CN106137621A - A kind of monokaryon three-wheel drive multifunctional motor-driven sick bed - Google Patents
A kind of monokaryon three-wheel drive multifunctional motor-driven sick bed Download PDFInfo
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- CN106137621A CN106137621A CN201610600797.8A CN201610600797A CN106137621A CN 106137621 A CN106137621 A CN 106137621A CN 201610600797 A CN201610600797 A CN 201610600797A CN 106137621 A CN106137621 A CN 106137621A
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- sick bed
- motor
- bed
- bedstead
- wheel drive
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/002—Beds specially adapted for nursing; Devices for lifting patients or disabled persons having adjustable mattress frame
- A61G7/015—Beds specially adapted for nursing; Devices for lifting patients or disabled persons having adjustable mattress frame divided into different adjustable sections, e.g. for Gatch position
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/002—Beds specially adapted for nursing; Devices for lifting patients or disabled persons having adjustable mattress frame
- A61G7/018—Control or drive mechanisms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/05—Parts, details or accessories of beds
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1669—Programme controls characterised by programming, planning systems for manipulators characterised by special application, e.g. multi-arm co-operation, assembly, grasping
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0421—Multiprocessor system
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
- A61G2203/16—Touchpads
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
- A61G2203/22—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering for automatically guiding movable devices, e.g. stretchers or wheelchairs in a hospital
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/30—General characteristics of devices characterised by sensor means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/30—General characteristics of devices characterised by sensor means
- A61G2203/36—General characteristics of devices characterised by sensor means for motion
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/70—General characteristics of devices with special adaptations, e.g. for safety or comfort
Abstract
The invention discloses a kind of monokaryon three-wheel drive multifunctional motor-driven sick bed, described bed board body is made up of multiple rectangles of the same size or foursquare sheet material with holes, and it is connected by soft stator between sheet material with sheet material, the bottom of described sheet material with holes is provided with circular ring type connecting hole, described circular ring type connecting hole is provided with many connecting shafts, the top of described bed board body is provided with mattress, described bedstead external member includes right baffle-plate, right baffle plate, bedstead, collapsible breast board, the both sides of described bedstead are provided with right baffle-plate and right baffle plate, the other both sides of described bedstead are provided with collapsible breast board, the bottom of described bedstead is provided with sick bed control unit, it is provided with track on described bedstead, connect on described bedstead and have draw ring or suspension ring.Play the function being freely lifted patient body head, waist and leg, patient's demand to sick bed under different condition can be met.
Description
Technical field
The present invention relates to electric hospital bed field, particularly relate to a kind of monokaryon three-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) although the electric hospital bed decoupling that can well meet sick bed speed and direction of single wheel drive, but single
The movable motor power of wheel drive is relatively big, and the phenomenon of low load with strong power sometimes can be caused to occur.
(9) due to electric hospital bed power and the contact point only one of which on ground of single wheel drive, artificial being difficult to accurately is caused
Controlling its direction moved, slight some interference just can cause bigger direction to change.
(10) although Two-wheeled can weaken the some drawbacks of single wheel drive, but robot electric sick bed is in climbing
If time meet power requirement by motor overload, long operation can injure the performance of motor, and that causes system can
It is greatly lowered by property.
(11) robot electric sick bed needs quickly to accelerate and run with higher speed, at this under many state of emergency
Under the conditions of Zhong, the power of system requirements is relatively big, meets the normal two-wheeled power of motor travelled and cannot meet acceleration request, system without
Method meets the power requirement under emergency.
(12) 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.
(13) 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.
