Bed type nursing robot

Abstract

The invention belongs to the technical field of nursing equipment, and particularly relates to a bed type nursing robot which comprises a bed body, a bed board, a translation driving device fixed to the lower side of the bed board, a supporting device fixed to the translation driving device and an excretion collecting device. The excretion collecting device comprises a second lifting driving mechanism and a seat ring structure fixed to the second lifting driving mechanism, the seat ring structure is provided with a seat ring hole, and the excretion collecting device further comprises a bag sealing and cutting device installed on the lower side of the seat ring hole in a sliding mode. The bag body sealing and cutting device comprises a platform provided with a collecting hole, a positioning ring body fixed to the upper side of the platform and arranged around the collecting hole in the circumferential direction, and a bag body conveying mechanism, a heat sealing mechanism and a bag tearing mechanism which are sequentially arranged on the lower side of the collecting hole. Excrement of disabled people can be collected and packaged, and the problems that an existing excrement collection mode of the disabled people is prone to causing heavy smell of a living environment and the collected excrement is inconvenient to dispose are solved.

Description

Technical Field

[0001] This invention belongs to the field of nursing equipment technology, and in particular relates to a bed-type care robot. Background Technology

[0002] Currently, disabled people need to stay in bed for a long time due to their loss of mobility. Their daily life is taken care of by family members or caregivers. They also need to use the toilet in bed and complete this task with the assistance of caregivers.

[0003] To facilitate excretion for disabled individuals, drainage holes are typically installed on the bed board, with a collection device placed underneath to collect excrement. For example, Chinese invention patent CN 108245335 A discloses an electric nursing bed that has a toilet body installed at the bottom of the bed board assembly to collect the patient's feces, and Chinese utility model patent CN 221534461 U discloses a nursing bed for paralyzed patients with a built-in feces receiving mechanism that uses a bedpan placed under the bed board to collect feces.

[0004] The main drawback of existing excrement collection methods is that they can easily cause strong odors in the living environment, and caregivers need to dispose of the collected excrement, which is very inconvenient. Summary of the Invention

[0005] The purpose of this invention is to provide a bed-type care robot, which aims to solve the problems of existing methods for collecting excrement from disabled people, which easily lead to strong odors in the living environment and inconvenient disposal of collected excrement.

[0006] This invention discloses a bed-type care robot, which includes a bed body and a bed board laid on the upper side of the bed body. The bed board has a drainage hole. It also includes a support device and a drainage collection device that are horizontally spaced below the drainage hole, and a translation drive device that is located below the bed board and fixed to the bed body. The support device and the drainage collection device are fixed to the translation drive device. The translation drive device is used to drive the support device and the drainage collection device to move to or away from the lower side of the drainage hole.

[0007] The support device includes a first lifting drive mechanism fixed to the translation drive device and a support structure fixed to the first lifting drive mechanism;

[0008] The excretion collection device includes a second lifting drive mechanism fixed to the translation drive device, a seat ring structure fixed to the second lifting drive mechanism, the seat ring structure having a seat ring hole, and a bag sealing and cutting device slidably installed on the lower side of the seat ring hole.

[0009] The bag sealing and cutting device includes a platform with a collection hole, a positioning ring fixed on the upper side of the platform and arranged around the collection hole, and a bag conveying mechanism, a heat sealing mechanism and a bag tearing mechanism arranged sequentially on the lower side of the collection hole.

[0010] The bag conveying mechanism includes two sets of conveying rollers respectively located on opposite sides of the collection hole, and a conveying roller rotation drive mechanism rotatably connected to the conveying rollers. The conveying rollers include a first conveying roller and a second conveying roller respectively rotatably mounted on the lower side of the platform. The two first conveying rollers and the two second conveying rollers of the two sets of conveying rollers are coaxially arranged.

[0011] The heat sealing mechanism includes a first heat sealing seat provided on one side of the two first conveying rollers corresponding to the two sets of conveying rollers, a second heat sealing seat provided on one side of the two second conveying rollers corresponding to the two sets of conveying rollers, and a heat sealing clamping drive mechanism for driving the first heat sealing seat and the second heat sealing seat to move in opposite / away directions. A cutting knife is fixed on the adjacent side of the first heat sealing seat or the second heat sealing seat.

[0012] The bag-tearing mechanism includes a first bag-tearing roller mechanism disposed on the lower side of the first heat-sealing seat, a second bag-tearing roller mechanism disposed on the lower side of the second heat-sealing seat, a tearing roller rotation drive mechanism for driving the first bag-tearing roller mechanism or the second bag-tearing roller mechanism to rotate, and a bag-tearing clamping drive mechanism for driving the first bag-tearing roller mechanism and the second bag-tearing roller mechanism to move in opposite / away directions.

[0013] As an improvement, the bag sealing and cutting device further includes a closure structure, which includes a first closure structure fixed to the first heat-sealing seat and a second closure structure fixed to the second heat-sealing seat.

[0014] As an improvement, the first closure structure includes a first upper closure plate fixed to the upper side of the first heat-sealing seat and a first lower closure plate fixed to the lower side of the first heat-sealing seat; the second closure structure includes a second upper closure plate fixed to the upper side of the second heat-sealing seat and a second lower closure plate fixed to the lower side of the second heat-sealing seat; the first upper closure plate, the first lower closure plate, the second upper closure plate, and the second lower closure plate each include a fixing plate and closure arms respectively disposed on both sides of the fixing plate, the distance between the two closure arms away from the fixing plate is greater than the distance between the two closure arms close to the fixing plate, the two closure arms of the second upper closure plate are located below the two closure arms of the first upper closure plate, and the two closure arms of the second lower closure plate are located above the two closure arms of the first lower closure plate.

[0015] As an improvement, clearance notches are provided on the side of the collection hole at the positions corresponding to the two sets of conveying rollers, and a first guide plate and a second guide plate are fixed on the opposite sides of the clearance notches in the circumference of the collection hole.

[0016] As an improvement, the bed board includes a headboard corresponding to the head of the bed, a footboard corresponding to the foot of the bed, and a middle bed board located between the headboard and the footboard. A front connecting beam and a rear connecting beam, respectively fixed to the bed, are provided on the middle bed board corresponding to the head and foot of the bed. The middle bed board has a split structure, including a left bed board corresponding to the left side of the bed and a right bed board corresponding to the right side of the bed. The inner sides of the left and right bed boards are rotatably mounted between the front and rear connecting beams, respectively. The drainage hole is located between the inner sides of the left and right bed boards. A first flipping drive mechanism is provided between the left bed board and the bed, and a second flipping drive mechanism is provided between the right bed board and the bed.

[0017] As an improvement, the first tearing roller mechanism and the second tearing roller mechanism each include a mounting shaft and at least two tearing rollers spaced apart from the mounting shaft, with the tearing rollers of the first tearing roller mechanism and the tearing rollers of the second tearing roller mechanism corresponding one-to-one.

