CN106880449B - A kind of robot nursing bed synchronization system and method - Google Patents
A kind of robot nursing bed synchronization system and method Download PDFInfo
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- CN106880449B CN106880449B CN201510957280.XA CN201510957280A CN106880449B CN 106880449 B CN106880449 B CN 106880449B CN 201510957280 A CN201510957280 A CN 201510957280A CN 106880449 B CN106880449 B CN 106880449B
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- electric pushrod
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/002—Beds specially adapted for nursing; Devices for lifting patients or disabled persons having adjustable mattress frame
- A61G7/018—Control or drive mechanisms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
- A61G7/16—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto converting a lying surface into a chair
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Nursing (AREA)
- Invalid Beds And Related Equipment (AREA)
Abstract
The present invention provides a kind of robot nursing bed synchronization system and method, and robot nursing bed includes wheelchair part and bed portions point, and wheelchair part includes: wheel-chair control device, for controlling wheelchair part and bed portions are divided and synchronized；First sensing device, the variation of the posture for incuding wheelchair part；First push rod device, for controlling the attitudes vibration of wheelchair part；First driving device, for being moved according to the first push rod device of order-driven of wheel-chair control device；First communication device, for carrying out data synchronous communication with bed portions point；Bed portions point include: a control device, are synchronized for controlling bed portions point with wheelchair part；Second sensing device, the variation of the posture for incuding bed portions point；Second push rod device, for controlling the attitudes vibration of bed portions point；Second driving device, for being moved according to the second push rod device of order-driven of bed control device；Secondary communication device, for carrying out data synchronous communication with wheelchair part.
Description
Technical field
The present invention relates to nursing fields, more particularly to a kind of robot nursing bed synchronization system and method.
Background technique
It is multifunction nursing bed to have good development prospect in future with the aggravation of Chinese population astogeny.Market
At present there are many kinds of common electric care bed product, the elemental motion of bed is also achieved, but since current product is also
Based on a complete nursing bed, thus lift carry on the back, bend one's legs etc. movements implement it is not difficult.And the present invention be directed to lathes one
Body it is multifunction nursing bed, entire bed is grouped as by wheel-chair part and bed portions, it is achieved that the lift of bed body carries on the back, bends one's legs when acting
Difficulty it is bigger, it is synchronous in the mechanical structure for needing to divide in view of wheel-chair part-structure and bed portions, just can guarantee vehicle in this way
Movement when bed merges is as the movement that general duty nursing bed is realized.
Although the synchronous control system of the adaptive robot nursing bed of multisensor theoretically can be good at guaranteeing
Wheel-chair part and bed portions divide the consistency of synchronization action, but due to the defect and sensing of electric pushrod and mechanical structure
The error of device can all influence the effect of synchronization action.
Summary of the invention
In view of the foregoing deficiencies of prior art, the purpose of the present invention is to provide a kind of synchronous systems of robot nursing bed
System and method, poor for solving synchronous effect in the prior art, synchronizing process is slow, the problem of synchronous integrality deficiency.
In order to achieve the above objects and other related objects, the present invention provides a kind of robot nursing bed synchronization system, described
Robot nursing bed includes wheelchair part and bed portions point, and the wheelchair part can be set in combination in the bed portions point and can be with institute
Bed is stated to be partially separated, the wheelchair part includes: wheel-chair control device, for control the wheelchair part and the bed portions point into
Row synchronizes；First sensing device is connected to the wheel-chair control device, the variation of the posture for incuding the wheelchair part；
First push rod device is connected to the wheel-chair control device, for controlling the attitudes vibration of the wheelchair part；First driving dress
It sets, is connected to the wheel-chair control device, for being moved according to the first push rod device of order-driven of the wheel-chair control device；
First communication device is connected to the wheel-chair control device, for carrying out data synchronous communication with the bed portions point；The bed portions
Dividing includes: a control device, is synchronized for controlling the bed portions point with the wheelchair part；Second sensing device, connection
In the bed control device, the variation of the posture for incuding the bed portions point；Second push rod device is connected to the bed control
Device, for controlling the attitudes vibration of the bed portions point；Second driving device is connected to the bed control device, is used for basis
The second push rod device of order-driven of the bed control device moves；Secondary communication device is connected to the bed control device, uses
In with the wheelchair part carry out data synchronous communication.