(14) 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 three-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 three-wheel drive many
Functional electric sick bed, including: sick bed control unit, bedstead external member, bed board body,
Described bed board body is made up of multiple rectangles of the same size or foursquare sheet material with holes, and sheet material and plate
Being connected by soft stator between material, the bottom of described sheet material with holes is provided with circular ring type connecting hole, described circular ring type
Being provided with many connecting shafts in connecting hole, the top of described bed board body is provided with mattress,
Described bedstead external member includes right baffle-plate, right baffle plate, bedstead, collapsible breast board, and the both sides of described bedstead are provided with a left side
Baffle plate and right baffle plate, the other both sides of described bedstead are provided with collapsible breast board, and the bottom of described bedstead is provided with sick bed
Control unit, described bedstead is provided with track, and described bedstead connects draw ring or suspension ring, described draw ring or suspension ring
Being connected with described bedstead by slide bar, the bottom of described slide bar is provided with concave groove.
In a preferred embodiment of the present invention, the bottom of described bedstead is provided with runner.
In a preferred embodiment of the present invention, the described sheet material on bed board all has ABS material to make.
In a preferred embodiment of the present invention, described sick bed control unit includes ARM, single wheel drive, image acquisition
Device, five axle direct current brushless servo motors, magnetoelectric transducer, man machine interface and power supply, described single wheel drive and five axle direct currents
Brushless servo motor and magnetoelectric transducer are connected, and described ARM is connected with image collecting device, man machine interface and power supply
Connect.
The invention has the beneficial effects as follows: monokaryon three-wheel drive multifunctional motor-driven sick bed of the present invention, play and be freely lifted patient
The function of human head, waist and leg, multiple sensors combination makes robot electric sick bed have several functions, Ke Yiman
Patient's demand to sick bed under foot different condition.
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 three-wheel drive multifunctional motor-driven sick bed of the present invention;
Fig. 2 is the present invention electric hospital bed schematic diagram of three-axis robot based on STM32F407;
Fig. 3 is monokaryon three-wheel drive of the present invention, is freely lifted the electric hospital bed flow chart of wu-zhi-shan pig;
Fig. 4 is monokaryon three-wheel drive, the electric hospital bed motion principle block diagram that is freely lifted wu-zhi-shan pig;
Fig. 5 is monokaryon three-wheel drive, it is electric hospital bed by doorway, ward self-navigation schematic diagram to be freely lifted wu-zhi-shan pig.
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.
Referring to Fig. 1-Fig. 5, the embodiment of the present invention includes:
A kind of monokaryon three-wheel drive multifunctional motor-driven sick bed, including: sick bed control unit 1, bedstead external member, bed board body 3,
Described bed board body 3 is made up of multiple rectangles of the same size or foursquare sheet material with holes, and sheet material with
Being connected by soft stator between sheet material, the bottom of described sheet material with holes is provided with circular ring type connecting hole, described annulus
Being provided with many connecting shafts in type connecting hole, the top of described bed board body 3 is provided with mattress,
Described bedstead external member includes right baffle-plate 4, right baffle plate 5, bedstead 2, collapsible breast board, and the both sides of described bedstead are provided with
Right baffle-plate and right baffle plate, the other both sides of described bedstead are provided with collapsible breast board, and the bottom of described bedstead 2 arranges ill
Bed control unit 1, described bedstead 2 is provided with track, and described bedstead 2 connects draw ring or suspension ring, described draw ring
Or suspension ring are connected with described bedstead 2 by slide bar, the bottom of described slide bar is provided with concave groove.
In a preferred embodiment of the present invention, the bottom of described bedstead 2 is provided with runner.
In a preferred embodiment of the present invention, the described sheet material on bed board 3 all has ABS material to make.
In a preferred embodiment of the present invention, described sick bed control unit includes ARM, single wheel drive, image acquisition
Device, five axle direct current brushless servo motors, magnetoelectric transducer, man machine interface and power supply, described single wheel drive and five axle direct currents
Brushless servo motor and magnetoelectric transducer are connected, and described ARM is connected with image collecting device, man machine interface and power supply
Connect.
