Home care robot and control method

Abstract

The present invention relates to a household nursing robot and a control method, the household nursing robot comprising a nursing bed, a transfer device, a wheelchair and a sanitary cabin; when in use, the mechanical arm of the transfer device extends horizontally and is inserted into a groove of the nursing bed to lift the human body on the nursing bed and transfer it to the wheelchair or sanitary cabin. In this way, the transfer of the human body between the nursing bed, the wheelchair and the sanitary cabin can be realized, and automated bathing can be completed. The operation is simple and easy, and the number of nursing staff is effectively reduced, and the nursing intensity is reduced. At the same time, the transfer is safe, stable and reliable. At the same time, the ventilation of the nursing bed and the wheelchair is excellent, and the comfort is high, which effectively avoids the problem of bedsores in the human body caused by long-term bed rest.

Description

Technical Field

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

[0002] At present, whether in the hospital or at home, it is often inevitable to transfer the bedridden person in space during the nursing process; however, the applicant found that: the existing method usually adopts the method of carrying the bedridden person from the bed to the wheelchair, and after the wheelchair completes the task of spatial movement, the wheelchair is carried to the bed; and when bathing the bedridden person, the nursing staff is also required to carry the bedridden person to the bathing bed, and then the nursing staff is required to carry the bedridden person to the nursing bed; this is not only a great test of the physical strength of medical staff and nursing staff, but also has great labor intensity, and also creates certain safety hazards, especially for patients who have just undergone surgery or whose bodies need to remain relatively stable. The difficulty is very great. Even if the patient is transported by mechanical transportation, the above problems cannot be completely solved. In the transportation process, human labor is still required to move the bedridden person to the transfer mechanism, and this process still has the above defects. Summary of the invention

[0003] In order to solve the above-mentioned problems existing in the prior art, the present invention provides a household nursing robot which can realize the transfer of the human body between a nursing bed, a wheelchair and a sanitary cabin, complete automated bathing, and is simple and easy to operate, requires a small number of nursing staff, and has low nursing intensity. At the same time, the transfer is safe, stable, and reliable, the air permeability is good, the comfort level is high, and the structure is simple and the production and processing is easy, as well as a control method for the household nursing robot.

[0004] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0005] A household care robot, comprising

[0006] A nursing bed, the bed surface of which has a plurality of gaps into which the mechanical arms of the transfer device can be inserted;

[0007] The transfer device has a plurality of mechanical arms, which are used to insert into the gap of the nursing bed, lift the human body on the nursing bed, and transfer it to a wheelchair or a sanitary warehouse;

[0008] A wheelchair, which can be adjusted to a sitting position and a flat position, and whose seat surface has a plurality of grooves, in which the mechanical arms of the transfer device can be placed to transfer a lifted human body to the wheelchair or to lift a human body on the wheelchair and transfer it to a nursing bed;

[0009] The sanitary cabin has a shower head for cleaning and caring for the human body.

[0010] Furthermore, the transfer device includes a main body, and the mechanical arm is a chain-type mechanical arm wound inside the main body, and can be horizontally extended forward and inserted into the gap of the nursing bed when working.

[0011] Furthermore, the main body has a plurality of turntable-type flexible, rollable and retractable robotic arms arranged at intervals, including a shell, a turntable, a motor and a robotic arm; wherein the shell is fixedly connected to the main body, the turntable is a circular turntable or a polygonal turntable, the turntable is rotatably installed in the shell, the motor is installed on the shell and is drive-connected to the turntable, the robotic arm is wound on the turntable, and the inner end of the robotic arm is rotationally connected to the turntable, and the outer end is horizontally forward.

[0012] Furthermore, a lifting rod bracket and a foldable and detachable shower waterproof cover are provided on the upper surface of the sanitary cabin, and a first spray head for spraying upward is provided on the upper surface of the sanitary cabin below the lifting rod bracket, and a second spray head for spraying downward is provided on the inner side of the shower waterproof cover.

[0013] Furthermore, the lifting rod bracket is a lifting bracket, which includes a plurality of transverse lifting rods and a lifting base frame, and the plurality of transverse lifting rods are arranged in parallel at intervals on the lifting base frame.

[0014] Furthermore, the shower waterproof cover includes a plurality of movable spray brackets and spray covers, the spray brackets are in an inverted U shape, and their left and right ends are movably connected to the left and right sides of the sanitary cabin, and the plurality of spray brackets are moved to a spaced-apart vertical state when in use, and are moved and laid down to the front and / or rear end of the sanitary cabin when not in use; the second spray head is installed on the spray bracket; and the spray cover is detachably covered on the vertical spray bracket when in use.

[0015] Furthermore, a hot air system for drying a human body after showering is also provided in the sanitary cabin, and a hot air output end of the hot air system is connected to a shower cavity formed between the shower waterproof cover and the sanitary cabin.

[0016] Furthermore, the sanitary cabin can be arranged laterally and translationally below the bottom of the nursing bed, and the front end and the rear end of the main body of the transfer device can be installed laterally and translationally on the front end and the rear end of the nursing bed respectively.

[0017] Furthermore, the wheelchair comprises a seat portion, a backrest portion that can be folded down to a horizontal state, and a footrest portion that can be lifted to a horizontal state, and the seat portion, the backrest portion and the footrest portion are provided with a plurality of parallel and spaced pads that constitute a seat surface of the wheelchair, and a groove on the seat surface is formed between two adjacent pads for inserting / extracting a transfer mechanism.

[0018] Furthermore, a lifting movable pad is provided in the groove between two adjacent pads of the seat part. The lifting movable pad rises and fills the groove when the wheelchair is adjusted to a sitting state to improve comfort, and descends when the wheelchair is adjusted to a flat state to allow the mechanical arm of the subsequent transfer device to be placed in the groove.