In one embodiment of the invention, the wheel-chair control device further include: for controlling the wheel-chair control device
First control circuit, the first driving circuit for driving the first driving device and for acquire it is described first induction dress
First sampling module of confidence number；The bed control device further include: for controlling the second control electricity of the bed control device
Road, the second driving circuit for driving second driving device and second for acquiring the second sensing device signal
Sampling module.
It include to be used in the first control circuit and the second control circuit in one embodiment of the invention
The relay of first push rod device and second push rod device is controlled respectively.
In one embodiment of the invention, first push rod device includes: the posture for adjusting the wheelchair part
First electric pushrod component and the first electric pushrod driver for driving the first electric pushrod component；Described second pushes away
Lever apparatus includes: the second electric pushrod component for adjusting the posture of bed portions point and for driving described second electronic to push away
Second electric pushrod driver of bar assembly.
In one embodiment of the invention, the wheelchair part includes the first backboard, the first thigh plate and the first calf plate；
The bed portions point include the second backboard, the second thigh plate and the second calf plate；The first electric pushrod component includes: for band
The first electric pushrod, the second electric pushrod and use for driving the first thigh plate movement for moving the first backboard movement
In the third electric pushrod for driving the first calf plate movement；Second electric pushrod component includes: for driving described second
4th electric pushrod of backboard movement, the 5th electric pushrod for driving the second thigh plate movement and described for driving
6th electric pushrod of the second calf plate movement.
In one embodiment of the invention, first sensing device further includes first pressure sensor, for incuding
The synchronization action signal of wheelchair part is stated, and sends a signal to the wheel-chair control device；Second sensing device also wraps
Second pressure sensor is included, for incuding the synchronization action signal of the bed portions point, and sends a signal to the bed control dress
It sets.
In one embodiment of the invention, first sensing device includes for incuding the first electric pushrod movement
First Hall sensor of situation, the second Hall sensor for incuding the second electric pushrod moving situation and for feeling
Answer the third Hall sensor of the third electric pushrod moving situation；Second sensing device includes for incuding described
The 4th Hall sensor, the 5th Hall for incuding the 5th electric pushrod moving situation of four electric pushrod moving situations
Sensor is used to incude the 6th Hall sensor of the 6th electric pushrod moving situation.
In one embodiment of the invention, the robot nursing bed synchronous control system further includes that at least one limit is opened
It closes, for sending out stop signal after triggering, is simultaneously stopped the movement of the wheelchair part and the bed portions point.
The present invention also provides a kind of robot nursing bed synchronisation control means, and it is synchronous to be related to above-mentioned robot nursing bed
Control system, comprising steps of order-driven first push rod device of the first driving device according to the wheel-chair control device
Movement；First push rod device controls the attitudes vibration of the wheelchair part；First sensing device incudes the wheelchair part
Posture variation；The first communication device and the bed portions point carry out data synchronous communication；The secondary communication device connects
Synchronous communication data are received, and feed back to the bed control device；Second driving device is according to the finger of the bed control device
Enable driving the second push rod device movement；Second push rod device controls the attitudes vibration of the bed portions point；Second induction
Device incudes the variation of the posture of the bed portions point, and feeds back to the bed control device；The secondary communication device and with institute
It states wheelchair part and carries out data synchronous communication；The wheelchair part keeps the synchronous of movement with the bed portions point.
