和第二交替架组件312上的护垫水平并排以形成供人体平躺的平面。In some embodiments, the fixing frame assembly 314 and/or the first alternating frame assembly 311 and/or the second alternating frame assembly 312 have several pads arranged at intervals, and the fixing frame assembly 314 in the initial state , the pads on the first alternating frame assembly 311 and the second alternating frame assembly 312 are horizontally side by side to form a plane for the human body to lie on.

在一些实施例中，第一交替架组件311和第二交替架组件312还连接有提升驱动组件317，所述第一交替架组件311和第二交替架组件312可通过所述提升驱动组件317同步朝上或朝下移动，使得第一交替架组件311、第二交替架组件312相对固定架组件314的高度不同，方便外接的机械手***以提升并转移人体，具体的，第一交替架组件311和第二交替架组件312均可以设置于连接架上，连接架通过提升驱动组件317与舱体301连接，进而提升驱动组件317可以通过驱使连接架上下移动而实现第一交替架组件311和第二交替架组件312同步地上下移动；而在另外一些实施例中，连接架可以是常规的剪刀架结构。In some embodiments, the first alternate frame assembly 311 and the second alternate frame assembly 312 are further connected with a lift drive assembly 317 , and the first alternate frame assembly 311 and the second alternate frame assembly 312 can pass through the lift drive assembly 317 Move up or down synchronously, so that the heights of the first alternating frame assembly 311 and the second alternating frame assembly 312 relative to the fixed frame assembly 314 are different, which facilitates the insertion of an external manipulator to lift and transfer the human body. Specifically, the first alternating frame assembly 312 311 and the second alternating frame assembly 312 can be arranged on the connecting frame, and the connecting frame is connected with the cabin body 301 through the lifting drive assembly 317, and then the lifting driving assembly 317 can drive the connecting frame to move up and down to realize the first alternating frame assembly 311 and The second alternating frame assembly 312 moves up and down synchronously; in other embodiments, the connecting frame may be a conventional scissor frame structure.

在一些实施例中，舱体301内还设置有第二喷淋组件313，具体的，该第二喷淋组件313设置在第一交替架组件311和/或所述第二交替架组件312上，并且所述第二喷淋组件313可随所述第一交替架组件311和/或所述第二交替架组件312转动以对准人体背部和/或人体臀部和/或人体腿部，在使用时，可以通过第一喷淋组件302和第二喷淋组件313对人体的上表面和下表面进行清洗，而第一交替架组件311和第二交替架组件312相对舱体301转动使得人体呈坐姿状态，方便人体***后，第二喷淋组件 313随第一喷淋组件302和/或第二喷淋组件313转动至对准人体臀部的位置，通过第二喷淋组件313清洗人体臀部。In some embodiments, the cabin body 301 is further provided with a second spray assembly 313 . Specifically, the second spray assembly 313 is disposed on the first alternate frame assembly 311 and/or the second alternate frame assembly 312 , and the second spray assembly 313 can rotate with the first alternating frame assembly 311 and/or the second alternating frame assembly 312 to align with the back of the human body and/or the buttocks and/or the legs of the human body. During use, the upper and lower surfaces of the human body can be cleaned by the first spray assembly 302 and the second spray assembly 313, and the first alternating frame assembly 311 and the second alternating frame assembly 312 rotate relative to the cabin 301 to make the human body After being in a sitting position, it is convenient for the human body to excrete, the second spray assembly 313 rotates with the first spray assembly 302 and/or the second spray assembly 313 to a position aligned with the buttocks of the human body, and the second spray assembly 313 cleans the buttocks of the human body .

在一些实施例中，所述竖板304上还设置有肥皂液盒309和/或臭氧消毒组件310，该肥皂液盒309以及臭氧消毒组件310均与第一喷淋组件302和/或第二喷淋组件313连通，该臭氧消毒组件310具体的包括臭氧发生器，通过第一喷淋组件302和/或第二喷淋组件313将肥皂液喷淋到人体上进行清洗操作，当然，还可以是喷淋肥皂液后护理人员对人体进行擦洗清洁，擦洗清洁完成后第一喷淋组件302和/或第二喷淋组件313对人体喷淋清水以清洗人体上的肥皂液，最后烘干组件306对人体进行烘干。In some embodiments, the vertical plate 304 is further provided with a soap solution box 309 and/or an ozone disinfection assembly 310, the soap solution box 309 and the ozone disinfection assembly 310 are both connected with the first spray assembly 302 and/or the second spray assembly 302 and/or the second The spray assembly 313 is connected, and the ozone disinfection assembly 310 specifically includes an ozone generator. The soap liquid is sprayed onto the human body through the first spray assembly 302 and/or the second spray assembly 313 for cleaning operations. Of course, it is also possible to After spraying the soap liquid, the nursing staff scrubs and cleans the human body. After the scrubbing and cleaning is completed, the first spray component 302 and/or the second spray component 313 sprays clean water on the human body to clean the soap liquid on the human body, and finally the components are dried. 306 Drying the human body.