[0018] As an improvement, a fixed base is fixed to the lower side of the platform, a slide block that can slide in a direction close to / away from the fixed base is slidably mounted, and a packaging sliding drive mechanism is used to drive the slide block to slide. The first heat-sealing base is fixed to the side of the fixed base close to the slide block, and the second heat-sealing base is fixed to the side of the slide block close to the fixed base. The first tear-bag roller mechanism is rotatably mounted on the lower side of the fixed base, and the second tear-bag roller mechanism is rotatably mounted on the lower side of the slide block. The tear roller rotation drive mechanism is connected to the mounting shaft of the first tear-bag roller mechanism. The packaging sliding drive mechanism is the heat-sealing clamping drive mechanism and the tear-bag clamping drive mechanism. The packaging sliding drive mechanism drives the slide block to slide, and the second heat-sealing base and the second tear-bag roller mechanism slide synchronously with the slide block.

[0019] As an improvement, a first mounting bracket is fixed to the lower side of the fixed base, the mounting shaft of the first tearing roller mechanism is rotatably mounted on the first mounting bracket, the tearing roller of the first tearing roller mechanism is fixed to the mounting shaft, and the tearing roller rotation drive mechanism is fixed to the first mounting bracket.

[0020] As an improvement, a second mounting bracket is fixed to the lower side of the slide block, and slide rails extending along the sliding direction of the slide block are respectively provided on opposite sides of the second mounting bracket. The two ends of the mounting shaft of the second tearing roller mechanism are slidably mounted on the corresponding slide rails. An elastic telescopic structure for pushing the second tearing roller mechanism to slide closer to the first tearing roller mechanism is provided between the second mounting bracket and the second tearing roller mechanism.

[0021] As an improvement, the second mounting bracket includes a rear baffle fixed to the slide block, side baffles respectively fixed to opposite sides of the rear baffle and extending toward the side of the first bag-tearing roller mechanism, the slide rail being disposed on the side baffle, and the elastic telescopic structure being disposed between the rear baffle and the second bag-tearing roller mechanism.

[0022] The beneficial effects achieved by adopting the above technical solution are as follows:

[0023] The bed-type care robot of the present invention includes a bed body and a bed board laid on the upper side of the bed body, the bed board having a drainage hole; it also includes a support device and a drainage collection device spaced horizontally below the drainage hole, a translation drive device disposed on the lower side of the bed board and fixed to the bed body, the support device and the drainage collection device being fixed to the translation drive device, the translation drive device being used to drive the support device and the drainage collection device to move to or away from the lower side of the drainage hole;

[0024] The support device includes a first lifting drive mechanism fixed to the translation drive device and a support structure fixed to the first lifting drive mechanism;

[0025] The excretion collection device includes a second lifting drive mechanism fixed to the translation drive device, a seat ring structure fixed to the second lifting drive mechanism, the seat ring structure having a seat ring hole, and a bag sealing and cutting device slidably installed on the lower side of the seat ring hole.

[0026] The bag sealing and cutting device includes a platform with a collection hole, a positioning ring fixed on the upper side of the platform and arranged around the collection hole, and a bag conveying mechanism, a heat sealing mechanism and a bag tearing mechanism arranged sequentially on the lower side of the collection hole.

[0027] The bag conveying mechanism includes two sets of conveying rollers respectively located on opposite sides of the collection hole, and a conveying roller rotation drive mechanism rotatably connected to the conveying roller sets. The conveying roller sets include a first conveying roller and a second conveying roller respectively rotatably installed on the lower side of the platform. The two first conveying rollers of the two sets of conveying roller sets are coaxially arranged, and the two second conveying rollers are coaxially arranged.

[0028] The heat sealing mechanism includes a first heat sealing seat provided on one side of the two first conveying rollers corresponding to the two sets of conveying rollers, a second heat sealing seat provided on one side of the two second conveying rollers corresponding to the two sets of conveying rollers, and a heat sealing clamping drive mechanism for driving the first heat sealing seat and the second heat sealing seat to move in opposite / away directions. A cutting knife is fixed on the adjacent side of the first heat sealing seat or the second heat sealing seat.

[0029] The bag-tearing mechanism includes a first bag-tearing roller mechanism located below the first heat-sealing seat, a second bag-tearing roller mechanism located below the second heat-sealing seat, a tearing roller rotation drive mechanism for driving the first bag-tearing roller mechanism or the second bag-tearing roller mechanism to rotate, and a bag-tearing clamping drive mechanism for driving the first bag-tearing roller mechanism and the second bag-tearing roller mechanism to move in opposite / away directions.

[0030] In use, a collection bag structure needs to be pre-installed on the upper side of the platform of the bag sealing and cutting device. The cylindrical bag of the collection bag structure is passed through the cylinder, the collection hole of the platform, and the bag conveying mechanism from the upper side of the collection bag structure. The two sides of the cylindrical bag are clamped between the first and second conveying rollers of the corresponding conveying roller group. The conveying roller rotation drive mechanism drives the conveying roller group to rotate and convey the cylindrical bag downwards until the cylindrical bag passes between the first and second heat sealing seats of the heat sealing mechanism. Then, the heat sealing clamping drive mechanism drives the first and second heat sealing seats to move in opposite directions, thus conveying the cylindrical bag downwards. The side walls of the bag body on both sides are heat-sealed together to form a heat-sealing strip. Since a cutting blade is fixed on the side adjacent to the first or second heat-sealing seat, the middle of the heat-sealing strip is cut off during the heat sealing process. Half the width of the heat-sealing strip is left at the lower end of the cylindrical bag body to form a seal. The bag body conveying mechanism then continues to convey a certain length of the cylindrical bag body downwards. The cylindrical bag body between the seal at the lower end of the cylindrical bag body and the upper side of the collection bag structure forms a collection bag body, which is used to hold the excrement of disabled people. The collection bag structure is installed on the platform of the bag body sealing and cutting device, and then the bag body sealing and cutting device is moved to the lower side of the seat ring hole of the seat ring structure.

[0031] During excretion, the translation drive device moves the excretion collection device to the lower side of the excretion hole, and the second lifting drive mechanism drives the seat ring structure and the bag sealing and cutting device to rise, so that the seat ring structure moves to the excretion hole. The seat ring structure can support the buttocks of the disabled person. The excrement of the disabled person falls through the excretion hole, the seat ring hole of the seat ring structure, and the upper side of the collection bag structure into the collection bag body formed between the seal at the lower end of the cylindrical bag body and the upper side of the collection bag structure.

[0032] After the disabled person finishes defecating, the heat-sealing clamping drive mechanism drives the first and second heat-sealing seats to move in opposite directions. The first and second heat-sealing seats heat-seal the cylindrical bag under the bag conveying mechanism, forming a sealed bag between the lower end of the cylindrical bag and the lower side of the bag conveying mechanism, sealing the excrement in the sealed bag. During heat sealing, a cutting blade cuts the middle of the heat-sealing tape, and the bag-tearing clamping drive mechanism drives the first and second bag-tearing roller mechanisms to move in opposite directions, clamping the first and second bag-tearing roller mechanisms on opposite sides of the cylindrical bag. Then, the tearing roller rotation drive mechanism drives the first or second bag-tearing roller mechanism to rotate, creating a downward pulling force between the first and second bag-tearing roller mechanisms to ensure that the cut part of the heat-sealing tape separates, and the sealed bag containing the disabled person's excrement falls off.