In one embodiment of the invention, further comprises the steps of: the first control circuit and control the wheel-chair control device；
First driving circuit drives the first driving device；First sampling module acquires the first sensing device letter
Number；The second control circuit controls the bed control device；Second driving circuit drives second driving device；Institute
It states the second sampling module and acquires the second sensing device signal；The first electric pushrod component adjusts the wheelchair part
Posture；The first electric pushrod driver drives the first electric pushrod component；The second electric pushrod component adjustment
The posture of the bed portions point；The second electric pushrod driver drives the second electric pushrod component；Described first is electronic
Push rod drives the first backboard movement；Second electric pushrod drives the first thigh plate movement；The third is electronic
Push rod drives the first calf plate movement；4th electric pushrod drives the second backboard movement；Described 5th is electronic
Push rod drives the second thigh plate movement；6th electric pushrod drives the second calf plate movement；First pressure
Force snesor incudes the synchronization action signal of the wheelchair part, and sends a signal to the wheel-chair control device；Described
Two pressure sensors incude the synchronization action signal of the bed portions point, and send a signal to the bed control device；Judge institute
It states first pressure sensor and whether the second pressure sensor is normal；If so, continuing to use the first pressure sensing
Device and the second pressure working sensor；If it is not, then using first Hall sensor, second Hall sensor,
The third Hall sensor, the 4th Hall sensor, the 5th Hall sensor and the 6th Hall sensor
Work；First Hall sensor incudes the first electric pushrod moving situation；Second Hall sensor incudes institute
State the second electric pushrod moving situation；The third Hall sensor incudes the third electric pushrod moving situation；Described
Four Hall sensors incude the 4th electric pushrod moving situation；The 5th Hall sensor induction the described 5th is electronic to be pushed away
Bar moving situation；6th Hall sensor incudes the 6th electric pushrod moving situation；The limit switch is described
Bed portions point and the wheelchair part reach trigger after predeterminated position after send out stop signal, be simultaneously stopped the wheelchair part and described
The movement of bed portions point.
As described above, robot nursing bed synchronous control system of the invention and method, have the advantages that effectively
The harmony for improving synchronization action, improve wheelchair part and bed portions division and after synchronization action integrality, while can be with
It plays a protective role, prevents from unexpectedly occurring.
Detailed description of the invention
Fig. 1 is shown as the systematic square frame schematic diagram of an embodiment of robot nursing bed synchronization system of the present invention.
Fig. 2 is shown as the systematic square frame schematic diagram of another embodiment of robot nursing bed synchronization system of the present invention.
Fig. 3 is shown as the process blocks schematic diagram of an embodiment of robot nursing bed synchronous method of the present invention.
Specific embodiment
Illustrate embodiments of the present invention below by way of specific specific example, those skilled in the art can be by this specification
Other advantages and efficacy of the present invention can be easily understood for disclosed content.The present invention can also pass through in addition different specific realities
The mode of applying is embodied or practiced, the various details in this specification can also based on different viewpoints and application, without departing from
Various modifications or alterations are carried out under spirit of the invention.It should be noted that in the absence of conflict, following embodiment and implementation
Feature in example can be combined with each other.
It should be noted that illustrating the basic structure that only the invention is illustrated in a schematic way provided in following embodiment
Think, only shown in schema then with related component in the present invention rather than component count, shape and size when according to actual implementation
Draw, when actual implementation kenel, quantity and the ratio of each component can arbitrarily change for one kind, and its assembly layout kenel
It is likely more complexity.
As shown in Figure 1, Fig. 1 is shown as the systematic square frame signal of an embodiment of robot nursing bed synchronization system of the present invention
Figure.The present invention provides a kind of robot nursing bed synchronization system, robot nursing bed includes wheelchair part and bed portions point, wheelchair
Part can be set in bed portions point in combination and can be partially separated with bed, and wheelchair part includes: wheel-chair control device, be used for control wheel
Chair part is synchronized with bed portions point；First sensing device, is connected to wheel-chair control device, for incuding the posture of wheelchair part
Variation；First push rod device, is connected to wheel-chair control device, for controlling the attitudes vibration of wheelchair part；First driving dress
It sets, is connected to wheel-chair control device, for being moved according to the first push rod device of order-driven of wheel-chair control device；First communication
Device is connected to wheel-chair control device, for carrying out data synchronous communication with bed portions point；Bed portions point include: a control device, are used
It is synchronized in control bed portions point with wheelchair part；Second sensing device is connected to a control device, for incuding bed portions point
The variation of posture；Second push rod device is connected to a control device, for controlling the attitudes vibration of bed portions point；Second driving dress
It sets, is connected to a control device, for being moved according to the second push rod device of order-driven of bed control device；Second communication dress
It sets, is connected to a control device, for carrying out data synchronous communication with wheelchair part.After realizing wheel-chair and bed portions division simultaneously,
It realizes that lift is carried on the back, bend one's legs movement together, guarantees the synchronism of wheel-chair and bed portions point this two parts movement.