Based on ARM(STM32F407) robot electric sick bed controller, under power-on state, man machine interface elder generation work
Making, if really needing mobile electric sick bed, nurse personnel, Health care staff input respective web-privilege password Web, and robot electric is 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 robot
Electric hospital bed needs releases ward, and now hospital director needs to open the web-privilege password Web of oneself, otherwise robot electric sick bed
Once move to position, doorway detected by doorway monitoring sensor, the sensor on detecting system meeting trigger controller,
The locked current robot electric sick bed of STM32F407 also sends wrong operation alarm.Under ordinary running condition, robot electric
Sick bed reads external environment condition than feedback parameter to STM32F407 by various sensors, STM32F407 after converting after processing be
Two axles are freely lifted, two axle differentials travel and the Synchronization Control pwm signal of the direct current brushless servo motor of single shaft power-assisted, PWM ripple
Signal completes head and the lifting of leg sick bed part, PWM ripple signal warp by DC brushless motor Z and R after drive amplification
Moving before drive amplification rear drive DC brushless motor X and DC brushless motor Y-direction, its movement velocity and displacement are by corresponding
Magnetism encoder M1 and M2 feeds back to STM32F407, STM32F407 adjust two-axis synchronization according to running state parameter secondary
Pwm control signal is to meet real work demand;Giving it the gun or under climbing state, robot electric sick bed is by various biographies
Sensor reads external environment condition than feedback parameter to STM32F407, STM32F407 be that three axle brush DCs are watched after converting after processing
Taking the Synchronization Control pwm signal of motor, PWM ripple signal is through drive amplification rear drive DC brushless motor X, DC brushless motor Y
Travelling forward with direct current brushless servo motor W, its movement velocity and displacement are fed back by corresponding magnetism encoder M1, M2 and M3
To STM32F407, STM32F407 adjust three axles according to running state parameter secondary and synchronize pwm control signal with satisfied reality
Work requirements.Robot electric bed is in running, and man machine interface on-line storage also exports current state so that processes and compares
Intuitively.
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 ARM(STM32F407) 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, STM32F407 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, and if battery feed is abnormal, interrupt requests will be sent to STM32F407, STM32F407 can be right
Interrupting doing very first time response, if the interrupt response of STM32F407 does not have enough time to process, the self-locking device on car body will
It is triggered, and then reaches the function of self-locking, prevent maloperation;If power supply is normal, electric bed robot will start normal work.
5) detecting that start key SS presses when STM32F407 controller, being touched if now only having head to rise button SHF
Sending out, robot electric sick bed will start to do the motion of sick bed head rising part, and STM32F407 is according to the requirement of servo controller
Button is needed every time distance S run be converted into the acceleration of motor Z, speed and reference by location command value, then in conjunction with
The speed of magnetoelectric transducer M4 corresponding for motor Z and Displacement Feedback generate the driving signal driving direct current brushless servo motor Z, drive
Dynamic signal amplifies rear drive direct current brushless servo motor Z positive movement through power bridge, and robot electric sick bed starts slowly to rise,
In motor process, once the hands of nursing staff is not triggering start key or is rising button SHF, direct current brushless servo motor
The SERVO CONTROL of Z just terminates, and completes this uphill process;When the head of patient needs to decline, as long as nursing staff presses simultaneously
Lower start key SS and head decline button SHB, and robot electric sick bed will start to do the motion of sick bed head sloping portion,
STM32F407 needs distance S run to be converted into the acceleration of motor Z, speed button according to the requirement of servo controller every time
Degree and reference by location command value, then speed and Displacement Feedback in conjunction with magnetoelectric transducer M4 corresponding for motor Z generate and drive
The driving signal of direct current brushless servo motor Z, drives signal to amplify rear drive direct current brushless servo motor Z through power bridge and reversely transports
Dynamic, robot electric sick bed starts slowly to decline, in motor process, once the hands of nursing staff not trigger start key or
Being to rise button SHB, the SERVO CONTROL of direct current brushless servo motor Z just terminates, and completes this decline process.STM32F407 watches
Take controller and record the displacement SHS of current location and horizontal level.