而在另外一些实施例中，舱体301的下方还设置有另一个烘干组件306，通过该另一个烘干组件306对人体的下表面进行烘干操作。In other embodiments, another drying component 306 is further disposed below the cabin 301 , and the lower surface of the human body is dried by the other drying component 306 .

参照图1所示，在一些实施例中，所述人体转移机构的一侧或两侧还设置有对接组件500，所述护理床和/或所述轮椅和/或所述卫生舱上设置有与所述对接组件500相配合的定位导向组件600，所述对接组件500可插接固定到所述定位导向组件600中，具体的，参照图12所示，所述对接组件500包括安装杆5003以及分别设置在安装杆5003上的导向杆5001和锁定钩5002，并且锁定钩5002铰接在安装杆5003上，常态下锁定钩5002可相对其与安装杆5003的铰接点自由转动，而参照图13所示，所述定位导向组件600则包括与导向杆5001相配合的导向孔6001以及与锁定钩5002相配合的锁定杆6002，在一些实施例中，通常是对接组件500固定安装在人体转移机构的一侧或两侧，而定位导向组件600安装在护理床、轮椅和卫生舱的一侧或两侧，即，在整个护理机器人***中，通过人体转移机构将失能人员在护理床、轮椅和卫生舱之间进行转移，具体的，对接组件500随人体转移机构水平移动至靠近护理床、轮椅或卫生舱的一侧，并且导向杆5001对准插接到导向孔6001中，因锁定钩5002可相对安装杆5003自由转动，在导向杆5001插接到导向孔6001的过程中，锁定钩5002 靠近并且能够越过锁定杆6002进而勾接到锁定杆6002上，实现人体转移机构与护理床或轮椅或卫生舱之间相对固定，保证转移人体时的安全性。Referring to FIG. 1 , in some embodiments, a docking assembly 500 is further provided on one side or both sides of the human body transfer mechanism, and the nursing bed and/or the wheelchair and/or the sanitary cabin are provided with The positioning guide assembly 600 matched with the docking assembly 500, the docking assembly 500 can be plugged and fixed to the positioning guide assembly 600, specifically, as shown in FIG. 12, the docking assembly 500 includes a mounting rod 5003 And the guide rod 5001 and the locking hook 5002 are respectively arranged on the mounting rod 5003, and the locking hook 5002 is hinged on the mounting rod 5003, and the locking hook 5002 can rotate freely relative to its hinge point with the mounting rod 5003 under normal conditions, and referring to FIG. 13 As shown, the positioning guide assembly 600 includes a guide hole 6001 matched with the guide rod 5001 and a locking rod 6002 matched with the locking hook 5002. In some embodiments, the docking assembly 500 is usually fixedly installed on the human body transfer mechanism The positioning guide assembly 600 is installed on one or both sides of the nursing bed, wheelchair and sanitary cabin, that is, in the entire nursing robot system, the disabled person is transferred to the nursing bed, wheelchair and It is transferred to and from the sanitary cabin. Specifically, the docking assembly 500 moves horizontally with the human body transfer mechanism to the side close to the nursing bed, wheelchair or sanitary cabin, and the guide rod 5001 is aligned and inserted into the guide hole 6001, because the locking hook 5002 can be freely rotated relative to the installation rod 5003. During the process of inserting the guide rod 5001 into the guide hole 6001, the locking hook 5002 is close to and can pass over the locking rod 6002 and then hook onto the locking rod 6002, so as to realize the transfer mechanism of the human body and the nursing bed or the The wheelchairs or sanitary cabins are relatively fixed to ensure the safety when transferring the human body.

