CN103610545A - Nursing robot with bathing and massaging functions - Google Patents
Nursing robot with bathing and massaging functions Download PDFInfo
- Publication number
- CN103610545A CN103610545A CN201310616500.3A CN201310616500A CN103610545A CN 103610545 A CN103610545 A CN 103610545A CN 201310616500 A CN201310616500 A CN 201310616500A CN 103610545 A CN103610545 A CN 103610545A
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- motor
- hinge
- driving
- drive
- plate
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- 230000000474 nursing effect Effects 0.000 title claims abstract description 44
- 230000006870 function Effects 0.000 title claims abstract description 37
- 238000003287 bathing Methods 0.000 title abstract 4
- 210000003141 lower extremity Anatomy 0.000 claims description 33
- 230000000694 effects Effects 0.000 claims description 11
- 210000001217 buttock Anatomy 0.000 claims description 7
- 230000013872 defecation Effects 0.000 claims description 6
- 210000000245 forearm Anatomy 0.000 claims description 6
- 238000010586 diagram Methods 0.000 claims description 5
- 238000004140 cleaning Methods 0.000 claims description 4
- 230000001360 synchronised effect Effects 0.000 claims 1
- 239000002351 wastewater Substances 0.000 claims 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 4
- 210000002700 urine Anatomy 0.000 description 2
- 210000003608 fece Anatomy 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
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- Devices For Medical Bathing And Washing (AREA)
- Invalid Beds And Related Equipment (AREA)
Abstract
The invention provides a nursing robot with bathing and massaging functions. The robot can be used for assisting personnel to be nursed in turning over, sitting up, lying down, massaging and bathing and can also serve as an electric wheelchair and a bed. The robot can provide certain nursing for the personnel to be nursed and can effectively relieve the burden on nurses. The robot with the bathing and massaging functions is not only practical but also powerful and can be applied to places such as hospitals and families.
Description
Technical field
The present invention is a kind of electrical category product, be a kind of can be the robot of the services such as user provide such as having a bath, massage.
Background technology
Nursing bedfast people is a kind of onerous toil.If object of nursing is to be unable to leave the bed and the people of gatism, this nursery work is more heavy.Design a kind of can be fast, in time, cleaning is unable to leave the bed and the people of gatism discharges easily dung, urine, can seem highly significant for the robot that patient has a bath again.This robot can effectively alleviate nursing staff's work load, improves nursing quality.
Summary of the invention
The present invention proposes a kind of have to have a bath can assist by nursing staff and complete as stood up, sit up, lie down, massage, having a bath with the nursing robot ，Gai robot of massage functions, and also have the function of electric wheelchair and bed.Can be by nursing staff certain nursery work is provided, can effectively alleviate care-giver's burden.The present invention is not only practical, and powerful.A kind of have the nursing robot who has a bath with massage functions to can be applicable to the places such as hospital, family.
Accompanying drawing explanation
Fig. 1 is a kind of nursing robot's schematic diagram of having a bath with massage functions that has.
Fig. 2 is while observing from left side, and a kind of have nursing robot's schematic diagram of having a bath with massage functions.
Fig. 3 is bracing frame 10, the structural representation after the 14 critical pieces assemblings of the motor 28 that travels, steer motor 26, deflecting roller 11, universal wheel 12, runner 13, driving wheel.
Fig. 4 be observer from above, the left side, positive three different angles be while observing backboard frame 101,3 structural representations of the backboard frame 101 obtaining respectively.
Fig. 5 be observer from above, the left side, positive three different angles be while observing buttocks grillage 401,3 structural representations of the buttocks grillage 401 obtaining respectively.
Fig. 6 be observer from above, the left side, positive three different angles be while observing lower limb grillage 601,3 structural representations of the sole frame 601 obtaining respectively.
Fig. 7 be observer from above, the left side, positive three different angles be while observing bracing frame 10,3 structural representations of the bracing frame 10 obtaining respectively.
