CN106901948A - Sky rail nursing suspention control system - Google Patents
Sky rail nursing suspention control system Download PDFInfo
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- CN106901948A CN106901948A CN201710110314.0A CN201710110314A CN106901948A CN 106901948 A CN106901948 A CN 106901948A CN 201710110314 A CN201710110314 A CN 201710110314A CN 106901948 A CN106901948 A CN 106901948A
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- 230000000474 nursing effect Effects 0.000 title claims abstract description 10
- 238000001514 detection method Methods 0.000 claims abstract description 18
- 230000008859 change Effects 0.000 claims abstract description 14
- 230000001939 inductive effect Effects 0.000 claims description 7
- 238000003780 insertion Methods 0.000 claims description 3
- 230000037431 insertion Effects 0.000 claims description 3
- 239000000203 mixture Substances 0.000 description 9
- 238000010586 diagram Methods 0.000 description 8
- 230000005693 optoelectronics Effects 0.000 description 6
- 238000004891 communication Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 239000000725 suspension Substances 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 208000020442 loss of weight Diseases 0.000 description 2
- 230000013011 mating Effects 0.000 description 2
- 230000000149 penetrating effect Effects 0.000 description 2
- 238000012549 training Methods 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 230000001960 triggered effect Effects 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 239000000686 essence Substances 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 210000003141 lower extremity Anatomy 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- GOLXNESZZPUPJE-UHFFFAOYSA-N spiromesifen Chemical compound CC1=CC(C)=CC(C)=C1C(C(O1)=O)=C(OC(=O)CC(C)(C)C)C11CCCC1 GOLXNESZZPUPJE-UHFFFAOYSA-N 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/008—Appliances for aiding patients or disabled persons to walk about using suspension devices for supporting the body in an upright walking or standing position, e.g. harnesses
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5023—Interfaces to the user
- A61H2201/5025—Activation means
- A61H2201/5028—Contact activation, i.e. activated at contact with a surface of the user to be treated
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Toys (AREA)
Abstract
The invention discloses a kind of sky rail nursing suspention control system, it can realize switching tracks automatically.Its track element includes x tracks, at least two y tracks, rail changing device includes support, slidable sliding block, sliding block is provided with the moving rail passed through for loop wheel machine correspondingly with the y tracks, the sliding block has also to be included with the one-to-one position of y tracks, the suspention control system：Master controller, for according to the commutation of user request generation control signal；Become rail motor, for receiving control signal and being rotated forward or backwards according to control signal to drive sliding block to move；And to rail detection switch, for sense send behind the contact on sliding block the y tracks for representing x tracks and direction selected by user by moving rail connect to rail signal, each described y track respectively corresponding one to rail detection switch；The master controller is additionally operable to receive to rail signal and sends stopping signal to the change rail motor according to rail signal.
Description
Technical field
The present invention relates to the suspension system of medical nursing, more particularly to a kind of sky rail nursing suspention orbits controlling system
System.
Background technology
Some patients or weak people are being nursed or during rehabilitation training, it is necessary to carry out loss of weight simultaneously by suspension system
Patient is supported.A kind of day rail suspention walking loss of weight holding equipment, its master as disclosed in Chinese patent CN106176146A
Machine is provided with the hanger for supporting patient, is suspended in midair patient body part using main frame, and lower limb bears when making patient's walking
Reduce again.Then by being installed on the special track of roof or roof ceiling, by transfer target orbiting to target position
Put, be such as transferred in toilet from bedroom or ward.Single track or double track are generally used at present, can only be used for a loop wheel machine.And
For many people use, it is necessary to set multiple loop wheel machines, because the mobile route of each patient is different, it may appear that move towards and cause
It is impassable；Additionally, for multiple target locations not on the same line, in order that multiple target locations can be connected by track
Connect, then track is the annular or fold-line-shaped of closing, although the mobile route between two adjacent target locations could be arranged to
It is most short, but mobile route between non-conterminous two target locations is not both beelines, especially fold-line-shaped
Track can cause that the mobile route between two target locations at track two ends is very long.
The content of the invention
Regarding to the issue above, it is an object of the invention to provide a kind of sky rail nursing suspention control system, it can
Realize becoming rail automatically to be automatically selectively turned on the track of different bearing of trends.
To reach above-mentioned purpose, a kind of technical scheme that the present invention is used for：
A kind of sky rail nursing suspention control system, including at least one track element, the track element include using
In x tracks, at least two y tracks that the confession loop wheel machine being fixedly connected on the ceiling passes through, each y tracks are respectively along different
Direction extends, and the track element also includes rail changing device, and the rail changing device is included for being fixedly connected on the ceiling
Support, the sliding block being slidingly disposed on the support, the sliding block are provided with and lead to for loop wheel machine correspondingly with the y tracks
The moving rail crossed, each moving rail has with the first end that the x tracks connect and connects with corresponding y tracks respectively
Second end, the sliding block has and the one-to-one position of y tracks, when the sliding block is in first position, the x tracks
Connected by a moving rail with one of y tracks, when the sliding block is in another location, the x tracks and another y rail
Road is connected by another moving rail；
The suspention control system also includes：Master controller, for according to the commutation of user request generation control signal；
The rail changing device also includes：
Become rail motor, for receiving the control signal and being rotated forward or backwards according to the control signal to drive the cunning
Block is moved；And
To rail detection switch, for sensing the contact on the sliding block after send expression x tracks and direction selected by user
Y tracks by moving rail connect to rail signal, each described y track respectively correspond to one it is described to rail detection switch, institute
State and rail detection switch is respectively provided on the support or corresponding y tracks；
The master controller is additionally operable to receive and described rail signal is sent and stopped to the change rail motor to rail signal and according to described
Machine signal.