[0019] Furthermore, the seat portion includes a seat bracket and a seat board, the seat bracket is horizontally arranged, and the seat board is installed on the upper surface of the seat bracket; the backrest portion includes a backrest bracket and a backrest board, the lower end of the backrest bracket is rotatably connected to one end of the seat bracket, and the backrest bracket can be laid down to a horizontal state, and the backrest board is installed on the upper surface of the backrest bracket; the footrest portion includes a footrest bracket and a pedal, the upper end of the footrest bracket is rotatably connected to the other end of the seat bracket, and the footrest bracket can be lifted to a horizontal state, and the pedal is installed at the lower end of the footrest bracket, and the protective pad is arranged on the seat board, the backrest board and the footrest bracket.

[0020] Furthermore, a docking locking portion is provided on the side of the wheelchair, and a docking locking seat is provided on one side of the nursing bed. The docking locking portion is installed and fixed on the docking locking seat when the transfer device transfers the human body between the nursing bed and the wheelchair.

[0021] Furthermore, a guide positioning rod is provided on the side of the wheelchair, and a guide positioning seat is provided on one side of the nursing bed. The guide positioning rod is installed and fixed in the guide positioning seat when the transfer device transfers the human body between the nursing bed and the wheelchair.

[0022] Furthermore, the bed surface of the nursing bed has a plurality of independent lifting movable blocks, and when the lifting movable blocks are raised and / or lowered, a gap is formed on the bed surface for the mechanical arm of the transfer device to be inserted.

[0023] Furthermore, the bed board of the nursing bed is composed of multiple bed board units, and the multiple bed board units are connected in sequence through movable hinges. In addition, a sitting posture adjustment drive mechanism is provided at the bottom of the bed board to drive each bed board unit to rotate upward or downward to achieve the sitting posture adjustment of the bed board.

[0024] Furthermore, the nursing bed includes a bed frame, and the sitting posture adjustment drive mechanism includes a first driver and a second driver, the first driver and the second driver are rotatably mounted on the bed frame, and the driving portion of the first driver is drivingly connected to a section of a bed board unit located at the front end of the bed board, and the driving portion of the second driver is drivingly connected to a section of a bed board unit near the rear end of the bed board, and at the same time, a section of the bed board unit located at the rear end of the bed board is rotatably connected to the bed frame.

[0025] Furthermore, it also includes a sewage truck for collecting and cleaning wastewater and sewage output from the sanitary cabin.

[0026] Furthermore, the sewage truck has a first vehicle body, a sewage storage bin is provided on the first vehicle body, the sewage storage bin has a sewage input port, the sanitary cabin has a sewage output port, and the sewage output port is directly or indirectly connected to the sewage input port.

[0027] Furthermore, it also includes a water purification vehicle with a heating function, which is used to supply clean water, soapy water and ozone water to the sanitary cabin.

[0028] Furthermore, the water purification vehicle has a first water tank and a second water tank for storing clean water and soapy water respectively, as well as an ozone generator and a heating device. The first water tank and the second water tank are connected to the spray head of the sanitary cabin through the water supply pipeline system in the water purification vehicle. The heating device is arranged in the first water tank and the second water tank. The output end of the ozone generator is connected to the water supply pipeline system in the water purification vehicle.

[0029] Furthermore, the water purification vehicle has a second vehicle body, a water storage tank is provided on the second vehicle body, and the first water tank, the second water tank, the ozone generating device, the heating device and the water supply pipeline system are arranged in the water storage tank.

[0030] A control method for a household nursing robot, wherein the household nursing robot may also be a fully automatic intelligent nursing robot. A nursing staff or a bedridden person can operate a remote control or a controller arranged on a nursing bed to select a desired nursing mode and the household nursing robot can complete fully automatic nursing. The nursing bed, a transfer device, a wheelchair and a sanitary cabin are communicatively connected with the remote control and the controller. The control method comprises the following steps:

[0031] Operate and select the required nursing mode, which includes bed-chair transfer mode, bathing mode, and defecation mode;

[0032] According to the selected bed-chair transfer mode, control instructions are issued to the nursing bed, transfer device and wheelchair to control the nursing bed, transfer device and wheelchair to automatically complete the transfer of the human body between the nursing bed and the wheelchair; or according to the selected bathing mode or defecation mode, control instructions are issued to the nursing bed, transfer device and sanitary cabin to control the nursing bed, transfer device and sanitary cabin to automatically complete the transfer, bathing and defecation of the human body between the nursing bed and the sanitary cabin.

[0033] Beneficial effects of the present invention:

[0034] Through the above technical scheme, the present invention can realize the transfer of the human body between the nursing bed, the wheelchair and the sanitary cabin, complete the automatic bathing, and is simple and easy to operate, effectively reducing the number of nursing staff and reducing the intensity of nursing. At the same time, the transfer is safe, stable and reliable. At the same time, the nursing bed and the wheelchair have excellent air permeability and high comfort, and can effectively avoid the problem of bedsores in the human body caused by long-term bed rest. Moreover, the structure is simple and the production and processing are easy, which is conducive to mass production and popular use. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 is a structural schematic diagram of a household care robot according to an embodiment of the present invention;

[0036] Figure 2 This is a structural schematic diagram of a nursing bed in a household nursing robot according to an embodiment of the present invention for adjusting the sitting posture;

[0037] Figure 3 is a schematic structural diagram of a transfer device in a household care robot according to an embodiment of the present invention;

[0038] Figure 4 It is a structural schematic diagram of a turntable-type, rollable and retractable flexible mechanical arm in a household care robot according to an embodiment of the present invention;

[0039] Figure 5 It is a structural schematic diagram of a lifting movable block of a nursing bed in a household nursing robot according to an embodiment of the present invention rising up to lift a human body;

