Intelligent nursing robot and control method thereof

Abstract

The invention discloses an intelligent nursing robot and a control method thereof, and relates to the technical field of nursing, the intelligent nursing robot comprises a shell, the rear side of the shell is provided with a containing cavity, the front side of the shell is provided with a placing cavity, the intelligent nursing robot further comprises a water tank, the water tank is arranged in the containing cavity, and a water pump is arranged in the water tank; the connecting seat is fixedly mounted at the top of the shell, and a containing cavity is formed in the rear part of the connecting seat; the flushing device is arranged in the containing cavity, and a rotating piece is arranged on the side portion of the flushing device; the sterilization device is slidably arranged at the end of the flushing device in a sleeving mode, is in reset rotating connection with the connecting base through a reset piece and can spray sterilization and disinfection liquid; the adjusting device is arranged in the containing cavity and used for adjusting the angle and pressure of the flushing device; through mutual cooperation of the flushing device, the disinfection device, the adjusting device and the like, all water in the water chamber and residual water in the flushing device can be flushed out, and the situation that bacteria are bred due to long-term non-use is avoided.

Description

Technical Field

[0001] The present invention relates to the field of nursing technology, and in particular to an intelligent nursing robot and a control method thereof. Background Art

[0002] Nursing robots are intelligent robots that are specially designed to assist medical staff in completing nursing tasks or provide life care services for patients, the elderly, etc. At present, when taking care of the daily lives of the elderly and the disabled, a prominent problem faced is that caregivers cannot accompany the caregivers all day long. When the caregivers need to go to the toilet, they often have to go by themselves. In the process, they are very likely to fall or other unexpected situations due to mobility problems, which poses a serious threat to the safety of the caregivers and puts the nursing work into a passive and difficult situation.

[0003] A Chinese patent with application number 202310743823.2 discloses an intelligent nursing robot and a control method thereof, including a toilet assembly, a moving assembly, a positioning assembly and a remote control device. The moving assembly is arranged on the bottom surface of the toilet assembly and is used for moving the toilet assembly. The positioning assembly is installed on the armrest assembly and is used for positioning and moving the toilet assembly. The remote control device is provided with a start button and a standby button. By adopting a remote control method and driving the toilet assembly to the side of the caregiver through the moving assembly, the caregiver with limited mobility is prevented from going to the bathroom to use the toilet and prevents falling on the way. At the same time, the toilet assembly moves automatically under the drive of the moving assembly. Therefore, even if the guardian is not around, it is convenient for the caregiver with limited mobility to use the toilet, thereby improving convenience. In addition, the positioning assembly is adopted to effectively improve the accuracy of the movement of the toilet assembly under the drive of the moving assembly, thereby ensuring the positioning and movement of the toilet assembly.

[0004] In actual use, although the above-mentioned nursing robot can clean the buttocks of the person being cared for, some of the liquid that has been in contact with the human buttocks after cleaning is likely to flow back into the cleaning device, which can easily lead to the risk of cross infection for the person being cared for.

[0005] Therefore, it is necessary to invent an intelligent nursing robot and a control method thereof to solve the above problems. Summary of the invention

[0006] The purpose of the present invention is to provide an intelligent nursing robot and a control method thereof to solve the problems raised in the above-mentioned background technology.

[0007] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an intelligent nursing robot comprises a shell, a accommodating chamber is provided on the rear side of the shell, a placing chamber is provided on the front side of the shell, and a water tank is placed in the accommodating chamber, and a water pump is built in the tank; a connecting seat is fixedly installed on the top of the shell, and a storage chamber is provided on the rear of the shell; a flushing device is placed in the storage chamber, and a rotating part is provided on the side of the flushing device; a disinfecting device is slidably sleeved on the end of the flushing device, and is reset and rotatably connected to the connecting seat through a reset part, and can spray a sterilizing disinfectant; an adjusting device is placed in the storage chamber and is detachably connected to the inner wall of the storage chamber, and is used to adjust the angle and pressure of the flushing device; the adjusting device comprises a stepped cylinder with a larger upper part and a smaller lower part, which is fixed in the storage chamber; a first slide plate is slidably placed in the lower part of the inner cavity of the cylinder; its bottom is connected to the flushing device through a conduit and a drain valve; a partition plate is placed in the cylinder In the middle of the inner cavity, the cylinder is divided into an air chamber and a water chamber from top to bottom, and the side wall of the water chamber is connected to the water pump through a conduit and an inlet valve; the top of the air chamber is connected to the top of the water chamber through a conduit and an exhaust valve, and the side wall of the top of the air chamber is connected to the atmosphere through an inlet check valve; a ferromagnetic second slide plate is slidably placed in the air chamber; a linkage mechanism, one end of which is connected to the first slide plate and the other end is connected to the second slide plate, which is used for the linkage between the first slide plate and the second slide plate, and can drive the second slide plate to move up when the first slide plate moves down; a limit assembly is placed between the second slide plate and the linkage mechanism, so that a limit is formed between the second slide plate and the linkage mechanism; a first electromagnetic part is placed at the top of the air chamber, which can drive the second slide plate to move up; a second electromagnetic part is placed in the side wall of the air chamber, which releases the limit of the limit assembly; a third electromagnetic part is placed in the side wall of the water chamber, which can make the linkage mechanism conflict with the rotating part.

