Nursing robot system

Abstract

The present invention relates to the technical field of medical and nursing equipment, and in particular to a nursing robot system, comprising a nursing bed, a wheelchair, a sanitary cabin and a human body transfer mechanism, wherein the human body transfer mechanism comprises a horizontally movable main body and a mechanical arm arranged on the main body, wherein the main body is provided with a plurality of mattresses arranged separately, and the mechanical arms are provided and are correspondingly arranged in the gaps between two adjacent mattresses; the nursing robot system of the present invention realizes the transfer of a human body between a nursing bed, a wheelchair and a sanitary cabin through the human body transfer mechanism, automates bathing, is simple to operate, reduces the labor intensity of nursing staff, and the mechanical arm can be inserted into the gap between two adjacent mattresses and then be located below the human body, and the mechanical arm can lift the human body by moving upward and drive the human body to move horizontally to realize the transfer, has a simple structure, and is safe and reliable.

Description

Technical Field

[0001] The present invention relates to the technical field of medical and nursing equipment, and in particular to a nursing robot system. Background Art

[0002] The problem of population aging in my country will become increasingly prominent. The elderly, especially the disabled elderly, are in urgent need of more comprehensive and decent care. The current status of the elderly care industry in my country is: it is difficult for schools to enroll students in nursing services and it is difficult for nursing institutions to recruit workers. As a result, various nursing products have appeared in recent years for the care of disabled elderly people. However, there is no product that can transfer disabled elderly people to nursing beds, wheelchairs and sanitary cabins. At present, nursing staff are still needed to transfer disabled elderly people to nursing beds, wheelchairs and sanitary cabins. This is a great test of the physical strength of nursing staff and there are certain safety hazards, especially for patients who have just undergone surgery or whose bodies need to remain relatively stable. It is very difficult. Summary of the invention

[0003] In order to overcome the deficiencies of the above-mentioned prior art, the present invention provides a nursing robot system, comprising: a nursing bed, having a bed surface for a person to lie flat; a wheelchair, which can be adjusted to a sitting state and a flat state; a sanitary cabin, having a first spray component and a drying component, for cleaning, caring for and drying the human body; a human body transfer mechanism, comprising a horizontally movable main body and a robotic arm arranged on the main body, the human body can lie flat on the main body, the robotic arm is used to lift and transfer the human body, the main body is provided with a plurality of separated mattresses, and the robotic arms are provided in a plurality and are correspondingly arranged in the gaps between two adjacent mattresses.

[0004] Furthermore, a load-bearing frame is provided on the main body, one end of each of the mechanical arms is connected to a moving rod, and the moving rod is connected to a horizontal moving drive assembly, and the horizontal moving drive assembly is used to drive the moving rod to reciprocate in a horizontal direction on the load-bearing frame.

[0005] Furthermore, the load-bearing frame is also connected to an up-and-down moving driving assembly, and the up-and-down moving driving assembly drives the mechanical arm to move back and forth vertically through the load-bearing frame.

[0006] Furthermore, a plurality of load-bearing bars are arranged at intervals on the load-bearing frame, and the plurality of load-bearing bars correspond to the gaps between the plurality of mattresses.

[0007] Furthermore, a plurality of the mechanical arms are correspondingly arranged on a plurality of the load-bearing bars, and pulleys are arranged between the mechanical arms and the load-bearing bars.

[0008] Furthermore, the horizontal movement driving assembly includes a horizontally arranged translation track and a slider arranged on the translation track, and the slider is connected to a third driving mechanism.

[0009] Furthermore, a guardrail is arranged on the moving rod, and the guardrail moves to one side of the main body along the translation track with the moving rod.

[0010] Furthermore, it includes a cabin, a fixed frame assembly, a first alternating frame assembly and a second alternating frame assembly, the first alternating frame assembly is connected to a first driving assembly and is arranged in a position in the cabin for supporting the upper part of a human body, the second alternating frame assembly is connected to a second driving assembly and is arranged in a position in the cabin for supporting the feet of a human body, the first alternating frame assembly and the second alternating frame assembly are respectively staggered with the fixed frame assembly, and an excrement collector is also arranged in the middle of the cabin, the first driving assembly can drive the first alternating frame assembly to rotate relative to the cabin to lift the upper part of a human body, and the second driving assembly can drive the second alternating frame assembly to rotate relative to the cabin to lift the feet of a human body so as to make the human body sit with the buttocks aligned with the excrement collector.

[0011] Furthermore, the fixed frame assembly and / or the first alternating frame assembly and / or the second alternating frame assembly has a plurality of protective pads arranged at intervals.

[0012] Furthermore, the first alternating frame assembly and the second alternating frame assembly are also connected to a lifting drive assembly, and the first alternating frame assembly and the second alternating frame assembly can be synchronously moved upward or downward through the lifting drive assembly.

[0013] Furthermore, it also includes a first spray assembly and a waterproof curtain. The first spray assembly is arranged above the cabin body and can move back and forth horizontally along the length direction of the cabin body. The waterproof curtain can be unfolded and arranged on the surrounding side of the cabin body.

[0014] Furthermore, it also includes a second spray assembly, which is arranged on the first alternating frame assembly and / or the second alternating frame assembly, and the second spray assembly can rotate with the first alternating frame assembly and / or the second alternating frame assembly to be aimed at the back and / or the buttocks and / or the legs of the human body.

[0015] Furthermore, the first spray assembly and / or the second spray assembly is also connected to a soap liquid box.