[0033] The bed-type care robot of this invention can collect and seal the excrement of disabled people, which can prevent odor from leaking out and causing a strong odor in the living environment. Caregivers can simply discard the sealed bag containing the excrement, making excrement disposal convenient. This solves the problems of existing excrement collection methods for disabled people, which easily cause a strong odor in the living environment and are inconvenient to dispose of. Attached Figure Description

[0034] Figure 1 This is a three-dimensional structural diagram of the bed-type care robot according to an embodiment of the present invention;

[0035] Figure 2 This is a three-dimensional structural diagram (excretion state) of the bed-type care robot according to an embodiment of the present invention.

[0036] Figure 3 This is a three-dimensional structural diagram of the bed-type care robot according to an embodiment of the present invention (with the collection bag structure changed).

[0037] Figure 4 This is a three-dimensional structural diagram of the excretion collection device and support device of the bed-type care robot according to an embodiment of the present invention (with the collection bag structure changed).

[0038] Figure 5 This is a three-dimensional structural schematic diagram of the bag sealing and cutting device of the excretion collection device of the bed-type care robot according to an embodiment of the present invention;

[0039] Figure 6 It is along Figure 5 Schematic diagram of the cross-sectional structure along line AA;

[0040] Figure 7 This is a schematic diagram of the transmission structure of the bag conveying mechanism of the excrement collection device of the bed-type care robot according to an embodiment of the present invention;

[0041] Figure 8 This is a schematic diagram of the internal structure of the bag conveying and cutting mechanism of the excretion collection device of the bed-type care robot according to an embodiment of the present invention;

[0042] Figure 9 This is a cross-sectional schematic diagram of the sealed bag structure of the bed-type care robot according to an embodiment of the present invention;

[0043] Figure 10 This is a three-dimensional structural diagram of the turning mechanism of the bed-type care robot according to an embodiment of the present invention;

[0044] Among them, 10. Bed frame; 11. Front connecting crossbeam; 12. Rear connecting crossbeam; 20. Bed board; 21. Headboard; 22. Middle board; 221. Left side board; 222. Right side board; 223. First tilting drive mechanism; 224. Second tilting drive mechanism; 23. Footboard; 24. Drainage hole; 30a. First lifting drive mechanism; 30b. Second lifting drive mechanism; 31. Bracket; 32. Lifting screw transmission mechanism; 33. Vertical linear guide rail; 40. Support structure; 41. Vertical 42. Mounting plate; 50. Support plate; 51. Seat ring structure; 52. Pad plate; 53. Seat ring hole; 54. Retaining ring; 55. First connecting plate; 56. Second connecting plate; 67. Slide rail connecting mechanism; 78. Bag sealing and cutting device; 79. Platform; 70. Collection hole; 712. Positioning ring; 713. Clearance notch; 714. First guide plate; 715. Second guide plate; 721. First conveying roller; 722. Second conveying roller; 723. Synchronous shaft; 724. Conveying roller rotation drive mechanism; 725. Conveying drive gear; 726. Synchronizing gear; 727. Reducing gear; 728. Transmission gear set; 729. Groove; 731. First heat sealing seat; 732. Second heat sealing seat; 733. Slide; 734. Pressure plate; 735. Fixed seat; 736. Guide shaft; 74. Cutting blade; 751. First upper gathering plate; 752. First lower gathering plate; 761. Second upper gathering plate; 762. Second lower gathering plate; 77. First tearing roller mechanism; 771. Tear roller rotation drive mechanism; 78. 781. Second tearing roller mechanism; 781. Second mounting frame; 7811. Rear baffle; 7812. Side baffle; 782. Slide rail; 79. Encapsulation sliding drive mechanism; 791. Drive shaft; 80. Translation drive device; 81. Carrier plate; 82. Translation screw transmission mechanism; 83. Upper horizontal linear guide rail; 84. Lower horizontal linear guide rail; 85. First end plate; 86. Second end plate; 90. Collection bag structure; 91. Annular bottom plate; 92. Cylinder body; 93. Annular top cover; 94. Connecting ring; 95. Cylindrical bag body. Detailed Implementation

[0045] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0046] Figures 1 to 10 This is a schematic diagram of the structure of a bed-type care robot according to an embodiment of the present invention, wherein, Figure 1 This diagram illustrates a three-dimensional structure of a bed-type care robot according to an embodiment of the present invention. Figure 2 A three-dimensional structural schematic diagram (excretion state) of the bed-type care robot according to an embodiment of the present invention is shown. Figure 3 A three-dimensional structural diagram of the bed-type care robot according to an embodiment of the present invention is shown (with the collection bag structure changed). Figure 4 A three-dimensional structural diagram of the excretion collection device and support device of the bed-type care robot according to an embodiment of the present invention is shown (with the collection bag structure changed). Figure 5 This diagram shows a three-dimensional structural schematic of the bag sealing and cutting device of the excrement collection device of the bed-type care robot according to an embodiment of the present invention. Figure 6 It shows along Figure 5 Schematic diagram of the cross-sectional structure along line AA. Figure 7 A schematic diagram of the transmission structure of the bag conveying mechanism of the excrement collection device of the bed-type care robot according to an embodiment of the present invention is shown. Figure 8 This diagram illustrates the internal structure of the bag conveying and cutting mechanism of the excrement collection device of the bed-type care robot according to an embodiment of the present invention. Figure 9 This diagram shows a cross-sectional view of the sealed bag structure of a bed-type care robot according to an embodiment of the present invention. Figure 10 A three-dimensional structural schematic diagram of the turning mechanism of a bed-type care robot according to an embodiment of the present invention is shown. For ease of description, only the parts relevant to the present invention are shown in the figure.

[0047] It should be noted that if the directional indications (e.g., up, down, forward, backward, etc.) involved in this invention are only used to explain the relative positional relationship between the components in a specific posture, the directional indications will change accordingly if the specific posture changes; if the descriptions of "first", "second", etc. involved in this invention are used for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly indicating the number of technical features indicated.

[0048] Depend on Figures 1 to 10As can be seen, the present invention discloses a bed-type care robot for the care of disabled people, including a bed body 10 and a bed board 20 laid on the upper side of the bed body 10, the bed board 20 having a drain hole 24; it also includes a support device and a drain collection device arranged horizontally at intervals below the drain hole 24, a translation drive device 80 arranged below the bed board 20 and fixed to the bed body 10, the support device and the drain collection device being fixed to the translation drive device 80, the translation drive device 80 being used to drive the support device and the drain collection device to move to or away from the drain hole 24;

[0049] The support device includes a first lifting drive mechanism 30a fixed to the translation drive device 80 and a support structure 40 fixed to the first lifting drive mechanism 30a.

[0050] The excretion collection device includes a second lifting drive mechanism 30b fixed to the translation drive device 80, a seat ring structure 50 fixed to the second lifting drive mechanism 30b, the seat ring structure 50 having a seat ring hole 511, and also includes a bag sealing and cutting device 70 located on the lower side of the seat ring hole 511 and slidably installed on the seat ring structure 50.

[0051] The bag sealing and cutting device 70 includes a platform 71, which has a collection hole 711, and also includes a positioning ring 712 fixed to the upper side of the platform 71 and arranged around the collection hole 711, and a bag conveying mechanism, a heat sealing mechanism and a bag tearing mechanism arranged sequentially on the lower side of the collection hole 711.