6) detect that start key SS presses when STM32F407 controller, if now only having leg to rise button SLF quilt
Triggering, robot electric sick bed will start to do the motion of sick bed leg rising part, STM32F407 wanting according to servo controller
Ask and button is needed distance S run be converted into the acceleration of motor R, speed and reference by location command value every time, tie the most again
Speed and the Displacement Feedback of closing magnetoelectric transducer M5 corresponding for motor R generate the driving signal driving direct current brushless servo motor R,
Driving signal to amplify rear drive direct current brushless servo motor R positive movement through power bridge, robot electric sick bed starts slowly to rise
Rising, in motor process, once the hands of nursing staff is not triggering start key or is rising button SLF, brush DC servo
The SERVO CONTROL of motor R just terminates, and completes this uphill process;When the leg of patient needs to decline, as long as nursing staff is same
Time press start key SS and head and decline button SLB, robot electric sick bed will start to do the motion of hospital bed leg portion sloping portion,
STM32F407 needs distance S run to be converted into the acceleration of motor R, speed button according to the requirement of servo controller every time
Degree and reference by location command value, then speed and Displacement Feedback in conjunction with magnetoelectric transducer M5 corresponding for motor R generate and drive
The driving signal of direct current brushless servo motor R, drives signal to amplify rear drive direct current brushless servo motor R through power bridge and reversely transports
Dynamic, robot electric sick bed starts slowly to decline, in motor process, once the hands of nursing staff not trigger start key or
Being to rise button SLB, the SERVO CONTROL of direct current brushless servo motor R just terminates, and completes this decline process.STM32F407 watches
Take controller and record the displacement SLS of current location and horizontal level.
7) detect that start key SS presses when STM32F407 controller, if now recovery button SFF is triggered, machine
The electric hospital bed speed according to STM32F407 servo controller of people and acceleration requirement, be converted into motor Z displacement SLS and SHS
With acceleration, speed and the reference by location command value of motor R, then in conjunction with the magnetoelectric transducer that motor Z is corresponding with motor R
The speed of M4, M5 and Displacement Feedback generate the driving signal driving direct current brushless servo motor Z and motor R, drive signal through merit
Rate bridge amplifies rear drive direct current brushless servo motor Z and motor R motion, and bed body is restored to naturalness.
8) detecting that start key SS presses when STM32F407 controller, STM32F407 controller is turned lateral for detection
Whether button SK is triggered.If lateral turning button SK is triggered, STM32F407 needs rotation according to robot motion's part
GyrationNeed, distance SX to be operated for direct current brushless servo motor X and Y is converted into acceleration, speed and position
Reference instruction value, then STM32F407 generates driving direct current in conjunction with the feedback of magnetoelectric transducer M1, M2 of motor X and motor Y
The driving signal of brushless servo motor X and motor Y, drive signal through power bridge amplify rear drive direct current brushless servo motor X and
Motor Y moves in a reverse direction, in the operational factor of motor process M1 and M2 Real-time Feedback motor to STM32F407,
STM32F407 is according to feedback parameter secondary fine setting motor X and the pwm control signal of motor Y so that rotary system is in the stipulated time
Inside complete side to turnTask, owing to being the rotating part 90-degree rotation of motor X and motor Y composition in the process, does not change
Become electric hospital bed direction, improve the robot electric sick bed practicality at small space.