As shown in Fig. 2, the systematic square frame that Fig. 2 is shown as another embodiment of robot nursing bed synchronization system of the present invention shows
It is intended to.Robot nursing bed includes wheelchair part and bed portions point, and wheelchair part can be set in combination in bed portions point and can be with bed portions
Separation, wheelchair part includes: wheel-chair control device, is synchronized for controlling wheelchair part with bed portions point；First induction dress
It sets, is connected to wheel-chair control device, the variation of the posture for incuding wheelchair part；First push rod device is connected to wheelchair control
Device processed, for controlling the attitudes vibration of wheelchair part；First driving device is connected to wheel-chair control device, for according to wheel
The first push rod device of order-driven of chair control device moves；First communication device is connected to wheel-chair control device, is used for and bed
Part carries out data synchronous communication；Bed portions point include: a control device, are synchronized for controlling bed portions point with wheelchair part；
Second sensing device is connected to a control device, the variation of the posture for incuding bed portions point；Second push rod device, is connected to
Bed control device, for controlling the attitudes vibration of bed portions point；Second driving device is connected to a control device, for according to bed
The second push rod device of order-driven of control device moves；Secondary communication device is connected to a control device, is used for and wheelchair portion
Divide and carries out data synchronous communication.After realization wheel-chair and bed portions division simultaneously, realize that lift is carried on the back, bend one's legs movement together, guarantees wheel-chair
With the synchronism of bed portions point this two parts movement.Wheel-chair control device further include: for controlling the first control of wheel-chair control device
Circuit, the first driving circuit for driving first driving device and for acquiring the first sensing device signal first sampling processed
Module；Bed control device further include: for controlling the second control circuit of bed control device, for driving the second driving device
Second driving circuit and the second sampling module for acquiring the second sensing device signal.First control circuit and the second control electricity
Lu Zhongjun includes the relay for controlling the first push rod device and the second push rod device respectively.Push rod is controlled by relay
Extended and retracted, the posture of adjustment bed portions point and wheelchair part.First push rod device includes: the appearance for adjusting wheelchair part
State the first electric pushrod component and the first electric pushrod driver for driving the first electric pushrod component；Second push rod device
It include: the second electric pushrod component for adjusting the posture of bed portions point and the second electricity for driving the second electric pushrod component
Dynamic push rod driver.Wheelchair part includes the first backboard, the first thigh plate and the first calf plate；Bed portions point including the second backboard,
Second thigh plate and the second calf plate；First electric pushrod component includes: first electronic pushing away for driving the first backboard to move
Bar, the second electric pushrod for driving the first thigh plate to move and for driving the third of the first calf plate movement electronic to push away
Bar；Second electric pushrod component includes: for driving the 4th electric pushrod of the second backboard movement, for driving the second thigh plate
The 5th electric pushrod moved and the 6th electric pushrod for driving the second calf plate to move.First sensing device further includes
One pressure sensor for incuding the synchronization action signal of wheelchair part, and sends a signal to wheel-chair control device；Second sense
Answering device further includes second pressure sensor, for incuding the synchronization action signal of bed portions point, and sends a signal to control
Device.First sensing device includes for incuding the first Hall sensor of the first electric pushrod moving situation, for incuding the
Second Hall sensor of two electric pushrod moving situations and third Hall for incuding third electric pushrod moving situation pass
Sensor；Second sensing device includes for incuding the 4th Hall sensor of the 4th electric pushrod moving situation, for incuding the
Five Hall sensors of five electric pushrod moving situations are used to incude the 6th Hall sensor of the 6th electric pushrod moving situation.