Preferably, the suspention control system also includes：
Hand controller, instructs for being commutated for user input；
Loop wheel machine controller, the commutation for receiving user is instructed and generates commutation request according to the commutation instruction, then
The commutation request is sent to the master controller.
It is highly preferred that the track element also includes：
Enter the orbit inductive switch, be used to send request signal of entering the orbit after loop wheel machine is sensed on the x tracks；
The master controller be additionally operable to receive it is described enter the orbit request signal and after request signal of entering the orbit described in receiving to described
Loop wheel machine controller sends answer signal, and the loop wheel machine controller is used to send for reminding user receiving the answer signal
The alerting signal of input commutation instruction.
Further, the suspention control system also includes：
Voice module, for receiving the alerting signal and sending the first voice signal according to the alerting signal；
And/or, the loop wheel machine controller is additionally operable to send feedback to the voice module after the commutation for receiving user is asked
Signal, the voice module is additionally operable to after the feedback signal is received send the second voice for representing that commutation instruction is received
Signal；
And/or, the master controller is additionally operable to be sent described rail signal to the loop wheel machine controller, the loop wheel machine controller
It is additionally operable to after the signal to rail is received send walk signal to the voice module, the voice module is additionally operable to connecing
Receive the 3rd voice signal sent after the walk signal for pointing out user to be walked with loop wheel machine.
Further, the hand controller, loop wheel machine controller and the voice module are located on the loop wheel machine.
Preferably, the track element also includes：
Restricted driving head, is actively used for only in x tracks on the x tracks and the y tracks in direction selected by user pass through moving rail
The loop wheel machine is allowed to enter the rail changing device after connection.
It is highly preferred that the master controller is additionally operable to send stop signal after the commutation for receiving user is asked and only exist
Right of way signal is sent after receiving the signal to rail；The track element also includes：
Restricted driving head motor, for receiving the stop signal and the right of way signal, and is receiving the stop signal rear-guard
Move the restricted driving head and stretch out x tracks to prevent loop wheel machine from entering rail changing device, the limit is driven after the right of way signal is received
Wardrobe retreat in x tracks to allow loop wheel machine to pass through.
Preferably, described is optoelectronic switch to rail detection switch, and the rail changing device includes determining on the sliding block
Position bar, insertion offers a locating slot for being available for light to pass through on the positioning strip, and the locating slot forms described contact.
Preferably, the track element include three y tracks, first sliding block have three respectively with the y tracks
One-to-one position, when first sliding block is in first position, the x tracks and first y track are by first shifting
Dynamic rail is connected, and when the sliding block is in the second place, the x tracks and second y track are connected by second moving rail, when
The sliding block at three positions, by the 3rd moving rail connected by the x tracks and the 3rd y track.
Preferably, the suspention control system includes multiple track elements and for controlling the multiple track
The master controller of unit.
The present invention uses above-mentioned technical proposal, has the following advantages that compared to existing technology：
Sliding block is driven to move by becoming rail motor, moving rail is moved, due to the different rail of the second end correspondence of each moving rail
Road, can be connected x tracks and different y tracks by different moving rails, by corresponding with each y tracks to rail detection switch
Detection target y tracks are connected with whether corresponding moving rail aligns, and reach being accurately positioned for slide rail, realize the mesh of handoff path
, it is capable of achieving to be moved with shorter path between target location；And due to more than one track, with along different directions
The track of extension, can avoid multiple loop wheel machines on a track move toward one another and cause impassable problem, be available for many
Loop wheel machine and many people use, it is adaptable to which rehabilitation training mechanism, hospital use.
Brief description of the drawings
In order to illustrate more clearly of technical scheme, embodiment will be described below needed for the accompanying drawing to be used
It is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention, general for this area
For logical technical staff, on the premise of not paying creative work, other accompanying drawings can also be obtained according to these accompanying drawings.
Accompanying drawing 1 is the schematic diagram of the suspention control system of embodiment 1；
Accompanying drawing 2 is the decomposed schematic diagram of the suspention control system of embodiment 1；
Accompanying drawing 3 is the partial enlarged drawing at A in accompanying drawing 2；
Accompanying drawing 4 is the module diagram of the loop wheel machine system of embodiment 1；
Accompanying drawing 5 is the schematic diagram of the suspention rail system of embodiment 2；
Accompanying drawing 6 is the schematic diagram of the suspention rail system of embodiment 3；
Accompanying drawing 7 is the schematic diagram of the suspention rail system of embodiment 4；
Accompanying drawing 8 is the schematic diagram of the suspention rail system of embodiment 5；
Accompanying drawing 9 is the schematic diagram of the suspention rail system of embodiment 6.