9) detect that start key SS presses when STM32F407 controller, if now forwarding button SF is triggered, system
Turbo SA can be judged, if the system determine that turbo SA is triggered, robot electric sick bed needs are described
Accelerating or climbing, now controller can be optimized distribution to the power required for robot as required, is then turned on
Three spindle motor synchronous servo control models.According to acceleration and rate request, STM32F407 combines DC brushless motor X, motor
The feedback of magnetism encoder M1, M2 and M3 that Y and motor W is equipped with generates the PWM drive signal driving dynamic triaxial DC brushless motor,
Driving signal to amplify rear drive three spindle motor through driver to travel forward, magnetism encoder M1, M2 and M3 is real-time in the process
Feeding back its displacement signal to STM32F407, STM32F407 is converted into the actual motion of robot electric sick bed this displacement signal
Distance;In motor process, front anti-collision ultrasonic sensor S9 and S10 that robot carries is by work, and to STM32F407
The controller moment feeds back the distance of itself and preceding object thing.If anti-collision ultrasonic sensor S9 or S10 reads front
When having barrier, STM32F407 adjusts direct current brushless servo motor X, motor Y, the PWM of motor W through internal SERVO CONTROL program
Output, controls robot electric sick bed and stops in safety range, and controller also opens the timing of three seconds, if after three seconds
Controller still reads barrier and then notifies that man machine interface changes run trace;If three seconds obstruction signal message, then
Robot electric sick bed will continue to start according to current path and advance.During robot electric bed motion, magnetic-electric sensing
Device M1, M2 and M3 can detect direct current brushless servo motor X, motor Y and the movement velocity of motor W and displacement in the moment, and feed back to
STM32F407, is adjusted the PWM wave control signal of DC brushless motor X, motor Y and motor W for bis-times to meet by STM32F407
Actual demand.
10) detect that start key SS presses when STM32F407 controller, if now only having forwarding button SF to be triggered,
Turbo SA is not triggered, and robot electric sick bed will start to move according to normal speed forward: motor X and motor Y is opened
Dynamic, motor W is released;In motor process, front anti-collision ultrasonic sensor S9 and S10 that robot carries by work, and
The distance of itself and preceding object thing is fed back to the STM32F407 controller moment.If anti-collision ultrasonic sensor S9 or
S10 reads front when having barrier, and STM32F407 adjusts direct current brushless servo motor X and electricity through internal SERVO CONTROL program
The PWM output of machine Y, controls robot electric sick bed and stops in safety range, and controller also opens the timing of three seconds, as
Really after three seconds, controller still reads barrier and then notifies that man machine interface changes run trace;If three seconds obstruction signals
Message, then robot electric sick bed will continue to start advance according to current path.During robot electric bed motion, 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
STM32F407, is adjusted the PWM wave control signal of DC brushless motor X and motor Y for bis-times with satisfied actual need by STM32F407
Ask.
11) detect that start key SS presses when STM32F407 controller, if now back SB is also triggered, nothing
Whether opinion turbo SA is triggered, and robot electric sick bed all will start setback with the normal speed set,
STM32F407 adjusts the PWM output of direct current brushless servo motor X and motor Y through internal SERVO CONTROL program, controls robot
Electric hospital bed slowly retreat according to setting speed;During setback, magnetoelectric transducer M1, M2 can the moment detection direct current without
Brush servomotor X and the movement velocity of motor Y and displacement, and feed back to STM32F407, STM32F407 is according to magnetic-electric sensing
The speed of device M1 and M2 and Displacement Feedback secondary adjust the PWM output of direct current brushless servo motor X and motor Y, it is ensured that robot
Electric hospital bed operation in the range of safe speed, prevents excessive velocities robot electric sick bed from pushing over nurse personnel.
12) detect that start key SS presses when STM32F407 controller, if now turning button SK and forwarding button
SF is triggered, and no matter whether turbo SA is triggered, and robot electric sick bed is all by the normal speed starting side to set
Moving right, in motor process, the side anti-collision ultrasonic sensor S6 that robot carries is by work, and controls to STM32F407
The device moment processed feeds back the distance of itself and preceding object thing.If anti-collision ultrasonic sensor S6 reads right when having barrier,
STM32F407 adjusts the PWM output of direct current brushless servo motor X and motor Y through internal SERVO CONTROL program, controls robot
Electric hospital bed parking in safety range, controller also opens the timing of three seconds, if controller still reads after three seconds
Exist will send parking warning to man machine interface to barrier;If three seconds obstruction signal messages, then robot electric is sick
Bed will continue laterally to move to right according to current track.During robot electric sick bed laterally moves to right, magnetoelectric transducer M1, M2 meeting
Moment detects direct current brushless servo motor X and the movement velocity of motor Y and displacement, and feeds back to STM32F407, by
Bis-adjustment motor X of STM32F407 and the kinematic parameter of motor Y, it is ensured that system meets walking requirement.