在一些实施例中，参照图12所示，所述锁定钩5002的前端面为倾斜面，锁定钩5002随人体转移机构水平靠近锁定杆6002的过程中，锁定杆6002接触锁定钩5002的前端面并且能够驱使锁定钩5002相对安装杆5003转动，进而锁定钩5002越过锁定杆6002并勾接到锁定杆6002上。In some embodiments, as shown in FIG. 12 , the front end surface of the locking hook 5002 is an inclined surface, and the locking bar 6002 contacts the front end surface of the locking hook 5002 in the process of horizontally approaching the locking bar 6002 with the human body transfer mechanism. And the locking hook 5002 can be driven to rotate relative to the mounting rod 5003 , so that the locking hook 5002 goes over the locking rod 6002 and hooks onto the locking rod 6002 .

在一些实施例中，参照图12所示，锁定钩5002的下端面设置有移动轴5006，该移动轴5006连接有伸缩电缸5004，移动轴5006通过伸缩电缸5004实现水平移动以靠近或远离锁定钩5002与安装杆5003之间的铰接点，锁定钩5002的下端面为倾斜面，伸缩电缸5004驱使移动轴5006水平移动以靠近锁定钩5002与安装杆5003的铰接点时，移动轴5006抵接锁定钩5002的下端面并且将锁定钩5002抬起，即锁定钩5002可相对安装杆5003向上转动以松开锁定杆6002，而伸缩电缸5004驱使移动轴5006水平移动以远离锁定钩5002与安装杆5003的铰接点时，锁定钩5002可相对安装杆5003转动以勾接锁定杆6002，在本实施例中，可以通过开关按钮控制伸缩电缸5004的启闭，也就是说可以通过开关按钮控制锁定钩5002松开锁定杆6002，方便人体转移机构远离护理床、轮椅或卫生舱。In some embodiments, as shown in FIG. 12 , the lower end surface of the locking hook 5002 is provided with a moving shaft 5006 , the moving shaft 5006 is connected with a telescopic electric cylinder 5004 , and the moving shaft 5006 is moved horizontally by the telescopic electric cylinder 5004 to move closer to or away from it. The hinge point between the locking hook 5002 and the mounting rod 5003, the lower end surface of the locking hook 5002 is an inclined surface, and the telescopic electric cylinder 5004 drives the moving shaft 5006 to move horizontally to approach the hinge point of the locking hook 5002 and the mounting rod 5003, the moving shaft 5006 Abut the lower end surface of the locking hook 5002 and lift the locking hook 5002, that is, the locking hook 5002 can be rotated upward relative to the mounting rod 5003 to release the locking rod 6002, and the telescopic electric cylinder 5004 drives the moving shaft 5006 to move horizontally away from the locking hook 5002 When it is hinged with the mounting rod 5003, the locking hook 5002 can rotate relative to the mounting rod 5003 to hook the locking rod 6002. In this embodiment, the opening and closing of the telescopic electric cylinder 5004 can be controlled by the switch button, that is to say, the opening and closing of the telescopic electric cylinder 5004 can be controlled by the switch The button controls the locking hook 5002 to release the locking lever 6002, which facilitates the transfer of the human body away from the nursing bed, wheelchair or sanitary cabin.

在一些实施例中，参照图12所示，所述锁定钩5002有若干个并排设置在安装杆5003上，移动轴5006能够驱使该若干个锁定钩5002同步转动以同时松开或勾接锁定杆6002。In some embodiments, as shown in FIG. 12 , a plurality of the locking hooks 5002 are arranged side by side on the installation rod 5003 , and the moving shaft 5006 can drive the plurality of locking hooks 5002 to rotate synchronously to release or hook the locking rod at the same time. 6002.

在一些实施例中，参照图12所示，所述导向杆5001有两个并且分设在安装杆5003的两端，其目的在于通过两个导向杆5001实现准确定位，避免在转移人体过程中人体转移机构相对护理床或轮椅或卫生舱发生相对移动，而在另外一些实施例中，锁定钩5002也有两个并且分设在安装杆5003上，其目的在于进一步加强人体转移机构与护理床或轮椅或卫生舱之间的连接。In some embodiments, as shown in FIG. 12 , there are two guide rods 5001 and they are located at both ends of the installation rod 5003 , the purpose of which is to achieve accurate positioning through the two guide rods 5001 , so as to avoid the human body in the process of transferring the human body. The transfer mechanism moves relative to the nursing bed, wheelchair or sanitary cabin, and in other embodiments, there are two locking hooks 5002 and are respectively arranged on the mounting rod 5003, the purpose of which is to further strengthen the human body transfer mechanism and the nursing bed or wheelchair or Connections between sanitary cabins.