[0008] Preferably, the linkage mechanism comprises a first connecting rod having ferromagnetism, which is slidably connected to the first slide plate in a reset manner, and which cooperates with the third electromagnetic part to be able to be in contact with the rotating member; The second connecting rod slides through the partition and the second slide plate, and one end of the second connecting rod located at the bottom of the partition plate is hinged with a lever, and both ends of the lever can be freely extended and retracted, and the other end of the lever is hinged with the top of the first slide plate.

[0009] Preferably, it also includes a toilet cover assembly, which is placed on the top of the connecting seat and connected to the connecting seat.

[0010] Preferably, it also includes a toilet cylinder body, which is placed in the placement cavity and has a sewage outlet at the bottom, which can be taken out from the placement cavity.

[0011] Preferably, it also includes a moving component, which is placed at the bottom of the housing; The fault detection mechanism comprises an air pressure sensor, and the air pressure sensor is placed in the air chamber.

[0012] Preferably, it also includes a remote control device, which is placed on the housing and is used to control the flushing device to flush and the adjusting device to adjust.

[0013] Preferably, the lever comprises a rotating sleeve, the rotating sleeve is rotatably connected to the side wall of the water chamber, and sliding members are provided on both ends of the rotating sleeve.

[0014] Preferably, the limiting assembly includes a sliding sleeve fixed to the bottom of the second slide plate and mounted on the second connecting rod, the inner wall of the sliding sleeve is provided with a sliding groove, the inner wall of the sliding groove is connected to the limiting column through a second elastic member, and the side wall of the second connecting rod is provided with a limiting hole that cooperates with the limiting column.

[0015] Preferably, it further comprises a fault detection mechanism, wherein the fault detection mechanism comprises an air pressure sensor, and the air pressure sensor is placed in the air chamber.

[0016] The present invention also provides an intelligent nursing robot control method, the method comprising the following steps: Step 1: Control the mobile component to drive the intelligent nursing robot to move to the person to be cared for; Step 2: After the person to be cared for has gone to the bathroom, the buttocks of the person to be cared for are cleaned and cared for by controlling the flushing device; Step 3: Then sterilize the flushing device through the disinfection device.

[0017] Technical effects and advantages of the present invention: 1. The present invention can flush out all the water in the water chamber and the residual water in the flushing device through the mutual cooperation between the flushing device, the disinfecting device and the regulating device, so as to avoid the breeding of bacteria due to long-term non-use.

[0018] 2. The present invention can increase the pressure of water in the water chamber through the cooperation between the flushing device, the disinfecting device and the adjusting device, thereby realizing low-pressure cleaning and high-pressure cleaning, and at the same time can realize the adjustment of the angle of the flushing device.

[0019] 3. The present invention cooperates with the flushing device, the disinfecting device and the adjusting device. When it is necessary to disinfect the inside of the flushing device, the drain valve is controlled to open, the exhaust valve is controlled to open, and then the second electromagnetic part is energized, and the first electromagnetic part is energized. Then, the disinfecting device is controlled to spray disinfectant, and then the first electromagnetic part is powered off, so that the disinfectant sprayed by the disinfecting device is sucked into the flushing device, thereby achieving disinfection of the inside of the flushing device. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0021] Figure 2It is a bottom view of the present invention.

[0022] Figure 3 It is a cross-sectional view of the overall structure of the present invention.

[0023] Figure 4 It is a schematic diagram of the structural connection of the flushing device, disinfecting device and regulating device of the present invention.

[0024] Figure 5 It is a bottom view of the adjusting device of the present invention.

[0025] Figure 6 It is a schematic cross-sectional view of the regulating device of the present invention.

