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 PDF

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Publication number
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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China
Prior art keywords
sick bed
motor
bed
bedstead
wheel drive
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Pending
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CN201610600797.8A
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Chinese (zh)
Inventor
张好明
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Jiangsu Ruobo Robot Technology Co Ltd
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Jiangsu Ruobo Robot Technology Co Ltd
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Priority to CN201610600797.8A priority Critical patent/CN106137621A/en
Publication of CN106137621A publication Critical patent/CN106137621A/en
Pending legal-status Critical Current

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    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61GTRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G7/00Beds specially adapted for nursing; Devices for lifting patients or disabled persons
    • A61G7/002Beds specially adapted for nursing; Devices for lifting patients or disabled persons having adjustable mattress frame
    • A61G7/015Beds 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
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61GTRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G7/00Beds specially adapted for nursing; Devices for lifting patients or disabled persons
    • A61G7/002Beds specially adapted for nursing; Devices for lifting patients or disabled persons having adjustable mattress frame
    • A61G7/018Control or drive mechanisms
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61GTRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G7/00Beds specially adapted for nursing; Devices for lifting patients or disabled persons
    • A61G7/05Parts, details or accessories of beds
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1602Programme controls characterised by the control system, structure, architecture
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1656Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1669Programme controls characterised by programming, planning systems for manipulators characterised by special application, e.g. multi-arm co-operation, assembly, grasping
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00Programme-control systems
    • G05B19/02Programme-control systems electric
    • G05B19/04Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • G05B19/0421Multiprocessor system
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61GTRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2203/00General characteristics of devices
    • A61G2203/10General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
    • A61G2203/16Touchpads
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61GTRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2203/00General characteristics of devices
    • A61G2203/10General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
    • A61G2203/22General 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
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61GTRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2203/00General characteristics of devices
    • A61G2203/30General characteristics of devices characterised by sensor means
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61GTRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2203/00General characteristics of devices
    • A61G2203/30General characteristics of devices characterised by sensor means
    • A61G2203/36General characteristics of devices characterised by sensor means for motion
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61GTRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2203/00General characteristics of devices
    • A61G2203/70General 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

A kind of monokaryon three-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 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.
CN201610600797.8A 2016-07-28 2016-07-28 A kind of monokaryon three-wheel drive multifunctional motor-driven sick bed Pending CN106137621A (en)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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US20070174964A1 (en) * 2005-12-19 2007-08-02 Stryker Corporation Hospital bed
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CN103976830A (en) * 2014-05-27 2014-08-13 王永滨 Sickbed capable of automatically detecting and transferring patients
CN105005318A (en) * 2015-08-24 2015-10-28 铜陵学院 Fully automatic four-wheel low speed fire extinguishing robot servo controller
CN105005249A (en) * 2015-08-24 2015-10-28 铜陵学院 Fully automatic four-wheel two-core high speed fire extinguishing robot servo controller

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2457990Y (en) * 2001-01-20 2001-11-07 刘翠华 Movable lath type bed board for preventing and treating bed sore
US20070174964A1 (en) * 2005-12-19 2007-08-02 Stryker Corporation Hospital bed
CN201618043U (en) * 2010-03-25 2010-11-03 于鸿 Novel folding-type temporary hospital bed
CN202113257U (en) * 2011-03-22 2012-01-18 车春霞 Multifunctional sickbed
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