CN106176093A - A kind of wireless monokaryon single-wheel two shaft multifunctional is electric hospital bed - Google Patents

A kind of wireless monokaryon single-wheel two shaft multifunctional is electric hospital bed Download PDF

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Publication number
CN106176093A
CN106176093A CN201610600753.5A CN201610600753A CN106176093A CN 106176093 A CN106176093 A CN 106176093A CN 201610600753 A CN201610600753 A CN 201610600753A CN 106176093 A CN106176093 A CN 106176093A
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CN
China
Prior art keywords
bed
hospital bed
wireless
electric hospital
electric
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CN201610600753.5A
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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 CN201610600753.5A priority Critical patent/CN106176093A/en
Publication of CN106176093A publication Critical patent/CN106176093A/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 wireless monokaryon single-wheel two shaft multifunctional electric hospital bed, including: sick bed control unit, bedstead, cabinet base, roller, bed body unit, described bed body unit includes mobile bed plate, mattress, track, cutting, draw-in groove, cylinder, supporting plate, bracket, rotating shaft.By the way, a kind of wireless monokaryon single-wheel two shaft multifunctional of the present invention is electric hospital bed, is possible not only to automatically, the part to sick bed of level is carried, but also can control motion automatically, improve the stationarity of sick bed, safety and multifunctionality, user-friendly.

Description

A kind of wireless monokaryon single-wheel two shaft multifunctional is electric hospital bed
Technical field
The present invention relates to technical field of mechanical equipment, particularly relate to a kind of wireless monokaryon single-wheel two shaft multifunctional electric hospital 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 by medical personnel's Mobile sickbed to certain Space, but owing to sick bed moves randomness relatively greatly, sometimes there will be maloperation, the most sometimes can hurt patient;
(3) along with the increase of modern humans's quality of life, adiposis patient rolls up, and Health care staff is the thinnest Little, make Health care staff very painstaking by mechanically gimbaled removing patient of taking turns, increase 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, and present nurse personnel compare again Few, 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 outside Personnel complete, and have 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 artificial behaviour The automaticity ratio made 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, have adjusted While patient's body and mind, also increase the amount of labour of nurse personnel, especially by climbing local time, the body to nurse personnel Power is had higher requirement;
(8) sick bed easy for part once adds electric boosted part and can be easily away from ward, the most electric hospital bed Even if leave the electric hospital bed body in ward go wrong and patient cause danger, medical personnel again cannot obtain its any letter Breath;
(9) increasing the weight of due to aging, nurse is the shortest, for the patient of part SC oneself in short-term, even if Cause danger in ward and also cannot link up in time with medical personnel and nurse, sometimes can cause certain injury;
(10) in order to protect and electric hospital bed be not misused, robot sick bed has been switched on multiple protection authority, and this makes Medical personnel need on-the-spot these authorities of opening to start, and increase the workload of medical personnel, and the most time-consuming;
(11) in simple electric sick bed moving process for sick bed parameter monitoring great majority also in field monitoring scene store Control model, the most electric hospital bed breaking down needs producers check to scene and manipulate, is unfavorable for robot electric The supermatic development of sick bed.
Summary of the invention
It is electric hospital bed that the technical problem that present invention mainly solves is to provide a kind of wireless monokaryon single-wheel two shaft multifunctional, has The advantages such as unfailing performance height, registration, compact conformation, simultaneously plant equipment application and universal on have market widely Prospect.
For solving above-mentioned technical problem, the technical scheme that the present invention uses is:
There is provided a kind of wireless monokaryon single-wheel two shaft multifunctional electric hospital bed, comprising: sick bed control unit, bedstead, cabinet base, rolling Wheel, bed body unit,
Described bed body unit includes mobile bed plate, mattress, track, cutting, draw-in groove, cylinder, supporting plate, bracket, rotating shaft,
Described mobile bed plate includes that upper bed board and lower bed board, described upper bed board are connected with described lower bed board by described rotating shaft, Described supporting plate includes that upper plate body and lower body, described upper plate body are connected with described lower body by described rotating shaft, described mattress Mobilizable end face being arranged at described mobile bed plate, the bottom surface of described mobile bed plate is provided with described draw-in groove, described track Being arranged at the end face of described supporting plate, the bottom of described cutting is arranged on described track, the top of described cutting and described draw-in groove Being connected, described bracket is arranged at the bottom surface of described supporting plate, the side of described cutting, the bottom surface of described upper plate body, described lower plate It is respectively connected with described cylinder on the bottom surface of body and the bottom surface of described bracket,
Described cabinet base is arranged at the bottom surface of described bedstead, and described cabinet base is connected with described roller, and described bed body unit is arranged at The top of described bedstead, described sick bed control unit connects with described roller, described cylinders respectively.