[0052] The bag conveying mechanism includes two sets of conveying rollers respectively located on opposite sides of the collection hole 711, and a conveying roller rotation drive mechanism 724 for driving the conveying rollers to rotate. The conveying rollers include a first conveying roller 721 and a second conveying roller 722 respectively rotatably mounted on the lower side of the platform 71. The two first conveying rollers 721 and the two second conveying rollers 722 of the two sets of conveying rollers are coaxially arranged.

[0053] The heat sealing mechanism includes a first heat sealing seat 731 provided on one side of the two first conveying rollers 721 corresponding to the two sets of conveying rollers, a second heat sealing seat 732 provided on one side of the two second conveying rollers 722 corresponding to the two sets of conveying rollers, and a heat sealing clamping drive mechanism for driving the first heat sealing seat 731 and the second heat sealing seat 732 to move in opposite / away directions. A cutting blade 74 is fixed on the adjacent side of the first heat sealing seat 731 or the second heat sealing seat 732.

[0054] The bag-tearing mechanism includes a first bag-tearing roller mechanism 77 located below the first heat-sealing seat 731, a second bag-tearing roller mechanism 78 located below the second heat-sealing seat 732, a tearing roller rotation drive mechanism 771 for driving the first bag-tearing roller mechanism 77 or the second bag-tearing roller mechanism 78 to rotate, and a bag-tearing clamping drive mechanism for driving the first bag-tearing roller mechanism 77 and the second bag-tearing roller mechanism 78 to move in opposite / away directions.

[0055] The bed-type care robot of this invention also includes an electronic control device. A translation drive device 80, a first lifting drive mechanism 30a, a second lifting drive mechanism 30b, a bag conveying mechanism, a heat-sealing mechanism, and a bag-tearing mechanism are all electrically connected to the electronic control device. Typically, the electronic control device includes a housing, a mainboard module fixed inside the housing, and also includes a power switch, power cord, and control module electrically connected to the mainboard. Common control modules include wireless remote controls, wired remote controls, and touchscreens. In the field of automation equipment, the structure of the electronic control device is well-known technology, and its specific structure will not be described in detail.

[0056] In use, the disabled person lies flat on the bed-type care robot, with their buttocks positioned at the drainage hole 24. The side corresponding to the disabled person's head is the headboard side of the bed 10, the side corresponding to the disabled person's feet is the footboard side, the side corresponding to the disabled person's right hand is the right side of the bed 10, and the side corresponding to the disabled person's left hand is the left side of the bed 10. The translation drive device 80 drives the support device and the drainage collection device to move, moving the support device to the underside of the drainage hole 24. The first lifting drive mechanism 30a of the support device drives the support structure 40 to rise, so that the support structure 40 supports the disabled person's buttocks at the drainage hole 24. To improve comfort, a mattress is laid on the upper side of the bed board 20, with avoidance holes at the location of the drainage hole 24 on the mattress.

[0057] During excretion, the first lifting drive mechanism 30a of the support device drives the support structure 40 to fall, and then the translation drive device 80 drives the support device and the excretion collection device to move, so that the support device is disengaged from the lower side of the excretion hole 24 and the excretion collection device is moved to the lower side of the excretion hole 24. Then, the second lifting drive mechanism 30b of the excretion collection device drives the seat ring structure 50 and the bag sealing and cutting device 70 to rise, so that the seat ring structure 50 moves to the excretion hole 24 to support the buttocks of the disabled person. It is equivalent to the buttocks of the disabled person sitting on the seat ring structure 50. The excrement of the disabled person falls into the bag sealing and cutting device 70 through the seat ring hole 511 of the seat ring structure 50 for collection and sealing.

[0058] Before use, a collection bag structure 90 needs to be installed on the upper side of the platform 71 of the bag sealing and cutting device 70, and the excrement of disabled people is collected through the cylindrical bag 95 of the collection bag structure 90.

[0059] like Figure 9 As shown, the collection bag structure 90 includes an annular base plate 91, a cylindrical body 92 fixed to the inner side of the annular base plate 91, and a long, strip-shaped cylindrical bag body 95. The shape of the inner hole of the annular base plate 91 is adapted to the shape of the positioning ring 712. The cylindrical bag body 95 is fitted onto the cylindrical body 92 and folded from the inside out to form a stacked structure. It also includes an annular top cover 93 opposite to the annular base plate 91 and a connecting ring 94 fixed to the inner side of the annular top cover 93. The connecting ring 94 is inserted into the inner side of the cylindrical body 92, confining the stacked structure formed by folding the cylindrical bag body 95 between the annular base plate 91, the cylindrical body 92, and the annular top cover 93. Typically, the inner layer of the stacked structure is sandwiched between the connecting ring 94 and the cylindrical body 92 to prevent the last section of the cylindrical bag body 95 from falling off when it is about to be used up.

[0060] For ease of understanding, combined with Figure 9 The production and use of the collection bag structure 90 are described below:

[0061] During production, one end of the strip-shaped tubular bag 95 is fitted onto the cylindrical body 92, with a length typically ranging from 30 to 50 meters. The tubular bag 95 is then folded over with a certain width, such as 10 centimeters or 15 centimeters, the folding width matching the axial length of the cylindrical body 92. After folding the entire tubular bag 95, a layered structure is formed that fits onto the cylindrical body 92, with the layering direction proceeding from the inside out. A connecting ring 94 is then inserted into the cylindrical body 92, thus confining the layered structure formed by folding the tubular bag 95 between the annular bottom plate 91, the cylindrical body 92, and the annular top cover 93, producing the finished product, which consumers can then directly purchase.

[0062] When installing the collection bag structure 90 for the first time or replacing it with a new one, slide the bag sealing and cutting device 70 out from under the seat ring structure 50, then insert the cylindrical body 92 of the collection bag structure 90 into the positioning ring 712 of the platform 71. The collection bag structure 90 is then installed on the upper side of the platform 71. Next, pull the outermost layer of the stacked structure formed by folding the cylindrical bag body 95, and move the cylindrical bag body 95 along... Figure 9The arrow in the diagram passes from the upper side of the collection bag structure 90 through the collection hole 711 of the cylindrical body 92 and the platform 71, as well as the bag conveying mechanism. This causes the two sides of the cylindrical bag 95 to be clamped between the first conveying roller 721 and the second conveying roller 722 of the corresponding conveying roller assembly. The conveying roller rotation drive mechanism 724 drives the conveying roller assembly to rotate and convey the cylindrical bag 95 downwards until it passes between the first heat-sealing seat 731 and the second heat-sealing seat 732 of the heat-sealing mechanism. Then, the heat-sealing clamping drive mechanism drives the first heat-sealing seat 731 and the second heat-sealing seat 732 to perform a sealing operation. The tubular bag 95 moves in the direction of heat sealing the side walls of the two sides together to form a heat sealing strip. Since a cutting blade 74 is fixed on the adjacent side of the first heat sealing seat 731 or the second heat sealing seat 732, the middle of the heat sealing strip is cut off during heat sealing. Half the width of the heat sealing strip is left at the lower end of the tubular bag 95 to form a seal. The bag conveying mechanism then continues to convey a certain length of the tubular bag 95 downwards, for example, 30 cm. In this way, the portion of the tubular bag 95 between the seal at the lower end of the tubular bag 95 and the upper side of the collection bag structure 90 forms a collection bag for holding the excrement of disabled people.