[0016] Furthermore, the first spray assembly and / or the second spray assembly is also connected to an ozone disinfection assembly.

[0017] Furthermore, the nursing bed includes a bed frame and several independent lifting units arranged side by side on the bed frame, 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 the several independent lifting units are consistent to form a bed surface for the human body to lie flat.

[0018] Furthermore, 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 scissors frame, and the protective pad is fixedly mounted on the upper end surface of the first support plate.

[0019] Furthermore, at least two support frames hinged in sequence are arranged on the bed frame, and a plurality of the independent lifting units are arranged on the support frames.

[0020] Furthermore, there are four support frames and they 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 a human body, the second support frame is fixedly mounted on the bed frame to support the buttocks of a human body, the second support frame is used to support the bending of a human body's thigh, and the fourth support frame is used to support the bending of a human body's calf.

[0021] Furthermore, the first support frame is connected to a first driver, the third support frame is connected to a second driver, and both the first driver and the second driver can be rotatably mounted on the bed frame.

[0022] Furthermore, the wheelchair includes a seat portion connected to a first moving device, a backrest portion and a footrest portion are hinged at both ends of the seat portion, and the seat portion, the backrest portion and the footrest portion are each provided with a plurality of spaced-apart pads, a filling support assembly is provided between two adjacent pads on the seat portion, the filling support assembly is connected to a driving mechanism, and the driving mechanism is used to drive the filling support assembly to move upward to be level with the pads to support a human body or to move downward to form a groove between two adjacent pads for accommodating the insertion of a robotic arm.

[0023] Furthermore, 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 a second scissors frame. The second support plate has a plurality of filling pads arranged at intervals, and the filling pads can move up and down from the gap between two adjacent pads.

[0024] Furthermore, the backrest portion is connected to 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.

[0025] Furthermore, the footrest portion is connected to 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.

[0026] Furthermore, a docking assembly is also provided on one or both sides of the human body transfer mechanism, and a positioning guide assembly that cooperates with the docking assembly is provided on the nursing bed and / or the wheelchair and / or the sanitary cabin, and the docking assembly can be plugged and fixed into the positioning guide assembly.

[0027] Furthermore, the docking assembly includes a mounting rod and a guide rod and a locking hook respectively arranged on the mounting rod, the locking hook is hinged on the mounting rod, and the positioning guide assembly includes a guide hole corresponding to the guide rod and a locking rod corresponding to the locking hook.

[0028] Furthermore, 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 onto the locking rod.

[0029] Furthermore, it also includes a movable shaft located at the lower end surface of the locking hook, the lower end surface of the locking hook is an inclined surface, the movable shaft is connected to a telescopic electric cylinder, and the movable shaft is driven by the telescopic electric cylinder to move horizontally back and forth, thereby driving the locking hook to rotate relative to the mounting rod to release the locking rod.

[0030] Furthermore, a plurality of the locking hooks are arranged side by side on the mounting rod, and the movable shaft can drive the plurality of the locking hooks to rotate synchronously.

[0031] 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, is easy to operate, and reduces the labor intensity of nursing staff. The human body transfer mechanism of the present invention adopts a mattress with a plurality of partitions, and the mechanical arm can be inserted into the gap between two adjacent mattresses and then located under the human body. The mechanical arm can lift the human body by moving upward and drive the human body to move horizontally to realize the transfer. The structure is simple and the safety and reliability are high. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0033] Figure 1 is a schematic structural diagram of a nursing robot system according to an embodiment of the present invention;

[0034] Figure 2 is a schematic structural diagram of a human body transfer mechanism according to an embodiment of the present invention;

[0035] Figure 3 is a partial structural schematic diagram of a human body transfer mechanism according to an embodiment of the present invention;

[0036] Figure 4 is a structural schematic diagram of a nursing bed according to an embodiment of the present invention;

[0037] Figure 5 is a structural schematic diagram of a nursing bed in a sitting position according to an embodiment of the present invention;

[0038] Figure 6 is a schematic structural diagram of an independent lifting unit according to an embodiment of the present invention;

[0039] Figure 7 is a schematic structural diagram of a wheelchair in a sitting position according to an embodiment of the present invention;

[0040] Figure 8 is a schematic structural diagram of a wheelchair in a flat state according to an embodiment of the present invention;

[0041] Fig. 9 is a schematic structural diagram of a filling support assembly according to an embodiment of the present invention;

[0042] Fig.10 It is a structural schematic diagram of a sanitary cabin in an embodiment of the present invention;

[0043] Fig.11 It is a partial internal structure diagram of the sanitary cabin of an embodiment of the present invention;

[0044] Fig.12 is a schematic structural diagram of a docking assembly according to an embodiment of the present invention;

[0045] Fig.13 It is a structural schematic diagram of a positioning guide assembly according to an embodiment of the present invention. DETAILED DESCRIPTION

[0046] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0047] Reference Figure 1 A nursing robot system shown in the figure includes a human body transfer mechanism 400, a nursing bed 100, a wheelchair 200 and a sanitary cabin 300, wherein:

[0048] Reference Figure 2 and Figure 3As shown, the human body transfer mechanism 400 includes a main body 401 and a mechanical arm 402 arranged on the main body 401, wherein the main body 401 is connected to a second moving device 404, a human body can lie flat on the main body 401, and 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 plurality of mattresses 405 arranged separately, the distance between two adjacent mattresses 405 is greater than the width of the mechanical arm 402, and the mechanical arm 402 also has a plurality of and is correspondingly arranged at two adjacent mattresses In the gap between the mattresses 405, several mechanical arms 402 are connected to a horizontal movement drive assembly 406 through a moving rod 403. 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 slider is connected to a third driving mechanism. The slider is realized to slide back and forth on the translation track through the third driving mechanism, and the moving rod 403 is fixedly installed on the slider and moves back and forth along the translation track with the slider, thereby realizing several mechanical arms 402 Synchronous horizontal movement, and there are two horizontal movement drive components 406 and they are respectively arranged at the two ends of the moving rod 403. The two horizontal movement drive components 406 move simultaneously to drive the mechanical arm 402 to extend from the main body 401 or retract into the main body 401. Of course, it is also possible that the third drive mechanism is not set on one of the horizontal movement drive components 406, and the horizontal reciprocating movement of the mechanical arm 402 can be achieved by a third drive mechanism. It should be noted that the third drive 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 movement drive component 408, and the up-and-down movement drive component 408 can be a conventional lifting column or a telescopic electric cylinder 5004, and one end of the up-and-down movement drive component 408 is fixedly mounted on the main body 401. The other end is connected to the load-bearing frame 407, that is, the load-bearing frame 407 is moved up and down in the vertical direction by the up and down moving driving component 408, and in some other embodiments, the load-bearing frame 407 can also be moved up and down by crank linkage. A specific example can be that the conventional scissors frame mechanism is used to realize its smooth up and down movement, thereby driving the mechanical arm 402 to lift the human body off the bed surface, and the mechanical arm 402 and the horizontal moving driving component 406 are both arranged on the load-bearing frame 407, thereby realizing the up and down movement of the mechanical arm 402 to lift or put the human body down; when the human body lies flat on the mattress 405, the up and down moving driving component 408 can drive the mechanical arm 402 to move to the upper end surface of the mechanical arm 402 through the load-bearing frame 407 until the height of the upper end surface of the mechanical arm 402 is flush with the upper end surface of the mattress 405, thereby improving the comfort of the human body lying flat on the human body transfer mechanism.

[0049] In some embodiments, reference Figure 2 and Figure 3 As shown, a guardrail 409 is arranged on the moving rod 403, and the horizontal moving driving component 406 can drive the moving rod 403 to move to one side of the main body 401. Specifically, the horizontal moving driving component 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 can better protect the human body. In addition, in the process of using the mechanical arm 402 to transfer the human body, the user can hold the guardrail 409 by hand to avoid accidents such as the human body falling from the mechanical arm 402. It should be noted that guardrails 409 are arranged on both sides of the human body transfer mechanism 400, wherein the guardrail 409 on one side can move with the moving rod 403, and the guardrail 409 on the other side can be folded downward, which can be folded into the main body 401 through a conventional four-bar mechanism to facilitate personnel transfer.

[0050] In some embodiments, reference Figure 3 As shown, the load-bearing frame 407 is provided with a plurality of load-bearing bars 410, the purpose of which is to improve the structural strength of the load-bearing frame 407. 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 correspondingly arranged at intervals in the gaps between the plurality of mattresses 405, that is, the up-and-down moving driving assembly 408 can drive the load-bearing frame 407 to move upward from the bottom of the mattress 405 to the inside of the mattress 405, thereby ensuring that the mechanical arm 402 can lift the human body; further, the plurality of mechanical arms 402 are correspondingly arranged on the plurality of load-bearing bars 410, and a plurality of pulleys 411 are arranged between the mechanical arm 402 and the load-bearing bars 410. When the horizontal moving driving assembly 406 drives the mechanical arm 402 to move horizontally, the mechanical arm 402 moves relative to the load-bearing bar 410 and the pulley 411 rotates, that is, in the process of the robot arm 402 lifting the human body, the load-bearing bar 410 always supports the robot arm 402 through the pulley 411, thereby enhancing the human body transfer mechanism, especially the structural strength between the robot arm 402 and the load-bearing frame 407; it should be noted that the pulley 411 can be rotatably installed on the lower end surface of the robot arm 402, and the pulley 411 can roll when the robot arm 402 moves horizontally, thereby reducing the friction between the robot arm 402 and the load-bearing bar 410, and can also play a role in supporting the robot arm 402.

[0051] Reference Figure 4 and Figure 5As shown, the nursing bed 100 has a bed surface for a human body to lie flat, specifically including a bed frame 105 and a plurality of independent lifting units 501 arranged side by side on the bed frame 105, the lower end surface of the bed frame 105 is connected with a universal caster with a brake, 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, and in the initial state, the heights of the plurality of independent lifting units 501 are consistent to form a bed surface for a human body to lie flat, and the independent lifting units 501 can be individually moved up and down vertically to massage the human body to prevent bedsores, and specifically, the plurality of independent lifting units 501 are alternately lifted and lowered to massage the human body, thereby effectively avoiding the problem of bedsores in the human body caused by long-term bed rest; and, when it is necessary to change diapers for disabled persons, the hips and / or legs of the human body can be lifted by the corresponding independent lifting units 501, so as to facilitate the operation of the nursing staff.

[0052] In some embodiments, reference Figure 6 As shown, 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 a first scissors frame 5012. The protective pad 502 is fixedly installed on the upper end surface of the first support plate 5013. The first scissors frame 5012 ensures that the two ends of the first support plate 5013 can rise or fall synchronously to avoid tilting, and directly contact the human body through the protective pad 502.