[0026] Figure 7 It is a schematic diagram of the lever structure of the present invention.

[0027] Figure 8 It is a cross-sectional view of the limiting component of the present invention.

[0028] Fig. 9 It is a schematic cross-sectional view of the storage chamber of the present invention.

[0029] Fig.10 For the present invention Fig. 9 A schematic diagram of the enlarged structure of part A.

[0030] In the figure: 1, shell; 101, accommodating chamber; 102, placing chamber; 2, water tank; 3, connecting seat; 301, storage chamber; 4, flushing device; 41, rotating member; 5, disinfection device; 6, adjusting device; 601, cylinder; 602, first slide plate; 603, partition; 604, air chamber; 605, water chamber; 606, second slide plate; 607, linkage mechanism; 6071, first connecting rod; 6072, second connecting rod; 6073, lever; 60731, rotating sleeve; 60732, sliding member; 608, first electromagnetic part; 609, second electromagnetic part; 610, third electromagnetic part; 611, water inlet valve; 612, exhaust valve; 613, air inlet check valve; 614, limit assembly; 6141, sliding sleeve; 6142, limit column; 7, moving assembly; 8, toilet cover assembly; 9, toilet cylinder. DETAILED DESCRIPTION

[0031] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0032] like Figures 1 to 10As shown, the intelligent nursing robot includes a shell 1, a accommodating cavity 101 is opened on the rear side of the shell 1, a placement cavity 102 is opened on the front side of the shell 1, and also includes a water tank 2, which is placed in the accommodating cavity 101 and has a water pump built in. The present invention facilitates the installation of the water tank 2 and the toilet cylinder 9 by setting the accommodating cavity 101 and the placement cavity 102.

[0033] The connecting seat 3 is fixedly mounted on the top of the housing 1 , and a storage cavity 301 is provided at the rear thereof. The present invention achieves the placement of the flushing device 4 by providing the storage cavity 301 .

[0034] The flushing device 4 is placed in the storage chamber 301 and has a rotating member 41 on its side. The present invention flushes the bottom of the toilet cylinder 9 and the buttocks of the human body by setting the flushing device 4.

[0035] The disinfection device 5 is slidably sleeved on the end of the flushing device 4 and is connected to the connection seat 3 by a reset member so as to be reset and rotated, and can spray a sterilizing and disinfecting liquid; the present invention can sterilize the flushing device 4 after flushing the flushing device 4 by setting the disinfection device 5. Specifically, the reset member is a reset torsion spring, one end of which is connected to the connection seat 3, and the other end is connected to the disinfection device 5.

[0036] The adjusting device 6 is placed in the container cavity and is detachably connected to the inner wall of the container cavity 301, and is used to adjust the angle and pressure of the flushing device 4. The present invention can adjust the flushing device 4 by providing the adjusting device 6.

[0037] The regulating device 6 comprises a stepped cylinder 601 which is larger at the top and smaller at the bottom and is fixed in the container cavity 301 . The present invention can deliver the water in the water tank 2 to the cylinder 601 through a water pump.

[0038] The first slide plate 602 is slidably disposed at the lower part of the inner cavity of the cylinder 601; its bottom is connected to the flushing device 4 through a conduit and a drain valve. Figure 5 As shown, the conduit above the first connecting rod 6071 is used to connect to the flushing device 4.

[0039] The partition 603 is placed in the middle of the inner cavity of the cylinder 601, so that the cylinder 601 is divided into an air chamber 604 and a water chamber 605 from top to bottom. A first elastic member is arranged between the partition 603 and the first slide plate 602. The side wall of the water chamber 605 is connected to the water pump through a conduit and a water inlet valve 611; the top of the air chamber 604 is connected to the top of the water chamber 605 through a conduit and an exhaust valve 612, and the top side wall of the air chamber 604 is connected to the atmosphere through an air inlet check valve 613. The present invention, by setting the air chamber 604, can, on the one hand, discharge the residual water in the flushing device 4; on the other hand, it can be used to pressurize the water inside the cylinder 601. The present invention, by setting the water chamber 605, can adjust the angle of the flushing device 4 without the need for other additional power, thereby achieving an energy-saving effect. Specifically, the first elastic member is a spring.

[0040] The ferromagnetic second slide plate 606 is slidably placed in the air chamber 604 ; the present invention adjusts the air pressure in the air chamber 604 by setting the second slide plate 606 .

