Auxiliary cleaning equipment for the disabled

Abstract

The present invention relates to an auxiliary cleaning device for disabled people, which is related to the technical field of nursing equipment and is useful for solving the problem of hygienic disposal of urine and feces of disabled people. The auxiliary cleaning device for disabled people of the present invention includes a movable bracket, a leg-raising device, and a cleaning device, and automatically adjusts the distance between the cleaning mechanism and the part of the user to be cleaned in the first direction, the second direction, and the third direction, so that the cleaning mechanism is moved to a specified position near the part to be cleaned in conjunction with the robot arm mechanism, and the part to be cleaned is washed and other operations are performed on the part to be cleaned. The cooperation of the leg-raising device, the lifting mechanism, and the robot arm mechanism can reduce the labor intensity of the caregiver, and the disabled person can receive meticulous and hygienic care.

Description

[Technical field]

[0001] [CROSS REFERENCE TO RELATED APPLICATIONS] This application claims priority to Chinese patent application CN202210337108.4, filed on March 31, 2022, the entire contents of which are incorporated herein by reference.

[0002] [Technical field] The present invention relates to the technical field of nursing care equipment, in particular to an auxiliary cleaning device for disabled people. [Background technology]

[0003] Conventionally, the hygienic disposal of urine and feces of disabled people is a relatively difficult task, and disabled people need mental healing, body cleansing, and psychological comfort while carers assist them in cleaning. Because carers need physical strength, there is a need for a device that can solve the problem of hygienic disposal of urine and feces of disabled people, make carers easy to care for, and make disabled people feel more comfortable. Summary of the Invention

[0004] The present invention provides an auxiliary cleaning device for disabled people to contribute to solving the problem of hygienic disposal of urination and feces of disabled people.

[0005] The present invention relates to A movable bracket; a leg raising device that can be mounted on the bracket and configured to raise or lower the legs of a user; a cleaning device including a lifting mechanism installed on a bottom of the bracket and a robot arm mechanism connected to the lifting mechanism, the cleaning mechanism being installed on the robot arm mechanism; the lifting mechanism lifts and lowers the robot arm mechanism to adjust a distance in a first direction between the cleaning mechanism and a part to be cleaned of a user; The robot arm mechanism is configured to be extendable or foldable, providing an auxiliary cleaning device for disabled people that adjusts the distance in the second and third directions between the cleaning mechanism and the area to be cleaned by the user.

[0006] In some embodiments, the robot arm mechanism includes a first drive rod and a first robot arm, a first end of the first drive rod connected to a first end of the first robot arm, and when the robot arm mechanism is fully folded, the first drive rod and the first robot arm are parallel; a first slide rail and a second slide rail extending along the first direction are provided on the bracket, a second end of the first driving rod is slidably provided on the first slide rail, and a first end of the first robot arm is slidably provided on the second slide rail; The first drive rod is used to drive the first robot arm to rotate about the axis of the second slide rail.

[0007] In some embodiments, the robot arm mechanism further comprises a second robot arm and a second drive rod, the cleaning mechanism being provided at a first end of the second robot arm, the second end of the second robot arm being pivotally connected to the second end of the first robot arm, the first end of the second drive rod being pivotally connected to the first end of the first robot arm, and the second end of the second drive rod being pivotally connected to the first robot arm and the second robot arm via a connection mechanism; The second drive rod is used to drive the second robot arm to rotate about a connection point between the second robot arm and the first robot arm as a pivot point, thereby changing the position of the cleaning mechanism.

[0008] In some embodiments, a first tilt arm is provided at a second end of the first robot arm, the first tilt arm being tilted toward the second robot arm, and a second tilt arm is provided at a second end of the second robot arm, the first tilt arm and the second tilt arm are rotatably connected to each other, and a connection point between the end of the first tilt arm and the end of the second tilt arm serves as a pivot point for the second robot arm.

[0009] In some embodiments, the connection mechanism includes a first arcuate link pivotally connected to the first tilt arm and a second arcuate link pivotally connected to the second tilt arm, both of which are pivotally connected to a second end of the second drive rod.

