CN105997397A

CN105997397A - Single-core single-wheel driven multifunctional electric sickbed

Info

Publication number: CN105997397A
Application number: CN201610600742.7A
Authority: CN
Inventors: 张好明
Original assignee: Jiangsu Ruobo Robot Technology Co Ltd
Current assignee: Jiangsu Ruobo Robot Technology Co Ltd
Priority date: 2016-07-28
Filing date: 2016-07-28
Publication date: 2016-10-12

Abstract

The invention discloses a single-core single-wheel driven multifunctional electric sickbed. The sickbed is characterized in that an electric sickbed control unit, a main bed plate and a folding bed body are included, the main bed plate comprises a back plate, a seat plate and a foot plate, the seat plate is connected with the back plate and the foot plate separately, and the back plate and the foot plate are arranged on the two sides of the seat plate respectively; the bottom of the main bed plate is provided with multiple support rods for connecting the main bed plate with the electric sickbed control unit, and the two sides of the bottom of the main bed plate are provided with support plates; the bottom of the main bed plate is provided with the folding bed body, a folding bed plate is connected with clamping grooves formed in the support plates through convex blocks arranged on the surface of the folding bed plate, and one side of the folding bed plate is provided with two foldable support feet. According to the sickbed, a nursing bed is additionally arranged on the same sickbed, the bed plate can freely lifted, the safety performance is high, use is convenient, and the application range is wide.

Description

A kind of monokaryon single wheel drive multifunctional motor-driven sick bed

Technical field

The present invention relates to electric hospital bed field, particularly relate to a kind of monokaryon single wheel drive multifunctional motor-driven sick bed.

Background technology

Medical hospital bed system is a kind of equipment providing carrying patient in hospital ward.At present in hospital of developed country The medical hospital bed substantially all automatization used, hospital bed set up at a patient's home, community hospital's sick bed have used Multifunctional electric bed.Portion Dividing the medical hospital bed purpose that can be reached auxiliary adjustment patient body position by external force change shape, some of which adnexa has promotion The effect of Rehabilitation；Can control electric hospital bed is the most senior automated production, has time saving and energy saving advantage.Due to electricity The feature controlled, control key may be mounted at any permission ward bed by the range of signal, improves the degree of freedom of control. Upgraded by adnexa, it is also possible to realize authority distribution.Motorized motions Product Precision is higher, it is simple to assembly line work, as ICU The specific medical sick bed used in intensive care unit, operating room, radiography room etc..

China's research and development in Medical electric sick bed field relatively lag behind, and integral level is the highest, existing domestic situation of all-level hospitals It is all to use common mechanical sick bed: be made up of footpost, bed body and bed surface.In order to conveniently moving moves, generally individually on footpost Machinery rolling pulley is set；Patient sits up for convenience, all arranges mechanical hand in head of a bed part and shakes lifting device.For this type Sick bed, generally individually needs nursing staff to help, and is difficult to complete alone, and sick bed function singleness simultaneously, Practical Performance is the strongest.

Long-play finds to there is a lot of potential safety hazard and inconvenience, it may be assumed that

(1) existing part sick bed is contacted with ground by four fixed station feet and plays a supporting role, and patient is all fixed on certain In one environment closed, along with patient is in hospital for a long time, the body and mind of patient is caused injury greatly.

(2) although part sick bed has changed fixed station foot as mechanically gimbaled wheel into, can be arrived by medical personnel's Mobile sickbed Certain space, but owing to sick bed moves randomness relatively greatly, sometimes there will be maloperation, the most sometimes can hurt disease People.

(3) along with the increase of modern humans's quality of life, adiposis patient rolls up, and Health care staff typically compares Slight of stature, makes Health care staff very painstaking by mechanically gimbaled removing patient of taking turns, has increased the weight of labor intensity.

(4) increasing the weight of along with aging, substantial amounts of old man has also increased the weight of the demand to sick bed, present nurse personnel again than Less, the sick bed of mechanically-based universal wheel has increased the weight of the labor intensity of nurse personnel.

(5) all of machinery sick bed is generally individually fixed on certain position, and once needing moves or change direction is required to External staff completes, and has increased the weight of the amount of labour of nurse personnel.

(6) even if present mechanical sick bed can be pulled in external environment condition by doorway, ward by external force, due to people Automaticity ratio for operation is relatively low, is required for an attitude for time adjustment sick bed by doorway, ward and just can pass through.