Robot nursing bed synchronous control system further includes at least one limit switch, for sending out stop signal after triggering, is simultaneously stopped
The movement of wheelchair part and bed portions point.The present invention passes through the composition of multisensor adaptive control system, mainly by electric pushrod
(multiple Hall sensors can be set), driving device, Hall sensor (are separately mounted to wheel-chair backboard, thigh plate, shank
Board position), pressure sensor, communication module, wheel-chair control device and bed portions divide control device etc..Such as in lathe of the invention
In the embodiment of lift back movement after merging, nursing bed is additionally provided with user for the handle of action control and for selection operation
Display screen etc..It lifts back movement and passes through push rod control and wheelchair including one side section back board part of bed, leg portion, lower leg portion
A kind of synchronization action that the back board part of vehicle side, leg portion, lower leg portion are realized jointly by push rod control, but to protect
The harmony of card synchronization action just needs the signal of multisensor to feed back, and control system calculates each according to sensor returned data
The speed of push rod, to guarantee the consistency of wheelchair part and bed partial act.After wheelchair side handle sends lift back instruction, wheel
Chair control device sends the instruction of lift back to bed portions point by communication device, after bed portions point receive lift breach of faith number, controls electric pushrod
Realize lift back, the pressure sensor of wheelchair part generates signal at this time, according to the control list of the big small wheelchair part of pressure signal
Member calculates revolving speed and the direction of wheelchair part lift back push rod, and the Hall sensor signal of backboard here is to prevent pressure sensing
Device dropout design safeguard measure, it can be determined that whether pressure signal normal, such as it is abnormal can be anti-by hall signal
Feedback signal controls the movement of push rod, to realize the synchronism of wheelchair part lift back with bed portions point lift back.Lift back movement along with
Bend one's legs movement, and the movement that bends one's legs is collectively constituted with shank movement and bed side thigh with shank movement by wheelchair side thigh, wheel-chair portion
Divide and divides thigh and shank to be equipped with Hall sensor with bed portions, when execution bends one's legs and acts, wheel-chair part and bed portions split-phase
The thigh plate answered is not to coordinate very much with calf plate movement, and Hall sensor will feed back this signal to control unit, and control is single
Member calculates the speed of corresponding push rod, controls corresponding electric pushrod and stretches at the appropriate speed, thus realize wheel-chair part with
Bed portions divide the consistency for the movement that bends one's legs.
In another embodiment of the invention, three Hall sensors and pressure sensor are respectively arranged in wheelchair side i.e.
Can, when synchronization action, only needs to adjust the speed of wheelchair side, and bed side push rod can be with a constant speed movement
It can.Wheel-chair partial pressure sensor is used to detect pressure signal when bed portions divide backboard to act, according to meter if pressure is bigger
Calculate, the backboard push rod speed of wheelchair side is also bigger, by detection signal can so that vehicle part back board part speed with
Bed portions divide backboard speed consistent.Whether the Hall sensor on wheel-chair backboard can be also used for detection operation normal, if not
Involuntary maneuver can normally be prevented.The Hall sensor of the leg portion of wheelchair part and lower leg portion for detect thigh plate and
The deviation of the thigh plate and calf plate of calf plate and bed portions point has signal feedback, so that it may adjust once speed is inconsistent
The push rod speed of wheelchair part, the consistency of safety action.
As shown in figure 3, Fig. 3 is shown as the process blocks signal of an embodiment of robot nursing bed synchronous method of the present invention
Figure.The present invention also provides a kind of robot nursing bed synchronous method, design above-mentioned robot nursing bed synchronization system；Including
Step: first driving device is moved according to the first push rod device of order-driven of wheel-chair control device；The control of first push rod device
The attitudes vibration of wheelchair part；First sensing device incudes the variation of the posture of wheelchair part；First communication device and bed portions point
Carry out data synchronous communication；Secondary communication device receives synchronous communication data, and feeds back to a control device；Second driving device
It is moved according to the second push rod device of order-driven of bed control device；Second push rod device controls the attitudes vibration of bed portions point；The
Two sensing devices incude the variation of the posture of bed portions point, and feed back to a control device；Secondary communication device and with wheelchair part
Carry out data synchronous communication；Wheelchair part keeps the synchronous of movement with bed portions point.