[0010] In some embodiments, the lifting mechanism includes a drive plate provided below the robot arm mechanism, and a third drive rod connected to the drive plate; The drive plate is connected to the second end of the first drive rod and the first end of the first robot arm, respectively, and the third drive rod is used to move the drive plate in a first direction, thereby moving the robot arm mechanism in a first direction.

[0011] In some embodiments, the first slide rail further includes an elastic energy storage element fitted thereto, the elastic energy storage element having one end abutting against the second end of the first drive rod and the other end fixed to the bracket.

[0012] In some embodiments, the leg raising device includes a leg fixator and a pulley mechanism fixed to the bracket, the leg fixator being connected to the pulley mechanism; The leg support device has two recesses for placing the user's legs, and an airbag is provided on the side wall of the recess. When the airbag is filled with air, the user's legs are pressed against the recesses to fix them, and when air is released from the airbag, the user's legs are released.

[0013] In some embodiments, the leg support further comprises a first positioning device and a second positioning device provided on the leg support, the first positioning device is signal-connected to the third driving rod, and the first positioning device stops the movement of the third driving rod when it determines that the robot arm mechanism is located at a target position in a first direction; The second positioning device is signal-connected to the first drive rod and the second drive rod, respectively, and stops the operation of the first drive rod and the second drive rod when the second positioning device determines that the cleaning mechanism is located at a target position in the second direction and the third direction.

[0014] In some embodiments, the cleaning mechanism includes a cleaning brush head, a cleaning nozzle and a hot air nozzle located above the cleaning brush head, the cleaning nozzle and the hot air nozzle being connected to a liquid storage tank and a blower, respectively, at the bottom of the bracket.

[0015] Compared with the prior art, the advantage of the present invention is that by automatically adjusting the distance in the first, second and third directions between the cleaning mechanism and the user's area to be cleaned, the cleaning mechanism is moved in conjunction with the robot arm mechanism to a specified position near the area to be cleaned, and operations such as washing are performed on the area to be cleaned. Therefore, the collaborative action of the leg raising device, lifting mechanism and robot arm mechanism reduces the workload of the caregiver and enables disabled people to receive meticulous and hygienic care. [Brief description of the drawings]

[0016] The present invention will now be described in detail with reference to the drawings based on examples. [Figure 1] FIG. 1 is a front view of an auxiliary cleaning device for disabled people according to an embodiment of the present invention, without showing the bed and user. [Diagram 2]FIG. 2 is a side view of an auxiliary cleaning device for a disabled person according to an embodiment of the present invention, without showing the bed and occupant. [Diagram 3] FIG. 3 is a front view of a bed in an embodiment of the present invention. [Figure 4] FIG. 4 is a front view of an auxiliary cleaning device for disabled persons according to an embodiment of the present invention, showing a bed. [Diagram 5] FIG. 5 is a front view of an auxiliary cleaning device for a disabled person according to an embodiment of the present invention, showing a bed and a user with the user's legs in a flat position. [Figure 6] FIG. 6 is a side view of an auxiliary cleaning device for disabled persons according to an embodiment of the present invention, showing a bed. [Figure 7] FIG. 7 is a front view of an auxiliary cleaning device for a disabled person according to an embodiment of the present invention, with the user's legs elevated. [Figure 8] FIG. 8 is a side view of an auxiliary cleaning device for a disabled person according to an embodiment of the present invention, showing the position of the pulley mechanism when the user's legs are elevated. [Figure 9] FIG. 9 is a front view of the cleaning device shown in FIG. [Figure 10] FIG. 10 is a structural schematic diagram of the robot arm mechanism shown in FIG. 9 in a folded state. [Figure 11] FIG. 11 is a structural schematic diagram of the robot arm mechanism shown in FIG. 9 with the first robot arm in the deployed state. [Figure 12] FIG. 12 is a structural schematic diagram of the robot arm mechanism shown in FIG. 9 with the second robot arm in the deployed state. [Figure 13] FIG. 13 is a schematic diagram showing the robot arm mechanism shown in FIG. 9 in an unfolded state. [Figure 14] FIG. 14 is a plan view of the leg support device shown in FIG. [Figure 15] 15 is a front view of the leg support device shown in FIG. [Figure 16] FIG. 16 is a plan view of the bed shown in FIG. [Figure 17] FIG. 17 is a front view of the auxiliary cleaning device for disabled persons according to the embodiment of the present invention, showing that the first positioning device captures the first sensing position. [Figure 18] FIG. 18 is an enlarged view of part I in FIG. [Figure 19] FIG. 19 is an enlarged view of part II in FIG.