在一些实施例中，参照图12与图13所示，所述导向杆5001的前端设置有导向轮5005，所述导向孔6001那个上设置有用于接触所述导向轮5005的微动开关6004，进一步的，该导向孔6001有若干个导向块6003围合而成，并且导向孔6001呈倾斜开口状，其目的在于保证导向杆5001能够顺利插接到导向孔6001中以接触微动开关6004；需要说明的是，该微动开关6004能够控制伸缩电缸5004的启闭，具体使用中，导向轮5005接触到微动开关6004后，伸缩电缸5004启动并且通过移动轴5006驱使锁定钩5002朝上转动，以保证锁定钩5002能够越过锁定杆6002并勾接到锁定杆6002上，而通过开关按钮控制伸缩电缸5004驱使锁定钩5002松开锁定杆6002。In some embodiments, as shown in FIG. 12 and FIG. 13 , the front end of the guide rod 5001 is provided with a guide wheel 5005 , and the guide hole 6001 is provided with a micro switch 6004 for contacting the guide wheel 5005 , Further, the guide hole 6001 is surrounded by several guide blocks 6003, and the guide hole 6001 is in the shape of an inclined opening, the purpose of which is to ensure that the guide rod 5001 can be smoothly inserted into the guide hole 6001 to contact the micro switch 6004; It should be noted that the micro switch 6004 can control the opening and closing of the telescopic electric cylinder 5004. In specific use, after the guide wheel 5005 contacts the micro switch 6004, the telescopic electric cylinder 5004 starts and drives the locking hook 5002 to move towards the moving shaft 5006. Rotate up to ensure that the locking hook 5002 can go over the locking rod 6002 and hook onto the locking rod 6002 , and the telescopic electric cylinder 5004 is controlled by the switch button to drive the locking hook 5002 to release the locking rod 6002 .

需要说明的是，护理床100、轮椅200和卫生舱300均设置有带刹车的脚轮，在转移人体或者是与人体转移机构400对位锁定连接前先通过脚轮将护理床100、轮椅200和卫生舱300固定，方便操作。It should be noted that the nursing bed 100 , the wheelchair 200 and the sanitary cabin 300 are all provided with casters with brakes. Before transferring the human body or locking and connecting with the human body transfer mechanism 400 , the nursing bed 100 , the wheelchair 200 and the sanitary cabin are firstly connected by the casters through the casters. The cabin 300 is fixed for easy operation.

以上所述是本发明的优选实施方式，应当指出，对于本技术领域的普通技术人员来说，在不脱离本发明原理的前提下，还可以做出若干改进和润饰，这些改进和润饰也视为本发明的保护范围。The above are the preferred embodiments of the present invention. It should be pointed out that for those skilled in the art, without departing from the principles of the present invention, several improvements and modifications can be made, and these improvements and modifications may also be regarded as It is the protection scope of the present invention.

Claims (28)

1. 一种护理机器人***，其特征在于，包括：A nursing robot system, characterized in that it includes:

   护理床(100)，具有供人平躺的床面；A nursing bed (100) with a bed surface for people to lie on;

   轮椅(200)，可调节为坐姿状态和放平状态；A wheelchair (200), which can be adjusted to a sitting state and a flat state;

   卫生舱(300)，具有第一喷淋组件(302)和烘干组件(306)，用于对人体进行清洗护理及烘干；A sanitary cabin (300), having a first spray assembly (302) and a drying assembly (306), used for cleaning, nursing and drying the human body;