Fig. 8 is a kind of structural representation of having a bath with nursing robot's backboard 1 of massage functions that has, and does not comprise motor 102, drive 103, driving-belt 104, lath 888 parts of backboard 1 in Fig. 8.
Fig. 9 is a kind of structural representation of having a bath with the nursing robot's of massage functions mechanical arm that has.
Figure 10 is a kind of structural representation of having a bath with nursing robot's backboard 1 of massage functions that has, and has only comprised backboard frame 101, motor 102, drive 103, driving-belt 104, lath 888 parts of backboard 1 in Figure 10.
Figure 11 is lath 888 position as shown in Figure 10 of backboard 1, and after rotating shaft 8881 90-degree rotations around lath 888, backboard 1 has only comprised backboard frame 101, motor 102, drive 103, the driving-belt 104 of backboard 1, the structural representation of lath 888 parts.
Figure 12 is a kind of structural representation of having a bath with the nursing robot's of massage functions podical plate 4 that has.
Figure 13 is the lath 888 of podical plate 4 as shown in Figure 12 after rotating shaft 8881 90-degree rotations of position around lath 888, the structural representation of podical plate 4.
Figure 14 is a kind of structural representation of having a bath with nursing robot's lower limb plate 6 of massage functions that has.
Figure 15 be a kind of have have a bath with the lath 888 of nursing robot's lower limb plate 6 of massage functions as shown in Figure 14 after rotating shaft 8881 90-degree rotations of position around lath 888, the structural representation of lower limb plate 6.
Figure 16 is during from lath 888 top view, lath 888 structural representations that obtain.
Figure 17 is while observing from the left side of lath 888, lath 888 structural representations that obtain.
Figure 18, Figure 19, Figure 20 can be the cross-sectional views of lath body 8882.
Figure 21 be backboard 1, podical plate 4, lower limb plate 6 the structural representation of main part on a horizontal plane.
Figure 22 is the schematic diagram of the another kind of state that presents under the effect of electric pushrod of the main part of backboard 1, podical plate 4, lower limb plate 6.
Accompanying drawing sign
Whole system is comprised of major parts such as backboard 1, hinge 2, hinge 3, podical plate 4, hinge 5, lower limb plate 6, hinge 7, electric pushrod 8, hinge 9, bracing frame 10, deflecting roller 11, universal wheel 12, runner 13, driving wheel 14, hinge 15, electric pushrod 16, hinge 17, hinge 18, electric pushrod 19, hinge 20, bathtub 21, rinser 22, catcher 23, warm-air drier 24, controller 25, steer motor 26, accumulator 27, the motor 28 that travels, defecation sensors 29.
Wherein, backboard 1 is partly comprised of lath 888, backboard frame 101, motor 102, drive 103, driving-belt 104, guide rail 105, slide block 106, connecting rod 107, hinge 108, electric pushrod 109, hinge 110, motor 111, hinge 112 mechanical arms etc., and mechanical arm is partly comprised of upper arm 113, motor 114, forearm 115, handrail 116 etc.
Lath 888, backboard frame 101, motor 102, drive 103, driving-belt 104 are installed on backboard 1, and this part-structure of backboard 1 as shown in figure 10.The axle head of motor 102 is provided with drive 103, the axle head of the lath 888 of backboard 1 is also provided with drive 103, motor 102 can drive the lath 888 of backboard 1 to rotate by drive 103 and driving-belt 104, and a plurality of laths 888 of arranging have in the same way formed the plate face of backboard 1.
Wherein, podical plate 4 is partly comprised of lath 888, buttocks grillage 401, drive 402, driving-belt 403, motor 404, driving-belt 405 etc., and structure as shown in figure 12.The axle head of motor 404 is provided with drive 402, and the axle head of the lath 888 of podical plate 4 is also provided with runner 402.Motor 404 rotates by the lath 888 of drive 402 and driving-belt 403 and driving-belt 405 drive podical plates 4, and a plurality of laths 888 of arranging have in the same way formed the plate face of podical plate 4.