In above-mentioned accompanying drawing,
A, track；B, track；C, track；D, track；
1st, rail changing device；1a, rail changing device；1b, rail changing device；1c, rail changing device；1d, rail changing device；
10th, support；101st, chute；20th, sliding block；201st, the left curved rail of movement；202nd, mobile straight rail；203rd, the right curved rail of movement；21st, become
Rail motor；30th, enter the orbit inductive switch；40th, restricted driving head；41st, restricted driving head motor；50th, to rail detection switch；51st, positioning strip；510、
Locating slot；
2nd, loop wheel machine；220th, loop wheel machine controller；221st, hand controller；222nd, voice module；223rd, wireless communication module.
Specific embodiment
Presently preferred embodiments of the present invention is described in detail below in conjunction with the accompanying drawings, so that advantages and features of the invention energy
It is easier to be understood by the person skilled in the art.Herein it should be noted that being used to help for the explanation of these implementation methods
Understand the present invention, but do not constitute limitation of the invention.Additionally, involved in invention described below each implementation method
As long as and to technical characteristic do not constitute each other conflict can just be combined with each other.
Embodiment 1
Accompanying drawing 1-4 shows that the representative instance of rail system is suspended in sky rail nursing of the invention in midair, and it can realize that four-way becomes
Rail, the suspention control system is made up of four track elements, master controller, an at least one loop wheel machine system.
Each track element includes being fixedly connected x tracks, the three y rails that confession loop wheel machine 2 on the ceiling passes through respectively
Road（That is y1, y2, y3 track）, each y tracks extend in different directions respectively.Each track element also includes rail changing device
1, rail changing device 1 includes being fixedly connected support 10 on the ceiling, the sliding block 20 being slidingly disposed on support 10, sliding block 20
It is provided with the moving rail passed through for loop wheel machine 2 correspondingly with y tracks.Each moving rail has first connected with x tracks respectively
End and the second end for connecting with corresponding y tracks, sliding block 20 have with the one-to-one position of y tracks, when the sliding block 20
At first position, x tracks are connected with y1 tracks by a moving rail；When sliding block 20 is in another location, x tracks and y2 rails
Road is connected by another moving rail；When sliding block 20 is in three positions, x tracks and y3 tracks are connect by the 3rd moving rail
It is logical.Specifically, support 10 is provided with two chutes 101, and two bearing of trends of chute 101 are consistent and two grooves of chute 101
Mouth is relative, and the opposite sides side of sliding block 20 is respectively slidably plugged in two chutes 101.Each rail changing device 1 is one
Enter three structures for going out, be fixed on an overhead ceiling fixture, it is ensured that the flatness of installation and the installation dimension precision of intermodule, become rail
The fixed bend rail of the connection between device 1 and fixed straight rail are connected after Precision Machining with four rail changing devices 1.
Three moving rails on each sliding block 20 are respectively the left curved rail 201 of movement, mobile straight rail 202 and the right curved rail of movement
203, mobile straight rail 202 is used to connect the x tracks and y1 tracks for extending in the same direction, the left curved rail 201 of movement along linear extension
It is bending with the right curved rail 203 of movement, arc is further defined in the present embodiment.Left 201 circles of camber of curved rail of movement
The heart and right 203 centers of circle of camber of curved rail of movement are located at the relative left and right sides of mobile straight rail 202 respectively.And should be noted
It is：The distance between first end of adjacent moving rail is less than the distance between the two second end；And between moving rail first end
Distance should try one's best small or be 0, that is, institute's moving rail first end is along the glide direction arrangement of sliding block 20 and adjacent successively, this
Can cause sliding block 20 behind the less path of movement, it is possible to which the moving rail connected with x tracks is switched into another；This
Outward, the track width of moving rail first end should match with the width of x tracks, i.e., the width of moving rail first end is equal to or bigger
All it is the state disconnected with other moving rails in the width of x tracks, it is ensured that after x tracks and a certain moving rail are connected.
1 pair of the four of the present embodiment track element and its connection below in conjunction with the accompanying drawings is described in detail.The present embodiment
Track B and track D that suspention rail system includes the track A for extending along the longitudinal direction and track C, extends in left-right direction, rail
A, B, C, D are not connected in road.Track A, B, C, D are respectively equivalent to four x tracks of track element, and its middle orbit A, C are along front and rear
Direction extends, and track B, D extend in left-right direction.The nouns of locality such as the front, rear, left and right addressed in the present embodiment are according to ability
The usual observation visual angle of field technique personnel and defined to describe convenient, specific direction is not limited.Such as, forward and backward point
Not Dui Yingyu in accompanying drawing 1 paper left side, right side, the left and right upside for corresponding respectively to paper in accompanying drawing 1, downside.
