A hanging nursing robot

Abstract

The present invention discloses a suspended nursing robot, comprising a ceiling rail net, a sliding device and a suspension device, wherein the sliding device is installed on the ceiling rail net, the suspension device is connected to the sliding device, the sliding device can move on the ceiling rail net, the suspension device can move on the ceiling rail net with the power sliding wheel assembly, and the suspension device can be extended and retracted up and down. The present invention uses ceiling rails without occupying ground space, is not interfered by path obstacles, and is provided with sliding devices and suspension devices to accurately transmit objects, with faster speed and higher efficiency, without the hidden danger of robots injuring people, and without high-cost components, so the cost is low, which helps to alleviate the problem of a large number of nursing workers shortages for disabled elderly people in China, and can be extended to hospitals, catering and other industries, and can provide new options for transmitting objects in catering, hospitals and other industries.

Description

Technical Field

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

[0002] The internationally accepted indicators for disabled people include: dressing, getting in and out of bed, walking indoors, eating, bathing, and going to the toilet. According to population statistics, by the end of 2018, there were 44 million disabled and partially disabled elderly people in China, and about 20 million disabled elderly people needed the help of caregivers to live. China currently has more than 300,000 caregivers. According to the international standard of 1:3, China's caregiver shortage is more than 6 million. Developing nursing robots is an effective way to solve the massive nursing shortage. To this end, a variety of nursing robots have been developed at home and abroad. Among them, family life nursing robots all walk on the ground or move on wheels. They are large in size and require obstacle avoidance and automatic path planning. They also have visual recognition, tactile sensing and other intelligent devices and components. The cost is very high, and they also have high requirements for living space. If nursing robots with other functions are introduced according to the needs of disabled elderly people, it is likely to lead to conflicts in application sites. Therefore, the actual users of such robots are limited to a few high-end nursing institutions, and it is rare to enter home-based elderly care.

[0003] Therefore, a technical solution to the above problems is needed. Summary of the invention

[0004] In view of the deficiencies in the prior art, the present invention aims to provide a hanging nursing robot suitable for hoisting daily necessities for the elderly at home.

[0005] In order to achieve the above-mentioned purpose, the present invention adopts the following technical scheme: a suspended nursing robot, comprising a ceiling guide rail net, a sliding device and a suspension device, the sliding device is installed on the ceiling guide rail net, the suspension device is connected to the sliding device, the sliding device can move on the ceiling guide rail net, the suspension device can move on the ceiling guide rail net with the power sliding wheel assembly, and the suspension device can be extended and retracted up and down.

[0006] As a further improvement of the present invention: the ceiling guide rail network includes a main rail and a plurality of sub-rails, the main rail is provided with an intelligent path selection device at the connection between the sub-rails, and the main rail can be connected to any sub-rail through the intelligent path selection device.

[0007] As a further improvement of the present invention: the intelligent selection device is provided with a rotating guide rail, a rotating motor, a rotating control plate, a rotating outer shell, an upper sensor and an adapter frame. The rotating motor, the rotating control plate and the upper sensor are all installed on the adapter frame and covered by the rotating outer shell. A rotating shaft is arranged at the upper end of the rotating guide rail, and a connecting track is arranged at the lower end. The rotating shaft passes through the bottom plate of the adapter frame and is connected to the rotating motor. The connecting track can connect the main track and the sub-track. The rotating motor and the upper sensor are both connected to the rotating control plate.

[0008] As a further improvement of the present invention: the connecting track, the main track and the plurality of sub-tracks are all provided with chains.

[0009] As a further improvement of the present invention: the suspension device includes a telescopic device and a hook, the telescopic device is connected to the sliding device, and the hook is connected to the telescopic device.

[0010] As a further improvement of the present invention: the telescopic device is provided with a telescopic shield and a telescopic rod, and the telescopic rod is arranged in the telescopic shield; a plurality of telescopic shields are provided, and the telescopic shields are of different sizes, and are sequentially sleeved from small to large so that the telescopic shields can be telescoped; the telescopic rod is provided with a plurality of telescopic screws and screw sleeves, and the telescopic screws are of different sizes, and the telescopic screws are connected from small to large through the screw sleeves to be telescoped.