   人体转移机构(400)，包括可水平移动的主体(401)以及设置在所述主体(401)上的机械臂(402)，人体可平躺于所述主体(401)上，所述机械臂(402)用于抬起并转移人体，所述主体(401)上具有若干个分隔设置的床垫(405)，所述机械臂(402)有若干个并且对应设置于相邻两个所述床垫(405)之间的间隙中。A human body transfer mechanism (400), comprising a horizontally movable main body (401) and a mechanical arm (402) arranged on the main body (401), the human body can lie on the main body (401), and the mechanical arm (402) is used to lift and transfer the human body, the main body (401) is provided with several mattresses (405) arranged separately, and the robotic arms (402) have several and are correspondingly arranged on two adjacent ones of the mattresses (405). in the gap between mattresses (405).
2. 根据权利要求1所述的护理机器人***，其特征在于，所述主体(401)上设置有承重框架(407)，若干个所述机械臂(402)的一端均与移动杆(403)连接，所述移动杆(403)连接有水平移动驱动组件(406)，所述水平移动驱动组件(406)用于驱使所述移动杆(403)沿水平方向在所述承重框架(407)上往复移动。The nursing robot system according to claim 1, characterized in that, a load-bearing frame (407) is provided on the main body (401), and one end of a plurality of the robotic arms (402) is connected to a moving rod (403), The moving rod (403) is connected with a horizontal moving driving assembly (406), and the horizontal moving driving assembly (406) is used to drive the moving rod (403) to reciprocate on the load-bearing frame (407) in a horizontal direction .
3. 根据权利要求2所述的护理机器人***，其特征在于，所述承重框架(407)还连接有上下移动驱动组件(408)，所述上下移动驱动组件(408)通过所述承重框架(407)驱使所述机械臂(402)沿竖向往复移动。The nursing robot system according to claim 2, characterized in that, the load-bearing frame (407) is further connected with an up-and-down movement drive assembly (408), and the up-and-down movement drive assembly (408) passes through the load-bearing frame (407) The mechanical arm (402) is driven to reciprocate vertically.
4. 根据权利要求2所述的护理机器人***，其特征在于，所述承重框架(407)上间隔设置有若干个承重条(410)，若干个所述承重条(410)对应于若干个所述床垫(405)的间隙中。The nursing robot system according to claim 2, wherein a plurality of load-bearing bars (410) are provided at intervals on the load-bearing frame (407), and a plurality of the load-bearing bars (410) correspond to a plurality of the beds in the gap of the pad (405).
5. 根据权利要求4所述的护理机器人***，其特征在于，若干个所述机 械臂(402)对应设置在若干个所述承重条(410)上，并且所述机械臂(402)与所述承重条(410)之间设置有滑轮(411)。The nursing robot system according to claim 4, wherein a plurality of the mechanical arms (402) are correspondingly disposed on a plurality of the load-bearing bars (410), and the mechanical arms (402) are connected to the load-bearing bars (410). Pulleys (411) are arranged between the bars (410).
6. 根据权利要求2所述的护理机器人***，其特征在于，所述水平移动驱动组件(406)包括水平设置的平移轨道以及设置在所述平移轨道上的滑块，所述滑块连接有第三驱动机构。The nursing robot system according to claim 2, wherein the horizontal movement drive assembly (406) comprises a horizontally arranged translation track and a slider arranged on the translation track, and the slider is connected with a third Drive mechanism.
7. 根据权利要求6所述的护理机器人***，其特征在于，所述移动杆(403)上设置有护栏(409)，所述护栏(409)随所述移动杆(403)沿所述平移轨道移动至所述主体(401)的一侧。The nursing robot system according to claim 6, wherein a guardrail (409) is provided on the moving rod (403), and the guardrail (409) moves along the translation track with the moving rod (403). to the side of the main body (401).
8. 根据权利要求1所述的护理机器人***，其特征在于，所述卫生舱(300)包括舱体(301)、固定架组件(314)、第一交替架组件(311)和第二交替架组件(312)，所述第一交替架组件(311)连接有第一驱动组件(315)并设置于所述舱体(301)内用于支撑人体上部的位置，所述第二交替架组件(312)连接有第二驱动组件(316)并设置于所述舱体(301)内用于支撑人体脚部的位置，所述第一交替架组件(311)、所述第二交替架组件(312)分别与所述固定架组件(314)错位设置，所述舱体(301)的中部还设置有***物收集器(308)，所述第一驱动组件(315)可驱使所述第一交替架组件(311)相对所述舱体(301)转动以抬起人体上部，所述第二驱动组件(316)可驱使所述第二交替架组件(312)相对所述舱体(301)转动以抬起人体脚部进而使人体呈坐姿状态并且臀部对准所述***物收集器(308)。