(7) even if present mechanical sick bed can arrive the environment beyond ward by the mechanically gimbaled support taken turns, adjusting While having saved patient's body and mind, also increase the amount of labour of nurse personnel, especially by climbing local time, to nurse personnel Muscle power have higher requirement.

(8) existing machinery sick bed is generally individually provided with a shake regulations and parameters at the head of sick bed, when client need lifts When head or needs are steeved above the waist, all there is nursing staff to shake regulations and parameters and reach the purpose of raised portion sick bed, sick bed Automaticity is relatively low, and has increased the weight of the amount of labour of nursing staff.

(9) existing machinery sick bed does not generally individually account for the requirement of patient's leg, the sickbed machine of the leg position of patient Tool part can not move up and down, and causes the situations such as leg muscle atrophy to occur, be unfavorable for for the patient of long-time bed The state of an illness treatment of patient.

(10) existing machinery sick bed or the most electric hospital bed when pushing away patient and leaving ward, no matter the state of an illness of patient With situation how, patient is all the most straight to lie on one's sick bed, does not has hommization to consider, sometimes the tightest to the menticide of patient Weight.

Summary of the invention

The technical problem that present invention mainly solves is to provide a kind of monokaryon single wheel drive multifunctional motor-driven sick bed.

For solving above-mentioned technical problem, the technical scheme that the present invention uses is: provide a kind of monokaryon single wheel drive many Functional electric sick bed, it is characterised in that including: electric hospital bed control unit, main bed board, folding bed,

Described folding bed includes spike and a folding bed board,

Described main bed board includes backboard, seat board and sole, described seat board and described backboard and described sole Connect respectively, and described backboard and described sole are respectively arranged at the both sides of described seat board, the end of described main bed board Portion is provided with the main bed board of multiple connection and the support bar of electric hospital bed control unit, and the two bottom sides of described main bed board is arranged There is gripper shoe,

The bottom of described main bed board is provided with folding bed, and described folding bed board is by the projection on surface and the card in gripper shoe Groove is connected, and the side of described folding bed board is provided with two folding described spikes,

The both sides, top of described main bed board arrange and are respectively arranged with head plate part and baseboard, and the side of described main bed board is arranged There is safe edge hurdle.

In a preferred embodiment of the present invention, the bottom of described gripper shoe is provided with strip roller.

In a preferred embodiment of the present invention, described seat board is provided with excretion mouth.

In a preferred embodiment of the present invention, described electric hospital bed control unit includes dsp controller, displacement sensing Device, magnetoelectric transducer, single wheel drive, man machine interface, four axle direct current brushless servo motors, described dsp controller passes with displacement Sensor and man machine interface are connected, and described magnetoelectric transducer is connected with single wheel drive and four axle direct current brushless servo motors.

The invention has the beneficial effects as follows: monokaryon single wheel drive multifunctional motor-driven sick bed of the present invention, this sick bed is in same disease Adding a nursing bed in Chuan more, and bed board can freely be raised, security performance is high, easy to use, applied widely.

Accompanying drawing explanation

For the technical scheme being illustrated more clearly that in the embodiment of the present invention, in embodiment being described below required for make Accompanying drawing be briefly described, it should be apparent that, below describe in accompanying drawing be only some embodiments of the present invention, for From the point of view of those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to obtain other according to these accompanying drawings Accompanying drawing, wherein:

Fig. 1 is the perspective view of a preferred embodiment of monokaryon single wheel drive multifunctional motor-driven sick bed of the present invention；

Fig. 2 is that present invention single wheel drive based on DSP is freely lifted medical hospital bed schematic diagram；

Fig. 3 is that present invention single wheel drive based on DSP is freely lifted robot electric sick bed flow chart；

Fig. 4 is that single wheel drive based on DSP is freely lifted robot electric bed motion theory diagram；

Fig. 5 is that single wheel drive based on DSP is freely lifted robot electric sick bed by doorway, ward self-navigation schematic diagram.

Detailed description of the invention

Technical scheme in the embodiment of the present invention will be clearly and completely described below, it is clear that described enforcement Example is only a part of embodiment of the present invention rather than whole embodiments.Based on the embodiment in the present invention, this area is common All other embodiments that technical staff is obtained under not making creative work premise, broadly fall into the model of present invention protection Enclose.