[0017] Explanation of symbols 1...bracket, 11...first slide rail, 12...second slide rail, 13...elastic energy storage element, 14...upper fixing plate, 15...lower fixing plate, 16...fastener, 17...roller, 18...first sensing position, 19...second sensing position, 2...leg lifting device, 21...leg fixing device, 211...recessed portion, 212...airbag, 213...hook portion, 214...mounting plate, 22...pulley mechanism, 221...pulley, 222...traction rope, 223...motor, 3...cleaning device, 31...lifting mechanism, 311...driving plate, 312...third driving rod, 313...push block, 32...robot arm mechanism, 321...first driving Rod, 322...first robot arm, 323...second robot arm, 324...second drive rod, 325...first inclined arm, 326...second inclined arm, 327...first arc-shaped link, 328...second arc-shaped link, 329...sleeve, 33...cleaning mechanism, 331...cleaning brush head, 332...cleaning nozzle, 333...hot air nozzle, 334...bellows, 335...water pipe, 336...air pipe, 34...connector, 35...collection device, 351...waterproof cloth, 352...buttocks mat, 353...storage bowl, 354...sewage discharge pipe, 4...first positioning device, 5...second positioning device, 6...user, 7...bed DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0018] The present invention will now be further described with reference to the drawings.

[0019] As shown in Figs. 1-4, the present invention provides an auxiliary cleaning device for disabled people, and can provide auxiliary cleaning such as changing disposable diapers and hygienic cleaning after defecation by washing and drying to those who cannot live independently. Specifically, the auxiliary cleaning device of the present invention includes a movable bracket 1, a leg lifting device 2, and a cleaning device 3. Alternatively, it further includes a bed 7 for supporting a user 6. Here, a roller 17 is provided at the base end of the bracket 1, so that the bracket 1 can be easily pushed by a single caregiver. When one side or one end of the bracket 1 is in an open state and the bracket 1 is pushed and moved to the vicinity of the bed 7, it can be pushed in from one end or one side of the bed 7, and the bed 7 and the user 6 on it are surrounded in the middle, and hygienic cleaning and other operations are performed on the user 6.

[0020] Therefore, as can be seen, the auxiliary cleaning device of the present invention may further comprise a bed 7 matching the bracket 1 .

[0021] As shown in Fig. 5 to Fig. 8, the leg-raising device 2 may be provided on the bracket 1, and the leg-raising device 2 is configured to be able to raise or lower the legs (including the buttocks) of the user 6. The cleaning device 3 is installed on the bracket 1, and after the leg-raising device 2 lifts the legs of the user 6 (as shown in Fig. 7), the cleaning device 3 can adjust its position between itself and the part of the user 6 to be cleaned, and hygienically clean the part to be cleaned.

[0022] Here, the cleaning device 3 has a lifting mechanism 31 provided at the bottom of the bracket 1 and a robot arm mechanism 32 connected to the lifting mechanism 31, and a cleaning mechanism 33 is provided on the robot arm mechanism 32. The lifting mechanism 31 raises and lowers the robot arm mechanism 32, and adjusts the distance in a first direction (Z-axis direction shown in FIG. 1) between the cleaning mechanism 33 and the part of the user 6 that is to be cleaned. The robot arm mechanism 32 is configured to be extendable or foldable, and adjusts the distance in a second direction (X-axis direction shown in FIG. 1) and a third direction (Y-axis direction shown in FIG. 2) between the cleaning mechanism 33 and the part of the user 6 that is to be cleaned.

[0023] As shown in Figures 9-13, the robot arm mechanism 32 has a first drive rod 321 and a first robot arm 322, and a first end of the first drive rod 321 (i.e., the right end shown in Figure 10) is connected to a first end of the first robot arm 322 (i.e., the right end shown in Figure 10), and when the robot arm mechanism 32 is fully folded (as shown in Figure 10), the first drive rod 321 and the first robot arm 322 are approximately parallel to each other.