[0040] Figure 6 is a schematic diagram of a structure in which a transfer device in a household care robot lifts a human body according to an embodiment of the present invention;

[0041] Figure 7 It is a structural schematic diagram of a transfer device in a household care robot according to an embodiment of the present invention that lifts a human body and moves it horizontally above a sanitary cabin;

[0042] Figure 8 It is a structural schematic diagram of a transfer device in a household care robot according to an embodiment of the present invention transferring a human body to a sanitary cabin;

[0043] Fig. 9 It is a structural schematic diagram of a sanitary cabin in a household care robot according to an embodiment of the present invention;

[0044] Fig.10 It is a schematic diagram of a partial use structure of a sanitary cabin in a household care robot according to an embodiment of the present invention;

[0045] Fig.11 It is a structural schematic diagram of a transfer device in a household care robot according to an embodiment of the present invention transferring a human body from a care bed to a wheelchair;

[0046] Fig.12 is another structural schematic diagram of a transfer device in a household care robot according to an embodiment of the present invention transferring a human body from a care bed to a wheelchair;

[0047] Fig.13 It is a partial structural diagram of the connection between a nursing bed and a wheelchair in a household nursing robot according to an embodiment of the present invention;

[0048] Fig.14 is a structural schematic diagram of a sewage vehicle in a household care robot according to an embodiment of the present invention;

[0049] Fig.15 is another structural schematic diagram of a sewage vehicle in a household care robot according to an embodiment of the present invention;

[0050] Fig.16 It is a schematic diagram of the structure of a nursing bed in a household nursing robot according to an embodiment of the present invention in a use state;

[0051] Fig.17 It is a structural schematic diagram of another usage state of a nursing bed in a household nursing robot described in an embodiment of the present invention. DETAILED DESCRIPTION

[0052] 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.

[0053] like Figure 1 and Fig.15 As shown in:

[0054] The household care robot provided in the embodiment of the present invention comprises a care bed 1, a transfer device 2, a wheelchair 3 and a sanitary cabin 4.

[0055] The bed surface 11 of the nursing bed 1 has a plurality of gaps 12 for the mechanical arm 21 of the transfer device 2 to be inserted; the specific structure may be: the bed surface 11 of the nursing bed 1 has a plurality of independent lifting movable blocks 13, and when the lifting movable blocks 13 are raised or lowered, gaps 12 for the mechanical arm 21 of the transfer device 2 to be inserted are formed on the bed surface 11 (the lifting movable blocks 13 of the bed surface 11 of the nursing bed 1 may also be partially raised and partially lowered to form gaps 12 for the mechanical arm 21 of the transfer device 2 to be inserted on the bed surface 11, and a plurality of independent lifting movable blocks 13 may also be arranged at intervals, or may be arranged side by side in an array. Of course, the nursing bed 1 may also be any structure disclosed in a nursing bed with a grid structure having a patent application number of CN201910863309.6.).

[0056] The transfer device 2 has a plurality of mechanical arms 21, and the mechanical arms 21 are used to be inserted into the gap 12 of the nursing bed 1, lift the human body on the nursing bed 1, and transfer it to the wheelchair 3 or the sanitary warehouse 4; the transfer device 2 includes a main body 22, and the mechanical arm 21 is a chain-type mechanical arm wound in the main body 22. The specific structure can be: the main body 22 has a plurality of turntable-type flexible mechanical arms that are arranged at intervals and can be rolled and retracted, including a shell 23, a turntable 24, a motor 25 and the mechanical arm 21; wherein, the shell 23 is fixedly connected to the main body 22, the turntable 24 is a circular turntable or a polygonal turntable, the turntable 24 is rotatably installed in the shell 23, the motor 25 is installed on the shell 23 and is drivingly connected to the turntable 24, the mechanical arm 21 is wound on the turntable 24, and the inner end of the mechanical arm 21 is rotatably connected to the turntable 24, and the outer end is horizontally forward; Figure 3 The flexible robotic arm mechanism also includes a gear plate 27, which is mounted on the rotating shaft of the turntable 24 and is coaxial with the turntable 24. A driving gear 28 is mounted on the driving shaft of the motor 25, and the driving gear 28 is meshed with the gear plate 27 (of course, a driving pulley is mounted on the driving shaft of the motor 25, and a coaxial driven pulley and a driven gear are provided on the flexible robotic arm mechanism. The driving pulley is driven and connected to the driven pulley through a transmission belt, and the driven gear is meshed with the gear plate 27); when working, it can be extended forward horizontally and inserted into the gap 12 of the nursing bed 1.

[0057] The seat surface of the wheelchair 3 has a plurality of grooves 35, and the mechanical arm 21 of the transfer device 2 can be placed in the grooves 35 to transfer the lifted human body to the wheelchair 3 or to lift the human body on the wheelchair 3 and transfer it to the nursing bed 1. The specific structure can be: the wheelchair 3 has a seat part 31, a backrest part 32 that can be laid down to a horizontal state, and a footrest part 33 that can be lifted to a horizontal state, and the seat part 31, the backrest part 32 and the footrest part 33 are provided with a plurality of parallel and spaced pads 34 to constitute the seat surface of the wheelchair, and a groove 35 is formed on the seat surface between two adjacent pads 34 for the transfer mechanism to be inserted / extracted; wherein, the seat part 31 includes a seat bracket 311 and a seat panel 312, the seat bracket 311 is horizontally arranged, and the seat panel 312 is installed on the upper surface of the seat bracket 311; the backrest part 32 includes a backrest support The backrest bracket 321 and the backrest panel 322, the lower end of the backrest bracket 321 is rotatably connected to one end of the seat bracket 311, and the backrest bracket 321 can be laid down to a horizontal state, and the backrest panel 322 is installed on the upper surface of the backrest bracket 321; the footrest portion 33 includes a footrest bracket 331 and a pedal 332, the upper end of the footrest bracket 331 is rotatably connected to the other end of the seat bracket 311, and the footrest bracket 331 can be lifted up to a horizontal state, and the pedal 332 is installed at the lower end of the footrest bracket 331, and the pad 34 is arranged on the seat panel 312, the backrest panel 322 and the footrest bracket 331.