The nursing robot system according to claim 1, wherein the sanitary cabin (300) comprises a cabin (301), a fixed frame assembly (314), a first alternate frame assembly (311) and a second alternate frame assembly (312), the first alternating frame assembly (311) is connected with a first driving assembly (315) and is arranged in the cabin (301) at a position for supporting the upper part of the human body, the second alternating frame assembly (312) 312) A second drive assembly (316) is connected and disposed in the cabin (301) at a position for supporting the feet of the human body, the first alternate frame assembly (311), the second alternate frame assembly ( 312) are respectively dislocated from the fixing frame assembly (314), the middle part of the cabin (301) is further provided with a waste collector (308), and the first driving assembly (315) can drive the first The alternating frame assembly (311) rotates relative to the cabin (301) to lift the upper part of the human body, and the second driving assembly (316) can drive the second alternating frame assembly (312) to be opposite to the cabin (301) Rotate to lift the person's feet so that the person is in a seated position and the buttocks are aligned with the waste collector (308).
9. 根据权利要求8所述的护理机器人***，其特征在于，所述固定架组件(314)和/或所述第一交替架组件(311)和/或所述第二交替架组件(312)具有若干个间隔设置的护垫(502)。The nursing robot system according to claim 8, wherein the fixed frame assembly (314) and/or the first alternate frame assembly (311) and/or the second alternate frame assembly (312) have Several spaced pads (502).
10. 根据权利要求8所述的护理机器人***，其特征在于，所述第一交替架组件(311)和所述第二交替架组件(312)还连接有提升驱动组件(317)，所述第一交替架组件(311)和第二交替架组件(312)可通过所述提升驱动组件(317)同步朝上或朝下移动。The nursing robot system according to claim 8, wherein the first alternating frame assembly (311) and the second alternating frame assembly (312) are further connected with a lifting drive assembly (317), and the first alternating frame assembly (311) and the second alternating frame assembly (312) are further connected with a lifting drive assembly (317). The alternate frame assembly (311) and the second alternate frame assembly (312) can be moved upward or downward synchronously by the lift drive assembly (317).
11. 根据权利要求8所述的护理机器人***，其特征在于，所述卫生舱(300)还包括防水帘(307)，所述防水帘(307)可展开设置于所述舱体(301)的周侧，所述第一喷淋组件(302)设置于所述舱体(301)的上方并且可沿所述舱体(301)的长度方向水平往复移动。The nursing robot system according to claim 8, characterized in that, the sanitary cabin (300) further comprises a waterproof curtain (307), and the waterproof curtain (307) can be unfolded and arranged on the circumference of the cabin (301). On the side, the first spray assembly (302) is disposed above the cabin (301) and can move horizontally and reciprocally along the length direction of the cabin (301).
12. 根据权利要求8所述的护理机器人***，其特征在于，还包括第二喷淋组件(313)，所述第二喷淋组件(313)设置在所述第一交替架组件(311)和/或所述第二交替架组件(312)上，所述第二喷淋组件(313)可随所述第一交替架组件(311)和/或所述第二交替架组件(312)转动以对准人体背部和/或人体臀部和/或人体腿部。The nursing robot system according to claim 8, characterized in that it further comprises a second spraying assembly (313), the second spraying assembly (313) being arranged on the first alternating rack assembly (311) and/or Or on the second alternate rack assembly (312), the second spray assembly (313) can rotate with the first alternate rack assembly (311) and/or the second alternate rack assembly (312) to Align the back of the human body and/or the buttocks of the human body and/or the legs of the human body.
13. 根据权利要求12所述的护理机器人***，其特征在于，所述第一喷淋组件(302)和/或所述第二喷淋组件(313)还连接有肥皂液盒(309)。The nursing robot system according to claim 12, wherein the first spray assembly (302) and/or the second spray assembly (313) are further connected with a soap liquid box (309).
14. 根据权利要求13所述的护理机器人***，其特征在于，所述第一喷淋组件(302)和/或所述第二喷淋组件(313)还连接有臭氧消毒组件(310)。The nursing robot system according to claim 13, wherein the first spray assembly (302) and/or the second spray assembly (313) are further connected with an ozone disinfection assembly (310).
15. 根据权利要求1所述的护理机器人***，其特征在于，所述护理床(100)包括床架(105)以及并排设置在所述床架(105)上的若干个独立升降单元(501)，若干个所述的独立升降单元(501)的上端分别设置有用于支撑人体的护垫(502)，并且初始状态下若干个所述独立升降单元(501)的高度一致以形成可供人体平躺的床面。The nursing robot system according to claim 1, wherein the nursing bed (100) comprises a bed frame (105) and several independent lifting units (501) arranged side by side on the bed frame (105), The upper ends of the plurality of independent lifting units (501) are respectively provided with protective pads (502) for supporting the human body, and in the initial state, the heights of the plurality of the independent lifting units (501) are the same to form a place for the human body to lie flat the bed surface.