[0053] In some embodiments, reference Figure 4 and Figure 5As shown, the bed frame 105 is also provided with at least two support frames hinged in sequence, and a plurality of independent lifting units 501 are arranged on the support frames. Specifically, there are four support frames and they 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, the second support frame 102 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 calf of the human body. The linkage of the four support frames can realize the human body sitting up from the nursing bed 100. Specifically, the hinge point between the third support frame 103 and the fourth support frame 104 can move upward, so that the human leg can curl up from the knee, and the human sitting posture is adjusted to facilitate daily care of the bedridden person and daily activities such as watching TV, surfing the Internet, and eating; further The first support frame 101 is connected to a first driver (not shown), the third support frame 103 is connected to a second driver (not shown), and the output end of the first driver is connected to 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 the hinge point between it and the second support frame 102 to lift the back of the human body, and the output end of the second driver is connected to the hinge point between the third support frame 103 and the fourth support frame 104. The hinge point between the third support frame 103 and the fourth support frame 104 is driven by the second driver to move upward, thereby ensuring that the human body's legs can curl up from the knees to adjust the sitting posture, thereby improving 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 first driver and the second driver can both be conventional electric, pneumatic, hydraulic push rods, etc.

[0054] It should be noted that the two adjacent support frames are arranged at intervals, the purpose of which is to avoid interference between the two adjacent support frames when they rotate relative to each other; in some other embodiments, the two adjacent independent lifting units 501 are also arranged at intervals, the purpose of which is to avoid interference between the independent lifting units 501 and the adjacent structures during the rising or falling process, and in some other embodiments, the interval between the two adjacent independent lifting units 501 is greater than the width of the mechanical arm of the external human body transfer mechanism, thereby ensuring that the mechanical arm can be inserted from the gap between the two adjacent independent lifting units 501 to lift and transfer the human body; of course, usually a number of independent lifting units 501 at intervals rise together to lift the human body, which facilitates the mechanical arm to be inserted under the human body to transfer the human body. The purpose of adopting this method is that the gap between the two adjacent independent lifting units 501 is sufficient to prevent the two from interfering with each other, avoiding the interval between the two adjacent independent lifting units 501 being too large to affect the experience of the human body lying flat, and the method of using a number of independent lifting units 501 at intervals to lift the human body can ensure the width of the mechanical arm, thereby ensuring the structural strength of the mechanical arm.

[0055] It should be noted that the side of the bed frame 105 is also provided with a plurality of control buttons 107 corresponding to the control of the plurality of independent lifting units 501. The independent lifting units 501 are controlled to rise or fall individually through the plurality of control buttons 107. Of course, a main switch that can control the synchronous rise or fall of the plurality of independent lifting units 501 at intervals can also be provided. Then, when it is necessary to transfer a human body, the plurality of independent lifting units 501 at intervals are controlled to rise synchronously through the main switch to lift the human body, making it convenient for the robotic arm to extend under the human body and transfer the human body.

[0056] In some embodiments, one end of the bed frame 105 is also provided with a height-adjustable IV stand and a display tablet 106. The IV stand is convenient for hanging medicine bottles, and the display tablet 106 can be a handwritten blackboard or a slot for placing information bags or an electronic display.

[0057] Reference Figure 7 and Figure 8As shown, the wheelchair 200 can be adjusted to a sitting state and a flat state, and includes a seat portion 201 connected to a first moving device 205. Specifically, the first moving device 205 can be a universal wheel with a brake, so that the disabled person can be transferred to the outdoors by pushing the wheelchair by a caregiver. Of course, the first moving device 205 can also be electrically controlled. Specifically, the first moving device 205 includes two driving wheels arranged at the rear end of the seat portion 201 and two universal wheels arranged at the front end of the seat portion 201. The two driving wheels are respectively connected to a driving power source, and a control mechanism 210 for controlling the opening and closing of the driving power source is also arranged on the seat portion 201. The control mechanism 210 can be a conventional rocker controller, which controls the forward, backward and turning movements of the wheelchair through a remote sensing controller. It should be noted that a battery assembly can also be installed at the lower end of the seat portion 201; the seat The front and rear ends of the part 201 are respectively hinged with a backrest 202 and a footrest 203, and the seat part 201, the backrest 202 and the footrest 203 are provided with a plurality of spaced-apart protection pads 502. In the sitting state, when the human body needs to be transferred, the backrest 202 and the footrest 203 can be rotated relative to the seat part 201 to be level with the seat part 201, so that the wheelchair is in a flat position for the human body to lie flat, and the mechanical arm on the external human body transfer mechanism can be inserted from the gap between two adjacent protection pads 502 to the bottom of the human body, and the mechanical arm moves upward to lift the human body out of the wheelchair; further, a filling support assembly 204 is provided between two adjacent protection pads 502 on the seat part 201, and the filling support assembly 204 is connected to a driving mechanism. In the sitting state, the filling support assembly 204 can fill the two adjacent protection pads 502 on the seat part 201. The gap between the pads 502 is increased, thereby improving the comfort of a person sitting in a wheelchair. In the flat state, the filling support assembly 204 can move downward to form a groove for the robot arm to pass through between two adjacent pads 502, thereby avoiding interference between the filling support assembly 204 and the robot arm.