The suspention rail system also includes four rail changing devices 1a, 1b, 1c, 1d, and each rail changing device has arranges successively
The mobile left curved rail 201 of row, mobile straight rail 202 and the right curved rail 203 of movement.It is in-orbit to loop wheel machine 2 below by taking rail changing device 1a as an example
Road A turns left to enter fixed bend rail ab（Equivalent to y2 tracks）, straight trip enter fixed straight rail ac（Equivalent to y1 tracks）Or turn right
Bend into fixed bend rail da（Equivalent to y3 tracks）Commutation become rail illustrate.First moving rail of rail changing device 1a is shifting
Left curved rail 201 is moved, the left curved rail 201 of movement is located at the left side of mobile straight rail 202 and curved, arc formed by the left curved rail 201 of movement
The center of circle of shape overlaps with the center of circle of arc formed by fixed bend rail ab and is all located at track A and moves the left side of straight rail 202；Second
Individual moving rail is the mobile straight rail 202 for extending along the longitudinal direction；3rd moving rail is the right curved rail 203 of movement, the right curved rail of movement
203 right sides for being located at mobile straight rail 202 and curved, the circular and fixed bend rail da institutes of arc formed by the right curved rail 203 of movement
Into the center of circle of arc overlap and be all located at the left side of track A and mobile straight rail 202.When by the sliding block 20 of rail changing device 1a to the right
When sliding into first position, the left curved rail 201 of movement and fixed bend rail ab connect and are spliced into the arc that one section of central angle is 90 degree
Rail, so after loop wheel machine 2 passes through from track A, the left curved rail 201 of movement, fixed bend rail ab successively, has actually carried out to the left 90
The turning of degree.When sliding block 20 is slid into the second place to the left, track A, mobile straight rail 202, fixed straight rail ac splice successively
And a straight rail connected along the longitudinal direction is constituted, loop wheel machine 2 passes through from track A, the left curved rail 201 of movement, fixed straight rail a successively
When, actual is straight trip, and the direction of its operation does not change.It is mobile right curved when continuing to slide into three positions to the left sliding block 20
Rail 203 and fixed bend rail da connect and are spliced into the curved track that one section of central angle is 90 degree, so when loop wheel machine 2 successively from track A,
After the right curved rail 203 of movement, fixed bend rail da pass through, 90 degree to the right of turning has actually been carried out.
In the following description, in order to describe conveniently, the left curved rail 201 of movement is not limited to such as the position in rail changing device 1a
In the left side of mobile straight rail 202, the right curved rail 203 of movement be also not limited in rail changing device 1a positioned at mobile straight rail 202
Right side.Even if after rail changing device 1 is rotated at any angle in the plane where paper, as long as being located at along x tracks to y1 tracks
The left side of traffic direction can realize just being referred to as the left curved rail 201 of movement, positioned at the operation along x tracks to y1 tracks
The right side in direction can be realized turning right and just be referred to as the right curved rail 203 of movement.
Fixed bend rail ab, the shifting of rail changing device 1b of the mobile left curved rail 201, arc that track A and B pass through rail changing device 1a
Move right curved rail 203 to connect, fixed bend rail ab is the equal of by first the y2 tracks and second track element of track element
The integrally formed composition of y3 tracks；The fixed bend rail bc of the mobile right curved rail 203, arc that track B and C pass through rail changing device 1b,
The mobile left curved rail 201 of rail changing device 1c is connected, and fixed bend rail bc is the equal of by second y2 track and of track element
Three integrally formed compositions of y3 tracks of track element；The mobile left curved rail 201, arc that track C and D pass through rail changing device 1c
Fixed bend rail cd, the mobile right curved rail 203 of rail changing device 1d connect, fixed bend rail cd is the equal of by the 3rd track element
Y2 tracks and the 4th integrally formed composition of y3 tracks of track element；The mobile left side that track D and A pass through rail changing device 1d
The fixed bend rail da of curved rail 201, arc, the mobile right curved rail 203 of rail changing device 1a are connected, and fixed bend rail da is the equal of by
The y2 tracks of four track elements and first integrally formed composition of y3 tracks of track element；Track A and C is filled by becoming rail
The mobile straight rail 202 of putting 1a, the fixed straight rail ac for extending along the longitudinal direction, the mobile straight rail 202 of rail changing device 1c are connected, along a left side
The fixed straight rail ac that right direction extends is the equal of by first the y1 tracks and the 3rd y1 rail of track element of track element
The integrally formed composition in road；Track B and D are by the mobile straight rail 202 of rail changing device 1b, fixed straight rail bd, rail changing device 1d
Mobile straight rail 202 is connected, and fixed straight rail bd is the equal of by second the y1 tracks and the 4th track element of track element
The integrally formed composition of y1 tracks.