In a preferred embodiment of the present invention, described cutting moves forward and backward on the track.
In a preferred embodiment of the present invention, described cutting is movable connection with described draw-in groove.
In a preferred embodiment of the present invention, described sick bed control unit include dsp controller, monitoring sensor, two Axle direct current brushless servo motor, human and machine interface unit, accumulator, control device of wireless, driver, described dsp controller is respectively It is connected with described monitoring sensor, described human and machine interface unit, described accumulator, described control device of wireless, described driver Connecing, described two axle direct current brushless servo motors are connected with described dsp controller and described driver respectively.
The invention has the beneficial effects as follows: be possible not only to automatically, the part to sick bed of level is carried, but also permissible Control motion automatically, improve the stationarity of sick bed, safety and multifunctionality, user-friendly.
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 structural representation of a kind of wireless electric hospital bed preferred embodiment of monokaryon single-wheel two shaft multifunctional of the present invention;
Fig. 2 is the present invention medical hospital bed schematic diagram of single wheel drive based on controlled in wireless DSP;
Fig. 3 is controlled in wireless monokaryon single wheel drive robot electric sick bed flow chart of the present invention;
Fig. 4 is controlled in wireless monokaryon single wheel drive robot electric bed motion theory diagram;
Fig. 5 is that monokaryon single wheel drive robot electric sick bed is by doorway, ward self-navigation schematic diagram.
Detailed description of the invention
Technical scheme in the embodiment of the present invention will be clearly and completely described below, it is clear that described enforcement Example is only a part of embodiment of the present invention rather than whole embodiments.Based on the embodiment in the present invention, this area is common All other embodiments that technical staff is obtained under not making creative work premise, broadly fall into the model of present invention protection Enclose.
Referring to Fig. 1-5, the embodiment of the present invention includes:
A kind of wireless monokaryon single-wheel two shaft multifunctional is electric hospital bed, moving patient when, and can be directly by sick bed Mattress and mobile bed plate translate, and patient will not be caused secondary injury, improve safety, comprising: sick bed controls single Unit 1, bedstead 2, cabinet base 3, roller 4, bed body unit.
Described bed body unit includes mobile bed plate 5, mattress 6, track 7, cutting 8, draw-in groove 9, cylinder 10, supporting plate 11, bracket 12, rotating shaft.
Described mobile bed plate includes that upper bed board and lower bed board, described upper bed board are connected with described lower bed board by described rotating shaft Connecing, described supporting plate includes that upper plate body and lower body, described upper plate body are connected with described lower body by described rotating shaft, described bed Pad mobilizable end face being arranged at described mobile bed plate, the bottom surface of described mobile bed plate is provided with described draw-in groove, described rail Road is arranged at the end face of described supporting plate, and the bottom of described cutting is arranged on described track, the top of described cutting and described card Groove is connected, and described bracket is arranged at the bottom surface of described supporting plate, the side of described cutting, the bottom surface of described upper plate body, described under It is respectively connected with described cylinder on the bottom surface of plate body and the bottom surface of described bracket.
Described cabinet base is arranged at the bottom surface of described bedstead, and described cabinet base is connected with described roller, and described bed body unit sets Being placed in the top of described bedstead, described sick bed control unit connects with described roller, described cylinders respectively.
Described cutting moves forward and backward on the track.
Described cutting is movable connection with described draw-in groove.