One monokaryon single wheel drive multifunctional motor-driven sick bed of the present invention, it is characterised in that including: electric hospital bed control unit 1, main bed board 2, folding bed 3,

Described folding bed 3 includes spike and a folding bed board,

Described main bed board 2 includes backboard, seat board and sole, described seat board and described backboard and described sole Connect respectively, and described backboard and described sole are respectively arranged at the both sides of described seat board, the end of described main bed board 2 Portion is provided with the main bed board of multiple connection 2 and the support bar of electric hospital bed control unit 1, the two bottom sides of described main bed board 2 It is provided with gripper shoe 4,

The bottom of described main bed board 2 is provided with folding bed, and described folding bed board passes through in projection and the gripper shoe 4 on surface Draw-in groove is connected, and the side of described folding bed board is provided with two folding described spikes,

The both sides, top of described main bed board 2 arrange and are respectively arranged with head plate part and baseboard, and the side of described main bed board sets It is equipped with safe edge hurdle.

Based on DSP(TMS320F2812) robot electric sick bed controller, under power-on state, man machine interface is first Work, if really needing mobile electric sick bed, nurse personnel, Health care staff input respective web-privilege password Web, robot electric Sick bed is only possible to move in room, and otherwise robot electric sick bed just stays in original place and waits authority open command；If machine People is electric hospital bed needs to release ward, and now hospital director needs to open the web-privilege password Web of oneself, and otherwise robot electric is sick Bed once moves to position, doorway and is detected by doorway monitoring sensor, the sensor on detecting system meeting trigger controller, DSP Locked current robot electric sick bed also sends wrong operation alarm.Under ordinary running condition, robot electric sick bed passes through Various sensors read external environment condition than feedback parameter to DSP, DSP be four axle direct current brushless servo motors after converting after processing Synchronization Control pwm signal, PWM ripple signal completes head and leg sick bed by DC brushless motor Z and R after drive amplification The lifting of part, then drives sick bed to travel forward by DC brushless motor X, DC brushless motor Y, its movement velocity and position Move and fed back to DSP by corresponding magnetism encoder M1, M2, M3, M4, DSP adjust synchronization pwm control signal for bis-times and meet real Border work requirements.Electric bed is in running, and man machine interface on-line storage also exports current state so that process more straight See.

Being embodied as step is:

Medical electric bed control system is divided into two parts: human-computer interface system and kinetic control system.Wherein man machine interface system Unite the functions such as man machine interface, path planning, online output；Kinetic control system completes electric hospital bed multiple-axis servo control The functions such as system, data storage, I/O control, system gives full play to DSP(TMS320F2812) advantage that signal handling capacity is stronger, Process various sensor signals the most in real time.

Its concrete functional realiey is as follows:

1) before any instruction do not received by robot electric sick bed, it typically can be consolidated with common medical hospital bed as broad as long Being scheduled on some region, the accumulator in system is charged by alternating current power supply, it is ensured that robot electric sick bed has the enough energy complete One-tenth task.

2) after once receiving the work order that main controller sends, in order to prevent the mobile infringement charging of robot electric sick bed Connecting line, TMS320F2812 controller can disconnect the connection of line and alternating current power supply automatically, and robot electric sick bed transfers storage to Battery-powered state.

3) in order to prevent maloperation, the present invention uses three grades to start authority, needs mobile robot electric hospital bed when determining Time, if simply mobile robot is electric hospital bed inside ward, then need nurse personnel and nurse successively to pass through man machine interface Input web-privilege password Web opens walking mode within doors；If needing to promote robot electric sick bed to walk out ward, then need nurse Personnel, nurse and hospital director successively open walking mode outside room by man machine interface input web-privilege password Web.

4) after walking mode opened by robot electric sick bed, once start key SS presses, and first system completes to initialize And detect supply voltage, if battery feed is abnormal, interrupt requests, TMS320F2812 meeting will be sent to TMS320F2812 To interrupting doing very first time response, if the interrupt response of TMS320F2812 does not have enough time to process, the self-locking device on car body To be triggered, and then reach the function of self-locking, prevent maloperation；If power supply is normal, electric bed robot will start normal work Make.