In one embodiment of this invention, first control circuit control wheel-chair control device is further comprised the steps of:；First driving
Circuit drives first driving device；First sampling module acquires the first sensing device signal；Second control circuit controls bed control
Device；Second driving circuit drives the second driving device；Second sampling module acquires the second sensing device signal；First electronic pushes away
The posture of bar assembly adjustment wheelchair part；First electric pushrod driver drives the first electric pushrod component；Second electric pushrod
Component adjusts the posture of bed portions point；Second electric pushrod driver drives the second electric pushrod component；First electric pushrod drives
The movement of first backboard；Second electric pushrod drives the movement of the first thigh plate；Third electric pushrod drives the movement of the first calf plate；The
Four electric pushrods drive the movement of the second backboard；5th electric pushrod drives the movement of the second thigh plate；6th electric pushrod drives the
The movement of two calf plates；First pressure sensor incudes the synchronization action signal of wheelchair part, and sends a signal to wheelchair control
Device；The synchronization action signal of second pressure sensor sensing bed portions point, and send a signal to a control device；Judge first
Whether pressure sensor and second pressure sensor are normal；If so, continuing to use first pressure sensor and second pressure biography
Sense device working；If it is not, then using the first Hall sensor, the second Hall sensor, third Hall sensor, the 4th hall sensing
Device, the 5th Hall sensor and the work of the 6th Hall sensor；First Hall sensor incudes the first electric pushrod moving situation；
Second Hall sensor incudes the second electric pushrod moving situation；Third Hall sensor incudes third electric pushrod and moves shape
Condition；4th Hall sensor incudes the 4th electric pushrod moving situation；5th Hall sensor incudes the movement of the 5th electric pushrod
Situation；6th Hall sensor incudes the 6th electric pushrod moving situation；Limit switch reaches pre- in bed portions point and wheelchair part
If sending out stop signal after triggering behind position, it is simultaneously stopped the movement of wheelchair part and bed portions point.
In the embodiment of the lift back movement after lathe of the invention merges, nursing bed be additionally provided with user for act control
The handle of system and the display screen for selection operation etc..Lifting back movement includes one side section back board part of bed, leg portion, shank
Part controls common realize by push rod by push rod control and the back board part, leg portion, lower leg portion of wheel-chair side
A kind of synchronization action, but be to ensure that the harmony of synchronization action just needs the signal of multisensor to feed back, control system root
The speed of each push rod is calculated according to sensor returned data, to guarantee the consistency of wheelchair part and bed partial act.Work as wheel
After chair side handle sends lift back instruction, wheel-chair control device sends the instruction of lift back to bed portions point by communication device, and bed portions point are received
To after lift breach of faith number, control electric pushrod realizes lift back, and the pressure sensor of wheelchair part generates signal at this time, is believed according to pressure
Number big small wheelchair part control unit calculate wheelchair part lift back push rod revolving speed and direction, the Hall of backboard here
Sensor signal is the safeguard measure for preventing pressure sensor signal from losing design, it can be determined that whether pressure signal is normal, such as
It is abnormal the movement of push rod to be controlled by hall signal feedback signal, to realize wheelchair part lift back and bed portions point lift back
Synchronism.The movement of lift back along with the movement that bends one's legs, the movement that bends one's legs acted by wheelchair side thigh and shank and bed side thigh with it is small
Leg movement collectively constitutes, wheel-chair part and bed portions divide thigh and shank to be equipped with Hall sensor, once execute the movement that bends one's legs
When, wheel-chair part is not to coordinate very much with the thigh plate of bed partial response and calf plate movement, and Hall sensor will feed back this
For a signal to control unit, control unit calculates the speed of corresponding push rod, controls corresponding electric pushrod and stretches at the appropriate speed
Contracting, to realize that the consistency for the movement that bends one's legs is divided in wheel-chair part and bed portions.
In another embodiment of the invention, three Hall sensors and pressure sensor are respectively arranged in wheelchair side i.e.
Can, when synchronization action, only needs to adjust the speed of wheelchair side, and bed side push rod can be with a constant speed movement
It can.Wheel-chair partial pressure sensor is used to detect pressure signal when bed portions divide backboard to act, according to meter if pressure is bigger
Calculate, the backboard push rod speed of wheelchair side is also bigger, by detection signal can so that vehicle part back board part speed with
Bed portions divide backboard speed consistent.Whether the Hall sensor on wheel-chair backboard can be also used for detection operation normal, if not
Involuntary maneuver can normally be prevented.The Hall sensor of the leg portion of wheelchair part and lower leg portion for detect thigh plate and
The deviation of the thigh plate and calf plate of calf plate and bed portions point has signal feedback, so that it may adjust once speed is inconsistent
The push rod speed of wheelchair part, the consistency of safety action.