The present embodiment provide suspention control system can realize track A-B, track B-C, rail C- road D, track D-A,
The turn on automatically and switching of track A-C and track B-D.Referring to the drawings shown in 2-4, loop wheel machine system is including loop wheel machine 2, located at loop wheel machine
Loop wheel machine controller 220, hand controller 221 and voice module 222 on 2；
Each track element also includes：Enter the orbit inductive switch 30, be used to be sent after loop wheel machine 2 is sensed on x tracks to enter the orbit
Request signal；
Suspention control system also includes：Master controller, and inductive switch 30 of entering the orbit is electrically connected, and for receiving, described enter the orbit please
Seek signal and send answer signal, the loop wheel machine control to the loop wheel machine controller 220 after the request signal of entering the orbit is received
Device processed 220 be used for receive the answer signal send for remind user input commutate instruction alerting signal；Main control
Device and suspention controller pass through a pair of wireless communication modules 223（Such as wifi receiver and transmitters）Radio communication is realized so as to carry out letter
Breath interaction；
Voice module 222, and loop wheel machine controller 220 is electrically connected, for receiving the alerting signal and according to the alerting signal
Send the first voice signal；
Hand controller 221, for being input into commutation instruction after the first voice signal is heard for user, hand controller 221 is provided with correspondence
In the button for turning left, keeping straight on and turning right, push button and complete described commutation instruction input；
Loop wheel machine controller 220, and hand controller 221 is electrically connected, and the commutation for receiving user is instructed and according to the commutation
Instruction generation commutation request, then sends to the master controller commutation request by way of being wirelessly transferred；
Master controller, is additionally operable to correspond to according to the commutation request generation for receiving the control signal for rotating forward or backwards；
Each rail changing device also includes：
Become rail motor 21, the change rail motor 21 is the intelligent electric machine for carrying control module and function, and master controller electrical connection, is used
Rotate to drive the sliding block 20 to move forward or backwards in the reception control signal and according to the control signal；And
To rail detection switch 50, for sensing the contact on the sliding block 20 after send selected by expression x tracks and user
The y tracks in direction by moving rail connect to rail signal, each described y track respectively correspond to one it is described to rail detection switch
50, it is described rail detection switch 50 to be respectively provided on the support 10 or corresponding y tracks；
Master controller, is additionally operable to receive and described sends shutdown to the change rail motor 21 to rail signal to rail signal and according to described
Signal, becomes rail motor 21 and is stopped operating after stopping signal is received, and sliding block 20 stops at current location.Master controller and loop wheel machine
Controller 220 all selects MCU chip.
After user completes the input of commutation instruction, the loop wheel machine controller 220 is additionally operable to please in the commutation for receiving user
The backward voice module 222 is asked to send feedback signal, the voice module 222 is additionally operable to after the feedback signal is received
Send the second voice signal for representing that commutation instruction is received；The master controller is additionally operable to be sent described rail signal to institute
Loop wheel machine controller 220 is stated, the loop wheel machine controller 220 is additionally operable to after the signal to rail is received to the voice module
222 send walk signal, the voice module 222 be additionally operable to be sent after the walk signal is received for point out user with
3rd voice signal of the walking of loop wheel machine 2.
In order to avoid loop wheel machine 2 is strayed into during switching tracks, track element also includes：Restricted driving first 40, actively located at x tracks
It is upper to be used to only allow the loop wheel machine 2 to enter the change rail after the y tracks in x tracks with direction selected by user are connected by moving rail
Device.Specifically, restricted driving first 40 can slide up and down to and be plugged in x tracks, be housed in x tracks when being slided in restricted driving first 40
Afterwards, that is to say, that restricting driving slides to track on first 40 and loop wheel machine 2 is in contact slides mating surface top to avoid loop wheel machine 2, it is allowed to hang
Machine 2 passes through, and is glided when restricted driving first 40 and stretches out x tracks, when extremely sliding mating surface lower section positioned at this, can be interfered with motor, hangs
Machine 2 is impassable.Restrict driving and first 40 automatic slip driven by restricted driving head motor 41, restricted driving head motor 41 also for carry control module and
The intelligent electric machine of function.Master controller is additionally operable to send stop signal after the commutation for receiving user is asked and only receiving
Right of way signal is sent after the signal to rail；Restricted driving head motor 41, and master controller electrical connection, for receiving the stop signal
With the right of way signal, and described restricted driving is driven first 40 to stretch out x tracks to prevent loop wheel machine 2 from entering after the stop signal is received
Enter rail changing device；The restricted driving first 40 is driven to retreat in x tracks to allow loop wheel machine 2 to pass through after the right of way signal is received.
It is optoelectronic switch to rail detection switch 50, rail changing device includes the positioning strip 51 on the sliding block 20, described
Insertion offers a locating slot 510 for being available for light to pass through on positioning strip 51, and the locating slot 510 forms described contact.
Positioning strip 51 is positioned at optoelectronic switch to penetrating in window.
The course of work of suspention control system that embodiment 1 is provided is：
Pacify into the approach section of rail changing device in each direction and turn have enter the orbit inductive switch 30 and a restricted driving first 40, when
It is any to straight rail that loop wheel machine 2 runs to four-way（Track A, B, C, D）The sensing of entering the orbit installed in straight rail section can be triggered during approach section
Switch 30, the master controller for becoming rail system to four-way sends request signal of entering the orbit, and master controller receives meeting after request signal of entering the orbit
Feed back to 220 1 answer signals of loop wheel machine controller, Chinese speech reminds user to be input into direction of advance with hand controller 221, when with
The family key-press input direction of advance of hand controller 221（Turn left, turn right, keep straight on）Afterwards, loop wheel machine controller 220 can be by voice module
222 send Chinese speech feeds back to one confirming operation of user；
After master controller feeds back to user's confirmation, master controller can become rail motor 21 and move according to the requirement control for becoming rail,
Become rail motor 21 to be moved to prescribed direction with movable slider 20, master controller detects output to sentence by corresponding positioning optoelectronic switch
Disconnected sliding block 20 whether positive stop；
The positioning strip 51 being fixed on sliding block 20 is moved for 20 with sliding block, there is the conduct of a locating slot 510 on positioning strip 51
Get an electric shock, when locating slot 510 is moved to as the optoelectronic switch to rail detection switch 50 to penetrating window, optoelectronic switch output one
It is individual to rail signal, master controller receives this and is moved to stopping becoming rail motor 21 after rail signal, and the change rail of correspondence rail changing device is complete
Into, if the operation of loop wheel machine 2 in a direction may involve two rail changing devices and could be completed with time-varying rail, master controller meeting
Direction of advance according to user sends corresponding control signal and completes two change rails dresses to the change rail motor 21 of two rail changing devices
Put the control requirement of same time-varying rail；
The major function of restricted driving first 40 is to complete to forbid loop wheel machine 2 into change rail module before change rail is acted no, it is ensured that become rail mould
The safe operation of block and loop wheel machine 2；
Meeting voice reminder user colleague after rail changing device completes to become rail, while restricted driving first 40 is packed up, when loop wheel machine 2 is filled by becoming rail
Triggered when putting after row goes out module inductive switch, voice reminder user go orbital transfer area domain, while restricted driving first 40 is stretched out.