[0063] The collection bag structure 90 is installed on the platform 71 of the bag sealing and cutting device 70, and then the bag sealing and cutting device 70 is moved to the lower side of the seat ring hole 511 of the seat ring structure 50.

[0064] During excretion, the translation drive device 80 drives the excretion collection device to move to the lower side of the excretion hole 24, and the second lifting drive mechanism 30b drives the seat ring structure 50 and the bag sealing and cutting device 70 to rise, so that the seat ring structure 50 moves to the excretion hole 24. The seat ring structure 50 can support the buttocks of the disabled person. The excrement of the disabled person falls through the excretion hole 24, the seat ring hole 511 of the seat ring structure 50, and the upper side of the collection bag structure 90 into the collection bag body formed between the seal at the lower end of the cylindrical bag body 95 and the upper side of the collection bag structure 90.

[0065] After the disabled person finishes defecating, the heat-sealing clamping drive mechanism drives the first heat-sealing seat 731 and the second heat-sealing seat 732 to move in opposite directions. The first heat-sealing seat 731 and the second heat-sealing seat 732 heat-seal the cylindrical bag 95 located below the bag conveying mechanism, forming a sealed bag between the lower end of the cylindrical bag 95 and the lower side of the bag conveying mechanism, thus sealing the excrement in the sealed bag. During heat sealing, the cutting blade 74 cuts the middle of the heat-sealing tape, and the bag-tearing clamping drive mechanism drives the first heat-sealing seat 731 and the second heat-sealing seat 732 to move in opposite directions. The first tearing roller mechanism 77 and the second tearing roller mechanism 78 move in opposite directions, so that the first tearing roller mechanism 77 and the second tearing roller mechanism 78 are clamped on opposite sides of the cylindrical bag body 95. Then, the tearing roller rotation drive mechanism 771 drives the first tearing roller mechanism 77 or the second tearing roller mechanism 78 to rotate, so that the first tearing roller mechanism 77 and the second tearing roller mechanism 78 form a downward pulling force to ensure that the cut part of the heat-sealing tape separates and the packaging bag for the excrement of disabled people falls off.

[0066] The bed-type care robot of this invention can collect and seal the excrement of disabled people, which can prevent odor from leaking out and causing a strong odor in the living environment. Caregivers can simply discard the sealed bag containing the excrement, making excrement disposal convenient. This solves the problems of existing excrement collection methods for disabled people, which easily cause a strong odor in the living environment and are inconvenient to dispose of.

[0067] In embodiments of the present invention, such as Figure 5 and Figure 6 As shown, in order to more conveniently clamp the two sides of the cylindrical bag 95 between the first conveyor roller 721 and the second conveyor roller 722 of the corresponding conveyor roller group, a clearance notch 713 is provided on the side of the collection hole 711 at the position corresponding to the two conveyor roller groups. A first guide plate 714 and a second guide plate 715 are fixed on the opposite sides of the clearance notch 713 in the circumferential direction of the collection hole 711, so as to facilitate the alignment of the two sides of the cylindrical bag 95 with the corresponding conveyor roller group.

[0068] Specifically, the clearance notch 713 is set as a trapezoidal notch, which can increase the opening between the first guide plate 714 and the second guide plate 715.

[0069] like Figure 6 and Figure 8As shown, the bag sealing and cutting device 70 also includes a gathering structure, which includes a first gathering structure fixed to the first heat-sealing seat 731 and a second gathering structure fixed to the second heat-sealing seat 732. During heat sealing, the heat-sealing clamping drive mechanism drives the first heat-sealing seat 731 and the second heat-sealing seat 732 to move in opposite directions. The first gathering structure and the second gathering structure also move in opposite directions, bringing the two sides of the cylindrical bag 95 together towards the center. This ensures that the cylindrical bag 95 is completely heat-sealed in the width direction, while also increasing the thickness of the heat-sealing tape to improve the heat-sealing effect and the strength of the heat-sealing tape, thus preventing problems with incomplete sealing.

[0070] Specifically, the first closure structure includes a first upper closure plate 751 fixed to the upper side of the first heat-sealing seat 731 and a first lower closure plate 752 fixed to the lower side of the first heat-sealing seat 731; the second closure structure includes a second upper closure plate 761 fixed to the upper side of the second heat-sealing seat 732 and a second lower closure plate 762 fixed to the lower side of the second heat-sealing seat 732; the first upper closure plate 751, the first lower closure plate 752, the second upper closure plate 761, and the second lower closure plate 762 each include a fixing plate and closure arms respectively disposed on both sides of the fixing plate, the distance between the two closure arms away from the fixing plate is greater than the distance between the two closure arms close to the fixing plate, the two closure arms of the second upper closure plate 761 are located below the two closure arms of the first upper closure plate 751, and the two closure arms of the second lower closure plate 762 are located above the two closure arms of the first lower closure plate 752.

[0071] During heat sealing, the first upper sealing plate 751 and the second upper sealing plate 761 cooperate to close the opening, and the first lower sealing plate 752 and the second lower sealing plate 762 cooperate to close the opening. This can limit the cylindrical bag body 95 on the upper side of the first heat sealing seat 731 and the second heat sealing seat 732, and limit the cylindrical bag body 95 on the lower side of the first heat sealing seat 731 and the second heat sealing seat 732. This makes it easier for the first heat sealing seat 731 and the second heat sealing seat 732 to hold the cylindrical bag body 95 after closing, so as to ensure that the cylindrical bag body 95 between the first heat sealing seat 731 and the second heat sealing seat 732 is completely heat sealed, thereby improving the heat sealing effect.

[0072] like Figure 6 and Figure 8 As shown, the first tearing roller mechanism 77 and the second tearing roller mechanism 78 each include a mounting shaft and at least two tearing rollers spaced apart on the mounting shaft. The tearing rollers of the first tearing roller mechanism 77 and the tearing rollers of the second tearing roller mechanism 78 correspond one-to-one. In some other embodiments, the first tearing roller mechanism 77 and the second tearing roller mechanism 78 may also be configured as follows: including a mounting shaft and a long roller body disposed on the mounting shaft.

[0073] For ease of installation, a fixed base 735 is fixed to the underside of the platform 71, a slide block 733 that can slide in the direction of approaching / away from the fixed base 735 is slidably mounted, and a sealing sliding drive mechanism 79 for driving the slide block 733 to slide is provided. The first heat-sealing base 731 is fixed to the side of the fixed base 735 near the slide block 733, and the second heat-sealing base 732 is fixed to the side of the slide block 733 near the fixed base 735. The first tearing bag roller mechanism 77 is rotatably mounted on the underside of the fixed base 735, and the second tearing bag roller mechanism 78 is rotatably mounted on the underside of the slide block 733. The tearing roller rotation drive mechanism 771 is connected to the mounting shaft of the first tearing bag roller mechanism 77. The sealing sliding drive mechanism 79 is a heat-sealing clamping drive mechanism and a tearing bag clamping drive mechanism. The sealing sliding drive mechanism 79 drives the slide block 733 to slide, and the second heat-sealing base 732 and the second tearing bag roller mechanism 78 slide synchronously with the slide block 733.