[0041] The linkage mechanism 607 has one end connected to the first slide 602 and the other end connected to the second slide 606, and is used for the linkage between the first slide 602 and the second slide 606, and can drive the second slide 606 to move upward when the first slide 602 moves downward. The present invention sets the linkage mechanism 607. On the one hand, when the first slide 602 moves downward, the second slide 606 can be driven to move upward, thereby compressing the gas in the air chamber 604 and preparing for the subsequent discharge of residual liquid in the flushing device 4. On the other hand, the second slide 606 can be independently controlled to move upward for pressurization.

[0042] The limiting assembly 614 is disposed between the second slide plate 606 and the linkage mechanism 607 to form a limit between the second slide plate 606 and the linkage mechanism 607 .

[0043] The first electromagnetic part 608 is placed on the top of the air chamber 604, and can drive the second slide plate 606 to move upward. By setting the first electromagnetic part 608, the present invention can energize the first electromagnetic part 608 to generate magnetic attraction, thereby driving the second slide plate 606 to move independently for boosting.

[0044] The second electromagnetic part 609 is disposed in the side wall of the air chamber 604 , and releases the limit assembly 614 . The present invention unlocks the limit assembly 614 by energizing the second electromagnetic part 609 , thereby realizing the limit unlocking of the second slide plate 606 and the linkage mechanism 607 .

[0045] The third electromagnetic part 610 is placed in the side wall of the water chamber 605, and it can make the linkage mechanism 607 conflict with the rotating part 41. The present invention adjusts the linkage mechanism 607 by setting the third electromagnetic part 610, so that the linkage mechanism 607 conflicts with the rotating part 41, and finally can push the rotating part 41 and the flushing device 4 to rotate, thereby realizing angle adjustment.

[0046] The linkage mechanism 607 includes a first connecting rod 6071 with ferromagnetism, which is reset and slidably connected to the first slide plate 602, and which cooperates with the third electromagnetic part 610 to be able to contact and connect with the rotating member 41. Specifically, the first connecting rod 6071 is reset and slidably connected to the first slide plate 602 through a reset spring.

[0047] The second connecting rod 6072 slides through the partition 603 and the second slide 606. One end of the second connecting rod 6072 located at the bottom of the partition 603 is hinged with a lever 6073, and both ends of the lever 6073 can be freely extended and retracted. The other end of the lever 6073 is hinged to the top of the first slide 602.

[0048] Specifically, the lever 6073 includes a rotating sleeve 60731, which is rotatably connected to the side wall of the water chamber 605, and sliding members 60732 are slidably sleeved on both ends of the rotating sleeve 60731.

[0049] Specifically, the limiting assembly 614 includes a sliding sleeve 6141 fixed to the bottom of the second slide plate 606 and sleeved with the second connecting rod 6072, a sliding groove is provided on the inner wall of the sliding sleeve 6141, a ferromagnetic limiting column 6142 is connected to the inner wall of the sliding groove through a second elastic member, and a limiting hole is provided on the peripheral side wall of the second connecting rod 6072 to cooperate with the limiting column 6142. Furthermore, the second elastic member is a spring. The present invention generates a magnetic attraction force by controlling the third electromagnetic part 610 to be energized to slide and unlock the limiting column 6142.

[0050] Also included is a toilet cover assembly 8, which is placed on the top of the connecting seat 3 and connected to the connecting seat 3. Specifically, the toilet cover assembly 8 includes a seat ring and a cover plate.

[0051] The toilet bowl 9 is also included, which is placed in the placement cavity 102, and a sewage outlet is provided at the bottom thereof, which can be taken out from the placement cavity 102. The present invention can facilitate the discharge of waste in the toilet bowl 9 by providing the sewage outlet.

[0052] It also includes a moving component 7, which is placed at the bottom of the shell 1. By setting the moving component 7, the person to be cared for can remotely control the intelligent care robot to automatically move to the side of the person to be cared for, thereby reducing the burden on the caregiver.

[0053] Fault detection mechanism, the fault detection mechanism includes an air pressure sensor, and the air pressure sensor is placed in the air chamber 604. The present invention is provided with an air pressure sensor, on the one hand, for monitoring the air pressure in the air chamber 604. Due to the linkage of the linkage mechanism 607, the driving force of the water pump is determined according to the air pressure in the air chamber 604, and then it is determined whether the water pump has a fault. At the same time, according to the monitoring of the air pressure sensor, by adjusting the pressure in the air chamber 604, it is possible to achieve different degrees of pressurization in the water chamber 605.