Embodiment 2
With reference to shown in accompanying drawing 5, a kind of sky rail nursing suspention rail system, including first track element.First track
Unit includes, for being fixedly connected track A, track B and track C that confession loop wheel machine 2 on the ceiling passes through, being respectively equivalent to
X tracks, y2 tracks and y1 tracks that face defines.Its middle orbit A, track C and track B are not connected, and track C and track B
Extend in different directions respectively.Specific in the present embodiment, track A and track C is that the fixation for extending along the longitudinal direction is straight
Rail, track B is located at the left side of track C and is curved fixed bend rail, and the center of circle of arc formed by track B is located at track B's
Front side and positioned at the left side of track C.
First track element also includes the rail changing device for switching tracks.Rail changing device is included for being fixedly connected on ceiling
On support 10, the sliding block 20 that is slidingly disposed on support 10.Sliding block 20 be provided with two for supply the movement that passes through of loop wheel machine 2
Rail, each moving rail has the second end connected with the first end that track A connects and with corresponding track C or B respectively.First slides
Block 20 has first position and the second place, and when the first sliding block 20 is in first position, track A and track C passes through a movement
Rail is connected；When sliding block 20 is in the second place, track A is connected with track B by another moving rail.
Wherein first moving rail is the mobile straight rail 202 for extending along the longitudinal direction, and second moving rail is mobile left curved
Rail 201, the left curved rail 201 of movement also is located at moving the left side of straight rail 202 and also curved, arc formed by the left curved rail 201 of movement
The center of circle overlapped with the center of circle of arc formed by track B.When sliding block 20 is slid into the second place to the right, the left curved rail of movement
The central angle of the arc that 201 and track B connects and constitutes is 90 degree, so when loop wheel machine 2 is successively from track A, the left curved rail of movement
201st, after track B passes through, 90 degree to the left of turning has actually been carried out.When sliding block 20 is slid into first position to the left,
Track A, mobile straight rail 202, track B splice and constitute a straight rail for communicating along the longitudinal direction successively, and loop wheel machine 2 is successively from track
When A, the left curved rail 201 of movement, track B pass through, actual is straight trip, and the direction of its operation does not change.The suspention that the present embodiment is provided
Rail system can realize the connection and switching of track A-B and track A-C.
Embodiment 3
Referring to the drawings shown in 6, the suspension type rail system of the present embodiment also includes first track element, with embodiment 2
First track element is differed only in：
Track B is located at the right side of track C, and second moving rail is the right curved rail 203 of movement.That is, the center of circle of arc formed by track B
Positioned at the front side of track B and positioned at the right side of track C, the right curved rail 203 of movement is located at the right side of mobile straight rail 202, mobile right curved
The center of circle of arc overlaps with the center of circle of arc formed by track B formed by rail 203.When sliding block 20 is slid into the second place to the left
When, the central angle of the arc that the right curved rail 203 of movement and track B connect and constitute is 90 degree, so work as loop wheel machine 2 successively from track A,
After the right curved rail 203 of movement, track B pass through, 90 degree to the right of turning has actually been carried out.
Embodiment 4
With reference to shown in accompanying drawing 7, the present embodiment is the combination of the first track element of embodiment 2 and embodiment 3.The present embodiment it is outstanding
Hang track B and track D that rail system includes the track A for extending along the longitudinal direction and track C, extends in left-right direction, track
A, B, C, D are not connected, and track A and B intersect.The suspention rail system also includes two rail changing devices, one of to become rail
There is device the mobile straight rail 202 that extends along the longitudinal direction and the arc positioned at the right side of movement straight rail 202 to move left curved rail,
Arc of another rail changing device with the mobile straight rail 202 for extending in left-right direction and on rear side of the movement straight rail 202
Move right curved rail.Track A, C can be connected by the mobile straight rail 202 for extending along the longitudinal direction, and track B, D can be by along right and lefts
Connected to the mobile straight rail 202 for extending, track B, D are by moving left curved rail, the fixed bend rail bd of one section of arc and moving right
Curved rail is connected, and the fixed bend rail of the arc is equivalent to be have two integrally formed compositions of y2 tracks of the first track element.
The suspention rail system that the present embodiment is provided can realize the connection and switching of track A-C, track B-D and track C-D.