[0058] In some embodiments, reference Fig. 9As shown, the filling support assembly 204 includes a second support plate 2041 and a second electric push rod 2043 that drives the second support plate 2041 to move vertically up and down through a second scissor frame 2042. Specifically, the second support plate 2041 is provided with a plurality of filling pads 2044 arranged at intervals, and the number of the filling pads 2044 is adapted to the number of gaps between the protective pads 502 on the seat portion 201. The filling pads 2044 move vertically up and down with the second support plate 2041 to fill the gaps between the protective pads 502 on the seat portion 201, thereby improving the comfort of a human body sitting on the wheelchair. In this embodiment, a plurality of filling pads 2044 are arranged on the second support plate 2041 to reduce the number of driving sources and the complexity of the wheelchair structure, and the plurality of filling pads 2044 rise or fall synchronously to ensure that the filling pads 2044 can be flush with the protective pads 502.

[0059] In some embodiments, the filling pad 2044 and the protective pad 502 are both software, which improve the comfort of a person sitting or / lying on a wheelchair.

[0060] In some embodiments, reference Figure 7 and Figure 8 As shown, the backrest 202 is connected to a first driving mechanism 206, and the first driving mechanism 206 can drive the backrest 202 to rotate relative to the seat part 201 until it is level with the seat part 201. Specifically, one end of the first driving mechanism 206 is hinged on the seat part 201, and the other end is hinged to the backrest 202. The backrest 202 is driven to rotate relative to the seat part 201 by the first driving mechanism 206, and the first driving mechanism 206 can be a conventional electric, pneumatic, hydraulic push rod, etc. The self-locking characteristics of the first driving mechanism 206 can ensure that the backrest 202 is always level with the seat part 201 when the robot arm transfers the human body.

[0061] In some embodiments, reference Figure 7 and Figure 8 As shown, the foot pedal portion 203 is connected to a second driving mechanism 207, and the second driving mechanism 207 can drive the foot pedal portion 203 to rotate relative to the seat portion 201 until it is level with the seat portion 201. Specifically, one end of the second driving mechanism 207 is hinged on the seat portion 201, and the other end is hinged to the foot pedal portion 203. The foot pedal portion 203 is driven to rotate relative to the seat portion 201 through the second driving mechanism 207, and the second driving mechanism 207 can be a conventional electric, pneumatic, hydraulic push rod, etc. The self-locking characteristics of the second driving mechanism 207 can ensure that the foot pedal portion 203 is always level with the seat portion 201 when the robot arm transfers the human body.

[0062] In some embodiments, guardrail assemblies 208 are further provided on both sides of the seat portion 201, and armrests 209 are extended from the rear end of the guardrail assembly 208. Specifically, the guardrail assembly 208 can be a movable guardrail. When the human body needs to be transferred, the guardrail assembly 208 can be folded downward to avoid interference with the robotic arm. In the sitting state, the guardrail assembly 208 can be raised to ensure the safety of the human body sitting in the wheelchair.

[0063] Reference Fig.10 and Fig.11As shown, the sanitary cabin 300 includes a cabin body 301, a fixed frame assembly 314, a first alternating frame assembly 311, a second alternating frame assembly 312 and an excrement collector 308. A first spray assembly 302 and a waterproof curtain 307 are also arranged above the cabin body 301. 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, a vertical plate 304 is arranged at one end of the cabin body 301, and a top plate 305 is extended from the upper end of the vertical plate 304 toward one side of the cabin body 301. A driving mechanism for driving the first spray assembly 302 to move horizontally along the length direction of the cabin body 301 is arranged on the top plate 305. The waterproof curtain 307 is arranged on the top plate 305 and can be unfolded or stored along the circumference of the cabin body 301. A drying assembly 306 is also arranged on the top plate 305, and the drying assembly 306 is used to transport heat into the cabin body 301 The cabin 301 is provided with a bathtub 303, and a fixed frame assembly 314, a first alternating frame assembly 311, a second alternating frame assembly 312 and an excrement collector 308 are all arranged in the bathtub 303. Under normal conditions, the fixed frame assembly 314, the first alternating frame assembly 311 and the second alternating frame assembly 312 are at the same height relative to the horizontal plane to form a plane for a human body to lie flat. The cabin 301 is a rectangular parallelepiped that can accommodate a human body lying flat. The first alternating frame assembly 311 and the second alternating frame assembly 312 are respectively staggered with the fixed frame assembly 314, and the first alternating frame assembly 311 is arranged at a position for supporting the upper part of the human body, and the second alternating frame assembly 312 is arranged at a position for supporting the feet of the human body. The first alternating frame assembly 311 is connected to a first driving assembly 315, and the first alternating frame assembly 311 is driven by the first driving assembly 315 to move The second alternating frame assembly 312 is connected to the second driving assembly 316 to rotate relative to the cabin body 301 to lift the upper part of the human body, and the second alternating frame assembly 316 is used to drive the second alternating frame assembly 312 to rotate relative to the cabin body 301 to lift the human foot, so that the first alternating frame assembly 311 cooperates with the second alternating frame assembly 312 to make the human body sit and the buttocks align with the excrement collector 308, which is convenient for the disabled person to excrete and the nursing staff to clean up. 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, so that the upper part of the human body can 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 curl up from the knee part, so that the human body is in a sitting state; it should be noted that the first driving assembly 315 and the second driving assembly 316 can adopt conventional electric, pneumatic, hydraulic push rods, etc.