5) detect that start key SS presses when TMS320F2812 controller, if now only having head to rise button SHF quilt Triggering, robot electric sick bed will start to do the motion of sick bed head rising part, and TMS320F2812 is according to servo controller Require button to be needed every time distance S run be converted into the acceleration of motor Z, speed and reference by location command value, the most again Speed and Displacement Feedback in conjunction with magnetoelectric transducer M3 corresponding for motor Z generate and drive the driving of direct current brushless servo motor Z to believe Number, drive signal to amplify rear drive direct current brushless servo motor Z positive movement through power bridge, robot electric sick bed starts slowly Rising, in motor process, once the hands of nursing staff is not triggering start key or is rising button SHF, and brush DC is watched The SERVO CONTROL taking motor Z just terminates, and completes this uphill process；When the head of patient needs to decline, if nursing staff Pressing start key SS simultaneously and head declines button SHB, robot electric sick bed will start to do the fortune of sick bed head sloping portion Dynamic, TMS320F2812 needs distance S run to be converted into the acceleration of motor Z button according to the requirement of servo controller every time Degree, speed and reference by location command value, then speed and Displacement Feedback in conjunction with magnetoelectric transducer M3 corresponding for motor Z generate Drive the driving signal of direct current brushless servo motor Z, drive signal to amplify rear drive direct current brushless servo motor Z through power bridge anti- To motion, robot electric sick bed starts slowly to decline, and in motor process, once the hands of nursing staff is not triggering start key Or rising button SHB, the SERVO CONTROL of direct current brushless servo motor Z just terminates, and completes this decline process. The displacement SHS of current location and horizontal level recorded by TMS320F2812 servo controller.

6) detect that start key SS presses when TMS320F2812 controller, if now only having leg to rise button SLF Being triggered, robot electric sick bed will start to do the motion of sick bed leg rising part, and TMS320F2812 is according to servo controller Requirement button every time need run distance S be converted into the acceleration of motor R, speed and reference by location command value, then Speed and the driving of Displacement Feedback generation driving direct current brushless servo motor R in conjunction with magnetoelectric transducer M4 corresponding for motor R Signal, drives signal to amplify rear drive direct current brushless servo motor R positive movement through power bridge, and robot electric sick bed starts to delay Slow rise, in motor process, once the hands of nursing staff is not triggering start key or is rising button SLF, brush DC The SERVO CONTROL of servomotor R just terminates, and completes this uphill process；When the leg of patient needs to decline, nursing staff is only To press start key SS simultaneously and head declines button SLB, robot electric sick bed does hospital bed leg portion sloping portion by starting Motion, TMS320F2812 needs distance S run to be converted into adding of motor R button according to the requirement of servo controller every time Speed, speed and reference by location command value, then speed and Displacement Feedback in conjunction with magnetoelectric transducer M4 corresponding for motor R are raw Become to drive the driving signal of direct current brushless servo motor R, drive signal to amplify rear drive direct current brushless servo motor R through power bridge Adverse movement, robot electric sick bed starts slowly to decline, and in motor process, once the hands of nursing staff is not triggering startup Key or rising button SLB, the SERVO CONTROL of direct current brushless servo motor R just terminates, and completes this decline process. The displacement SLS of current location and horizontal level recorded by TMS320F2812 servo controller.

7) detect that start key SS presses when TMS320F2812 controller, if now recovery button SFF is triggered, machine The electric hospital bed speed according to TMS320F2812 servo controller of device people and acceleration requirement, be converted into displacement SLS and SHS Motor Z and the acceleration of motor R, speed and reference by location command value, then pass in conjunction with magnetoelectricity corresponding with motor R for motor Z The speed of sensor M3, M4 and Displacement Feedback generate the driving signal driving direct current brushless servo motor Z and motor R, drive signal Amplifying rear drive direct current brushless servo motor Z and motor R motion through power bridge, bed body is restored to naturalness.

8) detecting that start key SS presses when TMS320F2812 controller, TMS320F2812 controller turns lateral for detection Whether curved button SK is triggered.If lateral turning button SK is triggered, TMS320F2812 is according to robot motion's part needs The anglec of rotationNeed, distance SX to be operated for direct current brushless servo motor Y is converted into acceleration, speed and position Reference instruction value, then the feedback in conjunction with magnetoelectric transducer M2 corresponding for motor Y generates and drives direct current brushless servo motor Y's Drive signal, drive signal to amplify rear drive direct current brushless servo motor Y motion through power bridge, owing to DC brushless motor Y exists Rotary course drive direct current brushless servo motor X to move by gear structure.When direct current brushless servo motor Y completes to watch specifically Clothes motion, direct current brushless servo motor X is complete side and turnsTask, due in the process be motor Y drive motor X 90-degree rotation, and for changing electric hospital bed direction, improve the robot electric sick bed practicality at small space.