Wherein, lower limb plate 6 is partly comprised of lath 888, lower limb grillage 601, drive 602, driving-belt 603, motor 604, driving-belt 605 etc., and structure as shown in figure 14.The axle head of motor 604 is provided with drive 602, the axle head of the lath 888 of lower limb plate 6 is also provided with runner 602, the lath 888 that motor 604 can lead to drive 602, driving-belt 603, driving-belt 605 drive lower limb plates 6 rotates, and a plurality of laths 888 of arranging have in the same way formed the plate face of lower limb plate 6.
Wherein, lath 888 is comprised of major parts such as rotating shaft 8881, lath body 8882, soft fibres 8883, and structure is shown in Figure 16,17.
The specific embodiment
A kind of have the nursing robot who has a bath with massage functions to match use, two of one the first from left right side are a kind of while having the nursing robot who has a bath with massage functions to be positioned over horizontal plane, and two a kind of has and have a bath with the nursing robot's of massage functions structure about the rotating shaft by hinge 3 and perpendicular to the plane symmetry of horizontal plane.By care-giver, can be lain in the common plane forming of plate face of backboard 1, podical plate 4, lower limb plate 6.
During need to be sat up by care-giver on lying in plate face, as long as press the control knob that sits up on controller 25, electric pushrod 19 will promote backboard 1 around the rotating shaft of hinge 2 certain angle that turns clockwise.Meanwhile, lower limb plate 6 under the pulling of electric pushrod 8 around the rotating shaft of hinge 5 certain angle that turns clockwise.Like this, the plate face of backboard 1, podical plate 4, lower limb plate 6 can form one " chair surface " as shown in figure 22 jointly, and this " chair surface " is suitable for being sat up by nursing staff.At this time, a kind of have the nursing robot who has a bath with massage functions to present a kind of " class wheelchair " state.
When sit up by care-giver, need to be lain down time, as long as press the control knob of lying down on controller 25, electric pushrod 19 pulls backboard 1 to be rotated counterclockwise certain angle around the rotating shaft of hinge 2, makes the plate face of backboard 1 and the plate face of podical plate 4 coplanar.Meanwhile, electric pushrod 8 promotion lower limb plates 6 are rotated counterclockwise certain angle around the rotating shaft of hinge 5, make the plate face of lower limb plate 6 and podical plate 4 coplanar.When the plate face of backboard 1, podical plate 4, lower limb plate 6 coexists a plane, as shown in figure 21, a kind of have the nursing robot who has a bath with massage functions to present a kind of " class bed " state.
When in need to being stood up by nursing staff of lying status, as long as press on controller the control knob that stands up on 25, electric pushrod 16 will promote podical plate 4 around the rotating shaft rotation of hinge 3, and podical plate 4 will drive backboard 1 rotating shaft rotation around hinge 3 together with lower limb plate 6.Like this, can assist by care-giver and complete and stand up action, also can being transferred to by care-giver, opposite side is a kind of to be had on the plate face of having a bath with the nursing robot of massage functions.
In the time will being had a bath by care-giver, can a kind of have to have a bath be arranged to " class chair " state with the nursing robot of massage functions, to reduce a kind of space that has the nursing robot that has a bath with massage functions to take, be also convenient to mobile.A kind of, there is the nursing robot who has a bath with massage functions to move to toilet or other places of being convenient to have a bath, actuating motor 102, motor 404, motor 604, lath 888 on backboard 1, podical plate 4, lower limb plate 6 is rotated, pass into warm water to rinser 22, the orientation of adjusting rinser 22 ejection warm water and abluent, can spray water for cleaning and abluent and reaches by care-giver's the body part that will clean.Like this, just can have been had a bath by care-giver.