[0058] The sanitary cabin 4 has a spray head for washing and caring for the human body. Specifically, the upper surface of the sanitary cabin 4 is provided with a lifting rod bracket 41 and a foldable and detachable shower waterproof cover 42, and the upper surface of the sanitary cabin 4 is located below the lifting rod bracket 41 and is provided with a first spray head 43 for spraying upward (specifically, it can be: the upper surface of the sanitary cabin 4 is provided with a first spray head 43 for spraying the back, buttocks and legs of the human body), and the inner side of the shower waterproof cover 42 is provided with a second spray head 44 for spraying downward (specifically, it can be: the left and right sides of the shower waterproof cover 42 are respectively provided with a second spray head 44 for spraying the chest, abdomen and feet of the human body); wherein, the shower waterproof cover 42 includes a plurality of movable spray brackets 47 and a spray cover 48, and the spray brackets 47 and the spray cover 48 are provided with a plurality of movable spray brackets 47 and a spray cover 48. The frame 47 is in an inverted U shape, and its left and right ends are movably connected to the left and right sides of the sanitary cabin 4. When in use, the plurality of spray brackets 47 are moved to a spaced-apart vertical state, and are moved and laid down to the front and / or rear end of the sanitary cabin 4 when not in use; the second spray head 44 is installed on the spray bracket 47; the spray cover 48 is detachably covered on the vertical spray bracket 47 when in use; the spray cover 48 can be a waterproof curtain, and a hot air system is also provided in the sanitary cabin 4, and the hot air output end of the hot air system is connected to the shower cavity formed between the shower waterproof cover 42 and the sanitary cabin 4 (for example: two hot air output ports of the hot air system are respectively provided on the left and right sides of the sanitary cabin 4), and hot air is transported into the shower cavity to dry the human body after showering.

[0059] When the household care robot described in the present invention is in use, the mechanical arm 21 of the transfer device 2 can be placed in the groove 35 to transfer the lifted human body to the wheelchair 3 or to lift the human body on the wheelchair 3 and transfer it to the nursing bed 1. Specifically, it can be as follows: first, the lifting and lowering movable block 13 of the bed surface 11 of the nursing bed 1 is raised or lowered, and a gap 12 is formed on the bed surface 11 for the mechanical arm 21 of the transfer device 2 to be inserted; then, the outer end of the mechanical arm 21 of the transfer device 2 is horizontally extended forward and inserted into the gap 12 of the nursing bed 1, and the human body on the nursing bed 1 is lifted and transferred to the wheelchair 3 or the sanitary cabin 4; before the transfer device 2 transfers the human body to the wheelchair 3, the wheelchair 3 needs to lay down the backrest 32 to a horizontal state and lift the footrest 33 to a horizontal state, and when transferring the human body to the wheelchair 3, the mechanical arm 21 of the transfer device 2 is placed in the groove 35 of the seat surface of the wheelchair 3; when After the transfer device 2 transfers the human body to the sanitary cabin 4, the sanitary cabin 4 sprays clean water, soapy water, clean water, ozone water and clean water on the human body in turn, and finally delivers hot air to dry the human body after the shower. In this process, the shower waterproof cover 42 can be manually or automatically built and removed. When building, several spray brackets 47 are moved to a vertical state with intervals separated, and the spray cover 48 is detachably covered on the spray bracket 47 in the vertical state. When removing, the spray cover 48 is removed, and several spray brackets 47 are moved and laid down to the front and / or rear end of the sanitary cabin 4; the opposite operation is performed to realize the transfer of the human body from the wheelchair 3 or the sanitary cabin 4 to the nursing bed 1.

[0060] In this way, the household nursing robot described in the present invention can realize the transfer of the human body between the nursing bed 1, the wheelchair 3 and the sanitary cabin 4, and complete automated bathing. The operation is simple and easy, and the number of nursing staff is effectively reduced, and the intensity of nursing is reduced. At the same time, the transfer is safe, stable and reliable. In addition, the nursing bed 1 and the wheelchair 3 have excellent air permeability and high comfort, and can effectively avoid the problem of bedsores in the human body caused by long-term bed rest.

[0061] In addition, a lifting movable pad is provided in the groove 35 between two adjacent pads 34 of the seat portion 31 (not shown in the figure, its structure can be composed of an electric cylinder or a pneumatic cylinder, and a pad, the driving shaft of the electric cylinder or the pneumatic cylinder is vertically upward, and the pad is provided at the end); when the wheelchair 3 is adjusted to a flat state, the lifting movable pad descends so that the mechanical arm 21 of the subsequent transfer device 2 can be placed in the groove 35. When the wheelchair 3 is adjusted to a sitting state, the lifting movable pad rises and fills the groove 35, thereby improving the comfort of the human body when sitting on the wheelchair 3.