16. 根据权利要求15所述的护理机器人***，其特征在于，所述独立升 降单元(501)包括第一支撑板(5013)以及通过第一剪刀架(5012)驱使所述第一支撑板(5013)沿竖向上下移动的第一电动推杆(5011)，所述护垫(502)固定安装在所述第一支撑板(5013)的上端面。The nursing robot system according to claim 15, wherein the independent lifting unit (501) comprises a first support plate (5013) and the first support plate (5013) is driven by a first scissors frame (5012) For the first electric push rod (5011) that moves vertically up and down, the protective pad (502) is fixedly installed on the upper end surface of the first support plate (5013).
17. 根据权利要求15所述的护理机器人***，其特征在于，所述床架(105)上还设置有依次铰接的至少两个支撑架，若干个所述独立升降单元(501)设置在所述支撑架上。The nursing robot system according to claim 15, characterized in that, the bed frame (105) is further provided with at least two support frames that are hinged in sequence, and a plurality of the independent lifting units (501) are arranged on the support frame on the shelf.
18. 根据权利要求17所述的护理机器人***，其特征在于，所述支撑架有四个并且分为第一支撑架(101)、第二支撑架(102)、第三支撑架(103)和第四支撑架(104)，其中所述第一支撑架(101)用于提升人体背部，所述第二支撑架(102)固定安装在所述床架(105)上用于支撑人体臀部，所述第二支撑架(102)用于支撑人体大腿部曲起，所述第四支撑架(104)用于支撑人体小腿部曲起。The nursing robot system according to claim 17, characterized in that there are four support frames and are divided into a first support frame (101), a second support frame (102), a third support frame (103) and a first support frame (103) Four support frames (104), wherein the first support frame (101) is used to lift the back of the human body, and the second support frame (102) is fixedly installed on the bed frame (105) to support the buttocks of the human body, so The second support frame (102) is used to support the bending of the human thigh, and the fourth support frame (104) is used to support the bending of the lower leg of the human body.
19. 根据权利要求18所述的护理机器人***，其特征在于，所述第一支撑架(101)连接有第一驱动器，所述第三支撑架(103)连接有第二驱动器，并且所述第一驱动器和所述第二驱动器均可转动安装在所述床架(105)上。The nursing robot system according to claim 18, wherein the first support frame (101) is connected with a first drive, the third support frame (103) is connected with a second drive, and the first support frame (103) is connected with a second drive Both the driver and the second driver can be rotatably mounted on the bed frame (105).
20. 根据权利要求1所述的护理机器人***，其特征在于，所述轮椅(200)包括连接有第一移动装置(205)的座椅部(201)，所述座椅部(201)的两端分别铰接有靠背部(202)和脚踏部(203)，并且所述座椅部(201)、所述靠背部(202)和所述脚踏部(203)上均具有若干个间隔设置的护垫(502)，所述座椅部(201)上相邻两个所述护垫(502)之间设置有填补支撑组件(204)，所述填补支撑组件(204)连接有驱动机构，所述驱动机构用于驱使所述填补支撑组件(204)朝上移动以至与所述护垫(502)水平以支撑人体或朝下移动以在相邻两个所述护垫(502)之间形成能够容 机械臂***的凹槽。The nursing robot system according to claim 1, wherein the wheelchair (200) comprises a seat part (201) connected with the first moving device (205), and two ends of the seat part (201) A backrest portion (202) and a footrest portion (203) are hinged respectively, and the seat portion (201), the backrest portion (202) and the footrest portion (203) are provided with several spaced apart A pad (502), a padding support assembly (204) is provided between two adjacent pads (502) on the seat portion (201), and a drive mechanism is connected to the padding support module (204), The driving mechanism is used to drive the filling support assembly (204) to move upward to be horizontal with the pad (502) to support the human body or to move downward to be between two adjacent pads (502) A groove is formed into which the robot arm can be inserted.