Embodiment 5
With reference to shown in accompanying drawing 8, the suspention rail system of the present embodiment includes second track element, the second track element reality
It is the single track element of embodiment 1, the difference with the first track element of embodiment 2 is：
In addition to track A, B, C as described in Example 2, also including track D, the center line of track D and track B relative orbits C is in
Axial symmetry.That is, track D is located at the right side of track C, and it is curved fixed bend rail, the circle of arc formed by track D
The heart is located at the front side of track B and positioned at the right side of track C.Track A, B, C, D be respectively equivalent to x ' defined above, y2 ', y1 ',
Y3 ' tracks.
In addition to mobile straight rail 202 as described in Example 3 and the left curved rail 201 of movement, the 3rd use is additionally provided with sliding block 20
In the moving rail passed through for loop wheel machine 2, the 3rd moving rail has the first end connected with track A and connect with track D second
End.First sliding block 20 also has the 3rd position, and when the first sliding block 20 is in three positions, track A and track D is by the 3rd shifting
Dynamic rail is connected.Specifically, the center line of the 3rd moving rail and the left relative movement of curved rail 201 straight rail 202 of movement axisymmetricly, the
It is the right curved rail 203 of movement that three moving rails are actual（Mobile right curved rail 203 in similar to embodiment 2）.Movement is located at by curved rail
The right side of mobile straight rail 202, the center of circle of arc overlaps with the center of circle of arc formed by track D formed by the right curved rail 203 of movement.When
When sliding block 20 is slid into three positions to the left, the central angle of the arc that the right curved rail 203 of movement and track D connect and constitute is 90
Degree, so when loop wheel machine 2 successively from track A, move right curved rail 203, track D and pass through after, actually carried out 90 degree to the right
Turn.
The suspention rail system that the present embodiment is provided can realize the connection and switching of track A-B, track A-C and track A-D.
Embodiment 6
With reference to shown in accompanying drawing 9, described in actual the first track element and embodiment 5 for described in embodiment 2,3 of the present embodiment the
The combination of two track elements.The suspention rail system of the present embodiment is including the track A for extending along the longitudinal direction and track C, along a left side
Track B and track D that right direction extends, track A, B, C, D are not connected.Track A, C are respectively equivalent to two the first track lists
The x tracks of unit, track B, D are respectively equivalent to the x1 ' of the second track element, y1 ' tracks.
The suspention rail system also includes three rail changing devices 1a, 1b, 1c, rail changing device 1a have the left curved rail 201 of movement,
Mobile straight rail 202, rail changing device 1b has the left curved rail 201 of movement, mobile straight rail 202 and the right curved rail 203 of movement, rail changing device 1c
With the left curved rail 201 of movement, mobile straight rail 202 and the right curved rail 203 of movement.
Fixed bend rail ab, the shifting of rail changing device 1b of the mobile left curved rail 201, arc that track A and B pass through rail changing device 1a
Move right curved rail 203 to connect, fixed bend rail ab is the equal of by first the y2 tracks and the second track element of the first track element
Y3 ' tracks integrally formed compositions；The fixed bend rail of the mobile right curved rail 203, arc that track B and C pass through rail changing device 1b
Bc, the mobile left curved rail 201 of rail changing device 1c are connected, fixed bend rail bc be the equal of by the second track element y2 ' tracks and
Second integrally formed composition of y2 tracks of the first track element；Track A and C by the mobile straight rail 202 of rail changing device 1a,
The fixed straight rail ac that extends along the longitudinal direction, the mobile straight rail 202 of rail changing device 1c are connected, and the fixation for extending in left-right direction is straight
Rail ac is the equal of by the integrally formed track for constituting of the y1 tracks of two the first track elements；B and D is by rail changing device 1b's
Mobile straight rail 202 is connected.
The suspention rail system that the present embodiment is provided can realize track A-B, track B-C, track A-C and track B-D
Connect and switch.
First track element of the invention and the second track element can carry out arbitrary independent assortment, become various suspentions that swap out
Rail system, to meet various occasions the need for, it is not limited to embodiment 1-6.
The above embodiments merely illustrate the technical concept and features of the present invention, is a kind of preferred embodiment, and its purpose exists
In allowing person skilled in the art to will appreciate that present disclosure and implementing according to this, guarantor of the invention can not be limited with this
Shield scope.The equivalent change or modification that all Spirit Essences of the invention are made, should all cover in protection scope of the present invention
Within.
Claims (10)
1. a kind of sky rail nursing suspention control system, including at least one track element, it is characterised in that the rail
Road unit is included for being fixedly connected x tracks, at least two y tracks that confession loop wheel machine on the ceiling passes through, each y tracks
Extend in different directions respectively, the track element also includes rail changing device, the rail changing device is included for being fixedly connected
Support on the ceiling, the sliding block being slidingly disposed on the support, the sliding block are provided with and a pair of y tracks 1
The moving rail that the confession loop wheel machine answered passes through, each moving rail respectively have with the first end that the x tracks connect and with it is corresponding
The second end for connecting of y tracks, the sliding block have with the one-to-one position of y tracks, when the sliding block is at first
When putting, the x tracks are connected with one of y tracks by a moving rail, when the sliding block is in another location, the x
Track is connected with another y track by another moving rail；
The suspention control system also includes：Master controller, for according to the commutation of user request generation control signal；
The rail changing device also includes：
Become rail motor, for receiving the control signal and being rotated forward or backwards according to the control signal to drive the cunning
Block is moved；And
To rail detection switch, for sensing the contact on the sliding block after send expression x tracks and direction selected by user
Y tracks by moving rail connect to rail signal, each described y track respectively correspond to one it is described to rail detection switch, institute
State and rail detection switch is respectively provided on the support or corresponding y tracks；
The master controller is additionally operable to receive and described rail signal is sent and stopped to the change rail motor to rail signal and according to described
Machine signal.