[0011] As a further improvement of the present invention: sliding blocks are provided on both sides of the telescopic shield, and the sliding blocks are arranged inside the telescopic shield, so that the telescopic shields are connected and can slide against each other.

[0012] As a further improvement of the present invention: a lifting motor is provided in the sliding device, and the lifting motor is connected to the telescopic rod.

[0013] As a further improvement of the present invention: the suspension device includes a primary telescopic device, a secondary telescopic device and a hook, the primary telescopic device is connected to the sliding device, the secondary telescopic device is connected to the primary telescopic device, and the hook is connected to the secondary telescopic device.

[0014] As a further improvement of the present invention: the first-level telescopic device is provided with a first-level telescopic shield, a scissors-type telescopic frame and a first-level push rod, the scissors-type telescopic frame is arranged in the first-level telescopic shield, a plurality of first-level telescopic shields are arranged, the first-level telescopic shields are of different sizes, and are sequentially sleeved from small to large so that the first-level telescopic shields can be telescoped along with the telescoped scissors-type telescopic frame, the scissors-type telescopic frame is also connected to the sliding device, the first-level push rod is connected to the scissors-type telescopic frame, and the scissors-type telescopic frame can be pushed by the first-level push rod to telescope.

[0015] As a further improvement of the present invention: the secondary telescopic device is provided with a secondary telescopic shield and a secondary push rod, the secondary push rod is connected to the primary telescopic device, the secondary push rod is arranged in the secondary telescopic shield, and the hook is connected to the secondary push rod.

[0016] As a further improvement of the present invention: an anti-collision buffer spring is provided between the sliding device and the suspension device.

[0017] As a further improvement of the present invention: a multimedia panel is further provided at the lowermost end of the suspension device, and the multimedia panel is arranged on one side surface of the suspension device.

[0018] As a further improvement of the present invention: the sliding device is provided with a component housing, a sprocket frame, a sprocket, a positioning wheel, a mobile motor, a lower sensor and a sliding control plate, the sprocket frame, the mobile motor, the lower sensor and the sliding control plate are all in the component housing, the sprocket frame is arranged on the outside of the track of the ceiling guide rail network, the positioning wheel and the sprocket are arranged in the sprocket frame, and the sprocket is connected to the mobile motor and driven by the mobile motor, the positioning wheel is arranged on the outside of the sprocket, and the mobile motor and the lower sensor are both connected to the sliding control plate.

[0019] The beneficial technical effects of the present invention are as follows: the device of the present invention uses a ceiling guide rail which does not occupy ground space and is not disturbed by path obstacles. The sliding device and the hanging device are arranged to accurately convey objects at a faster speed and with higher efficiency. There is no hidden danger of robot injuries and no high-cost components, so the cost is low. This helps alleviate the problem of a large number of nursing staff shortages for China's disabled elderly people and can be extended to be used in hospitals, catering and other industries. The promotion of the present invention can also provide new options for conveying objects in catering, hospitals and other industries. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a structural schematic diagram of implementation case 1 of the present invention.

[0021] Figure 2 This is a schematic diagram of the decomposition structure of the first embodiment of the present invention.

[0022] Figure 3 This is a schematic diagram of the exploded structure of a suspension device according to Embodiment 1 of the present invention.

[0023] Figure 4 This is a structural schematic diagram of a screw sleeve according to an embodiment of the present invention.

[0024] Figure 5 It is a structural schematic diagram of invention implementation case 2.

[0025] Figure 6 This is a schematic diagram of the decomposition structure of the second implementation example of the present invention.

[0026] Figure 7 It is a structural schematic diagram of the connection between the sliding device and the suspension device in the second embodiment of the invention.