21. 根据权利要求20所述的护理机器人***，其特征在于，所述填补支撑组件(204)包括第二支撑板(2041)以及通过第二剪刀架(2042)驱使所述第二支撑板(2041)沿竖向上下移动的第二电动推杆(2043)，所述第二支撑板(2041)上具有若干个间隔设置的填补垫(2044)，所述填补垫(2044)可自相邻两个所述护垫(502)之间的间隙处上下移动。The nursing robot system according to claim 20, wherein the filling support assembly (204) comprises a second support plate (2041) and the second support plate (2041) is driven by a second scissor frame (2042) The second electric push rod (2043) that moves vertically up and down, the second support plate (2041) is provided with a plurality of spaced padding pads (2044), and the padding pads (2044) can be separated from two adjacent ones The space between the pads (502) moves up and down.
22. 根据权利要求20所述的护理机器人***，其特征在于，所述靠背部(202)连接有第一驱动机构(206)，所述第一驱动机构(206)能够驱使所述靠背部(202)相对所述座椅部(201)转动至与所述座椅部(201)水平。The nursing robot system according to claim 20, wherein the backrest part (202) is connected with a first driving mechanism (206), and the first driving mechanism (206) can drive the backrest part (202) It is rotated relative to the seat portion (201) to be horizontal with the seat portion (201).
23. 根据权利要求22所述的护理机器人***，其特征在于，所述脚踏部(203)连接有第二驱动机构(207)，所述第二驱动机构(207)能够驱使所述脚踏部(203)相对所述座椅部(201)转动至与所述座椅部(201)水平。The nursing robot system according to claim 22, wherein the footrest portion (203) is connected with a second driving mechanism (207), and the second driving mechanism (207) can drive the footrest portion (207). 203) Rotate relative to the seat portion (201) to be horizontal with the seat portion (201).
24. 根据权利要求1所述的护理机器人***，其特征在于，所述人体转移机构的一侧或两侧还设置有对接组件(500)，所述护理床(100)和/或所述轮椅(200)和/或所述卫生舱(300)上设置有与所述对接组件(500)相配合的定位导向组件(600)，所述对接组件(500)可插接固定到所述定位导向组件(600)中。The nursing robot system according to claim 1, characterized in that, a docking assembly (500) is further provided on one side or both sides of the human body transfer mechanism, the nursing bed (100) and/or the wheelchair (200) ) and/or the sanitary cabin (300) is provided with a positioning guide assembly (600) matched with the docking assembly (500), and the docking assembly (500) can be plugged and fixed to the positioning guide assembly ( 600).
25. 根据权利要求24所述的护理机器人***，其特征在于，所述对接组件(500)包括安装杆(5003)以及分别设置在所述安装杆(5003)上的导向杆(5001)和锁定钩(5002)，所述锁定钩(5002)铰接在所述安装杆(5003)上，所述定位导向组件(600)包括对应于所述导向杆(5001)的 导向孔(6001)以及对应于所述锁定钩(5002)的锁定杆(6002)。The nursing robot system according to claim 24, wherein the docking assembly (500) comprises a mounting rod (5003), a guide rod (5001) and a locking hook ( 5002), the locking hook (5002) is hinged on the mounting rod (5003), and the positioning guide assembly (600) includes a guide hole (6001) corresponding to the guide rod (5001) and a guide hole (6001) corresponding to the Locking lever (6002) of locking hook (5002).
26. 根据权利要求25所述的护理机器人***，其特征在于，所述锁定钩(5002)的前端面为倾斜面，所述锁定钩(5002)水平移动以靠近并越过所述锁定杆(6002)进而勾接在所述锁定杆(6002)上。The nursing robot system according to claim 25, wherein the front end surface of the locking hook (5002) is an inclined surface, and the locking hook (5002) moves horizontally to approach and pass over the locking rod (6002) to further Hook on the locking lever (6002).
27. 根据权利要求25所述的护理机器人***，其特征在于，还包括位于所述锁定钩(5002)下端面的移动轴(5006)，所述锁定钩(5002)的下端面为倾斜面，所述移动轴(5006)连接有伸缩电缸(5004)，所述移动轴(5006)通过所述伸缩电缸(5004)驱动以水平往复移动进而驱使所述锁定钩(5002)相对所述安装杆(5003)转动以松开所述锁定杆(6002)。The nursing robot system according to claim 25, further comprising a moving shaft (5006) located on the lower end surface of the locking hook (5002), the lower end surface of the locking hook (5002) being an inclined surface, the The moving shaft (5006) is connected with a telescopic electric cylinder (5004), and the moving shaft (5006) is driven by the telescopic electric cylinder (5004) to reciprocate horizontally to drive the locking hook (5002) relative to the mounting rod ( 5003) to release the locking lever (6002).
28. 根据权利要求27所述的护理机器人***，其特征在于，所述锁定钩(5002)有若干个并排设置在所述安装杆(5003)上，所述移动轴(5006)能够驱使若干个所述锁定钩(5002)同步转动。The nursing robot system according to claim 27, characterized in that a plurality of the locking hooks (5002) are arranged side by side on the installation rod (5003), and the moving shaft (5006) can drive a plurality of the The locking hook (5002) rotates synchronously.

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