Described sick bed control unit includes dsp controller, monitoring sensor, two axle direct current brushless servo motors, man-machine boundary Face unit, accumulator, control device of wireless, driver, described dsp controller respectively with described monitoring sensor, described man-machine Boundary element, described accumulator, described control device of wireless, described driver are connected, described two axle brush DC servo electricity Machine is connected with described dsp controller and described driver respectively.
DSP(TMS320F2812) controller, under power-on state, man machine interface first works, if really needing to move Dynamic electric hospital bed, nurse personnel, Health care staff can be on-the-spot or by being wirelessly input to respective web-privilege password Web, electric hospital bed Being only possible to move in room, the most electric hospital bed original place that just stays in waits authority open command;If electric hospital bed needs push away Going out ward, now hospital director can open oneself web-privilege password Web by WLAN, the most electric hospital bed once moves Moving position, doorway to be detected by doorway monitoring sensor, the sensor on detecting system meeting trigger controller, DSP is locked currently Electric hospital bed and send wrong operation alarm, and open image capturing system total to nursing by wireless network local network transport Stand so that medical personnel understand electric hospital bed field conditions.Under ordinary running condition, electric hospital bed by various sensors Read external environment condition than feedback parameter to DSP, DSP be the Synchronization Control of two axle direct current brushless servo motors after converting after processing Pwm signal, PWM ripple signal moves before drive amplification rear drive DC brushless motor X and DC brushless motor Y-direction, its motion Speed and displacement are fed back to DSP by corresponding magnetism encoder M1 and M2, DSP adjust for bis-times and synchronize pwm control signal completely Full border work requirements.Electric bed in running, the various electric hospital bed parameter of man machine interface on-line storage, when needed may be used To export current state to nursing master station by WLAN so that process fairly simple.
Sick bed control unit system is divided into two parts: human-computer interface system and kinetic control system.Wherein man machine interface System completes the functions such as man machine interface, path planning, online output;Kinetic control system completes two electric hospital bed axle servo controls The functions such as system, data storage, I/O control, system gives full play to DSP(TMS320F2812) advantage that signal handling capacity is stronger, Process various sensor signals the most in real time, and realize between electric hospital bed and nursing master station by Wireless LAN device Data communication.
Its concrete functional realiey is as follows:
1) electric hospital bed do not receive any instruction before, it typically can and common medical hospital bed as broad as long, be fixed on certain One region, the accumulator in system is charged by alternating current power supply, it is ensured that electric hospital bed have the enough energy to complete task.
2) once nursing master station need removing patient, by WLAN nursing master station first with electric hospital bed communication, Receive during master station sends and have no progeny, automatically disconnect line and alternating current power supply based on the electric hospital bed main controller of TMS320F2812 Connect, prevent electric hospital bed mobile infringement charging connection wire, electric hospital bed transfer storage battery power supply state to.
3) in order to prevent maloperation, the present invention use three grades start authorities, when determine need mobile electric sick bed time, if The simply internal mobile electric sick bed in ward, then need nurse personnel and nurse successively by man machine interface or wireless local Net device input web-privilege password Web opens walking mode within doors;Electric hospital bed walk out ward if needing to promote, then need nurse Personnel, nurse and hospital director successively open room layman by man machine interface or control device of wireless input web-privilege password Web Walking modes.
4) when, after electric hospital bed unlatching walking mode, once start key SS presses, first system completes to initialize and detect Supply voltage, if battery feed is abnormal, will send interrupt requests to TMS320F2812, and TMS320F2812 can be to interruption Doing very first time response, if the interrupt response of TMS320F2812 does not have enough time to process, the self-locking device on car body will be touched Sending out, and then reach the function of self-locking, prevent maloperation, then TMS320F2812 sends event by wireless device to nursing master station Barrier interrupt requests, is overhauled electric hospital bed further by master station;If power supply is normal, electric bed robot will start normal work.