[0024] As shown in FIG. 9 and FIG. 10, the bracket 1 is provided with a first slide rail 11 and a second slide rail 12 extending along a first direction, and a second end (i.e., a left end shown in FIG. 10) of the first driving rod 321 is slidably provided on the first slide rail 11, and a first end (i.e., a right end shown in FIG. 10) of the first robot arm 322 is slidably provided on the second slide rail 12. The first driving rod 321 is used to drive the first robot arm 322 so as to rotate around the axis of the second slide rail 12 (i.e., a pivot point A shown in FIG. 11) as a rotation axis. Therefore, when the first driving rod 321 operates, the angle between the first driving rod 321 and the first robot arm 322 can be increased or decreased. As shown in FIG. 10, the first driving rod 321 and the first robot arm 322 are parallel to each other, and the angle between them is minimum. As shown in FIG. 11, when the first drive rod 321 operates, the first robot arm 322 rotates counterclockwise around the pivot point A, increasing the angle between the first drive rod 321 and the first robot arm 322 (i.e., the robot arm mechanism 32 enters an deployed state).

[0025] Preferably, the first drive rod 321 is an electric push rod or a pneumatic push rod.

[0026] More specifically, a connector 34 is provided at a second end of the first drive rod 321, the connector 34 is fitted into the first slide rail 11, and the first drive rod 321 and the connector 34 are slidable on the first slide rail 11. A sleeve 329 is provided at a first end of the first robot arm 322, the sleeve 329 is fitted into the second slide rail 12, and the first robot arm 322 and the sleeve 329 are slidable on the second slide rail 12.

[0027] As can be seen, the second end of the first drive rod 321 may be slidably connected to the first slide rail 11 via a sleeve.

[0028] Furthermore, the robot arm mechanism 32 further has a second robot arm 323 and a second driving rod 324, and a cleaning mechanism 33 is provided at a first end (right end shown in FIG. 12) of the second robot arm 323, a second end (left end shown in FIG. 12) of the second robot arm 323 is rotatably connected to a second end (left end shown in FIG. 12) of the first robot arm 322, a first end (right end shown in FIG. 12) of the second driving rod 324 is rotatably connected to the first end (right end shown in FIG. 12) of the first robot arm 322, and a second end (left end shown in FIG. 12) of the second driving rod 324 is rotatably connected to the first robot arm 322 and the second robot arm 323 via a connection mechanism.

[0029] Here, the second driving rod 324 is used to drive the second robot arm 323 to rotate about the connection point between the second robot arm 323 and the first robot arm 322 as a pivot point (pivot point B shown in Figure 12), thereby changing the position of the cleaning mechanism 33.

[0030] As shown in Fig. 11, when the second drive rod 324 is not moving, the first robot arm 322 and the second robot arm 323 are substantially parallel to each other. As shown in Fig. 12, when the second drive rod 324 is moving, the second robot arm 323 rotates clockwise about the connection point with the first robot arm 322 as a pivot point, increasing the angle between the second robot arm 323 and the first robot arm 322 (i.e., the robot arm mechanism 32 is in an unfolded state).

[0031] Preferably, the second drive rod 324 is an electric push rod or a pneumatic push rod.

[0032] Furthermore, a first tilting arm 325 (i.e., tilting downward) is provided at the second end (left end shown in FIG. 12) of the first robot arm 322, and a second tilting arm 326 (i.e., tilting upward) is provided at the second end (left end shown in FIG. 12) of the second robot arm 323, which is tilted toward the first robot arm 322. The end of the first tilting arm 325 and the end of the second tilting arm 326 are rotatably connected, and the connection point between the end of the first tilting arm 325 and the end of the second tilting arm 326 serves as a pivot point for the second robot arm 323.

[0033] Here, the angle between the first tilt arm 325 and the first robot arm 322 is greater than 90°, e.g., 135°, and the angle between the second tilt arm 326 and the second robot arm 323 is greater than 90°, e.g., 135°, and the first tilt arm 325 and the second tilt arm 326 are pivotally connected at their ends.

[0034] The angle between the first tilt arm 325 and the first robot arm 322 is the same as the angle between the second tilt arm 326 and the second robot arm 323, so that in the folded state, the second robot arm 323 is approximately collinear with the first robot arm 322 (as shown in FIG. 10) and the extension direction of both is the same.