[0054] It also includes a remote control device, which is placed on the housing 1 and is used to control the flushing device 4 to flush and the adjusting device 6 to adjust. The remote control device is provided with the following working mode start switches: a low-pressure cleaning mode switch at the bottom of the toilet cylinder 9, a high-pressure cleaning mode switch at the bottom of the toilet cylinder 9, a low-pressure cleaning mode switch for the human buttocks, and a high-pressure cleaning mode switch for the human buttocks.

[0055] In the initial state, there is no water in the flushing device 4 and there is no water in the cylinder 601.

[0056] When the person to be cared for presses the low-pressure cleaning mode button at the bottom of the toilet cylinder 9, by controlling the water pump to work and the water inlet valve 611 to open, the water pump will work to inject water into the water chamber 605. Under the driving force of the water flow, the first slide plate 602 will be pushed downward after overcoming the elastic force of the first elastic member. The downward movement of the first slide plate 602 will drive one end of the lever 6073 to rotate downward, and at the same time, the other end of the lever 6073 will rotate upward and push the second connecting rod 6072 to move upward. The upward movement of the second connecting rod 6072 will push the second slide plate 606 to move upward. The upward movement of the second slide plate 606 will compress the gas in the air chamber 604, and the gas in the air chamber 604 is compressed by the water flow power to prepare for the subsequent discharge of the residual liquid in the flushing device 4, until the first slide plate 602 moves to the bottom, and then the drain valve is controlled to open and the flushing device 4 is started. The drain valve is opened to allow the water in the water chamber 605 to enter the flushing device 4, so as to realize low-pressure flushing of the bottom of the toilet cylinder 9. After the flushing is completed, the water pump is controlled to stop The working state is stopped, the water inlet valve 611 is closed, and the exhaust valve 612 is opened. Since the gas in the air chamber 604 is compressed, the gas in the air chamber 604 will push the liquid in the water chamber 605 to flow toward the flushing device 4. Since the flushing of the flushing device 4 is completed, the flushing device 4 is reset. At this time, its end is located in the disinfection device 5, and the water is sprayed through the flushing device 4. Under the shielding effect of the disinfection device 5, the water sprayed by the flushing device 4 flows back to the surface of the flushing device 4, thereby flushing the surface of the flushing device 4, thereby avoiding the splashing of sewage when flushing the bottom of the toilet to the end of the flushing device 4, avoiding the breeding of bacteria and infection caused by later use; since the volume of the air chamber 604 is larger than the volume of the water chamber 605, the compressed gas in the air chamber 604 can eventually flush out all the water in the water chamber 605 and the residual water in the flushing device 4, avoiding the breeding of bacteria due to long-term non-use; the first slide plate 602 will move upward and reset, and the second slide plate 606 will move downward and reset.

[0057] When the person to be cared for presses the high-pressure cleaning mode button at the bottom of the toilet cylinder 9, by controlling the water pump to work and the water inlet valve 611 to open, the water pump will work to inject water into the water chamber 605. Under the driving force of the water flow, the first slide plate 602 will be pushed downward after overcoming the elastic force of the first elastic member. The downward movement of the first slide plate 602 will drive one end of the lever 6073 to rotate downward, and at the same time, the other end of the lever 6073 will rotate upward and push the second connecting rod 6072 to move upward. The upward movement of the second connecting rod 6072 will push the second slide plate 606 to move upward. The upward movement of the second slide plate 606 will compress the gas in the air chamber 604, and the gas in the air chamber 604 will be compressed by the water flow power. The gas in the air chamber 604 is compressed to prepare for the subsequent discharge of the residual liquid in the flushing device 4, until the first slide 602 moves to the bottom, and at the same time, the first electromagnetic part 608 is energized to generate a magnetic attraction, and the second electromagnetic part 609 is energized to generate a magnetic attraction. The second electromagnetic part 609 is energized to release the limit component 614 from limiting the second slide 606. The first electromagnetic part 608 is energized to generate a magnetic attraction that will attract the second slide 606 to move upward, thereby further compressing the gas in the air chamber 604, and then the exhaust valve 612 is controlled to open, the drain valve is opened, and the flushing device 4 is started. Since the exhaust valve 612 is opened, the air chamber 604 is connected to the water chamber 605. The water in the water chamber 605 is pressurized, and the drain valve is opened to allow the high-pressure water in the water chamber 605 to enter the flushing device 4, thereby achieving high-pressure flushing of the bottom of the toilet cylinder 9. After the flushing is completed, the water pump is controlled to stop working and the water inlet valve 611 is closed. Since the gas in the air chamber 604 is compressed, the liquid in the water chamber 605 is pushed to flow toward the flushing device 4 under the push of the gas in the air chamber 604. Since the flushing of the flushing device 4 is completed, its end is located in the disinfection device 5, and the water is sprayed out through the flushing device 4. Under the shielding effect of the disinfection device 5, the water sprayed from the flushing device 4 flows back to the surface of the flushing device 4, thereby achieving flushing of the surface of the flushing device 4. Washing, thereby preventing the sewage splashing when flushing the bottom of the toilet from splashing to the end of the flushing device 4, avoiding the breeding of bacteria and infection caused by later use; since the volume of the air chamber 604 is larger than the volume of the water chamber 605, the compressed gas in the air chamber 604 can eventually flush out all the water in the water chamber 605 and the residual water in the flushing device 4, avoiding the breeding of bacteria when not used for a long time; the first slide 602 will move upward to reset, the second connecting rod 6072 will slide downward to reset, and then the first electromagnetic part 608 and the second electromagnetic part 609 will be controlled to be powered off, and the second slide 606 will be reset under the action of gravity, and finally form a limiting connection with the limiting component 614.