[0064] In some embodiments, the fixed frame assembly 314 and / or the first alternating frame assembly 311 and / or the second alternating frame assembly 312 have a plurality of spaced-apart pads, and in an initial state, the pads on the fixed frame assembly 314, the first alternating frame assembly 311 and the second alternating frame assembly 312 are arranged horizontally side by side to form a plane for a human body to lie flat.

[0065] In some embodiments, the first alternating frame assembly 311 and the second alternating frame assembly 312 are also connected to a lifting drive assembly 317, and the first alternating frame assembly 311 and the second alternating frame assembly 312 can be synchronously moved upward or downward by the lifting drive assembly 317, so that the first alternating frame assembly 311 and the second alternating frame assembly 312 are at different heights relative to the fixed frame assembly 314, which is convenient for an external manipulator to be inserted to lift and transfer a human body. Specifically, the first alternating frame assembly 311 and the second alternating frame assembly 312 can both be arranged on a connecting frame, and the connecting frame is connected to the cabin 301 by the lifting drive assembly 317, so that the lifting drive assembly 317 can realize the synchronous up and down movement of the first alternating frame assembly 311 and the second alternating frame assembly 312 by driving the connecting frame to move up and down; in some other embodiments, the connecting frame can be a conventional scissors frame structure.

[0066] In some embodiments, a second spray assembly 313 is further provided in the cabin 301. Specifically, the second spray assembly 313 is provided on the first alternating frame assembly 311 and / or the second alternating 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 human back and / or the human buttocks and / or the human legs. When in 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 are rotated relative to the cabin 301 to make the human body sit, which is convenient for human excretion. 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 human buttocks, and the human buttocks are cleaned by the second spray assembly 313.

[0067] In some embodiments, a soap liquid box 309 and / or an ozone disinfection component 310 is also provided on the vertical plate 304. The soap liquid box 309 and the ozone disinfection component 310 are both connected to the first spray component 302 and / or the second spray component 313. The ozone disinfection component 310 specifically includes an ozone generator. The soap liquid is sprayed onto the human body through the first spray component 302 and / or the second spray component 313 for cleaning. Of course, the caregiver can also scrub the human body after spraying the soap liquid. After the scrubbing and cleaning is completed, the first spray component 302 and / or the second spray component 313 spray clean water on the human body to clean the soap liquid on the human body, and finally the drying component 306 dries the human body.

[0068] In some other embodiments, another drying component 306 is disposed below the cabin 301 , and the lower surface of the human body is dried by the other drying component 306 .

[0069] Reference Figure 1 As shown, in some embodiments, a docking assembly 500 is further provided on one or both sides of the human body transfer mechanism, and a positioning guide assembly 600 matching the docking assembly 500 is provided on the nursing bed and / or the wheelchair and / or the sanitary cabin, and the docking assembly 500 can be plugged and fixed into the positioning guide assembly 600. For details, refer to Fig.12 As shown, the docking assembly 500 includes a mounting rod 5003 and a guide rod 5001 and a locking hook 5002 respectively arranged on the mounting rod 5003, and the locking hook 5002 is hinged on the mounting rod 5003. Under normal conditions, the locking hook 5002 can rotate freely relative to the hinge point between it and the mounting rod 5003. Fig.13 As shown, the positioning guide component 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 component 500 is usually fixedly installed on one side or both sides of the human body transfer mechanism, and the positioning guide component 600 is installed on one side or both sides of the nursing bed, wheelchair and sanitary cabin. That is, in the entire nursing robot system, the disabled person is transferred between the nursing bed, wheelchair and sanitary cabin through the human body transfer mechanism. Specifically, the docking component 500 moves horizontally with the human body transfer mechanism to a side close to the nursing bed, wheelchair or sanitary cabin, and the guide rod 5001 is aligned and inserted into the guide hole 6001. Since the locking hook 5002 can rotate freely relative to the mounting rod 5003, in the process of the guide rod 5001 being inserted into the guide hole 6001, the locking hook 5002 approaches and can cross the locking rod 6002 and then hook onto the locking rod 6002, thereby realizing relative fixation between the human body transfer mechanism and the nursing bed or wheelchair or sanitary cabin, thereby ensuring safety during human body transfer.

[0070] In some embodiments, reference Fig.12 As shown, the front end surface of the locking hook 5002 is an inclined surface. When the locking hook 5002 moves horizontally toward the locking rod 6002 along with the human body transfer mechanism, the locking rod 6002 contacts the front end surface of the locking hook 5002 and can drive the locking hook 5002 to rotate relative to the mounting rod 5003, so that the locking hook 5002 passes over the locking rod 6002 and is hooked onto the locking rod 6002.

[0071] In some embodiments, reference Fig.12 As shown, the lower end surface of the locking hook 5002 is provided with a moving shaft 5006, and the moving shaft 5006 is connected to a telescopic electric cylinder 5004. The moving shaft 5006 is horizontally moved by the telescopic electric cylinder 5004 to approach or move away from 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. When the telescopic electric cylinder 5004 drives the moving shaft 5006 to move horizontally to approach the hinge point between the locking hook 5002 and the mounting rod 5003, the moving shaft 5006 abuts against the lower end surface of the locking hook 5002 and lifts the locking hook 5002. That is, the locking hook 5002 can be rotated upward relative to the mounting rod 5003 to loosen the locking rod 6002, and when the telescopic electric cylinder 5004 drives the movable shaft 5006 to move horizontally away from the hinge point between the locking hook 5002 and the mounting rod 5003, the locking hook 5002 can be rotated 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, the locking hook 5002 can be controlled by the switch button to loosen the locking rod 6002, so as to facilitate the human body transfer mechanism away from the nursing bed, wheelchair or sanitary cabin.