9) detect that start key SS presses when TMS320F2812 controller, if now only having forwarding button SF to be triggered, Robot electric sick bed travels forward starting, in motor process, and the front anti-collision ultrasonic sensor S9 that robot carries With S10 by work, and feed back the distance of itself and preceding object thing to the TMS320F2812 controller moment.If crashproof ultrasound wave Sensor S9 or S10 reads front when having barrier, TMS320F2812 through internal SERVO CONTROL program adjust direct current without The PWM output of brush servomotor X, controls robot electric sick bed and stops in safety range, and controller also opens one three seconds Timing, if controller still reads barrier after three seconds, notify man machine interface change run trace；If after three seconds Obstacle signal message, then robot electric sick bed will continue to start advance according to current path.Transport at robot electric sick bed During Dong, magnetoelectric transducer M1, M2 can detect direct current brushless servo motor X and the movement velocity of motor Y and displacement the moment, and Feed back to TMS320F2812.

10) detect that start key SS presses when TMS320F2812 controller, if now only having back SB also to be touched Sending out, robot electric sick bed will start setback, and TMS320F2812 adjusts brush DC servo through internal SERVO CONTROL program The PWM output of motor X and Y, controls robot electric sick bed and slowly retreats according to setting speed；During setback, magnetic Electric transducer M1, M2 can detect direct current brushless servo motor X and the movement velocity of motor Y and displacement in the moment, and feed back to TMS320F2812, TMS320F2812 adjust brush DC watch according to speed and the Displacement Feedback secondaries of magnetoelectric transducer M1 and M2 Take the PWM output of motor X and motor Y, it is ensured that robot electric sick bed runs in the range of safe speed, prevents excessive velocities machine Device people is electric hospital bed pushes over nurse personnel.

11) detect that start key SS presses when TMS320F2812 controller, if now turning button SK and forwarding button SF is triggered, and starting side is moved right by robot electric sick bed, in motor process, and the crashproof ultrasound wave in side that robot carries Sensor S6 is by work, and feeds back the distance of itself and preceding object thing to the TMS320F2812 controller moment.If it is crashproof ultrasonic Wave sensor S6 reads right when having barrier, and TMS320F2812 adjusts brush DC servo through internal SERVO CONTROL program The PWM output of motor X, controls robot electric sick bed and stops in safety range, and controller also opens the timing of three seconds, If controller still reads barrier existence and will send parking warning to man machine interface after three seconds；If three seconds obstructions Signal message, then robot electric sick bed will continue laterally to move to right according to current track.Laterally move to right at robot electric sick bed During, magnetoelectric transducer M1, M2 meeting moment detection direct current brushless servo motor X and the movement velocity of motor Y and displacement, and instead Feed TMS320F2812, by bis-adjustment motor X of TMS320F2812 and the kinematic parameter of motor Y.

12) detect that start key SS once presses when TMS320F2812 controller, if now turning button SK and advance Button SB is triggered, and robot electric sick bed is by starting side to moving to left, and in motor process, the side that robot carries is crashproof super Sonic sensor S7 is by work, and feeds back the distance of itself and preceding object thing to the TMS320F2812 controller moment.If it is crashproof Ultrasonic sensor S7 reads left when having barrier, and TMS320F2812 adjusts brush DC through internal SERVO CONTROL program The PWM output of servomotor X, controls robot electric sick bed and stops in safety range, and controller also opens one three seconds Timing, if after three seconds controller still read barrier exist will to man machine interface send parking report to the police；If after three seconds Obstacle signal message, then robot electric sick bed will continue laterally to move to left according to current track.In robot electric sick bed side During moving to the left, magnetoelectric transducer M1, M2 can detect direct current brushless servo motor X and the movement velocity of motor Y and position in the moment Move, and feed back to TMS320F2812, by bis-adjustment motor X of TMS320F2812 and the kinematic parameter of motor Y.