[0035] The connection mechanism has a first arc-shaped link 327 rotatably connected to the first inclined arm 325 and a second arc-shaped link 328 rotatably connected to the second inclined arm 326, and the first arc-shaped link 327 and the second arc-shaped link 328 are both rotatably connected to the second end of the second driving rod 324 (the left end shown in Figure 12).

[0036] 12, when the second driving rod 324 operates, the angle between the first arc-shaped link 327 and the second arc-shaped link 328 increases, and when the second robot arm 323 rotates clockwise around the pivot point B, the angle between the first robot arm 322 increases. The second robot arm 323 can rotate 180° clockwise around the pivot point B, that is, the second robot arm 323 is located on the extension line of the first robot arm 322 in the opposite direction, and the extension directions of the two are opposite.

[0037] As shown in FIG. 13, after the second robot arm 323 is adjusted to a suitable position, the cleaning mechanism 33 at its first end can perform a cleaning operation according to the area of ​​the user to be cleaned.

[0038] As shown in Figs. 9 and 13, the lifting mechanism 31 has a driving plate 311 provided below the robot arm mechanism 32, and a third driving rod 312 connected to the driving plate 311. The driving plate 311 is connected to the second end (the left end shown in Fig. 13) of the first driving rod 321 and the first end (the right end shown in Fig. 13) of the first robot arm 322. Specifically, as shown in Fig. 9, a push block 313 is provided on the driving plate 311, and the push block 313 is provided below the second end of the first driving rod 321 and below the first end of the first robot arm 322. When the third driving rod 312 operates, the driving plate 311 is moved in the first direction, and the first driving rod 321 and the first robot arm 322 are moved in the first direction, thereby adjusting the position of the robot arm mechanism 32 in the first direction.

[0039] As shown in Figures 9 and 13, the first slide rail 11 and the second slide rail 12 pass through the drive plate 311, and are installed side by side, with their upper ends both connected to an upper fixed plate 14 on the bracket 1 via fasteners 16, and their lower ends both connected to a lower fixed plate 15 on the bracket 1 via fasteners 16.

[0040] 9, an elastic energy storage element 13 is further fitted in the first slide rail 11, and the elastic energy storage element 13 may be, for example, a spring element. One end of the elastic energy storage element 13 abuts on the second end of the first driving rod 321, more specifically, one end of the elastic energy storage element 13 abuts on the connector 34. The other end of the elastic energy storage element 13 is fixed to the bracket 1, more specifically, the other end of the elastic energy storage element 13 is fixed to the upper fixing plate 14.

[0041] As described above, when the robot arm mechanism 32 is in the deployed state, the first robot arm 322 and the second robot arm 323 are fully deployed, and the weight of both of them causes the connector 34 to slide upward on the first slide rail 11, and the downward pressure of the elastic energy storage element 13 can stably maintain the balance between the connector 34 and the robot arm mechanism 32.

[0042] As shown in Figs. 1, 2, 5, 7, 14 and 15, the leg lifting device 2 has a leg fixing device 21 and a pulley mechanism 22 fixed to the bracket 1, and the leg fixing device 21 is connected to the pulley mechanism 22. The pulley mechanism 22 has two pulleys 221 (fixed pulleys) provided above the bracket 1, a motor 223 and a traction rope 222. The traction rope 222 is connected to the motor 223, passes through the two pulleys 221 in order, and is connected to the hook portion 213 (shown in Fig. 15) of the leg fixing device 21. By driving the traction rope 222 with the motor 223, the leg fixing device 21 can be raised or lowered, and the legs of the user 6 can be lifted (shown in Fig. 7) or flattened (shown in Fig. 5).

[0043] As shown in FIG. 14, the leg immobilizer 21 has two recesses 211 for placing the legs of the user 6. Here, the two recesses 211 can be installed symmetrically, so that the leg immobilizer 21 has a substantially "mountain" shape. An airbag 212 is provided on the side wall of the recess 211. When the lower leg of the user 6 is placed in the recess 211 and air is filled into the airbag 212, the airbag 212 expands and is limited by the space of the recess 211, so that the legs of the user 6 are pressed and fixed into the recess 211 by the airbag 212, and conversely, when air is released from the airbag 212, the legs of the user 6 are released.