5) detecting that start key SS presses when TMS320F2812 controller, TMS320F2812 controller turns lateral for detection Whether curved button SK is triggered.If lateral turning button SK is triggered, TMS320F2812 is according to robot motion's part needs The anglec of rotationNeed, distance SX to be operated for direct current brushless servo motor Y is converted into acceleration, speed and position Reference instruction value, then the feedback in conjunction with magnetoelectric transducer M2 corresponding for motor Y generates and drives direct current brushless servo motor Y's Drive signal, drive signal to amplify rear drive direct current brushless servo motor Y motion through power bridge, owing to DC brushless motor Y exists Rotary course drive direct current brushless servo motor X to move by gear structure.When direct current brushless servo motor Y completes to watch specifically Clothes motion, direct current brushless servo motor X is complete side and turnsTask, due in the process be motor Y drive motor X 90-degree rotation, and for changing electric hospital bed direction, improve the electric hospital bed practicality at small space.
6) detect that start key SS presses when TMS320F2812 controller, if now only having forwarding button SF to be triggered, Electric hospital bed travelling forward starting, in motor process, front anti-collision ultrasonic sensor S9 and S10 that robot carries will Work, and the distance of itself and preceding object thing is fed back to the TMS320F2812 controller moment.If anti-collision ultrasonic sensor S9 Or S10 reads front when having barrier, TMS320F2812 adjusts brush DC servo electricity through internal SERVO CONTROL program The PWM output of machine X, controls electric hospital bed parking in safety range, and controller also opens the timing of three seconds, if three seconds Rear controller still reads barrier and then notifies that man machine interface changes run trace;If three seconds obstruction signal messages, The most electric hospital bed will according to current path continue start advance.In electric hospital bed motor process, during magnetoelectric transducer M1, M2 meeting Carve detection direct current brushless servo motor X and the movement velocity of motor Y and displacement, and feed back to TMS320F2812.
7) detect that start key SS presses when TMS320F2812 controller, if now only having back SB also to be touched Sending out, electric hospital bed will start setback, TMS320F2812 is through internal SERVO CONTROL program adjustment direct current brushless servo motor X Export with the PWM of Y, control electric hospital bed slowly to retreat according to setting speed;During setback, magnetoelectric transducer M1, M2 can detect direct current brushless servo motor X and the movement velocity of motor Y and displacement in the moment, and feeds back to TMS320F2812, TMS320F2812 adjusts direct current brushless servo motor X and electricity according to speed and the Displacement Feedback secondary of magnetoelectric transducer M1 and M2 The PWM output of machine Y, it is ensured that electric hospital bed run in the range of safe speed, prevents that excessive velocities is electric hospital bed pushes over nurse people Member.
8) detect that start key SS presses when TMS320F2812 controller, if now turning button SK and forwarding button SF is triggered, and electric hospital bed is moved right starting side, in motor process, and the side anti-collision ultrasonic sensor that robot carries S6 is by work, and feeds back the distance of itself and preceding object thing to the TMS320F2812 controller moment.If crashproof supersonic sensing Device S6 reads right when having barrier, and TMS320F2812 adjusts direct current brushless servo motor X's through internal SERVO CONTROL program PWM exports, and controls electric hospital bed parking in safety range, and controller also opens the timing of three seconds, if controlled after three seconds Device processed still reads barrier and exists and will send parking warning to man machine interface;If three seconds obstruction signal message, then Electric hospital bed will continue laterally to move to right according to current track.Electric hospital bed laterally move to right during, 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 TMS320F2812, by Bis-adjustment motor X of TMS320F2812 and the kinematic parameter of motor Y.
9) detect that start key SS once presses when TMS320F2812 controller, if now turning button SK and advance Button SB is triggered, electric hospital bed by starting side to moving to left, in motor process, robot carries, and the crashproof ultrasound wave in side passes Sensor S7 is by work, and feeds back the distance of itself and preceding object thing to the TMS320F2812 controller moment.If crashproof ultrasound wave Sensor S7 reads left when having barrier, and TMS320F2812 adjusts brush DC servo electricity through internal SERVO CONTROL program The PWM output of machine X, controls electric hospital bed parking in safety range, and controller also opens the timing of three seconds, if three seconds Rear controller still reads barrier and exists and will send parking warning to man machine interface;If obstruction signal disappeared in three seconds Breath, the most electric hospital bed will continue laterally to move to left according to current track.Electric hospital bed laterally move to left during, magnetoelectric transducer M1, M2 can detect direct current brushless servo motor X and the movement velocity of motor Y and displacement in the moment, and feed back to TMS320F2812, By bis-adjustment motor X of TMS320F2812 and the kinematic parameter of motor Y.