[0062] like Figure 1 , 4-7, 15, the household care robot of the present invention further includes a sewage truck 5, which is used to collect and clean the wastewater and sewage output from the sanitary cabin 4. The specific structure can be: the sewage truck 5 has a first car body 51, and the first car body 51 is provided with a sewage storage bin 52 for storing wastewater and sewage, the sewage storage bin 52 has a sewage input port 53, and the sanitary cabin 4 has a sewage output port. When working, the sewage truck 5 moves to the bottom of the sanitary cabin 4, and the sewage output port of the sewage truck 5 is directly connected to the sewage input port 53 of the sanitary cabin 4 (of course, the sewage output port of the sewage truck 5 can also be indirectly connected to the sewage input port 53 of the sanitary cabin 4 through a conveying pipe); wherein, the first car body 51 has a lifting seat 54 and a lifting drive 55, the sewage storage bin 52 is installed on the lifting seat 54, and is lifted up by the lifting drive 55 and the lifting seat 54, so that the sewage output port of the sewage storage bin 52 is directly connected to the sewage input port 53 of the sanitary cabin 4.

[0063] like Figure 1 , 4 -7, the household care robot of the present invention also includes a water purification vehicle 6, which has a heating function and is used to supply clean water, soapy water and ozone water to the sanitary cabin 4. The specific structure may be: the water purification vehicle 6 has a first water tank and a second water tank for storing clean water and soapy water respectively, as well as an ozone generator and a heating device, the first water tank and the second water tank are connected to the spray head of the sanitary cabin 4 through the water supply pipeline system in the water purification vehicle 6, the heating device is arranged in the first water tank and the second water tank, and the output end of the ozone generator is connected to the water supply pipeline system in the water purification vehicle 6; wherein, the water purification vehicle 6 has a second vehicle body 61, a water storage tank 62 is arranged on the second vehicle body 61, the first water tank, the second water tank, the ozone generator, the heating device and the water supply pipeline system are arranged in the water storage tank 62; similarly, the second vehicle body 61 may also be provided with a lifting seat and a lifting drive the same as those of the sewage vehicle 5, the water storage tank 62 is installed on the lifting seat, and is lifted up by the lifting drive and the lifting seat, so that the water supply port of the water storage tank 62 is directly connected to the water inlet of the sanitary cabin 4.

[0064] Of course, the household care robot described in the present invention may also not require a sewage truck 5 and / or a water purification truck 6, and a sewage storage tank for storing wastewater and sewage, a first water tank and a second water tank for storing clean water and soapy water respectively, as well as an ozone generator and a heating device are set in the sanitary cabin 4.

[0065] like Figure 1 , 4-10, the lifting rod bracket 41 can be a lifting bracket, including a plurality of transverse lifting rods 45 and a lifting chassis 46, and the plurality of transverse lifting rods 45 are arranged in parallel on the lifting chassis 46. When the transfer device 2 transfers the human body to the top of the sanitary cabin 4, the lifting chassis 46 drives the transverse lifting rod 45 to rise vertically upward and lift the human body on the mechanical arm 21. After the transfer device 2 is reset, the lifting chassis 46 descends vertically and descends the human body into the bathing tank 49 provided on the upper surface of the sanitary cabin 4. An excrement collector 491 is provided in the middle position of the bathing tank 49, and the excrement collector 491 is located below the lifting rod bracket 41.

[0066] Moreover, the lifting rod bracket 41 can also drive several horizontal lifting rods 45 to rise to different heights through the lifting base 46, so as to adjust the sitting posture of the human body, so as to facilitate urination and defecation and post-defecation cleaning (using the first spray head 43 that sprays the human buttocks to rinse, sterilize and deodorize the human body parts after urination and defecation, and using the hot air system to dry the rinsed human body parts).

[0067] like Figure 1 , 11 As shown in Figure 13, the wheelchair 3 is an electric wheelchair that can be raised and lowered. The specific structure can be: the base 36 of the wheelchair 3 is also provided with a lifting driver 37, and the lifting driver 37 can be an electric lifting column or a pneumatic lifting column, and its driving end is vertically upward and connected to the seat part 31. When the transfer device 2 transfers the human body to the top of the wheelchair 3, the lifting driver 37 rises vertically and lifts the human body on the mechanical arm 21. After the transfer device 2 is reset, the lifting driver 37 can be lowered.

[0068] like Figure 1 , 4-As shown in Figure 10, the sanitary cabin 4 can be laterally movably arranged at the bottom of the nursing bed 1, and the front and rear ends of the sanitary cabin 4; the front and rear ends of the main body 22 of the transfer device 2 can be laterally movably installed on the front and rear ends of the nursing bed 1 respectively; the specific structure can be: the front and rear ends of the main body 22 of the transfer device 2 can be laterally movably installed on the front and rear ends of the nursing bed 1 respectively through the first translation track assembly 26, and the sanitary cabin 4 can be laterally movably arranged at the bottom of the nursing bed 1 through the second translation track assembly 40, and the first translation track assembly 26 and the second translation track assembly 40 both include a motor, a screw rod double slide rail, a slide table, an inductor baffle and a sensor. In this way, the transfer device 2 is translated toward the wheelchair 3 or the sanitary cabin 4 through the first translation track assembly 26, so that the human body is transferred from the nursing bed 1 to the wheelchair 3 or the sanitary cabin 4, or the human body is transferred from the wheelchair 3 or the sanitary cabin 4 to the nursing bed 1, and before the translation movement, the headboard and the footboard of the nursing bed 1 are first vertically lowered or disassembled to make way for the translation channel of the transfer device 2; when the sanitary cabin 4 is not in use, the sanitary cabin 4 is stored at the bottom of the nursing bed 1, which can reduce the space occupied by the sanitary cabin 4 and make it more convenient to use.