In the time will being needed to massage by care-giver, the control knob by controller 25 has the nursing robot who has a bath with massage functions to be arranged to massage mode a kind of, and motor 102, motor 405, motor 605 drive laths 888 to rotate according to the mode of massage.
A kind of have the nursing robot who has a bath with massage functions to travel with open air indoor, accumulator 27 can be a kind ofly has the nursing robot operation of having a bath with massage functions that the energy is provided, the motor 28 that travels can drive driving wheel 14 to rotate, driving wheel 14 rotate can be a kind of have to have a bath the power of motion is provided with the nursing robot of massage functions, steer motor 26 is controlled a kind of direction of motion of having a bath with the nursing robot of massage functions that has by deflecting roller 11.
Claims (10)
1. have a nursing robot who has a bath with massage functions, structure as shown in Figure 1, Figure 2, Figure 3 shows.Fig. 1 is its schematic diagram, and Fig. 2 is the schematic diagram while observing from its left side.Fig. 3 is bracing frame 10, the structural representation after the 14 critical pieces assemblings of the motor 28 that travels, steer motor 26, deflecting roller 11, universal wheel 12,13, driving wheel.Whole system is comprised of major parts such as backboard 1, hinge 2, hinge 3, podical plate 4, hinge 5, lower limb plate 6, hinge 7, electric pushrod 8, hinge 9, bracing frame 10, deflecting roller 11, universal wheel 12,13, driving wheel 14, hinge 15, electric pushrod 16, hinge 17, hinge 18, electric pushrod 19, hinge 20, bathtub 21, rinser 22, catcher 23, warm-air drier 24, controller 25, steer motor 26, accumulator 27, the motor 28 that travels, defecation sensors 29.
According to claim 1 it is characterized by a kind of have to have a bath be connected with podical plate 4 by hinge 2 with the nursing robot's of massage functions backboard 1, lower limb plate 6 is connected with podical plate 4 by hinge 5, podical plate 4 is connected with bracing frame 10 by hinge 3, backboard 1 can be around the rotating shaft of hinge 2 clockwise or rotate counterclockwise under the effect of electric pushrod 19, lower limb plate 6 can be around the rotating shaft of hinge 5 clockwise or rotate counterclockwise under the effect of electric pushrod 8, and podical plate 4 can be around the rotating shaft of hinge 3 clockwise or rotate counterclockwise under the effect of electric pushrod 16.A kind of under the effect of electric pushrod have the plate face of having a bath with the nursing robot's of massage functions backboard 1, podical plate 4, lower limb plate 6 on a horizontal plane as shown in figure 21, also can present version as shown in figure 22.
3. according to claim 1, it is characterized by and a kind ofly have the bottom of having a bath with the nursing robot's of massage functions bracing frame 10 that deflecting roller 11, universal wheel 12, runner 13, driving wheel 14 are housed, deflecting roller 11, universal wheel 12, runner 13, driving wheel 14 are supporting a kind of nursing robot who has a bath with massage functions that has jointly, and a kind of have the nursing robot who has a bath with massage functions to travel with open air indoor.Accumulator 27 can be robot operation the energy is provided, and the motor 28 that travels can drive driving wheel 14 to rotate, and driving wheel 14 rotates and can be the power that robot provides motion, and steer motor 26 is by the direction of motion of deflecting roller 11 controls.
4. according to claim 1, it is characterized by backboard 1 and be partly comprised of lath 888, backboard frame 101, motor 102, drive 103, driving-belt 104, guide rail 105, slide block 106, connecting rod 107, hinge 108, electric pushrod 109, hinge 110, motor 111, hinge 112 mechanical arms etc., mechanical arm is partly comprised of upper arm 113, motor 114, forearm 115, handrail 116 etc.