10) when electric hospital bed need remove ward time, existing hospital director by wireless device open walking authority close Code, then nurse personnel shift the position with surface mark, electric hospital bed entrance automatic navigation mode: it is led onto electric hospital bed Photoelectric sensor S1, S2, S3, S4, S5 of boat are by work, and the photosignal that surface mark reflects feeds back to TMS320F2812, determines the deviation of robot skew navigation track, TMS320F2812 handle after TMS320F2812 judgement processes This deviation signal is converted into acceleration, speed and displacement commands to be run for motor X and motor Y, and TMS320F2812 is in conjunction with magnetic The feedback of photoelectric coder M1 and M2 produces the driving signal driving direct current brushless servo motor X and motor Y, after driving signal to amplify Moving before driving DC brushless motor X and motor Y-direction, quickly adjustment is electric hospital bed rapidly returns back to orbit centre of navigating.Electronic disease Bed along track travel process, TMS320F2812 according to the feedback of surface mark and magnetism encoder M1 and M2 finely tune motor X and The driving signal of motor Y, makes robot pass through doorway, ward along the track set.After the track laid disappears, The electric hospital bed original place that is just parked in waits artificial driving signal, prevents maloperation.
11) the most electric hospital bed be pushed out ward after, wireless communication mode will be opened based on TMS320F2812, when electronic Sick bed starts mobile, magnetoelectric transducer M1 and M2 meeting Real-time Feedback DC brushless motor X and the speed of motor Y and moving displacement, The parameter of motor X and motor Y is by radioing to master station, and once motor speed has surmounted setting value, and total standing-meeting is by wireless Device sends hypervelocity alarm to electric hospital bed;Once robot sick bed or patient, burning issue, nurse's personnel's meeting occur Triggering electric hospital bed alarm key, while button is pressed, image acquisition image based on CCD can be opened, and then passes through nothing Line transmits to master station's transmission fault information.
12) when patient start in short-term oneself nursing emergency occurs time, patient oneself trigger electric hospital bed warning press Key, while button is pressed, image acquisition image based on CCD can be opened, and is then sent out to master station by radio transmitting device Going out interrupt requests transmission fault information, master station nursing staff can first time handling failure information.
13) this most electric hospital bed motor process in order to prevent nurse maloperation and run into emergency stop, add Automatic car locking function of stopping in emergency.In case of emergency, after emergency button ESW1 is pressed, controller once detects tightly Anxious interrupt requests can send original place cutoff command, and TMS320F2812 passes through driver locked movable motor X, though electric hospital bed Multiple universal wheel W are all in can be with sliding mode, owing to movable motor X is in locking state, the most electric hospital bed also will not transport Dynamic, controller sends failed request by wireless device to master station simultaneously, and master station nursing staff can process emergency for the first time.
14) present invention adds dust humidity detection system on electric hospital bed.This dust humidity detection system is by moisture sensor, survey Amount 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 patient-sized is the most out of control, dust humidity detection system can work, and controller will send alarm signal, and nurse personnel pass through man-machine boundary Face output can find failure cause, then changes bedding.
15) this electric bed is equipped with multiple anti-barrier warning system, and bed carries obstacle spy side system can collide barrier Automatically detect existence the automatic stopping of barrier before hindering thing, and determine restarting or one according to the character of barrier Wait until as you were, this ensures that there the adaptation to surrounding in motor process, decrease the environment interference to it.
16) in electric hospital bed walking process, motor often receives extraneous factor interference, in order to reduce the pulsation of motor The torque impact on robot ambulation, controller adds distinguishing online motor torque on the basis of considering motor characteristic Know, and utilize motor torque to compensate with the relation of electric current, weaken the external environment impact on robot motion.