[0074] Furthermore, a first mounting bracket is fixed to the lower side of the fixed base 735. The mounting shaft of the first tearing roller mechanism 77 is rotatably mounted on the first mounting bracket, the tearing roller of the first tearing roller mechanism 77 is fixed to the mounting shaft, and the tearing roller rotation drive mechanism 771 is fixed to the first mounting bracket. Typically, the tearing roller rotation drive mechanism 771 is a motor that drives the mounting shaft of the first tearing roller mechanism 77 to rotate through gear transmission, belt transmission, or coupling.

[0075] A second mounting bracket 781 is fixed to the lower side of the slide block 733. On opposite sides of the second mounting bracket 781 are slide rails 782 extending along the sliding direction of the slide block 733. The two ends of the mounting shaft of the second tear-bag roller mechanism 78 are slidably mounted on the corresponding slide rails 782. An elastic telescopic structure is provided between the second mounting bracket 781 and the second tear-bag roller mechanism 78 to push the second tear-bag roller mechanism 78 towards the first tear-bag roller mechanism 77. When the first tear-bag roller mechanism 77 contacts the second tear-bag roller mechanism 78, the elastic telescopic structure can be compressed. The elastic force of the elastic telescopic structure can increase the clamping force between the tear-bag rollers of the first tear-bag roller mechanism 77 and the tear-bag rollers of the second tear-bag roller mechanism 78, and can also act as a buffer between the tear-bag rollers of the first tear-bag roller mechanism 77 and the tear-bag rollers of the second tear-bag roller mechanism 78.

[0076] like Figure 6As shown, the second mounting bracket 781 includes a rear baffle 7811 fixed to the slide block 733, side baffles 7812 respectively fixed to opposite sides of the rear baffle 7811 and extending towards the side of the first tearing roller mechanism 77, a slide rail 782 disposed on the side baffle 7812, and an elastic telescopic structure disposed between the rear baffle 7811 and the second tearing roller mechanism 78. Typically, the rear baffle 7811 and the side baffles 7812 are fixed to the second lower closing plate 762, and then the second lower closing plate 762 is fixedly connected to the slide block 733, thereby realizing the fixed installation of the second mounting bracket 781. In order to enhance the clamping force and make the sliding of the second tearing roller mechanism 78 more stable, two sets of elastic telescopic structures are provided at intervals. Specifically, the slide 782 is an elongated through hole provided in the side baffle 7812. The tearing roller of the second tearing roller mechanism 78 is fixed to the mounting shaft. The elastic telescopic structure includes a mounting seat fitted on the mounting shaft of the second tearing roller mechanism 78, a connecting rod fixedly connected to the mounting seat, the connecting rod passing through the rear baffle 7811, and a spring fitted on the connecting rod between the mounting seat and the rear baffle 7811. Of course, the tearing roller of the second tearing roller mechanism 78 can also be rotatably mounted on the mounting shaft, so that the mounting seat of the elastic telescopic structure can be directly fixed to the mounting shaft of the second tearing roller mechanism 78.

[0077] Preferably, a rectangular frame formed by connecting four side plates is fixed to the lower side of the platform 71. For ease of fixing, the platform 71 is set as a flat plate, and the side plates can be directly welded to the lower side of the flat plate. Two guide shafts 736 are fixed between the two opposite side plates of the rectangular frame at intervals. The slide block 733 is slidably connected to the two guide shafts 736 respectively, and the fixed seat 735 is fixedly connected to the two guide shafts 736 respectively. Correspondingly, support blocks are fixed on the two guide shafts 736 on the side of the fixed seat 735 near the slide block 733 respectively. The first upper condensing plate 751 is fixedly connected to the upper side of the two support blocks respectively, and the first lower condensing plate 752 is fixedly connected to the lower side of the two support blocks respectively. To facilitate the sliding of the slide block 733, belt drive mechanisms are respectively provided on both sides of the rectangular frame corresponding to the two guide shafts 736. Each belt drive mechanism includes a driving pulley and a driven pulley rotatably mounted on the corresponding side plates, and a drive belt surrounding the driving and driven pulleys. It also includes a drive shaft 791 corresponding to the driving pulleys of the two belt drive mechanisms and rotatably mounted on the rectangular frame, with the two driving pulleys fixed to the drive shaft 791. Both sides of the slide block 733 are fixedly connected to the drive belts of the corresponding belt drive mechanisms, and can be driven by... Figure 5 and Figure 8 The pressure plate 734 shown presses the drive belt against the slide 733 to achieve a fixed connection.

[0078] A driven gear is fixed on the drive shaft 791. The encapsulated sliding drive mechanism 79 is a motor fixed to the lower side of the platform 71 or a rectangular frame. An encapsulated driving gear that meshes with the driven gear is fixed on the output shaft of the motor.

[0079] like Figure 6 As shown, the first heat-sealing seat 731 and the second heat-sealing seat 732 each include a support base and a heat-sealing plate fixed to the support base. The cutting blade 74 is fixed to the heat-sealing plate by means of adhesive bonding, welding, bolting, etc. Typically, the heat-sealing plate includes a heat-sealing plate body and an electrically conductive heating device embedded inside the heat-sealing plate body. Common heating devices mainly include electric heating tubes, heating cores, resistance wires, etc. When energized, the heating device generates heat, causing the temperature of the heat-sealing plate body to rise rapidly. The first heat-sealing seat 731 and the second heat-sealing seat 732 are known technologies, and their specific structures and working principles will not be described in detail here.

[0080] like Figure 7 As shown, to facilitate the installation of the first conveyor roller 721 and the second conveyor roller 722 of the conveyor roller assembly, and to drive the first conveyor roller 721 and the second conveyor roller 722 to rotate in opposite directions, drive gears are fixed on the shafts of the first conveyor roller 721 and the second conveyor roller 722, respectively. The drive gears corresponding to the first conveyor roller 721 and the second conveyor roller 722 mesh and transmit power. Each conveyor roller assembly also includes a trough 729, the bottom of which is fixed to the lower side of the platform 71. The first conveyor roller 721 and the second conveyor roller 722 are located on the outside of the trough 729. The drive gears corresponding to the first conveyor roller 721 and the second conveyor roller 722 mesh and transmit power. The drive gears are rotatably mounted between the two walls of the trough 729. A synchronous shaft 723 is rotatably mounted on a rectangular frame on one side of the two sets of conveying rollers. Synchronous gears 726 are fixed on the synchronous shaft 723 corresponding to the two sets of conveying rollers, which are used to drive the drive gears of the corresponding conveying rollers to rotate. Between the synchronous gears 726 and the drive gears, there is a transmission gear set 728 rotatably mounted between the two walls of the trough 729. The transmission gear set 728 includes a large transmission gear that meshes with the synchronous gears 726 and a small transmission gear that is coaxial with the large transmission gear. The small transmission gear meshes with the drive gears. The conveying roller rotation drive mechanism 724 is a motor, and the output shaft of the motor is connected to the synchronous shaft 723.

[0081] Typically, a drive gear 725 is fixed on the output shaft of the motor, and a large speed-reducing gear 727 that meshes with the drive gear 725 is fixed on the synchronous shaft 723; of course, the output shaft of the motor and the synchronous shaft 723 can also be connected by a coupling.

[0082] In some other embodiments, a conveyor roller rotation drive mechanism 724 is provided at each group of conveyor rollers to drive the first conveyor roller 721 and the second conveyor roller 722 of the corresponding conveyor roller group to rotate in opposite directions.