13) when robot electric sick bed needs to remove ward, existing hospital director opens walking web-privilege password Web, then Nurse personnel shift the position with surface mark onto robot electric sick bed, and robot electric sick bed enters self-navigation shape State: photoelectric sensor S1, S2, S3, S4, S5 of its navigation are by work, and the photosignal that surface mark reflects feeds back to TMS320F2812, determines the deviation of robot skew navigation track, TMS320F2812 handle after TMS320F2812 judgement processes This deviation signal is converted into acceleration, speed and displacement commands to be run for motor X and motor Y, and TMS320F2812 is in conjunction with magnetic The feedback of photoelectric coder M1 and M2 produces the driving signal driving direct current brushless servo motor X and motor Y, after driving signal to amplify Move before driving DC brushless motor X and motor Y-direction, quickly adjust robot electric sick bed and rapidly return back to orbit centre of navigating. Robot electric sick bed is along track travel process, and TMS320F2812 is anti-according to surface mark and magnetism encoder M1's and M2 The driving signal of feedback fine setting motor X and motor Y, makes robot pass through doorway, ward along the track set.Work as laying Track disappear after, robot electric sick bed be just parked in original place wait artificial driving signal, prevent maloperation.

14) robot electric hospital bed in motor process in order to prevent the maloperation of nurse and run into emergency and stop Car, adds automatic car locking function of stopping in emergency.In case of emergency, after emergency button ESW1 is pressed, controller is once Detecting that urgent interrupt request can send original place cutoff command, TMS320F2812 passes through driver locked movable motor X, even if Electric hospital bed multiple universal wheel W is all in can be with sliding mode, owing to movable motor X is in locking state, such robot electricity Dynamic sick bed also will not move.

15) present invention adds dust humidity detection system on robot electric sick bed.This dust humidity detection system is passed by wet sensitive Several parts such as sensor, measuring circuit and display recording equipment composition, is respectively completed acquisition of information, changes, shows and the merit such as process Can, so when patient-sized is the most out of control, dust humidity detection system can work, and will send alarm signal, and nurse personnel are by man-machine Interface output can find failure cause, then changes bedding.

16) this electric bed is equipped with multiple anti-barrier warning system, and bed carries obstacle spy side system can collide barrier Automatically detect existence the automatic stopping of barrier before hindering thing, and determine restarting or one according to the character of barrier Wait until as you were, this ensures that there the adaptation to surrounding in motor process, decrease the environment interference to it.

17) in robot electric sick bed walking process, motor often receives extraneous factor interference, in order to reduce motor The pulsating torque impact on robot ambulation, controller add on the basis of considering motor characteristic to motor torque Line identification, and utilize motor torque to compensate with the relation of electric current, weaken the external environment impact on robot motion.

Monokaryon single wheel drive multifunctional motor-driven sick bed of the present invention provides the benefit that:

1, during controlling, battery effect in this system has been taken into full account, based on DSP(TMS320F2812) control The device moment all to the running status of robot electric sick bed with power source is monitored and computing, works as Ac Dump Time, sick bed automatically can be automatically locked in fixed position, until there being moving switch signal to input by carrying battery feed, it is ensured that The naturalness of sick bed.

2: patient takes care of oneself for convenience, reduces the dependence of condition to external world, and native system adds human-machine interface function, patient As long as sick bed robot just can be automatically controlled by computer contact screen, thus can need not nurse and oneself solution part Easy daily life.

3: add dynamic booster based on accumulator owing to this is electric hospital bed, though encounter patient body fat or During person nursing staff's asthenic body, sick bed this can be that nurse personnel and Health care staff are in room under conditions of power supply abundance In Mobile sickbed power is provided, decrease nurse or nurse the personnel physical demands of Mobile sickbed and work in room strong Degree.

4: add single wheel drive system based on direct current brushless servo motor owing to this is electric hospital bed so that sick bed is permissible In room, interior-excess now moves freely, and decreases patient's sense of depression in some fixed position.

5: add single wheel drive system based on direct current brushless servo motor owing to this is electric hospital bed so that electric hospital bed Can rotate freely according to any direction in original place in room, decrease the space that Mobile sickbed needs, be particularly suitable for The ward of narrow space.

6: owing to adding single wheel drive system based on direct current brushless servo motor, permissible in very narrow space Make the shifted laterally of sick bed robot, reduce robot and rotate the negative issue brought.

7: in order to enable sick bed robot to move freely out doorway, ward, controller adds multiple navigation sensing Device, robot removal ward during once read surface mark will self-navigation, reduce what artificial Mobile sickbed brought Error.