A kind of wireless monokaryon single-wheel two shaft multifunctional of the present invention is electric hospital bed to be provided the benefit that:
1, during controlling, battery effect in this system has been taken into full account, based on DSP(TMS320F2812) control Electric hospital bed running status and power source are all being monitored and computing by the device moment, when Ac Dump, and sick bed Automatically fixed position can be automatically locked in, until there being moving switch signal to input, it is ensured that sick bed by carrying battery feed Naturalness;
2: patient takes care of oneself for convenience, reduces the dependence of condition to external world, and native system adds human-machine interface function, if patient Just can be automatically controlled sick bed robot by computer contact screen, thus can need not nursing and oneself solve part simply Daily life;
3: add dynamic booster based on accumulator owing to this is electric hospital bed, even if encountering patient body obesity or protecting During reason personnel's asthenic body, sick bed this can be nurse personnel under conditions of power supply abundance and Health care staff moves in room Dynamic sick bed provides power, decreases nurse or the physical demands of nurse personnel Mobile sickbed in room and labor intensity;
4: add single wheel drive system based on direct current brushless servo motor owing to this is electric hospital bed so that sick bed can be in room Sub-interior-excess now moves freely, and decreases patient's sense of depression in some fixed position;
5: add single wheel drive system based on direct current brushless servo motor owing to this is electric hospital bed so that electric hospital bed permissible In room, original place rotates freely according to any direction, decreases the space that Mobile sickbed needs, is particularly suitable for space Narrow and small ward;
6: owing to adding single wheel drive system based on direct current brushless servo motor, disease can be made in very narrow space The shifted laterally of bed robot, reduces robot and rotates the negative issue brought;
7: in order to enable sick bed robot to move freely out doorway, ward, controller adds multiple navigation sensor, machine Device people removal ward during once read surface mark will self-navigation, reduce the error that artificial Mobile sickbed brings;
8: when electric hospital bed run into climbing time, due to the self-contained dynamic energy, it is possible to well play power-assisted Effect, decreases the requirement to nurse personnel muscle power;
9: the full Digitized Servo Control being processed multi-axle motor by TMS320F2812, substantially increase arithmetic speed, solve only Sheet machine runs slower bottleneck, shortens the construction cycle short, and program transportability ability is strong;
10: invention fully achieves veneer control, not only save panel and take up room, but also fully achieve multiaxis The synchronization of motor control signal, is conducive to improving stability and the dynamic property of Medical electric sick bed;
11: owing to this controller uses TMS320F2812 to process substantial amounts of data and algorithm, and taken into full account interference around Source, effectively prevent " race flies " of program, and capacity of resisting disturbance is greatly enhanced;
12: basis is the most electric hospital bed adds automatic car locking function, when sick bed robot is in moving process, in case of emergency, Controller can send original place cutoff command, and locked main motion motor, though multiple universal wheel all in can with sliding mode, but Owing to driving wheel is in locking state, such robot also will not move;
13: the present invention adds multiple unlatching authority in electric sick bed system, it is therefore prevented that the maloperation of sick bed;
14: basis is the most electric hospital bed adds dust humidity detection system.This dust humidity detection system is by moisture sensor, measuring circuit and display A few part such as recording equipment forms, and is respectively completed acquisition of information, changes, shows and the function such as process, so when patient-sized just Out of control or time sheet is moist, dust humidity detection system can work, send replacement request;
15: the multiple warning system of this electric bed robotic equipment, before colliding barrier automatic stopping, thus ensure Safety in motor process, decreases the environment interference to it;
16: owing to this electric sick bed system uses direct current brushless servo motor to instead of direct current generator, not only further increase The safety of system, it is also possible to improve the utilization rate of the energy, add electric hospital bed carry the energy certain under conditions of once The distance of movement;
17: owing to this electric sick bed system uses direct current brushless servo motor, when motor is produced pulsating torque by external interference Time, direct current brushless servo motor can utilize moment to compensate rapidly with the relation of electric current, greatly reduce external interference pair Electric hospital bed impact;
18: due to electric hospital bed, there is wireless receiving and emission function so that medical personnel can open the most at a distance The authority that robot sick bed starts, decreases the workload of medical personnel;