[0072] In some embodiments, reference Fig.12 As shown, there are several locking hooks 5002 arranged side by side on the mounting rod 5003, and the moving shaft 5006 can drive the several locking hooks 5002 to rotate synchronously to release or hook the locking rod 6002 at the same time.

[0073] In some embodiments, reference Fig.12 As shown, there are two guide rods 5001 and they are respectively arranged at both ends of the mounting rod 5003. The purpose is to achieve accurate positioning through the two guide rods 5001 to avoid relative movement of the human body transfer mechanism relative to the nursing bed or wheelchair or sanitary cabin during the transfer of the human body. In other embodiments, there are also two locking hooks 5002 and they are respectively arranged on the mounting rod 5003. The purpose is to further strengthen the connection between the human body transfer mechanism and the nursing bed or wheelchair or sanitary cabin.

[0074] In some embodiments, reference Fig.12 and Fig.13As shown, the front end of the guide rod 5001 is provided with a guide wheel 5005, and the guide hole 6001 is provided with a guide wheel 5005 for contacting the guide wheel 5005. The micro switch 6004 is further formed by a plurality of guide blocks 6003, and the guide hole 6001 is in an inclined opening shape, 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 is started and the locking hook 5002 is driven to rotate upward through the moving shaft 5006 to ensure that the locking hook 5002 can pass 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.

[0075] It should be noted that the nursing bed 100, wheelchair 200 and sanitary cabin 300 are all equipped with casters with brakes. Before transferring the human body or locking them in place with the human body transfer mechanism 400, the nursing bed 100, wheelchair 200 and sanitary cabin 300 are first fixed by casters for easy operation.

[0076] The above is a preferred embodiment of the present invention. It should be pointed out that a person skilled in the art can make several improvements and modifications without departing from the principle of the present invention. These improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A nursing robot system, characterized in that: include: A nursing bed (100) having a bed surface for a person to lie flat on; A wheelchair (200) that can be adjusted to a sitting position and a lying position; The sanitary cabin (300) has a first spraying component (302) and a drying component (306) for cleaning, nursing and drying the human body; A human body transfer mechanism (400) comprises a horizontally movable main body (401) and a mechanical arm (402) arranged on the main body (401); a human body can lie flat on the main body (401); the mechanical arm (402) is used to lift and transfer the human body; the main body (401) is provided with a plurality of mattresses (405) arranged separately; the mechanical arms (402) are provided in a plurality and are arranged correspondingly in the gap between two adjacent mattresses (405); A load-bearing frame (407) is provided on the main body (401), one end of each of the plurality of mechanical arms (402) is connected to a moving rod (403), and the moving rod (403) is connected to 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; The load-bearing frame (407) is also connected to an up-and-down moving driving assembly (408), and the up-and-down moving driving assembly (408) drives the mechanical arm (402) to move back and forth vertically through the load-bearing frame (407); A plurality of load-bearing bars (410) are arranged at intervals on the load-bearing frame (407), and the plurality of load-bearing bars (410) correspond to gaps between the plurality of mattresses (405); A plurality of the mechanical arms (402) are correspondingly arranged on a plurality of the load-bearing bars (410), and a pulley (411) is arranged between the mechanical arms (402) and the load-bearing bars (410).

2. The nursing robot system according to claim 1, characterized in that: The horizontal movement driving assembly (406) comprises a horizontally arranged translation track and a slider arranged on the translation track, wherein the slider is connected to a third driving mechanism.

3. The nursing robot system according to claim 2, characterized in that: The moving rod (403) is provided with a guardrail (409), and the guardrail (409) moves along the translation track with the moving rod (403) to one side of the main body (401).

4. The nursing robot system according to claim 1, characterized in that: The sanitary cabin (300) comprises a cabin body (301), a fixed frame assembly (314), a first alternating frame assembly (311) and a second alternating frame assembly (312), wherein the first alternating frame assembly (311) is connected to a first driving assembly (315) and is arranged in a position in the cabin body (301) for supporting the upper part of a human body, the second alternating frame assembly (312) is connected to a second driving assembly (316) and is arranged in a position in the cabin body (301) for supporting the feet of a human body, and the first alternating frame assembly (311) and the second alternating frame assembly (312) are connected to a first driving assembly (316) and are arranged in a position in the cabin body (301) for supporting the feet of a human body. The frame assemblies (312) are respectively arranged in an offset manner with the fixed frame assemblies (314), and an excrement collector (308) is also arranged in the middle of the cabin (301). The first driving assembly (315) can drive the first alternating frame assembly (311) to rotate 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 rotate relative to the cabin (301) to lift the feet of the human body so that the human body is in a sitting state with the buttocks aligned with the excrement collector (308).

5. The nursing robot system according to claim 4, characterized in that: The fixed frame assembly (314) and / or the first alternating frame assembly (311) and / or the second alternating frame assembly (312) have a plurality of protective pads (502) arranged at intervals.

6. The nursing robot system according to claim 4, characterized in that: The first alternating frame assembly (311) and the second alternating frame assembly (312) are also connected to a lifting drive assembly (317), and the first alternating frame assembly (311) and the second alternating frame assembly (312) can be synchronously moved upward or downward through the lifting drive assembly (317).