In conclusion robot nursing bed synchronization system of the present invention and method, effectively raise the coordination of synchronization action
Property, improve the integrality of wheelchair part and bed portions division and rear synchronization action, while can play a protective role, prevents unexpected
Occur.So the present invention effectively overcomes various shortcoming in the prior art and has high industrial utilization value.
The above-described embodiments merely illustrate the principles and effects of the present invention, and is not intended to limit the present invention.It is any ripe
The personage for knowing this technology all without departing from the spirit and scope of the present invention, carries out modifications and changes to above-described embodiment.Cause
This, institute is complete without departing from the spirit and technical ideas disclosed in the present invention by those of ordinary skill in the art such as
At all equivalent modifications or change, should be covered by the claims of the present invention.
Claims (10)
1. a kind of robot nursing bed synchronization system, the robot nursing bed includes wheelchair part and bed portions point, the wheelchair
Part can be set in the bed portions point in combination and can be partially separated with the bed, which is characterized in that
The wheelchair part includes:
Wheel-chair control device is synchronized for controlling the wheelchair part with the bed portions point；
First sensing device is connected to the wheel-chair control device, the variation of the posture for incuding the wheelchair part；
First push rod device is connected to the wheel-chair control device, for controlling the attitudes vibration of the wheelchair part；
First driving device is connected to the wheel-chair control device, for the order-driven according to the wheel-chair control device
The movement of one push rod device；
First communication device is connected to the wheel-chair control device, for carrying out data synchronous communication with the bed portions point；
The bed portions are divided
Bed control device is synchronized for controlling the bed portions point with the wheelchair part；
Second sensing device is connected to the bed control device, the variation of the posture for incuding the bed portions point；
Second push rod device is connected to the bed control device, for controlling the attitudes vibration of the bed portions point；
Second driving device is connected to the bed control device, for being pushed away according to the order-driven second of the bed control device
Lever apparatus movement；
Secondary communication device is connected to the bed control device, for carrying out data synchronous communication with the wheelchair part.
2. robot nursing bed synchronization system according to claim 1, which is characterized in that the wheel-chair control device also wraps
It includes: for controlling the first control circuit of the wheel-chair control device, for driving the first of the first driving device to drive
Circuit and the first sampling module for acquiring the first sensing device signal；The bed control device further include: for controlling
Make the second control circuit of the bed control device, the second driving circuit for driving second driving device and for adopting
Collect the second sampling module of the second sensing device signal.
3. robot nursing bed synchronization system according to claim 2, which is characterized in that the first control circuit and institute
Stating includes relay for controlling first push rod device and second push rod device respectively in second control circuit
Device.
4. robot nursing bed synchronization system according to claim 3, which is characterized in that the first push rod device packet
It includes: for adjusting the first electric pushrod component of the posture of the wheelchair part and for driving the first electric pushrod group
First electric pushrod driver of part；Second push rod device includes: the second electricity for adjusting the posture of the bed portions point
Dynamic push-rod assembly and the second electric pushrod driver for driving the second electric pushrod component.
5. robot nursing bed synchronization system according to claim 4, which is characterized in that the wheelchair part includes first
Backboard, the first thigh plate and the first calf plate；The bed portions point include the second backboard, the second thigh plate and the second calf plate；Institute
Stating the first electric pushrod component includes: for driving the first electric pushrod of first backboard movement, for driving described the
The second electric pushrod that one thigh plate moves and the third electric pushrod for driving the first calf plate movement；Second is electronic
Push-rod assembly includes: for driving the 4th electric pushrod of the second backboard movement, for driving the second thigh plate to transport
The 5th dynamic electric pushrod and the 6th electric pushrod for driving the second calf plate movement.
6. robot nursing bed synchronization system according to claim 5, which is characterized in that first sensing device also wraps
First pressure sensor is included, for incuding the synchronization action signal of the wheelchair part, and sends a signal to the wheelchair control
Device processed；Second sensing device further includes second pressure sensor, for incuding the synchronization action signal of the bed portions point,
And send a signal to the bed control device.
7. robot nursing bed synchronization system according to claim 6, which is characterized in that first sensing device includes
For incuding the first Hall sensor of the first electric pushrod moving situation, for incuding the second electric pushrod movement
Second Hall sensor of situation and third Hall sensor for incuding the third electric pushrod moving situation；Described
Two sensing devices include for incuding the 4th Hall sensor of the 4th electric pushrod moving situation, for incuding described
5th Hall sensor of five electric pushrod moving situations and for incuding the 6th electric pushrod moving situation the 6th suddenly
That sensor.