[0058] When the person to be cared for presses the button of the low-pressure washing mode for the buttocks of the human body, the third electromagnetic part 610 is firstly controlled to be energized, so that the first connecting rod 6071 slides to the position of contacting with the rotating part 41 under the action of the magnetic attraction force, and then the water pump is controlled to work and the water inlet valve 611 is opened, and the water pump will work to inject water into the water chamber 605. Under the driving force of the water flow, the first slide plate 602 will be pushed downward after overcoming the elastic force of the first elastic part, and the downward movement of the first slide plate 602 will push the first connecting rod 6071 downward, and the downward movement of the first connecting rod 6071 will push the rotating part 41 and the flushing device 4 around the disinfection device 5 and the connection The rotation point between the seats 3 is deflected to adjust the angle of the flushing device 4 to the buttocks cleaning position. At the same time, the downward movement of the first slide plate 602 will drive one end of the lever 6073 to rotate downward, and at the same time, the other end of the lever 6073 rotates upward and pushes the second connecting rod 6072 to move upward. The upward movement of the second connecting rod 6072 will push the second slide plate 606 to move upward. The upward movement of the second slide plate 606 will compress the gas in the air chamber 604, and the gas in the air chamber 604 is compressed by the water flow power, so as to prepare for the subsequent discharge of the residual liquid in the flushing device 4, and finally until the first slide plate 606 moves upward. A slide plate 602 moves to the bottom end, i.e., the buttocks cleaning position, and then controls the drain valve to open and the flushing device 4 to start. The drain valve is opened to allow the water in the water chamber 605 to enter the flushing device 4, thereby realizing low-pressure flushing of the buttocks of the human body. After the flushing is completed, the water pump is controlled to stop working, the water inlet valve 611 is closed, and the exhaust valve 612 is opened. Since the gas in the air chamber 604 is compressed, the gas in the air chamber 604 pushes the liquid in the water chamber 605 to flow toward the flushing device 4. Since the flushing of the flushing device 4 is completed, the flushing device 4 is reset, and its end is now located in the disinfection device 5. Water is sprayed out through the flushing device 4, and under the shielding effect of the disinfection device 5, the water sprayed out by the flushing device 4 flows back to the surface of the flushing device 4, thereby flushing the surface of the flushing device 4 to avoid the breeding of bacteria and infection caused by later use; since the volume of the air chamber 604 is larger than the volume of the water chamber 605, the compressed gas in the air chamber 604 can eventually flush out all the water in the water chamber 605 and the residual water in the flushing device 4, to avoid the breeding of bacteria due to long-term non-use; the first slide 602 will move upward to reset, and at the same time the second slide 606 will move downward to reset.