Guide rail 105 is arranged on backboard frame 101, and slide block 106 is arranged on guide rail 105, and two slide blocks 105 connect 107 by connecting rod and are connected together, and the end of connecting rod 107 connects tractor driver's tool arm by hinge 112.Electric pushrod 109 one end are connected on backboard frame 101 by hinge 110, and one end is connected on connecting rod 107 by hinge 108.Effect sliding block 106, connecting rod 107 and mechanical arm at electric pushrod 109 can move along guide rail 105, and this part-structure of backboard 1 as shown in Figure 8.
Under the drive of motor 111, mechanical arm can rotate around the rotating shaft of hinge 112, and motor 114 can drive forearm 115 to rotate, and forearm 115 rotates and will drive handrail 116 to rotate around motor 114 rotating shafts, and mechanical arm structure as shown in Figure 9.
The axle head of motor 102 is provided with drive 103, the axle head of the plate 888 of backboard 1 is also provided with drive 103, motor 102 can drive the lath 888 of backboard 1 to rotate by drive 103 and driving-belt 104, as shown in figure 10, many laths 888 of arranging have in the same way formed the plate face of backboard 1 to structure.
5. according to claim 1, it is characterized by podical plate 4 is partly comprised of lath 888, buttocks grillage 401, drive 402, driving-belt 403, motor 404, driving-belt 405 etc.The axle head of motor 404 is provided with drive 402, and the axle head of the lath A of podical plate 4 is also provided with runner 402.Motor 404 rotates by the lath 888 of drive 402 and driving-belt 403 and driving-belt 405 drive podical plates 4, and many laths 888 of arranging have in the same way formed the plate face of podical plate 4, and the structure of podical plate 4 as shown in figure 12.
6. according to claim 1, it is characterized by lower limb plate 6 is partly comprised of lath 888, lower limb grillage 601, drive 602, driving-belt 603, motor 604, driving-belt 605 etc.The axle head of motor 604 is provided with drive 602, and the axle head of the lath 888 of lower limb plate 6 is also provided with runner 602.The lath 888 that motor 604 can lead to drive 602, driving-belt 603, driving-belt 605 drive lower limb plates 6 rotates, and many laths 888 of arranging have in the same way formed the plate face of lower limb plate 6, and the structure of lower limb plate 6 as shown in figure 14.
7. according to claim 1, it is characterized by motor 102, motor 404, motor 604 can be direct current, interchange, motor etc., and driving-belt 104, driving-belt 403, driving-belt 405, driving-belt 603, driving-belt 605 can be chain, synchronous cog belt or other tape handlers.
8. according to claim 1, it is characterized by lath 888 and be comprised of major parts such as rotating shaft 8881, lath body 8882, soft fibres 8883, structure is shown in Figure 16, Figure 17.
9. wherein, the cross section of lath body 8882 can be ellipse as shown in figure 18 or figure as shown in figure 19, or the rectangle after chamfering as shown in figure 20.Figure 18, Figure 20 separately size of the L in figure are greater than the size of H, or the size of H is greater than the size of L.The size of figure Φ shown in Figure 19 is greater than the size of H.