8. robot nursing bed synchronization system according to claim 7, which is characterized in that the robot nursing bed is synchronous
Control system further includes at least one limit switch, for sending out stop signal after triggering, is simultaneously stopped the wheelchair part and institute
State the movement of bed portions point.
9. a kind of robot nursing bed synchronous method is related to robot nursing bed synchronization system according to any one of claims 8, feature
It is, comprising steps of
The first driving device is moved according to the first push rod device of order-driven of the wheel-chair control device；First push rod dress
Set the attitudes vibration for controlling the wheelchair part；
First sensing device incudes the variation of the posture of the wheelchair part；
The first communication device and the bed portions point carry out data synchronous communication；
The secondary communication device receives synchronous communication data, and feeds back to the bed control device；
Second driving device is moved according to the second push rod device of order-driven of the bed control device；Second push rod
Device controls the attitudes vibration of the bed portions point；
Second sensing device incudes the variation of the posture of the bed portions point, and feeds back to the bed control device；
The secondary communication device simultaneously carries out data synchronous communication with the wheelchair part；
The wheelchair part keeps the synchronous of movement with the bed portions point.
10. robot nursing bed synchronous method according to claim 9, which is characterized in that further comprise the steps of:
The first control circuit controls the wheel-chair control device；
First driving circuit drives the first driving device；
First sampling module acquires the first sensing device signal；
The second control circuit controls the bed control device；
Second driving circuit drives second driving device；
Second sampling module acquires the second sensing device signal；
The first electric pushrod component adjusts the posture of the wheelchair part；
The first electric pushrod driver drives the first electric pushrod component；
The second electric pushrod component adjusts the posture of the bed portions point；
The second electric pushrod driver drives the second electric pushrod component；
First electric pushrod drives the first backboard movement；
Second electric pushrod drives the first thigh plate movement；
The third electric pushrod drives the first calf plate movement；
4th electric pushrod drives the second backboard movement；
5th electric pushrod drives the second thigh plate movement；
6th electric pushrod drives the second calf plate movement；
The first pressure sensor incudes the synchronization action signal of the wheelchair part, and sends a signal to the wheelchair control
Device processed；
The synchronization action signal of bed portions described in the second pressure sensor sensing point, and send a signal to the bed control dress
It sets；
Judge whether the first pressure sensor and the second pressure sensor are normal；If so, continuing to use described
One pressure sensor and the second pressure working sensor；If it is not, then suddenly using first Hall sensor, described second
That sensor, the third Hall sensor, the 4th Hall sensor, the 5th Hall sensor and the described 6th are suddenly
That working sensor；
First Hall sensor incudes the first electric pushrod moving situation；Described in the second Hall sensor induction
Second electric pushrod moving situation；The third Hall sensor incudes the third electric pushrod moving situation；Described 4th
Hall sensor incudes the 4th electric pushrod moving situation；5th Hall sensor incudes the 5th electric pushrod
Moving situation；6th Hall sensor incudes the 6th electric pushrod moving situation；
The limit switch sends out stop signal after triggering after the bed portions point and the wheelchair part reach predeterminated position, simultaneously
Stop the movement of the wheelchair part and the bed portions point.
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| CN107536678B (en) * | 2016-06-24 | 2019-08-27 | 沈阳新松机器人自动化股份有限公司 | A kind of wheelchair and bed to connected control system |
| CN108214507A (en) * | 2017-12-28 | 2018-06-29 | 安徽三联机器人科技有限公司 | A kind of magnetic navigation care bed goes out Input System and goes out storage method |
| CN110162106B (en) * | 2019-05-16 | 2022-04-22 | 安徽三联机器人科技有限公司 | Positioning method of electric push rod |
| CN112790923B (en) * | 2020-12-30 | 2022-09-27 | 安徽三联机器人科技有限公司 | Intelligent bed and chair integrated machine control system and control method |
| CN113777961B (en) * | 2021-08-06 | 2023-05-23 | 季华实验室 | Wheelchair care bed control method, system and computer readable storage medium |
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