[0069] like Figure 2 As shown, the bed board 14 of the nursing bed 1 is composed of a plurality of bed board units, and the plurality of bed board units are connected in sequence through movable hinges, and a sitting posture adjustment drive mechanism is provided at the bottom of the bed board 14 to drive each bed board unit to rotate upward or downward to achieve sitting posture adjustment of the bed board 14. The specific structure may be: the nursing bed 1 includes a bed frame 15, and the sitting posture adjustment drive mechanism includes a first driver 16 and a second driver 17, and the first driver 16 and the second driver 17 are rotatably mounted on the bed frame 15, and the driving part 161 of the first driver 16 is drivingly connected to a section of the bed board unit located at the front end of the bed board 14, and the driving part 171 of the second driver 17 is drivingly connected to a section of the bed board unit near the rear end of the bed board 14, and at the same time, a section of the bed board unit of the bed board 14 located at the rear end is rotatably connected to the bed frame 15 (as shown in FIG. 1 ). Figure 2 , the bed board 14 is composed of a back board 141, a fixed board 142, a thigh board 143 and a calf board 144, the back board 141, the fixed board 142, the thigh board 143 and the calf board 144 are rotatably connected in sequence from front to back, and the driving part 161 of the first driver 16 and the driving part 171 of the second driver 17 are drivingly connected to the back board 141 and the thigh board 143 respectively). In this way, the nursing bed 1 of the household nursing robot of the invention can realize the sitting posture adjustment, so as to facilitate the daily care of the bedridden person and daily activities such as watching TV, surfing the Internet, eating, etc., and the independent lifting and lowering movable blocks of the nursing bed 1 can achieve the massage function when they are alternately lifted and lowered, and at the same time, it can effectively avoid the problem of bedsores in the human body caused by long-term bed rest.

[0070] like Fig.13As shown, a docking lock portion 38 is provided on the side of the wheelchair 3, and a docking lock seat 18 is provided on one side of the nursing bed 1. The docking lock portion 38 is installed and fixed on the docking lock seat 18 when the transfer device 2 transfers the human body between the nursing bed 1 and the wheelchair 3. In this way, the nursing bed 1 and the wheelchair 3 that are docked and fixed together greatly improve the safety of human body transfer.

[0071] In addition, a guide positioning rod 39 is provided on the side of the wheelchair 3, and a guide positioning seat 19 is provided on one side of the nursing bed 1. The guide positioning rod 39 is installed and fixed in the guide positioning groove 191 of the guide positioning seat 19 when the transfer device 2 transfers the human body between the nursing bed 1 and the wheelchair 3. In this way, when the nursing bed 1 and the wheelchair 3 are docked, the accuracy of the docking between the docking locking part 38 and the docking locking seat 18 can be improved by the guide positioning rod 39 and the guide positioning seat 19, and the firmness and stability of the docking between the nursing bed 1 and the wheelchair are further increased, and the safety of human body transfer is better. Moreover, a guide wheel 391 is provided at the front end of the guide positioning rod 39, and the opening diameter of the guide positioning groove 191 is larger than the width of the guide positioning groove 191, and can be trumpet-shaped, so that the docking and locking operation is smoother and more convenient.

[0072] Of course, the nursing bed 1 of the household nursing robot described in the present invention may also have a vertical lifting function to realize the height adjustment when the transfer device 2 transfers the human body between the nursing bed 1 and the wheelchair 3, and between the nursing bed 1 and the sanitary cabin 4.

[0073] The household care robot of the present invention can also be a fully automatic intelligent care robot. The caregiver or bedridden person can operate the remote control and the controller set on the care bed 1 to select the required care mode and the household care robot can complete the fully automatic care. The care bed 1, the transfer device 2, the wheelchair 3 and the sanitary cabin 4 are connected to the remote control and the controller. The specific operation control method includes the following steps:

[0074] Operate and select the required nursing mode, which includes bed-chair transfer mode, bathing mode, and defecation mode;

[0075] According to the selected bed-chair transfer mode, control instructions are issued to the nursing bed 1, the transfer device 2 and the wheelchair 3 to control the nursing bed 1, the transfer device 2 and the wheelchair 3 to automatically complete the transfer of the human body between the nursing bed 1 and the wheelchair 3; or according to the selected bathing mode or defecation mode, control instructions are issued to the nursing bed 1, the transfer device 2 and the sanitary cabin 4 to control the nursing bed 1, the transfer device 2 and the sanitary cabin 4 to automatically complete the transfer, bathing and defecation of the human body between the nursing bed 1 and the sanitary cabin 4;

[0076] Specifically, when the bed-chair transfer mode is selected, the wheelchair 3 automatically moves to the side of the nursing bed 1 according to the received control command and is adjusted to a flat state. Then, after receiving the control command, the nursing bed 1 controls the lifting and lowering movable block 13 to rise or fall according to the control command to form a gap 12. After receiving the control command, the transfer device 2 controls the mechanical arm 21 to extend horizontally and insert into the gap 12 to lift the human body (for example, the lifting and lowering movable block 13 after rising falls, and the mechanical arm 21 holds the human body at this time), and translates toward the wheelchair 3 until the human body is directly above the wheelchair 3. Then, the wheelchair 3 rises to the seat surface to lift the human body (at this time, the mechanical arm 21 is placed in the groove 35 of the seat surface of the wheelchair 3). Finally, after the transfer device 2 translates and resets and retracts the mechanical arm 21 into the transfer device 2, the wheelchair 3 descends, resets and adjusts to a sitting state, completing the transfer of the human body on the nursing bed 1 to the wheelchair 3. Conversely, the transfer of the human body on the wheelchair 3 to the nursing bed 1 is completed, so that the bedridden person can carry out outdoor activities and nursing treatment.