13) detect that start key SS once presses when STM32F407 controller, if now turning button SK and advance
Button SB is triggered, and no matter whether turbo SA is triggered, and robot electric sick bed all will be opened with the normal speed set
Begin laterally to move to left.In motor process, the side anti-collision ultrasonic sensor S7 that robot carries by work, and to
The STM32F407 controller moment feeds back the distance of itself and preceding object thing.If anti-collision ultrasonic sensor S7 reads motion
When there is barrier in front, STM32F407 adjusts direct current brushless servo motor X and the PWM of motor Y through internal SERVO CONTROL program
Output, controls robot electric sick bed and stops in safety range, and controller also opens the timing of three seconds, if after three seconds
Controller still reads barrier and exists and will send parking warning to man machine interface;If three seconds obstruction signal messages,
Then robot electric sick bed will continue laterally to move to left according to current track.During robot electric sick bed laterally moves to left, 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
STM32F407, by bis-adjustment motor X of STM32F407 and the kinematic parameter of motor Y, it is ensured that system meets actual demand.
14) when robot electric sick bed needs to remove ward, Xian You hospital director opens walking web-privilege password Web, permissible
Nurse personnel are had to release room, it is possibility to have nurse personnel shift the position with area navigation mark onto robot electric sick bed
Putting, robot electric sick bed enters automatic navigation mode: photoelectric sensor S1, S2, S3, S4, S5 of its navigation are by work, ground
The photosignal that sign back is returned feeds back to STM32F407, determines that robot skew is led after STM32F407 judgement processes
The deviation of boat track, STM32F407 is converted into acceleration, speed and position to be run for motor X and motor Y this deviation signal
Moving instruction, STM32F407 produces driving direct current brushless servo motor X and motor Y in conjunction with the feedback of magnetism encoder M1 and M2
Driving signal, drive signal to move before amplifying rear drive DC brushless motor X and motor Y-direction, quickly adjust robot electric
Sick bed rapidly returns back to orbit centre of navigating.Robot electric sick bed is marked along track travel process, STM32F407 according to ground
The driving signal of the feedback fine setting motor X and motor Y of will and magnetism encoder M1 and M2, makes robot along the track set
Pass through doorway, ward.After the track laid disappears, robot electric sick bed is just parked in original place and waits artificial movable signal,
Prevent maloperation.
15) 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, STM32F407 blocks direct current brushless servo motor by driver
The PWM ripple signal of X, motor Y and motor W, even if electric hospital bed multiple universal wheel is all in can be with sliding mode, due to walking electricity
Machine X, motor Y and motor W are in locking state, and such robot electric sick bed also will not move, it is ensured that robot is promptly
Safety under situation.
16) 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.
17) this electric bed is equipped with multiple anti-barrier warning system, and robot barrier physical prospecting examining system can be at machine
People's sick bed automatically detects the existence of barrier and assists automatic stopping by controller before colliding barrier, and according to barrier
The character hindering thing determines restarting or stays in as you were always, this ensures that theres robot sick bed in motor process
Adaptation to surrounding, decreases the environment interference to it.
18) in robot electric sick bed walking process, direct current brushless servo motor is often disturbed by extraneous factor,
In order to reduce the pulsating torque impact on robot ambulation of motor, it is right that controller adds on the basis of considering motor characteristic
The on-line identification of motor torque, and utilize motor torque to compensate in time with the relation of electric current, weaken external environment to machine
The impact of device people motion.
Monokaryon three-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 ARM(STM32F407) controller
Moment all to the running status of robot electric sick bed with power source is monitored and computing, when Ac Dump,
Sick bed can be self-locking in fixed position by certainly carrying battery feed, until there being the switching signal of Mobile sickbed to input, it is ensured that
The naturalness of sick bed.
2: use for convenience, reduce the interference of outer bound pair sick bed, nurse personnel, Health care staff and administrators of the hospital
Being required to open authority, just can to start robot electric hospital bed, decreases the danger of maloperation.