10. according to claim 1, it is characterized by and a kind ofly have the nursing robot who has a bath with massage functions to have rinser 22, catcher 23, warm-air drier 24, rinser 22 can be used for cleaning podical plate 4 and by care-giver's health, warm-air drier 24 can dry up podical plate 4 and by care-giver's health, catcher 23 can be kept in and be cleaned the rear waste water producing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310616500.3A CN103610545B (en) | 2013-11-22 | 2013-11-22 | Nursing robot with bathing and massaging functions |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310616500.3A CN103610545B (en) | 2013-11-22 | 2013-11-22 | Nursing robot with bathing and massaging functions |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103610545A true CN103610545A (en) | 2014-03-05 |
| CN103610545B CN103610545B (en) | 2017-02-01 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310616500.3A Expired - Fee Related CN103610545B (en) | 2013-11-22 | 2013-11-22 | Nursing robot with bathing and massaging functions |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103610545B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103976830A (en) * | 2014-05-27 | 2014-08-13 | 王永滨 | Sickbed capable of automatically detecting and transferring patients |
| CN104905924A (en) * | 2015-06-25 | 2015-09-16 | 王艳丽 | Patient cleaning massage apparatus |
| CN109044673A (en) * | 2018-08-26 | 2018-12-21 | 张惠丽 | Automatic shift after a kind of detection, wiping, drying and restore detection function mechanism |
| CN109157341A (en) * | 2018-09-19 | 2019-01-08 | 深圳市创明利科技有限公司 | Wisdom nursing wheelchair and its application method |
| CN111228052A (en) * | 2020-01-14 | 2020-06-05 | 台州学院 | Bed with auxiliary rising and lying structure |
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| JPH1156924A (en) * | 1997-08-20 | 1999-03-02 | Atsugi Nylon Kogyo Kk | Bed with automatically positioning close-stool |
| CN2508738Y (en) * | 2001-02-20 | 2002-09-04 | 王威强 | Multifunction Medical care sick bed |
| JP2005305050A (en) * | 2004-04-16 | 2005-11-04 | Mamoru Onda | Bed for self-supporting living |
| WO2005110325A1 (en) * | 2004-05-15 | 2005-11-24 | Sin-Taek Park | A cot for patient |
| CN201743849U (en) * | 2010-05-07 | 2011-02-16 | 李瑛� | Ergonomic functional bed for old and weak groups |
| CN201823017U (en) * | 2010-04-29 | 2011-05-11 | 郭伟 | Flexible massage mattress or massage chair cushion |
| WO2012052972A1 (en) * | 2010-10-21 | 2012-04-26 | Immo Matralat | Motorised bed base, slat module and bed |
| CN103126834A (en) * | 2013-02-04 | 2013-06-05 | 陈殿生 | Bed and chair integrated nursing system with rotary seat and urination and defecation processing device |
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2013
- 2013-11-22 CN CN201310616500.3A patent/CN103610545B/en not_active Expired - Fee Related
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1156924A (en) * | 1997-08-20 | 1999-03-02 | Atsugi Nylon Kogyo Kk | Bed with automatically positioning close-stool |
| CN2508738Y (en) * | 2001-02-20 | 2002-09-04 | 王威强 | Multifunction Medical care sick bed |
| JP2005305050A (en) * | 2004-04-16 | 2005-11-04 | Mamoru Onda | Bed for self-supporting living |
| WO2005110325A1 (en) * | 2004-05-15 | 2005-11-24 | Sin-Taek Park | A cot for patient |
| CN201823017U (en) * | 2010-04-29 | 2011-05-11 | 郭伟 | Flexible massage mattress or massage chair cushion |
| CN201743849U (en) * | 2010-05-07 | 2011-02-16 | 李瑛� | Ergonomic functional bed for old and weak groups |
| WO2012052972A1 (en) * | 2010-10-21 | 2012-04-26 | Immo Matralat | Motorised bed base, slat module and bed |
| CN103126834A (en) * | 2013-02-04 | 2013-06-05 | 陈殿生 | Bed and chair integrated nursing system with rotary seat and urination and defecation processing device |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103976830A (en) * | 2014-05-27 | 2014-08-13 | 王永滨 | Sickbed capable of automatically detecting and transferring patients |
| CN104905924A (en) * | 2015-06-25 | 2015-09-16 | 王艳丽 | Patient cleaning massage apparatus |
| CN109044673A (en) * | 2018-08-26 | 2018-12-21 | 张惠丽 | Automatic shift after a kind of detection, wiping, drying and restore detection function mechanism |
| CN109157341A (en) * | 2018-09-19 | 2019-01-08 | 深圳市创明利科技有限公司 | Wisdom nursing wheelchair and its application method |
| CN111228052A (en) * | 2020-01-14 | 2020-06-05 | 台州学院 | Bed with auxiliary rising and lying structure |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103610545B (en) | 2017-02-01 |
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Granted publication date: 20170201 |