[0077] When bathing mode or defecation mode is selected, first, the sanitary cabin 4 is translated out from the bottom of the nursing bed 1 and rises to an appropriate height upon receiving the control command. Then, after receiving the control command, the nursing bed 1 controls the lifting movable block 13 to rise or fall according to the control command to form a gap 12. After receiving the control command, the transfer device 2 controls the mechanical arm 21 to extend horizontally and insert into the gap 12 to lift the human body (for example, the lifting movable block 13 drops after rising, and the mechanical arm 21 supports the human body at this time), and translates toward the sanitary cabin 4 until the human body is directly above the sanitary cabin 4. Then, the lifting rod bracket 41 of the sanitary cabin 4 is raised to lift the human body (at this time, the mechanical arm 21 is placed in the gap between the horizontal lifting rods 45 of the lifting rod bracket 41). Finally, after the transfer device 2 is translated and reset and the mechanical arm 21 is retracted and stored in the transfer device 2, the lifting rod bracket 41 is lowered and reset and the shower waterproof cover 42 is installed to take a shower, or the lifting rod bracket 41 is adjusted to a sitting state for urination and defecation and flushing after defecation. The operation is performed in reverse to complete the transfer of the human body in the sanitary cabin 4 to the nursing bed 1.

[0078] In addition, the sewage truck 5 and the water purification truck 6 are also communicatively connected with the remote control and the controller. When the bathing mode or the defecation mode is selected, the sewage truck 5 and the water purification truck 6 automatically move to the bottom of the sanitary cabin 4 according to the received control instructions, so that the sewage discharge outlet of the sewage storage tank 52 is directly connected to the sewage discharge input port 53 of the sanitary cabin 4, and the water supply port of the water storage tank 62 is directly connected to the water inlet of the sanitary cabin 4.

[0079] Secondly, the nursing bed 1 of the present invention can also perform independent alternating lifting and lowering movements by controlling the lifting and lowering movable blocks 13 of the bed surface 11, such as Fig.16 and 17 As shown, the massage and anti-bedsore functions can be achieved, the nursing effect is better and the function is more powerful.

[0080] 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 household care robot, characterized in that: include A nursing bed (1), wherein the bed surface (11) has a plurality of gaps (12) into which a mechanical arm (21) of a transfer device (2) can be inserted; specifically, the bed surface (11) of the nursing bed (1) has a plurality of independent lifting movable blocks (13), and when the lifting movable blocks (13) are raised and / or lowered, gaps (12) into which the mechanical arm (21) of the transfer device (2) can be inserted are formed on the bed surface (11); The transfer device (2) comprises a plurality of mechanical arms (21), wherein the mechanical arms (21) are used to be inserted into a gap (12) of a nursing bed (1), lift a human body on the nursing bed (1), and transfer the human body to a wheelchair (3) or a sanitary cabin (4); specifically, the transfer device (2) comprises a main body (22), the mechanical arms (21) are chain-type mechanical arms wound in the main body (22), and can extend forward horizontally and be inserted into the gap (12) of the nursing bed (1) when working; the main body (22) has a plurality of turntable-type retractable rotating discs arranged at intervals. A flexible robotic arm comprises a housing (23), a turntable (24), a motor (25) and a robotic arm (21); wherein the housing (23) is fixedly connected to a main body (22); the turntable (24) is a circular turntable or a polygonal turntable; the turntable (24) is rotatably mounted in the housing (23); the motor (25) is mounted on the housing (23) and is drivingly connected to the turntable (24); the robotic arm (21) is wound on the turntable (24); and the inner end of the robotic arm (21) is rotatably connected to the turntable (24) and the outer end is horizontally forward; A wheelchair (3) can be adjusted to a sitting position and a flat position, and its seat surface has a plurality of grooves (35). The mechanical arm (21) of the transfer device (2) can be placed in the grooves (35) to transfer a lifted human body to the wheelchair (3) or to lift a human body on the wheelchair (3) and transfer it to the nursing bed (1). Specifically, the wheelchair (3) has a seat portion (31), a backrest portion (32) that can be laid down to a horizontal position, and a footrest portion (33) that can be lifted to a horizontal position. The seat portion (31), the backrest portion (32) and the footrest portion (33) are provided with a plurality of pads (34) arranged in parallel and spaced apart to form the seat surface of the wheelchair, and a groove (35) on the seat surface for inserting / extracting the transfer mechanism is formed between two adjacent pads (34). A sanitary cabin (4) is provided with a shower head for washing and nursing the human body; a lifting rod support (41) and a detachable shower cover (42) are provided on the upper surface of the sanitary cabin (4), and a first shower head (43) for spraying upward is provided on the upper surface of the sanitary cabin (4) below the lifting rod support (41), and a second shower head (44) for spraying downward is provided on the inner side of the shower cover (42); the lifting rod support (41) is a lifting support, comprising a plurality of transverse lifting rods (45) and a lifting bottom frame (46), and the plurality of transverse lifting rods (45) are arranged in parallel and at intervals on the lifting bottom frame (46); The sanitary cabin (4) is also provided with a hot air system for drying a human body after showering, and a hot air output end of the hot air system is connected to a shower cavity formed between the shower cover (42) and the sanitary cabin (4).

2. The household care robot according to claim 1, characterized in that: The shower cover (42) comprises a plurality of movable spray brackets (47) and a spray cover (48); the spray bracket (47) is in an inverted U shape, and its left and right ends are movably connected to the left and right sides of the sanitary cabin (4); the plurality of spray brackets (47) are moved to a spaced-apart vertical state when in use, and are moved and laid down to the front end and / or the rear end of the sanitary cabin (4) when not in use; the second spray head (44) is mounted on the spray bracket (47); and the spray cover (48) is detachably covered on the spray bracket (47) in a vertical state when in use.

3. The household care robot according to claim 1, characterized in that: The sanitary cabin (4) can be arranged below the bottom of the nursing bed (1) in a transversely movably manner, and the front and rear ends of the main body (22) of the transfer device (2) can be installed on the front and rear ends of the nursing bed (1) in a transversely movably manner, respectively.