7. The nursing robot system according to claim 4, characterized in that: The sanitary cabin (300) further comprises a waterproof curtain (307) which can be deployed and arranged around the cabin body (301); the first spray assembly (302) is arranged above the cabin body (301) and can move back and forth horizontally along the length direction of the cabin body (301).

8. The nursing robot system according to claim 4, characterized in that: The invention also comprises a second spray assembly (313), wherein the second spray assembly (313) is arranged on the first alternating frame assembly (311) and / or the second alternating 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 be aimed at the back and / or the buttocks and / or the legs of the human body.

9. The nursing robot system according to claim 8, characterized in that: The first spray assembly (302) and / or the second spray assembly (313) is also connected to a soap liquid box (309).

10. The nursing robot system according to claim 9, characterized in that: The first spray component (302) and / or the second spray component (313) is also connected to an ozone disinfection component (310).

11. The nursing robot system according to claim 1, characterized in that: The nursing bed (100) comprises a bed frame (105) and a plurality of independent lifting units (501) arranged side by side on the bed frame (105), wherein the upper ends of the plurality of independent lifting units (501) are respectively provided with pads (502) for supporting a human body, and in an initial state, the heights of the plurality of independent lifting units (501) are consistent to form a bed surface on which a human body can lie flat.

12. The nursing robot system according to claim 11, characterized in that: The independent lifting unit (501) comprises a first support plate (5013) and a first electric push rod (5011) for driving the first support plate (5013) to move vertically up and down through a first scissor frame (5012), and the protective pad (502) is fixedly mounted on the upper end surface of the first support plate (5013).

13. The nursing robot system according to claim 11, characterized in that: The bed frame (105) is also provided with at least two support frames hinged in sequence, and a plurality of the independent lifting units (501) are arranged on the support frames.

14. The nursing robot system according to claim 13, characterized in that: The support frames are four 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 lift the back of a human body, the second support frame (102) is fixedly mounted on the bed frame (105) to support the buttocks of a human body, the second support frame (102) is used to support the bending of a human body's thigh, and the fourth support frame (104) is used to support the bending of a human body's calf.

15. The nursing robot system according to claim 14, characterized in that: The first support frame (101) is connected to a first driver, the third support frame (103) is connected to a second driver, and both the first driver and the second driver can be rotatably mounted on the bed frame (105).

16. The nursing robot system according to claim 1, characterized in that: The wheelchair (200) comprises a seat portion (201) connected to a first moving device (205), a backrest portion (202) and a footrest portion (203) being hinged at both ends of the seat portion (201), and a plurality of spaced-apart protection pads (502) are provided on the seat portion (201), the backrest portion (202) and the footrest portion (203), and a filling support assembly (204) is provided between two adjacent protection pads (502) on the seat portion (201), and the filling support assembly (204) is connected to a driving mechanism, and the driving mechanism is used to drive the filling support assembly (204) to move upward to be level with the protection pads (502) to support a human body or to move downward to form a groove between two adjacent protection pads (502) into which a robot arm can be inserted.

17. The nursing robot system according to claim 16, characterized in that: The filling support assembly (204) comprises a second support plate (2041) and a second electric push rod (2043) for driving the second support plate (2041) to move vertically up and down via a second scissor frame (2042); the second support plate (2041) is provided with a plurality of filling pads (2044) arranged at intervals; the filling pads (2044) can move up and down from the gap between two adjacent protective pads (502).

18. The nursing robot system according to claim 16, characterized in that: The backrest portion (202) is connected to a first driving mechanism (206), and the first driving mechanism (206) is capable of driving the backrest portion (202) to rotate relative to the seat portion (201) to be level with the seat portion (201).

19. The nursing robot system according to claim 18, characterized in that: The footrest portion (203) is connected to a second driving mechanism (207), and the second driving mechanism (207) can drive the footrest portion (203) to rotate relative to the seat portion (201) to be level with the seat portion (201).

20. The nursing robot system according to claim 1, characterized in that: A docking assembly (500) is also provided on one side or both sides of the human body transfer mechanism, and a positioning guide assembly (600) that matches the docking assembly (500) is provided on the nursing bed (100) and / or the wheelchair (200) and / or the sanitary cabin (300), and the docking assembly (500) can be plugged and fixed into the positioning guide assembly (600).

21. The nursing robot system according to claim 20, characterized in that: The docking assembly (500) comprises a mounting rod (5003) and a guide rod (5001) and a locking hook (5002) respectively arranged on the mounting rod (5003), wherein the locking hook (5002) is hinged on the mounting rod (5003), and the positioning guide assembly (600) comprises a guide hole (6001) corresponding to the guide rod (5001) and a locking rod (6002) corresponding to the locking hook (5002).

22. The nursing robot system according to claim 21, characterized in that: 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) and then hook onto the locking rod (6002).

23. The nursing robot system according to claim 21, characterized in that: The invention also includes a movable shaft (5006) located at the lower end surface of the locking hook (5002); the lower end surface of the locking hook (5002) is an inclined surface; the movable shaft (5006) is connected to a telescopic electric cylinder (5004); the movable shaft (5006) is driven by the telescopic electric cylinder (5004) to move horizontally back and forth, thereby driving the locking hook (5002) to rotate relative to the mounting rod (5003) to release the locking rod (6002).

24. The nursing robot system according to claim 23, characterized in that: A plurality of the locking hooks (5002) are arranged side by side on the mounting rod (5003), and the moving shaft (5006) can drive the plurality of the locking hooks (5002) to rotate synchronously.

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