[0044] After the legs of the user 6 are placed in the leg support 21, the lower leg portion can be lifted, and the robot arm mechanism 32 performs a positioning operation and adjusts its position in the first direction, second direction and third direction to align the cleaning mechanism 33 with the part of the user to be cleaned and perform a cleaning operation.

[0045] In some alternative embodiments, the positioning operation of the robot arm mechanism 32 is performed by a first positioning device 4 and a second positioning device 5 mounted on the leg fixator 21 .

[0046] The first positioning device 4 is signal-connected to the third driving rod 312, and when the first positioning device 4 determines that the robot arm mechanism 32 is located at a target position in the first direction, it stops the movement of the third driving rod 312.

[0047] The second positioning device 5 is signal-connected to the first drive rod 321 and the second drive rod 324, respectively, and when the second positioning device 5 determines that the cleaning mechanism 33 is located at the target position in the second direction and the third direction, it stops the operation of the first drive rod 321 and the second drive rod 324.

[0048] Specifically, the first positioning device 4 may be an infrared photoelectric switch located on the axis of symmetry between the two recesses 211. As shown in FIG. 17, the bracket 1 is provided with a first sensing position 18 in the first direction, and the first positioning device 4 can capture the first sensing position 18 to indicate a predetermined position of the robot arm mechanism 32 in the first direction. When the pulley mechanism 22 lifts the leg fixator 21, the third driving rod 312 moves the driving plate 311 and the robot arm mechanism 32 in the first direction in synchronization, and in the process of lifting the leg fixator 21, when the first positioning device 4 captures the first sensing position 18, the first positioning device 4 sends a signal to the third driving rod 312, the third driving rod 312 stops operating, and the robot arm mechanism 32 reaches a predetermined position in the first direction.

[0049] The second positioning device 5 may be an infrared photoelectric switch. A mounting plate 214 is provided between the two recesses 211, and as shown in Fig. 14, the mounting plate 214 extends beyond the leg fixer 21 in the second direction (X-axis direction), and the second positioning device 5 is provided on the mounting plate 214 at a portion beyond the leg fixer 21.

[0050] 16, the axis of symmetry of the bed 7 in the second direction is L1, the axis of symmetry in the third direction is L2, and the point where the axes of symmetry L1 and L2 intersect is the second sensing position 19. The second positioning device 5 can capture the second sensing position 19 for indicating predetermined positions of the robot arm mechanism 32 in the second and third directions.

[0051] The first driving rod 321 and the second driving rod 324 respectively cause the first robot arm 322 and the second robot arm 323 to adjust their positions in the second and third directions, and when the second positioning device 5 can capture the second sensing position 19, the second positioning device 5 sends a signal to the first driving rod 321 and the second driving rod 324 to stop their operation, and the robot arm mechanism 32 reaches a predetermined position in the second and third directions.

[0052] Once the positions in the first, second and third directions are determined, the robot arm mechanism 32 stops moving and the cleaning mechanism 33 starts the cleaning operation. After the cleaning operation is completed, the robot arm mechanism 32 moves in the reverse direction and the first driving rod 321 and the second driving rod 324 operate to contract the first robot arm 322 and the second robot arm 323, thereby returning the robot arm mechanism 32 to the folded state.

[0053] In order to suit tall people, short people, fat people and thin people, the first sensing positions 18 may be provided in a plurality of positions along the first direction, and the second sensing positions 19 may be provided in a plurality of positions offset along the symmetrical axes L1 and L2, respectively. When moving the robot arm mechanism 32, different sensing positions can be selected according to different people, and the cleaning mechanism 33 can better accommodate the areas of the user 6 to be cleaned.

[0054] As can be appreciated, a controller (not shown) can also be provided to control the operation of the motor 223, the first drive rod 321, the second drive rod 324 and the third drive rod 312, so that the first positioning device 4 and the second positioning device 5 can feed back signals to the controller.