19: having wireless receiving and emission function due to electric hospital bed, the patient once oneself nursing oneself in short-term runs into promptly Situation can be linked up with medical personnel at any time, it is ensured that the safety of patient;
20: due to electric hospital bed, there is wireless receiving and emission function, and be equipped with image capturing system based on CCD so that Medical personnel can monitor the electric hospital bed timely situation leaving specialized hospital at any time, and once running into emergency can locate immediately Reason, it is ensured that the electric hospital bed and safety of patient;
21: electric hospital bed more safe and reliable.The monitoring of wireless electric sick bed and control system are by nursing master station system center Relevant parameter is set, it is possible to prevent the people being not authorized to operate, so, it is ensured that the safety of monitoring Reliably;
22: realize the electric hospital bed and real-time communication of nursing master station by the monitoring of wireless electric sick bed and control system, can be That unites detects guilty culprit, overhauls in time;
23: the monitoring of wireless electric sick bed and control system are got up more flexible in monitoring.Monitored in real time by wireless transmission method Electric hospital bed in region, makes the safety of the of short duration nursing of patient oneself oneself be greatly increased, thus economizes on resources, the most electronic The effective monitoring of sick bed body parameter protects electric hospital bed all parts, adds service life;
24: it is more convenient that the management of wireless electric sick bed is got up.The monitoring of wireless electric sick bed and control system every day can be according to realities Border needs automatically turn in nursing master station and disconnect the operating right of hospital director, it is also possible to carry out subregion pipe to electric hospital bed Reason.
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 neck Territory, is the most in like manner included in the scope of patent protection of the present invention.

Claims (4)

1. wireless monokaryon single-wheel two shaft multifunctional is electric hospital bed, it is characterised in that including: sick bed control unit, bedstead, bed Foot, roller, bed body unit,
Described bed body unit includes mobile bed plate, mattress, track, cutting, draw-in groove, cylinder, supporting plate, bracket, rotating shaft,
Described mobile bed plate includes that upper bed board and lower bed board, described upper bed board are connected with described lower bed board by described rotating shaft, Described supporting plate includes that upper plate body and lower body, described upper plate body are connected with described lower body by described rotating shaft, described mattress Mobilizable end face being arranged at described mobile bed plate, the bottom surface of described mobile bed plate is provided with described draw-in groove, described track Being arranged at the end face of described supporting plate, the bottom of described cutting is arranged on described track, the top of described cutting and described draw-in groove Being connected, described bracket is arranged at the bottom surface of described supporting plate, the side of described cutting, the bottom surface of described upper plate body, described lower plate It is respectively connected with described cylinder on the bottom surface of body and the bottom surface of described bracket,
Described cabinet base is arranged at the bottom surface of described bedstead, and described cabinet base is connected with described roller, and described bed body unit is arranged at The top of described bedstead, described sick bed control unit connects with described roller, described cylinders respectively.
One the most according to claim 1 is wireless, and monokaryon single-wheel two shaft multifunctional is electric hospital bed, it is characterised in that described slotting Bar moves forward and backward on the track.
One the most according to claim 1 is wireless, and monokaryon single-wheel two shaft multifunctional is electric hospital bed, it is characterised in that described slotting Bar is movable connection with described draw-in groove.
One the most according to claim 1 is wireless, and monokaryon single-wheel two shaft multifunctional is electric hospital bed, it is characterised in that described disease Bed control unit include dsp controller, monitoring sensor, two axle direct current brushless servo motors, human and machine interface unit, accumulator, Control device of wireless, driver, described dsp controller respectively with described monitoring sensor, described human and machine interface unit, described storage Battery, described control device of wireless, described driver are connected, described two axle direct current brushless servo motors respectively with described DSP Controller is connected with described driver.
CN201610600753.5A 2016-07-28 2016-07-28 A kind of wireless monokaryon single-wheel two shaft multifunctional is electric hospital bed Pending CN106176093A (en)

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CN107174426A (en) * 2017-06-28 2017-09-19 太仓迪米克斯节能服务有限公司 It is a kind of to be easy to nursing and mobile intelligent sick bed
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Application publication date: 20161207