8: when robot electric sick bed runs into climbing, due to the self-contained dynamic energy, it is possible to very well Play power-assisted effect, decrease to nurse personnel muscle power requirement.

9: the full Digitized Servo Control being processed multi-axle motor by TMS320F2812, substantially increase arithmetic speed, solve Single single-chip microcomputer runs slower bottleneck, shortens the construction cycle short, and program transportability ability is strong.

10: invention fully achieves veneer control, not only save panel and take up room, but also fully achieve The synchronization of multi-axle motor control signal, is conducive to improving stability and the dynamic property of medical robot electric sick bed.

11: owing to this controller uses TMS320F2812 to process substantial amounts of data and algorithm, and taken into full account around Interference source, effectively prevent " race flies " of program, and capacity of resisting disturbance is greatly enhanced.

12: robot is electric hospital bed adds automatic car locking function, when sick bed robot is in moving process, as run into Emergency, controller can send original place cutoff command, and locked main motion motor, even if multiple universal wheel is all in sliding Dynamic state, but owing to driving wheel is in locking state, such robot also will not move.

13: the present invention adds multiple unlatching authority in robot electric sick bed system, it is therefore prevented that the maloperation of sick bed.

14: robot is electric hospital bed adds dust humidity detection system.This dust humidity detection system is by moisture sensor, measurement Circuit and display several parts such as recording equipment composition, be respectively completed acquisition of information, change, show and the function such as process, so when When patient-sized is the most out of control or sheet is moist, dust humidity detection system can work, and sends replacement request.

15: the multiple warning system of this electric bed robotic equipment, before colliding barrier automatic stopping, thus Ensure that the safety in motor process, decrease the environment interference to it.

16: owing to robot electric sick bed system uses direct current brushless servo motor to instead of direct current generator, not only enter One step improves the safety of system, it is also possible to improves the utilization rate of the energy, adds robot electric sick bed and carrying the energy The distance once moved under conditions of Yi Ding.

17: owing to robot electric sick bed system uses direct current brushless servo motor, when motor is produced by external interference During raw pulsating torque, direct current brushless servo motor can utilize moment to compensate rapidly with the relation of electric current, greatly reduce The external interference impact on robot electric sick bed.

18: head servo control part based on single shaft direct current brushless servo motor can well meet client need and lift Playing head or activity above the waist of steeving, nursing staff can reach to rise sick bed front portion by button, sick bed automatic Change degree gets a promotion further, decreases the amount of labour of nursing staff.

19: leg SERVO CONTROL part based on single shaft direct current brushless servo motor can well meet client need lower limb Portion or the activity of the lower part of the body, nursing staff can reach to rise or reduce sick bed rear portion, automatization's journey of sick bed by button Degree gets a promotion further, decreases the amount of labour of nursing staff.

20: make robot electric sick bed have various machinery based on front and back two axle brush DC servo lowering or hoisting gear combination Combination, when pushing away patient and leaving ward, can freely regulate the posture of sick bed according to the state of an illness of patient, meets different patient Psychological requirement.

The foregoing is only embodiments of the invention, not thereby limit the scope of the claims of the present invention, every utilize this Equivalent structure or equivalence flow process that bright description is made convert, or are directly or indirectly used in other relevant technology necks Territory, is the most in like manner included in the scope of patent protection of the present invention.

Claims

1. a monokaryon single wheel drive multifunctional motor-driven sick bed, it is characterised in that including: electric hospital bed control unit, main bed board, Folding bed,

Described folding bed includes spike and a folding bed board,

Monokaryon single wheel drive multifunctional motor-driven sick bed the most according to claim 1, it is characterised in that described gripper shoe Bottom is provided with strip roller.

Monokaryon single wheel drive multifunctional motor-driven sick bed the most according to claim 1, it is characterised in that set on described seat board It is equipped with excretion mouth.

Monokaryon single wheel drive multifunctional motor-driven sick bed the most according to claim 1, it is characterised in that described is electric hospital bed Control unit includes that dsp controller, displacement transducer, magnetoelectric transducer, single wheel drive, man machine interface, four axle brush DCs are watched Taking motor, described dsp controller is connected with displacement transducer and man machine interface, described magnetoelectric transducer and single wheel drive And four axle direct current brushless servo motor be connected.