3: 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.
4: 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.
5: add two wheel guide robot drive system based on direct current brushless servo motor owing to this is electric hospital bed so that sick bed
Can now move freely at room interior-excess, decrease patient's sense of depression in some fixed position.
6: add two wheel guide robot drive system based on direct current brushless servo motor owing to this is electric hospital bed so that separate unit
The power of motor is substantially reduced, and the contact point on power and ground has 2 points, is conducive to improving behaviour during electric hospital bed traveling
Control property.
7: add single shaft based on direct current brushless servo motor owing to this is electric hospital bed and accelerate force aid system so that two
The power of differential running motor can reduce further, and the contact point on power and ground has 3 points, in needs acceleration or
Power requirement can be met by opening assist motor during climbing, can discharge when normal traveling and add speed motor, play one
The left and right of contact, handling when being conducive to improving electric hospital bed traveling.
8: owing to adding two wheel guide robot drive system based on direct current brushless servo motor, in very narrow space
Sickbed machine device people's shifted laterally can be made, reduce robot and rotate the negative issue brought.
9: when robot electric sick bed runs into climbing, due to the self-contained dynamic energy, it is possible to pass through
Assist motor well plays power-assisted effect, and the dynamic trait of three-wheel drive is superior to far away Two-wheeled, subtracts further
Lack the requirement to nurse personnel muscle power.
10: processed two axle differentials travelings, single shaft power-assisted and two axles by STM32F407 and lift the full-digital servo of five spindle motors
Control, substantially increase arithmetic speed, solve single single-chip microcomputer and run slower bottleneck, shorten the construction cycle short, and journey
Sequence transplantation ability is strong.
11: 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.
12: owing to this controller uses STM32F407 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.
13: 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 two wheel guide robot running motor, even if multiple universal wheel all in
Can be with sliding mode, but owing to driving wheel is in locking state, such robot also will not move.
14: in order to enable robot sick bed 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.
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: 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.
19: 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.
20: 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.
21: 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 (4)
1. a monokaryon three-wheel drive multifunctional motor-driven sick bed, it is characterised in that including: sick bed control unit, bedstead external member, bed
Plate body,
Described bed board body is made up of multiple rectangles of the same size or foursquare sheet material with holes, and sheet material and plate
Being connected by soft stator between material, the bottom of described sheet material with holes is provided with circular ring type connecting hole, described circular ring type
Being provided with many connecting shafts in connecting hole, the top of described bed board body is provided with mattress,
Described bedstead external member includes right baffle-plate, right baffle plate, bedstead, collapsible breast board, and the both sides of described bedstead are provided with a left side
Baffle plate and right baffle plate, the other both sides of described bedstead are provided with collapsible breast board, and the bottom of described bedstead is provided with sick bed
Control unit, described bedstead is provided with track, and described bedstead connects draw ring or suspension ring, described draw ring or suspension ring
Being connected with described bedstead by slide bar, the bottom of described slide bar is provided with concave groove.
Monokaryon three-wheel drive multifunctional motor-driven sick bed the most according to claim 1, it is characterised in that the end of described bedstead
Portion is provided with runner.
Monokaryon three-wheel drive multifunctional motor-driven sick bed the most according to claim 1, it is characterised in that on described bed board
Sheet material all has ABS material to make.
Monokaryon three-wheel drive multifunctional motor-driven sick bed the most according to claim 1, it is characterised in that described sick bed controls
Unit include ARM, single wheel drive, image collecting device, five axle direct current brushless servo motors, magnetoelectric transducer, man machine interface and
Power supply, described single wheel drive is connected with five axle direct current brushless servo motors and magnetoelectric transducer, and described ARM adopts with image
Acquisition means, man machine interface and power supply are connected.
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CN2457990Y (en) * | 2001-01-20 | 2001-11-07 | 刘翠华 | Movable lath type bed board for preventing and treating bed sore |
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