[0027] In the figure: 1 ceiling guide rail network, 11 main rail, 12 sub-rail, 13 intelligent path selection device, 131 rotating guide rail, 1311 rotating shaft, 1312 connecting rail, 132 rotating motor, 133 rotating control board, 134 rotating shell, 135 upper sensor, 136 adapter frame, 2 sliding device, 21 component shell, 22 sprocket frame, 23 sprocket, 24 positioning wheel, 25 mobile motor, 26 lower sensor, 27 sliding control board, 28 lifting motor, 3 suspension device, 31 telescopic device, 311 telescopic cover, 312 telescopic rod, 313 slider, 314 telescopic screw, 315 screw sleeve, 32 hook, 33 primary telescopic device, 331 primary telescopic cover, 332 scissor-type telescopic frame, 333 primary push rod, 34 secondary telescopic device, 341 secondary telescopic cover, 342 secondary push rod, 4 chain, 5 multimedia panel, 6 anti-collision buffer spring. DETAILED DESCRIPTION

[0028] The present invention will be further described below in conjunction with the accompanying drawings. It should be noted that this embodiment is based on the technical solution and provides a detailed implementation method and specific operation process, but the protection scope of the present invention is not limited to this embodiment.

[0029] Implementation case 1:

[0030] refer to Figures 1 to 4 A suspended nursing robot comprises a ceiling guide rail network 1, a sliding device 2 and a suspension device 3, wherein the sliding device 2 is installed on the ceiling guide rail network 1, the suspension device 3 is connected to the sliding device 2, and the suspension device 3 can move on the ceiling guide rail network 1 along with the power sliding wheel assembly 2.

[0031] Among them, the ceiling guide rail network 1 includes a main track 11 and a plurality of sub-tracks 12. The main track 11 is provided with an intelligent path selection device 13 at the connection of the sub-tracks 12. The intelligent selection device 13 is provided with a rotating guide rail 131, a rotating motor 132, a rotating control board 133, a rotating shell 134, an upper sensor 135 and an adapter frame 136. The rotating motor 132, the rotating control board 133 and the upper sensor 135 are all installed on the adapter frame 136 and covered by the rotating shell 134. A rotating shaft 1311 is provided at the upper end of the rotating guide rail 131, and a connecting track 1312 is provided at the lower end. The rotating shaft 1311 passes through the bottom plate of the adapter frame 136 and is connected to the rotating motor 132. The connecting track 1312 can connect the main track 11 and the sub-track 12. The rotating motor 132 and the upper sensor 135 are both connected to the rotating control board 133. The main track 11 can be connected to any sub-track 12 through the intelligent path selection device 13.

[0032] The sliding device 2 is provided with a component housing 21, a sprocket frame 22, a sprocket 23, a positioning wheel 24, a mobile motor 25, a lower sensor 26 and a sliding control board 27. The sprocket frame 22, the sprocket 23, the mobile motor 25, the lower sensor 26 and the sliding control board 27 are all in the component housing 21. The sprocket frame 22 is arranged on the outer side of the track of the ceiling guide rail network 1. The positioning wheel 24 and the sprocket 23 are arranged in the sprocket frame 22, and the sprocket 23 is connected to the mobile motor 25 and driven by the mobile motor 25. The positioning wheel 24 is arranged on the outer side of the sprocket 23. The mobile motor 25 and the lower sensor 26 are both connected to the sliding control board 27.

[0033] The connecting rail 1312, the main rail 11 and the plurality of sub-rails 12 are all provided with a chain 4. The sprocket 23 of the sliding device 2 can be driven by a moving motor 25 to move on the chain 4, so that the power sliding wheel assembly 2 can move on the ceiling guide rail network 1, and the suspension device 3 can also move on the ceiling guide rail network 1 along with the power sliding wheel assembly 2.

[0034] The suspension device 3 includes a telescopic device 31 and a hook 32 . The telescopic device 31 is connected to the sliding device 2 , and the hook 32 is connected to the telescopic device 31 .

[0035] The telescopic device 31 is provided with a telescopic shield 311 and a telescopic rod 312. A plurality of telescopic shields 311 are provided. The telescopic shields 311 are of different sizes. The plurality of telescopic shields 311 are sequentially sleeved together from small to large, so that the telescopic shields 311 can be telescoped. Sliders 313 are provided on both sides of the telescopic shields. The slides are arranged on the inner sides of the telescopic shields so that the telescopic shields can be connected and slide with each other.

[0036] The telescopic rod 312 is provided with a plurality of telescopic screws 314 and screw sleeves 315. The telescopic screws 314 are of different sizes and are connected from small to large by screw sleeves 315, so that the telescopic screws 314 can be telescoped and the suspension device 3 can be telescoped up and down.