4. The household care robot according to any one of claims 1 to 3, characterized in that: A lifting pad is provided in a groove (35) between two adjacent pads (34) of the seat portion (31). The lifting pad rises when the wheelchair (3) is adjusted to a sitting position to fill the groove (35) and improve comfort. The lifting pad falls when the wheelchair (3) is adjusted to a flat position so that a mechanical arm (21) of a subsequent transfer device (2) can be placed in the groove (35).

5. The household care robot according to claim 4, characterized in that: The seat portion (31) comprises a seat support (311) and a seat panel (312), wherein the seat support (311) is arranged horizontally, and the seat panel (312) is mounted on the upper surface of the seat support (311); the backrest portion (32) comprises a backrest support (321) and a backrest panel (322), wherein the lower end of the backrest support (321) is rotatably connected to one end of the seat support (311), and the backrest support (321) can be laid down to a horizontal state, and the backrest panel (322) can be laid down to a horizontal state. 2) is mounted on the upper surface of the backrest bracket (321); the footrest portion (33) includes a footrest bracket (331) and a pedal (332); the upper end of the footrest bracket (331) is rotatably connected to the other end of the seat bracket (311), and the footrest bracket (331) can be lifted to a horizontal state, the pedal (332) is mounted on the lower end of the footrest bracket (331), and the pad (34) is arranged on the seat board surface (312), the backrest board surface (322) and the footrest bracket (331).

6. The household care robot according to any one of claims 1 to 3 and 5, characterized in that: A docking locking portion (38) is provided on a side of the wheelchair (3), and a docking locking seat (18) is provided on one side of the nursing bed (1). The docking locking portion (38) is installed and fixed on the docking locking seat (18) when the transfer device (2) transfers a human body between the nursing bed (1) and the wheelchair (3).

7. The household care robot according to claim 6, characterized in that: A guide positioning rod (39) is also provided on the side of the wheelchair (3), and a guide positioning seat (19) is provided on one side of the nursing bed (1). The guide positioning rod (39) is installed and fixed in the guide positioning seat (19) when the transfer device (2) transfers a human body between the nursing bed (1) and the wheelchair (3).

8. The household care robot according to any one of claims 1-3, 5, and 7, characterized in that: The bed board (14) of the nursing bed (1) is composed of a plurality of bed board units, which are connected in sequence. A sitting posture adjustment driving mechanism is provided at the bottom of the bed board (14) to drive each bed board unit to rotate upward or downward, thereby realizing the sitting posture adjustment of the bed board (14).

9. The household care robot according to claim 8, characterized in that: The nursing bed (1) comprises a bed frame (15), and the sitting posture adjustment driving mechanism comprises a first driver (16) and a second driver (17), wherein the first driver (16) and the second driver (17) are rotatably mounted on the bed frame (15), and the driving part of the first driver (16) is drivingly connected to a section of a bed board unit located at the front end of the bed board (14), and the driving part of the second driver (17) is drivingly connected to a section of a bed board unit located near the rear end of the bed board (14), and at the same time, a section of the bed board unit located at the rear end of the bed board (14) is rotatably connected to the bed frame (15).

10. The household care robot according to any one of claims 1-3, 5, 7, and 9, characterized in that: It also includes a sewage truck (5) for collecting and cleaning wastewater and sewage output from the sanitary cabin (4).

11. The household care robot according to claim 10, characterized in that: The sewage truck (5) comprises a first vehicle body (51), a sewage storage bin (52) is provided on the first vehicle body (51), the sewage storage bin (52) has a sewage discharge inlet (53), and the sanitary cabin (4) has a sewage discharge outlet, and the sewage discharge outlet is directly or indirectly connected to the sewage discharge inlet (53).

12. The household care robot according to any one of claims 1-3, 5, 7, 9, 11, characterized in that: It also includes a water purification vehicle (6) having a heating function and used for supplying clean water, soapy water and ozone water to the sanitary cabin (4).

13. The household care robot according to claim 12, characterized in that: The water purification vehicle (6) comprises a first water tank and a second water tank for storing clean water and soapy water respectively, an ozone generating device and a heating device, the first water tank and the second water tank being connected to the spray head of the sanitary cabin (4) via a water supply pipeline system in the water purification vehicle (6), the heating device being arranged in the first water tank and the second water tank, and the output end of the ozone generating device being connected to the water supply pipeline system in the water purification vehicle (6).

14. The household care robot according to claim 13, characterized in that: The water purification vehicle (6) comprises a second vehicle body (61), a water storage tank (62) is arranged on the second vehicle body (61), and the first water tank, the second water tank, the ozone generating device, the heating device and the water supply pipeline system are arranged in the water storage tank (62).

15. A control method for a household care robot according to any one of claims 1 to 14, characterized in that: The household nursing robot may also be a fully automatic intelligent nursing robot. The nursing staff or bedridden person can operate a remote control or a controller provided on the nursing bed (1) to select a desired nursing mode and the household nursing robot can then perform fully automatic nursing. The nursing bed (1), the transfer device (2), the wheelchair (3) and the sanitary cabin (4) are communicatively connected with the remote control and the controller. The control method comprises the following steps: Operate and select the required nursing mode, which includes bed-chair transfer mode, bathing mode, and defecation mode; According to the selected bed-chair transfer mode, control instructions are issued to the nursing bed (1), the transfer device (2) and the wheelchair (3), so as to control the nursing bed (1), the transfer device (2) and the wheelchair (3) to automatically complete the transfer of a human body between the nursing bed (1) and the wheelchair (3); or according to the selected bathing mode or defecation mode, control instructions are issued to the nursing bed (1), the transfer device (2) and the sanitary cabin (4), so as to control the nursing bed (1), the transfer device (2) and the sanitary cabin (4) to automatically complete the transfer, bathing and defecation of a human body between the nursing bed (1) and the sanitary cabin (4).

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