[0059] When the person to be cared for presses the button of the high-pressure cleaning mode for the buttocks of the human body, the third electromagnetic part 610 is first controlled to be energized, so that the first connecting rod 6071 slides to a position cooperating with the rotating part 41 under the action of the magnetic attraction force, and by controlling the operation of the water pump and the opening of the water inlet valve 611, the water pump will inject water into the water chamber 605, and under the driving force of the water flow, the first slide plate 602 will be pushed downward after overcoming the elastic force of the first elastic part, and the downward movement of the first slide plate 602 will drive one end of the lever 6073 to rotate downward, and at the same time, the other end of the lever 6073 rotates upward and pushes the second connecting rod 6072 to move upward, and the upward movement of the second connecting rod 6072 will push the second slide plate 606 to move upward, and the second slide plate 606 moves upward to compress the gas in the air chamber 604, and uses the water flow power to compress the gas in the air chamber 604 to prepare for the subsequent discharge of residual liquid in the flushing device 4, until the first slide 602 moves to the bottom, and at the same time controls the first electromagnetic part 608 to generate magnetic attraction and the second electromagnetic part 609 to generate magnetic attraction. The second electromagnetic part 609 is energized to move the limit component 614 to release the limit on the second slide 606. The first electromagnetic part 608 is energized to generate magnetic attraction, which will attract the second slide 606 to move upward, thereby further compressing the gas in the air chamber 604, and then controlling the exhaust valve 612 to open to drain water. The valve is opened and the flushing device 4 is started. Since the exhaust valve 612 is opened, the air chamber 604 is connected with the water chamber 605 to increase the pressure of the water in the water chamber 605. The drain valve is opened to allow the high-pressure water in the water chamber 605 to enter the flushing device 4 to achieve high-pressure flushing of the buttocks of the human body. After the flushing is completed, the water pump is controlled to stop working and the water inlet valve 611 is closed. Since the gas in the air chamber 604 is compressed, the gas in the air chamber 604 will push the liquid in the water chamber 605 to flow toward the flushing device 4. Since the flushing of the flushing device 4 is completed, the flushing device 4 is reset. At this time, its end is located in the disinfection device 5, and the water is sprayed out through the flushing device 4. Under the shielding effect of the disinfection device 5, the buttocks of the human body are blocked. The water sprayed from the flushing device 4 flows back to the surface of the flushing device 4, thereby flushing the surface of the flushing device 4 to avoid the growth of bacteria and infection caused by later use; since the volume of the air chamber 604 is larger than the volume of the water chamber 605, the compressed gas in the air chamber 604 can eventually flush out all the water in the water chamber 605 and the residual water in the flushing device 4 to avoid the growth of bacteria due to long-term non-use; the first slide 602 will move upward to reset, the second connecting rod 6072 will slide downward to reset, and then the first electromagnetic part 608 and the second electromagnetic part 609 will be controlled to be powered off, and the second slide 606 will be reset under the action of gravity, and finally form a limiting connection with the limiting assembly 614.

[0060] When it is necessary to disinfect the inside of the flushing device 4, the drain valve is controlled to open, and the exhaust valve 612 is controlled to open at the same time, and then the second electromagnetic part 609 is controlled to be energized. The second electromagnetic part 609 is energized to move the limit assembly 614 to release the limit on the second slide 606. At the same time, the first electromagnetic part 608 is controlled to be energized. The first electromagnetic part 608 is energized to generate a magnetic attraction that will attract the second slide 606 to move upward, thereby pushing the gas out of the flushing device 4, and then the disinfection device 5 is controlled to spray disinfectant, and then the first electromagnetic part 608 is controlled to be powered off, and the second slide 606 slides down under the action of gravity, and the disinfectant sprayed by the disinfection device 5 is sucked into the flushing device 4, thereby achieving disinfection of the inside of the flushing device 4.

[0061] The present invention also provides an intelligent nursing robot control method, comprising the following steps: Step 1: Control the mobile component 7 so that the mobile component 7 drives the intelligent nursing robot to move to the side of the person to be cared for; Step 2: After the person to be cared for has gone to the bathroom, the flushing device 4 is controlled to clean the buttocks of the person to be cared for; Step 3: sterilize and disinfect the flushing device 4 through the disinfection device 5.