[0055] In some alternative embodiments, the positioning operation of the robot arm mechanism 32 can also be performed by the image analysis module and the controller. Specifically, the image analysis module can identify the area to be cleaned of the user 6 and obtain the coordinates of the area to be cleaned by calculation, and the trajectory calculation module in the controller calculates and obtains the path of the cleaning mechanism 33 based on the current position of the cleaning mechanism 33 and the coordinates of the area to be cleaned, and selects the optimal operation of the first driving rod 321, the second driving rod 324, and the third driving rod 312 to drive the cleaning mechanism 33 to the specified position.

[0056] As shown in Figures 7, 18 and 19, the cleaning mechanism 33 has a cleaning brush head 331, a cleaning nozzle 332 and a hot air nozzle 333 located above the cleaning brush head 331, and the cleaning nozzle 332 and the hot air nozzle 333 are connected to a liquid storage tank and a blower at the bottom of the bracket 1, respectively.

[0057] The cleaning brush head 331 may be an electric brush head capable of brushing the area to be cleaned after the care recipient has defecate. The cleaning nozzle 332 can spray clean water onto the area to be cleaned to wash it away, and the hot air nozzle 333 can blow hot air onto the area to dry it.

[0058] 19, a water pipe 335 is connected to the cleaning nozzle 332, and an air pipe 336 is connected to the hot air nozzle 333, and the cleaning nozzle 332 and the water pipe 335, and the hot air nozzle 333 and the air pipe 336 are flexibly connected. For example, both can be connected by bellows 334. The angle between the cleaning nozzle 332 and the hot air nozzle 333 can be adjusted by the bellows 334, and the water discharge direction and the air blowing direction can be adjusted.

[0059] The other ends of the water pipe 335 and the air pipe 336 are respectively connected to a liquid storage tank and a blower (not shown) at the bottom of the bracket 1. Water in the liquid storage tank is pumped to the cleaning nozzle 332 through the water pipe 335, and the blower can provide hot air through the air pipe 336.

[0060] Furthermore, as shown in Figures 18 and 19, a collecting device 35 is further provided on the bracket 1, and after the leg fixator 21 lifts the legs of the user 6, the collecting device 35 can be positioned under the body of the user 6, so as to collect the dirty water after washing.

[0061] Optionally, the collection device 35 has a storage bowl 353, a buttocks mat 352, and a waterproof cloth 351 covering the buttocks mat 352, the buttocks mat 352 is provided within the storage bowl 353, and a wastewater discharge pipe 354 is connected to the base end of the storage bowl 353.

[0062] Preferably, the collection device 35 includes a storage bowl 353, a buttocks mat 352, and a waterproof cloth 351 (shown by a thick solid line in FIG. 19). The buttocks mat 352 is installed on one side of the storage bowl 353 and installed under the buttocks of the user 6, and extends toward the lower back, so that the buttocks of the user are lifted slightly, making it easier to wash. The waterproof cloth 351 covers the buttocks mat 352 and a part of the storage bowl 353 so that water after washing is led to the storage bowl 353 without running under the user's body. In addition, a wastewater discharge pipe 354 is connected to the base end of the storage bowl 353. The buttocks mat 352 is provided in a tapered structure in which one end close to the body of the user 6 gradually becomes smaller so that it can be easily inserted between the lower part of the body of the user 6 and the bed 7. The waterproof cloth 351 can prevent the bed 7 under the user 6 from getting wet or dirty, and can also prevent washing water from flowing over the body of the user 6. The waterproof cloth 351 and the buttocks mat 352 can ensure that dirty water during washing falls into the storage bowl 353.

[0063] The wastewater drain pipe 354 is removably connected to a wastewater tank at the proximal end of the bracket 1 so that after cleaning is completed, the wastewater drain pipe 354 can be removed and the collection device 35 can be removed from under the body of the user 6.

[0064] Although the present invention has been described above based on the preferred embodiment, various improvements are possible without departing from the scope of the present invention, and some of the components may be replaced with equivalents. In particular, as long as there is no structural contradiction, the technical features mentioned in each embodiment may be arbitrarily combined. The present invention is not limited to the specific embodiment disclosed in this specification, and includes all technical means included in the claims.