2. suspention control system according to claim 1, it is characterised in that the suspention control system is also wrapped
Include：
Hand controller, instructs for being commutated for user input；
Loop wheel machine controller, the commutation for receiving user is instructed and generates commutation request according to the commutation instruction, then
The commutation request is sent to the master controller.
3. suspention control system according to claim 2, it is characterised in that the track element also includes：
Enter the orbit inductive switch, be used to send request signal of entering the orbit after loop wheel machine is sensed on the x tracks；
The master controller be additionally operable to receive it is described enter the orbit request signal and after request signal of entering the orbit described in receiving to described
Loop wheel machine controller sends answer signal, and the loop wheel machine controller is used to send for reminding user receiving the answer signal
The alerting signal of input commutation instruction.
4. suspention control system according to claim 3, it is characterised in that the suspention control system
Also include：
Voice module, for receiving the alerting signal and sending the first voice signal according to the alerting signal；
And/or, the loop wheel machine controller is additionally operable to send feedback to the voice module after the commutation for receiving user is asked
Signal, the voice module is additionally operable to after the feedback signal is received send the second voice for representing that commutation instruction is received
Signal；
And/or, the master controller is additionally operable to be sent described rail signal to the loop wheel machine controller, the loop wheel machine controller
It is additionally operable to after the signal to rail is received send walk signal to the voice module, the voice module is additionally operable to connecing
Receive the 3rd voice signal sent after the walk signal for pointing out user to be walked with loop wheel machine.
5. suspention control system according to claim 4, it is characterised in that the hand controller, loop wheel machine controller with
And the voice module is located on the loop wheel machine.
6. suspention control system according to claim 1, it is characterised in that the track element also includes：
Restricted driving head, is actively used for only in x tracks on the x tracks and the y tracks in direction selected by user pass through moving rail
The loop wheel machine is allowed to enter the rail changing device after connection.
7. suspention control system according to claim 6, it is characterised in that the master controller is additionally operable to receiving
Stop signal is sent after to the commutation request of user and only send right of way signal after the signal to rail is received；The track
Unit also includes：
Restricted driving head motor, for receiving the stop signal and the right of way signal, and is receiving the stop signal rear-guard
Move the restricted driving head and stretch out x tracks to prevent loop wheel machine from entering rail changing device, the limit is driven after the right of way signal is received
Wardrobe retreat in x tracks to allow loop wheel machine to pass through.
8. suspention control system according to claim 1, it is characterised in that it is described to rail detection switch for light is established by cable
Close, the rail changing device includes the positioning strip on the sliding block, and insertion offers one and is available for light on the positioning strip
The locating slot for passing through, the locating slot forms described contact.
9. suspention control system according to claim 1, it is characterised in that the track element includes three y rails
Road, first sliding block have three respectively with the one-to-one position of y tracks, when first sliding block is in first position
When, the x tracks and first y track are connected by first moving rail, when the sliding block is in the second place, the x rails
Road and second y track are connected by second moving rail, when the sliding block is in three positions, the x tracks and the 3rd y
Track is connected by the 3rd moving rail.
10. the suspention control system according to claim 1 or 9, it is characterised in that the suspention control system bag
Include multiple track elements and the master controller for controlling the multiple track element.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710110314.0A CN106901948B (en) | 2017-02-28 | 2017-02-28 | Sky rail nursing suspention control system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710110314.0A CN106901948B (en) | 2017-02-28 | 2017-02-28 | Sky rail nursing suspention control system |
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| CN106901948B CN106901948B (en) | 2019-04-02 |
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| CN110803473A (en) * | 2019-11-15 | 2020-02-18 | 广东智源机器人科技有限公司 | Translation switching track device |
| CN111728826A (en) * | 2020-05-07 | 2020-10-02 | 曼纽科健康产业(广州)有限公司 | Control method and system for track path planning |
| CN114132705A (en) * | 2021-12-21 | 2022-03-04 | 常州市钱璟康复股份有限公司 | Sky rail reversing turntable and control method thereof |
| CN114129400A (en) * | 2021-12-21 | 2022-03-04 | 常州市钱璟康复股份有限公司 | Y-shaped rail replacing structure and control method thereof |
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Address after: 215425 Guizhuang, Shaxi Town, Taicang City, Suzhou City, Jiangsu Province Patentee after: Kanghui Medical Technology (Suzhou) Co., Ltd. Address before: 215425 Guizhuang, Shaxi Town, Taicang City, Suzhou City, Jiangsu Province Patentee before: Comfort Technology Development Co., Ltd. Taicang City |
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