[0062] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An intelligent nursing robot, comprising a housing (1), a housing having a receiving cavity (101) on its rear side and a placement cavity (102) on its front side, characterized in that: It also includes a water tank (2), which is placed in the accommodating chamber (101) and has a water pump built in it; A connecting seat (3) fixedly mounted on the top of the housing (1), with a container cavity (301) formed at the rear thereof; A flushing device (4), which is placed in the container chamber (301) and has a rotating member (41) on its side; A disinfection device (5), wherein the sliding sleeve (6141) is arranged at the end of the flushing device (4) and is rotatably connected to the connecting seat (3) via a reset member, and is capable of spraying a sterilizing disinfectant; An adjusting device (6) is disposed in the container chamber (301) and is detachably connected to the inner wall of the container chamber, and is used to adjust the angle and pressure of the flushing device (4); The regulating device (6) comprises a stepped cylinder (601) which is larger at the top and smaller at the bottom and is fixed in the container cavity (301); A first slide plate (602) slidably disposed in the lower part of the inner cavity of the cylinder (601); Its bottom is connected to the flushing device (4) via a conduit and a drain valve; The partition (603) is placed in the middle of the inner cavity of the cylinder (601), so that the cylinder (601) is divided into an air chamber (604) and a water chamber (605) from top to bottom. The side wall of the water chamber (605) is connected to the water pump via a conduit and a water inlet valve (611); the top of the air chamber (604) is connected to the top of the water chamber (605) via a conduit and an exhaust valve (612); and the side wall of the top of the air chamber (604) is connected to the atmosphere via an air inlet check valve (613); A ferromagnetic second slide plate (606) is slidably disposed in the air chamber (604); A linkage mechanism (607), one end of which is connected to the first slide plate (602) and the other end of which is connected to the second slide plate (606), and is used for linkage between the first slide plate (602) and the second slide plate (606), and can drive the second slide plate (606) to move upward when the first slide plate (602) moves downward; A limit assembly (614) is disposed between the second slide plate (606) and the linkage mechanism (607) so as to form a limit between the second slide plate (606) and the linkage mechanism (607); A first electromagnetic part (608) is disposed on the top of the air chamber (604) and is capable of driving the second slide plate (606) to move upward; A second electromagnetic part (609) is disposed in the side wall of the air chamber (604) and releases the limit of the limit assembly (614); The third electromagnetic part (610) is disposed in the side wall of the water chamber (605) and is capable of causing the linkage mechanism (607) to come into conflict with the rotating member (41).

2. The intelligent nursing robot according to claim 1, characterized in that: The linkage mechanism (607) comprises a first connecting rod (6071) having ferromagnetism, which is reset and slidably connected to the first slide plate (602), and which cooperates with the third electromagnetic part (610) to be able to contact and connect with the rotating member (41); The second connecting rod (6072) slides through the partition (603) and the second slide plate (606), and one end of the second connecting rod (6072) located at the bottom of the partition (603) is hingedly connected to a lever (6073), and both ends of the lever (6073) can be freely extended and retracted, and the other end of the lever (6073) is hingedly connected to the top of the first slide plate (602).

3. The intelligent nursing robot according to claim 1, characterized in that: It also includes a toilet cover assembly (8), which is placed on the top of the connecting seat (3) and is connected to the connecting seat (3).

4. The intelligent nursing robot according to claim 1, characterized in that: It also comprises a toilet cylinder body (9) which is placed in the placement cavity (102) and has a sewage outlet at its bottom which can be taken out from the placement cavity (102).

5. The intelligent nursing robot according to claim 1, characterized in that: It also includes a moving component (7) which is placed at the bottom of the housing (1); A fault detection mechanism, the fault detection mechanism comprising an air pressure sensor, the air pressure sensor being disposed in the air chamber (604).

6. The intelligent nursing robot according to claim 1, characterized in that: It also includes a remote control device, which is placed on the housing (1) and is used to control the flushing device (4) to flush and the regulating device (6) to regulate.

7. The intelligent nursing robot according to claim 2, characterized in that: The lever (6073) comprises a rotating sleeve (60731), the rotating sleeve (60731) is rotatably connected to the side wall of the water chamber (605), and both ends of the rotating sleeve (60731) are provided with sliding sleeves (6141) and sliding members (60732).

8. The intelligent nursing robot according to claim 2, characterized in that: The limiting assembly (614) comprises a sliding sleeve (6141) fixed to the bottom of the second slide plate (606) and sleeved with the second connecting rod (6072); a sliding groove is provided on the inner wall of the sliding sleeve (6141); the inner wall of the sliding groove is connected to the limiting column (6142) via a second elastic member; and a limiting hole cooperating with the limiting column (6142) is provided on the peripheral side wall of the second connecting rod (6072).

9. The intelligent nursing robot according to claim 1, characterized in that: It also includes a fault detection mechanism, which includes an air pressure sensor, and the air pressure sensor is placed in the air chamber (604).

10. An intelligent nursing robot control method, applied to the intelligent nursing robot according to any one of claims 1 to 9, characterized in that: The method comprises the following steps: Step 1: controlling the moving component (7) so that the moving component (7) drives the intelligent nursing robot to move to the side of the person to be cared for; Step 2: After the person to be cared for has gone to the bathroom, the flushing device (4) is controlled to clean the buttocks of the person to be cared for; Step 3: The flushing device (4) is then sterilized and disinfected by the disinfection device (5).

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