Claims

1. A movable bracket; a leg raising device that can be mounted on the bracket and configured to raise or lower the legs of a user; a cleaning device including a lifting mechanism installed on a bottom of the bracket and a robot arm mechanism connected to the lifting mechanism, the cleaning mechanism being installed on the robot arm mechanism; the lifting mechanism lifts and lowers the robot arm mechanism to adjust a distance in a first direction between the cleaning mechanism and a part to be cleaned of a user; The robot arm mechanism is configured to be extendable or foldable, and adjusts the distance in the second and third directions between the cleaning mechanism and the user's area to be cleaned.

2. the robot arm mechanism includes a first drive rod and a first robot arm, a first end of the first drive rod is connected to a first end of the first robot arm, and when the robot arm mechanism is fully folded, the first drive rod and the first robot arm are parallel; a first slide rail and a second slide rail extending along the first direction are provided on the bracket, a second end of the first driving rod is slidably provided on the first slide rail, and a first end of the first robot arm is slidably provided on the second slide rail; 2. The auxiliary cleaning device for disabled persons according to claim 1, wherein the first driving rod is used to drive the first robot arm to rotate about the axis of the second slide rail as a rotation axis.

3. the robot arm mechanism further includes a second robot arm and a second drive rod, the cleaning mechanism is provided at a first end of the second robot arm, the second end of the second robot arm is rotatably connected to the second end of the first robot arm, the first end of the second drive rod is rotatably connected to the first end of the first robot arm, and the second end of the second drive rod is rotatably connected to the first robot arm and the second robot arm via a connection mechanism; 3. The auxiliary cleaning device for disabled persons according to claim 2, characterized in that the second drive rod is used to drive the second robot arm to rotate about a connection point between the second robot arm and the first robot arm as a pivot point, thereby changing the position of the cleaning mechanism.

4. The auxiliary cleaning device for disabled people described in claim 3, characterized in that a first tilt arm inclined toward the second robot arm is provided at the second end of the first robot arm, and a second tilt arm inclined toward the first robot arm is provided at the second end of the second robot arm, the end of the first tilt arm and the end of the second tilt arm are rotatably connected, and the connection point between the end of the first tilt arm and the end of the second tilt arm is a pivot point of the second robot arm.

5. The auxiliary cleaning device for disabled people described in claim 4, characterized in that the connection mechanism has a first arc-shaped link rotatably connected to the first inclined arm and a second arc-shaped link rotatably connected to the second inclined arm, and the first arc-shaped link and the second arc-shaped link are both rotatably connected to the second end of the second drive rod.

6. the lifting mechanism includes a drive plate provided below the robot arm mechanism and a third drive rod connected to the drive plate; The auxiliary cleaning device for disabled people described in any one of claims 3 to 5, characterized in that the driving plate is connected to the second end of the first driving rod and the first end of the first robot arm, respectively, and the third driving rod is used to move the robot arm mechanism in a first direction by moving the driving plate in a first direction.

7. The auxiliary cleaning device for disabled persons as described in claim 6, characterized in that the first slide rail further includes an elastic energy storage element, one end of which abuts against the second end of the first drive rod and the other end of which is fixed to the bracket.

8. The leg raising device includes a leg fixing device and a pulley mechanism fixed to the bracket, the leg fixing device being connected to the pulley mechanism, The leg fixing device according to claim 6, characterized in that the leg fixing device has two recesses for placing the user's legs, an airbag is provided on the side walls of the recesses, and when the airbag is filled with air, the user's legs are pressed against the recesses to fix them, and when the air is released from the airbag, the user's legs are released.

9. The leg support further includes a first positioning device and a second positioning device provided on the leg support, the first positioning device is signal-connected to the third drive rod, and the first positioning device stops the movement of the third drive rod when it determines that the robot arm mechanism is located at a target position in a first direction; The auxiliary cleaning device for disabled persons as described in claim 8, characterized in that the second positioning device is signal-connected to the first drive rod and the second drive rod, respectively, and the second positioning device stops the operation of the first drive rod and the second drive rod when it determines that the cleaning mechanism is located at a target position in the second direction and the third direction.

10. An auxiliary cleaning device for disabled people as described in any one of claims 1 to 5, characterized in that the cleaning mechanism has a cleaning brush head, a cleaning nozzle and a hot air nozzle located above the cleaning brush head, and the cleaning nozzle and the hot air nozzle are respectively connected to a liquid storage tank and a blower at the bottom of the bracket.

Images