[0083] In embodiments of the present invention, such as Figure 4 As shown, the translation drive device 80 includes a carrier plate 81 fixed to the bed 10, a translation screw transmission mechanism 82 installed horizontally on the carrier plate 81, and an upper horizontal linear guide rail 83 and a lower horizontal linear guide rail 84 respectively provided on the upper and lower sides of the translation screw transmission mechanism 82. The screw of the translation screw transmission mechanism 82 is provided with a first nut and a second nut respectively at the positions corresponding to the first lifting drive mechanism 30a and the second lifting drive mechanism 30b. The upper horizontal linear guide rail 83 and the lower horizontal linear guide rail 84 are provided with a first slider and a second slider respectively at the positions corresponding to the first lifting drive mechanism 30a and the second lifting drive mechanism 30b. The first lifting drive mechanism 30a is fixedly connected to the first nut of the translation screw transmission mechanism 82, the first slider of the upper horizontal linear guide rail 83, and the first slider of the lower horizontal linear guide rail 84. The second lifting drive mechanism 30b is fixedly connected to the second nut of the translation screw transmission mechanism 82, the second slider of the upper horizontal linear guide rail 83, and the second slider of the lower horizontal linear guide rail 84.

[0084] Typically, a first end plate 85 and a second end plate 86 are fixed at both ends of the carrier plate 81 to facilitate fixing the carrier plate 81 to the bed body 10.

[0085] In some other embodiments, the translation drive device 80 may also be configured as follows: a carrier plate 81 fixed to the bed 10, a slide electric cylinder fixed to the carrier plate 81 in the horizontal direction, a linear guide rail provided on the upper or lower side of the slide electric cylinder, and a base plate fixedly connected to the slide of the slide electric cylinder and the slider of the linear guide rail respectively. The first lifting drive mechanism 30a and the second lifting drive mechanism 30b are respectively fixed to the base plate.

[0086] In embodiments of the present invention, such as Figure 4 As shown, the first lifting drive mechanism 30a and the second lifting drive mechanism 30b each include a bracket 31, a lifting screw transmission mechanism 32 mounted vertically on the bracket 31, and vertical linear guide rails 33 respectively provided on both sides of the lifting screw transmission mechanism 32. The support structure 40 is fixedly connected to the nut of the lifting screw transmission mechanism 32 of the first lifting drive mechanism 30a and the sliders of the vertical linear guide rails 33 on both sides. The seat ring structure 50 is fixedly connected to the nut of the lifting screw transmission mechanism 32 of the second lifting drive mechanism 30b and the sliders of the vertical linear guide rails 33 on both sides.

[0087] For ease of installation, the bracket 31 is configured as follows: the bracket 31 includes a vertical plate, an upper plate and a lower plate fixed to the upper and lower sides of the vertical plate respectively, the screw of the lifting screw transmission mechanism 32 is rotatably installed between the upper plate and the lower plate, and the guide rail of the vertical linear guide rail 33 is fixed between the upper plate and the lower plate; the vertical plate of the bracket 31 of the first lifting drive mechanism 30a is fixedly connected to the first nut of the translation screw transmission mechanism 82, the first slider of the upper horizontal linear guide rail 83, and the first slider of the lower horizontal linear guide rail 84 respectively; the vertical plate of the bracket 31 of the second lifting drive mechanism 30b is fixedly connected to the second nut of the translation screw transmission mechanism 82, the second slider of the upper horizontal linear guide rail 83, and the second slider of the lower horizontal linear guide rail 84 respectively.

[0088] In some other embodiments, the first lifting drive mechanism 30a and the second lifting drive mechanism 30b may also be configured as a sliding table electric cylinder.

[0089] like Figure 4 As shown, the support structure 40 includes a vertical mounting plate 41 fixed to the first lifting drive mechanism 30a, a support plate 42 fixed to the vertical mounting plate 41, and a soft pad (not shown in the figure) fixed to the support plate 42. In use, the first lifting drive mechanism 30a drives the support structure 40 to rise, so that the soft pad extends through the drain hole 24 to the upper side of the bed board 20 to support the buttocks of the disabled person.

[0090] The seat ring structure 50 includes a pad 51, a seat ring hole 511 disposed on the pad 51, a retaining ring 52 fixed on the upper side of the pad 51 and arranged around the seat ring hole 511, a gap being provided between the retaining ring 52 and the side of the seat ring hole 511, and also includes an annular pad (not shown in the figure) fixed to the inner ring side of the retaining ring 52, a first connecting plate 53 fixed to the side of the pad 51 near the translation drive device 80, and a second connecting plate 54 fixed to the side of the pad 51 away from the translation drive device 80. The first connecting plate 53 is fixed to the second lifting drive mechanism 30b, and the bag sealing and cutting device 70 is slidably connected to the first connecting plate 53 and the second connecting plate 54 respectively.

[0091] Specifically, a slide rail connecting mechanism 60 is provided between the bag sealing and cutting device 70 and the first connecting plate 53 and the second connecting plate 54 respectively. Typically, the slide rail connecting mechanism 60 is a self-locking slide rail, which can lock the bag sealing and cutting device 70 in the sliding position.

[0092] Preferably, the translation drive device 80 is arranged along the left-right direction of the bed 10, and the slide rail connecting mechanism 60 is arranged in the same direction as the translation drive device 80. When changing the collection bag structure 90, the bag sealing and cutting device 70 can be slid outside the bed 10, such as... Figure 3 As shown, it is easy to operate.

[0093] In some other embodiments, a bag-changing sliding drive mechanism, such as a sliding table electric cylinder, is provided between the bag-sealing and cutting device 70 and the first connecting plate 53, and a linear guide rail is provided between the bag-sealing and cutting device 70 and the second connecting plate 54. The bag-changing sliding drive mechanism can drive the bag-sealing and cutting device 70 to slide.

[0094] In embodiments of the present invention, such as Figure 1 , Figure 2 , Figure 3 and Figure 10 As shown, the bed board 20 includes a headboard 21 provided on the head side of the bed body 10, a footboard 23 provided on the foot side of the bed body 10, and a middle bed board 22 provided between the headboard 21 and the footboard 23. The drainage hole 24 is provided on the middle bed board 22.

[0095] Specifically, the middle bed board 22 is provided with a front connecting beam 11 and a rear connecting beam 12 fixed to the bed body 10 on the head side and foot side of the bed body 10, respectively; the middle bed board 22 is configured as a split structure, including a left bed board 221 provided on the left side of the bed body 10 and a right bed board 222 provided on the right side of the bed body 10, with the inner sides of the left bed board 221 and the right bed board 222 respectively rotatably installed between the front connecting beam 11 and the rear connecting beam 12; a first flipping drive mechanism 223 is provided between the left bed board 221 and the bed body 10, and a second flipping drive mechanism 224 is provided between the right bed board 222 and the bed body 10; the drainage hole 24 is located between the inner sides of the left bed board 221 and the right bed board 222.

[0096] Typically, the first tilting drive mechanism 223 is a first electric push rod, and the second tilting drive mechanism 224 is a second electric push rod. The cylinder bottom of the first electric push rod is hinged to the bed body 10, and the end of the telescopic rod is hinged to the outer side of the left bed board 221. The cylinder bottom of the second electric push rod is hinged to the bed body 10, and the end of the telescopic rod is hinged to the outer side of the right bed board 222. Of course, the first tilting drive mechanism 223 and the second tilting drive mechanism 224 can also be configured as hydraulic cylinders.