[0037] A multimedia panel 5 is also provided at the lower end of the suspension device 3 , and the multimedia panel 5 is arranged on one side surface of the suspension device 3 .

[0038] A lifting motor 28 is also provided in the sliding device 2, and the lifting motor 28 is connected to the telescopic rod 312. The lifting motor 28 drives the telescopic screw 314 to rotate, and the telescopic screws 314 are connected to each other through the screw sleeve 315, so that the telescopic screw 314 can be extended and retracted. The telescopic rod 312 is arranged in the telescopic shield 311, and the telescopic shields 311 can also be extended and retracted.

[0039] When the present invention is in use, a disabled person can sit on a hanging chair or a hanging basket, hang the hanging chair or the hanging basket on a hook 32, and control the remote control to sense the movement of the sliding device 2 with the lower sensor 26 in the sliding device 2 to control the movement of the sliding device 2 The motor 25 rotates, so that the sprocket 23 rotates on the chain 4; when going to different positions, the remote control can also be controlled to sense the movement of the sliding device 2 with the upper sensor 135 in the intelligent selection device 13 to control the sliding device 2 to enter different tracks, so that the disabled person can move freely; and the telescopic device 31 of the suspension device 3 can be controlled to rotate and telescope to different heights through the lifting motor 28 to drive the telescopic screw 314. The multimedia panel 5 provided on the suspension device 3 can also increase entertainment.

[0040] Similarly, when disabled elderly people or disabled people need to lift heavy objects, or when people in catering, hospitals and other industries need to transport objects, the objects that need to be moved can be hung on the hook 32.

[0041] Implementation case 2:

[0042] refer to Figures 5 to 7 The difference between this embodiment and the embodiment one is that: in this embodiment, the suspension device 3 includes a primary telescopic device 33, a secondary telescopic device 34 and a hook 32, the primary telescopic device 33 is provided with a primary telescopic cover 331, a scissor-type telescopic frame 332 and a primary push rod 333, the scissor-type telescopic frame 332 is arranged in the primary telescopic cover 331, the scissor-type telescopic frame 332 is connected to the sliding device 2, the primary push rod 333 is connected to the scissor-type telescopic frame 332, the scissor-type telescopic frame 332 can be pushed by the primary push rod 333 to be telescopic, a plurality of primary telescopic covers 331 are provided, the primary telescopic covers 331 are of different sizes, and are sequentially sleeved from small to large so that the primary telescopic covers 331 can be telescoped with the scissor-type telescopic frame 332, so that the suspension device 3 can be telescoped up and down.

[0043] The secondary telescopic device 34 is provided with a secondary telescopic cover 341 and a secondary push rod 342. The secondary push rod 342 is connected to the primary telescopic device 33. The secondary push rod 342 is arranged in the secondary telescopic cover 341, and is connected to the scissor-type telescopic frame 332 in the primary telescopic device 33 through the secondary push rod 342, so that the secondary telescopic device 34 is connected to the primary telescopic device 33. The multimedia panel 5 is arranged on the side of the secondary telescopic cover 341, and the hook 32 is connected to the secondary push rod 342, so that the hook 32 is connected to the secondary telescopic device 34, and an anti-collision buffer spring 6 is provided between the sliding device 2 and the suspension device 3.

[0044] The primary telescopic device 33 and the secondary telescopic device 34 of the suspension device 3 can be telescoped to different heights, and the multimedia panel 321 provided in the secondary telescopic device 34 can also increase the entertainment

[0045] It can be seen that compared with the existing ground walking or wheel-moving life goods delivery robots, the device of the present invention uses a ceiling rail network that does not occupy ground space, is not disturbed by path obstacles, and is equipped with a sliding device and a hanging device to accurately deliver goods, with faster speed and higher efficiency. There is no hidden danger of robot injury, no high-cost components, so the cost is low and can be extended to hospitals, catering and other industries. The promotion of the present invention will help alleviate the problem of a large number of nursing staff shortages for disabled elderly people in China, and can also provide new options for delivering goods in industries such as catering and hospitals.

[0046] For those skilled in the art, various corresponding changes and modifications can be made according to the above technical solutions and concepts, and all of these changes and modifications should be included in the protection scope of the claims of the present invention.