[0097] In this embodiment of the invention, the bed body 10 is formed by welding metal square tubes, or it can be formed by connecting aluminum alloy profiles.

[0098] Correspondingly, the bed board 20 is formed by welding metal square tubes, or it can be formed by machining solid plates.

[0099] The above description is merely some embodiments of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A bed-type care robot, comprising a bed body and a bed board laid on the upper side of the bed body, the bed board having drainage holes; characterized in that, It also includes a support device and an excretion collection device that are horizontally spaced apart below the excretion hole, and a translation drive device that is located below the bed board and fixed to the bed body. The support device and the excretion collection device are fixed to the translation drive device, and the translation drive device is used to drive the support device and the excretion collection device to move to or away from the lower side of the excretion hole. The support device includes a first lifting drive mechanism fixed to the translation drive device and a support structure fixed to the first lifting drive mechanism; The excretion collection device includes a second lifting drive mechanism fixed to the translation drive device, a seat ring structure fixed to the second lifting drive mechanism, the seat ring structure having a seat ring hole, and a bag sealing and cutting device slidably installed on the lower side of the seat ring hole. The bag sealing and cutting device includes a platform with a collection hole, a positioning ring fixed on the upper side of the platform and arranged around the collection hole, and a bag conveying mechanism, a heat sealing mechanism and a bag tearing mechanism arranged sequentially on the lower side of the collection hole. The bag conveying mechanism includes two sets of conveying rollers respectively located on opposite sides of the collection hole, and a conveying roller rotation drive mechanism rotatably connected to the conveying rollers. The conveying rollers include a first conveying roller and a second conveying roller respectively rotatably mounted on the lower side of the platform. The two first conveying rollers and the two second conveying rollers of the two sets of conveying rollers are coaxially arranged. The heat sealing mechanism includes a first heat sealing seat provided on one side of the two first conveying rollers corresponding to the two sets of conveying rollers, a second heat sealing seat provided on one side of the two second conveying rollers corresponding to the two sets of conveying rollers, and a heat sealing clamping drive mechanism for driving the first heat sealing seat and the second heat sealing seat to move in opposite / away directions. A cutting knife is fixed on the adjacent side of the first heat sealing seat or the second heat sealing seat. The bag-tearing mechanism includes a first bag-tearing roller mechanism located below the first heat-sealing seat, a second bag-tearing roller mechanism located below the second heat-sealing seat, a tearing roller rotation drive mechanism for driving the first bag-tearing roller mechanism or the second bag-tearing roller mechanism to rotate, and a bag-tearing clamping drive mechanism for driving the first bag-tearing roller mechanism and the second bag-tearing roller mechanism to move in opposite / away directions.

2. The bed-type care robot according to claim 1, characterized in that, The bag sealing and cutting device also includes a closure structure, which includes a first closure structure fixed to the first heat-sealing seat and a second closure structure fixed to the second heat-sealing seat.

3. The bed-type care robot according to claim 2, characterized in that, The first closure structure includes a first upper closure plate fixed to the upper side of the first heat-sealing seat and a first lower closure plate fixed to the lower side of the first heat-sealing seat; the second closure structure includes a second upper closure plate fixed to the upper side of the second heat-sealing seat and a second lower closure plate fixed to the lower side of the second heat-sealing seat; the first upper closure plate, the first lower closure plate, the second upper closure plate, and the second lower closure plate each include a fixing plate and closure arms respectively disposed on both sides of the fixing plate, the distance between the two closure arms away from the fixing plate is greater than the distance between the two closure arms close to the fixing plate, the two closure arms of the second upper closure plate are located below the two closure arms of the first upper closure plate, and the two closure arms of the second lower closure plate are located above the two closure arms of the first lower closure plate.

4. The bed-type care robot according to claim 1, characterized in that, A clearance notch is provided on the side of the collection hole at the position corresponding to the two sets of conveying rollers. A first guide plate and a second guide plate are fixed on opposite sides of the clearance notch in the circumference of the collection hole.

5. The bed-type care robot according to claim 1, characterized in that, The bed board includes a headboard corresponding to the head of the bed, a footboard corresponding to the foot of the bed, and a middle bed board located between the headboard and the footboard. A front connecting beam and a rear connecting beam, respectively, are fixed to the bed on the headboard and footboard sides of the middle bed board. The middle bed board has a split structure, including a left bed board corresponding to the left side of the bed and a right bed board corresponding to the right side of the bed. The inner sides of the left and right bed boards are rotatably mounted between the front and rear connecting beams, respectively. The drainage hole is located between the inner sides of the left and right bed boards. A first flipping drive mechanism is provided between the left bed board and the bed, and a second flipping drive mechanism is provided between the right bed board and the bed.

6. The bed-type care robot according to any one of claims 1 to 5, characterized in that, The first tearing roller mechanism and the second tearing roller mechanism each include a mounting shaft and at least two tearing rollers spaced apart on the mounting shaft. The tearing rollers of the first tearing roller mechanism and the tearing rollers of the second tearing roller mechanism correspond one-to-one.

7. The bed-type care robot according to claim 6, characterized in that, A fixed base is fixed to the underside of the platform, a slide block that can slide in a direction close to / away from the fixed base is slidably mounted, and a packaging sliding drive mechanism is used to drive the slide block to slide. The first heat-sealing base is fixed to the side of the fixed base close to the slide block, and the second heat-sealing base is fixed to the side of the slide block close to the fixed base. The first tear-bag roller mechanism is rotatably mounted on the underside of the fixed base, and the second tear-bag roller mechanism is rotatably mounted on the underside of the slide block. The tear roller rotation drive mechanism is drively connected to the mounting shaft of the first tear-bag roller mechanism. The packaging sliding drive mechanism is the heat-sealing clamping drive mechanism and the tear-bag clamping drive mechanism. The packaging sliding drive mechanism drives the slide block to slide, and the second heat-sealing base and the second tear-bag roller mechanism slide synchronously with the slide block.

8. The bed-type care robot according to claim 7, characterized in that, A first mounting bracket is fixed to the lower side of the fixed base. The mounting shaft of the first tearing roller mechanism is rotatably mounted on the first mounting bracket. The tearing roller of the first tearing roller mechanism is fixed to the mounting shaft. The tearing roller rotation drive mechanism is fixed to the first mounting bracket.

9. The bed-type care robot according to claim 7, characterized in that, A second mounting bracket is fixed on the lower side of the slide block. Slide tracks extending along the sliding direction of the slide block are respectively provided on opposite sides of the second mounting bracket. The two ends of the mounting shaft of the second tearing roller mechanism are slidably mounted on the corresponding slide tracks. An elastic telescopic structure for pushing the second tearing roller mechanism to slide closer to the first tearing roller mechanism is provided between the second mounting bracket and the second tearing roller mechanism.

10. The bed-type care robot according to claim 9, characterized in that, The second mounting bracket includes a rear baffle fixed to the slide block, side baffles respectively fixed to opposite sides of the rear baffle and extending toward the side closer to the first bag-tearing roller mechanism, the slide rail being disposed on the side baffle, and the elastic telescopic structure being disposed between the rear baffle and the second bag-tearing roller mechanism.

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