Claims

1. A hanging nursing robot, characterized in that: It includes a ceiling rail net, a sliding device and a suspension device, wherein the sliding device is installed on the ceiling rail net, the suspension device is connected to the sliding device, the sliding device can move on the ceiling rail net, the suspension device can move on the ceiling rail net along with the sliding device, and the suspension device can be extended and retracted up and down; The ceiling rail network includes a main rail and a plurality of sub-rails, wherein the main rail is provided with an intelligent path selection device at the connection of the sub-rails, and the main rail can be connected to any sub-rail through the intelligent path selection device; the intelligent path selection device is provided with a rotating rail, a rotating motor, a rotating control board, a rotating shell, an upper sensor and an adapter frame, wherein the rotating motor, the rotating control board and the upper sensor are all installed on the adapter frame and covered by the rotating shell, a rotating shaft is provided at the upper end of the rotating rail, and a connecting rail is provided at the lower end, wherein the rotating shaft passes through the bottom plate of the adapter frame and is connected to the rotating motor, the connecting rail can connect the main rail and the sub-rails, and the rotating motor and the upper sensor are both connected to the rotating control board; The sliding device is provided with a component housing, a sprocket frame, a sprocket, a positioning wheel, a mobile motor, a lower sensor and a sliding control plate. The sprocket frame, the mobile motor, the lower sensor and the sliding control plate are all arranged in the component housing. The sprocket frame is arranged on the outer side of the track of the ceiling guide rail network. The positioning wheel and the sprocket are arranged in the sprocket frame, and the sprocket is connected to the mobile motor and driven by the mobile motor. The positioning wheel is arranged on the outer side of the sprocket. The mobile motor and the lower sensor are both connected to the sliding control plate.

2. A hanging nursing robot according to claim 1, characterized in that: The connecting track, the main track and the plurality of sub-tracks are all provided with chains.

3. A hanging nursing robot according to claim 1, characterized in that: The suspension device includes a telescopic device and a hook, the telescopic device is connected to the sliding device, and the hook is connected to the telescopic device; the telescopic device is provided with a telescopic shield and a telescopic rod, and the telescopic rod is arranged in the telescopic shield; a plurality of telescopic shields are provided, and the telescopic shields are of different sizes, and are sequentially sleeved from small to large so that the telescopic shields can be telescoped; the telescopic rod is provided with a plurality of telescopic screws and screw sleeves, the telescopic screws are of different sizes, and the telescopic screws are connected from small to large through the screw sleeves so as to be telescopic.

4. A hanging nursing robot according to claim 3, characterized in that: Slide blocks are provided on both sides of the telescopic shield, and the slide blocks are arranged inside the telescopic shield so that the telescopic shields are connected and can slide against each other.

5. The hanging nursing robot according to claim 3, characterized in that: A lifting motor is arranged in the sliding device, and the lifting motor is connected to the telescopic rod.

6. The hanging nursing robot according to claim 1, characterized in that: The suspension device includes a primary telescopic device, a secondary telescopic device and a hook, the primary telescopic device is connected to the sliding device, the secondary telescopic device is connected to the primary telescopic device, and the hook is connected to the secondary telescopic device; the primary telescopic device is provided with a primary telescopic cover, a scissor-type telescopic frame and a primary push rod, the scissor-type telescopic frame is arranged in the primary telescopic cover, a plurality of primary telescopic covers are arranged, the primary telescopic covers are of different sizes, and are sequentially sleeved from small to large so that the primary telescopic covers can be telescoped along with the telescoped scissor-type telescopic frame, the scissor-type telescopic frame is also connected to the sliding device, the primary push rod is connected to the scissor-type telescopic frame, and the scissor-type telescopic frame can be pushed by the primary push rod to be telescoped.

7. The hanging nursing robot according to claim 6, characterized in that: The secondary telescopic device is provided with a secondary telescopic shield and a secondary push rod, the secondary push rod is connected to the primary telescopic device, the secondary push rod is arranged in the secondary telescopic shield, and the hook is connected to the secondary push rod; an anti-collision buffer spring is provided between the sliding device and the suspension device.

8. The hanging nursing robot according to claim 1, characterized in that: A multimedia panel is also provided at the lowermost end of the suspension device, and the multimedia panel is arranged on one side surface of the suspension device.

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