CN108436878A - Home care apparatus suitable for old inconvenience person - Google Patents

Home care apparatus suitable for old inconvenience person Download PDF

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Publication number
CN108436878A
CN108436878A CN201810225398.7A CN201810225398A CN108436878A CN 108436878 A CN108436878 A CN 108436878A CN 201810225398 A CN201810225398 A CN 201810225398A CN 108436878 A CN108436878 A CN 108436878A
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China
Prior art keywords
nursing
old
inconvenience person
person
support apparatus
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Withdrawn
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CN201810225398.7A
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Chinese (zh)
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秦园园
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Individual
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Individual
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Priority to CN201810225398.7A priority Critical patent/CN108436878A/en
Publication of CN108436878A publication Critical patent/CN108436878A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/008—Manipulators for service tasks
    • B25J11/009—Nursing, e.g. carrying sick persons, pushing wheelchairs, distributing drugs
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/24—Detecting, measuring or recording bioelectric or biomagnetic signals of the body or parts thereof
    • A61B5/316—Modalities, i.e. specific diagnostic methods
    • A61B5/318—Heart-related electrical modalities, e.g. electrocardiography [ECG]
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/24—Detecting, measuring or recording bioelectric or biomagnetic signals of the body or parts thereof
    • A61B5/316—Modalities, i.e. specific diagnostic methods
    • A61B5/369—Electroencephalography [EEG]
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
    • A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
    • A61B5/6802—Sensor mounted on worn items
    • A61B5/6803—Head-worn items, e.g. helmets, masks, headphones or goggles
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
    • A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
    • A61B5/6802—Sensor mounted on worn items
    • A61B5/6804—Garments; Clothes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/74—Details of notification to user or communication with user or patient ; user input means
    • A61B5/7465—Arrangements for interactive communication between patient and care services, e.g. by using a telephone network
    • A61B5/747—Arrangements for interactive communication between patient and care services, e.g. by using a telephone network in case of emergency, i.e. alerting emergency services
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
    • A61G7/05—Parts, details or accessories of beds
    • A61G7/065—Rests specially adapted therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
    • A61G7/05—Parts, details or accessories of beds
    • A61G7/065—Rests specially adapted therefor
    • A61G7/07—Rests specially adapted therefor for the head or torso, e.g. special back-rests
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2203/00—General characteristics of devices
    • A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
    • A61G2203/18—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering by patient's head, eyes, facial muscles or voice

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • General Health & Medical Sciences (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • Animal Behavior & Ethology (AREA)
  • Surgery (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Pathology (AREA)
  • Biophysics (AREA)
  • Physics & Mathematics (AREA)
  • Nursing (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Psychiatry (AREA)
  • Psychology (AREA)
  • Business, Economics & Management (AREA)
  • Critical Care (AREA)
  • Emergency Management (AREA)
  • Emergency Medicine (AREA)
  • Cardiology (AREA)
  • Accommodation For Nursing Or Treatment Tables (AREA)

Abstract

A kind of home care apparatus being suitable for old inconvenience person, including nursing support apparatus, wearable detection apparatus and nursing robot.When home care apparatus to be utilized nurses old inconvenience person, first nursing support apparatus can be placed on bed, and old inconvenience person is made to put on wearable detection apparatus；Then, can send out the sound instruction old inconvenience person being transferred on nursing support apparatus to nursing robot；After old inconvenience person crouches and lies on nursing support apparatus, nursing robot can control wearable detection apparatus and is acquired to the brain physiological signal of old inconvenience person, warning can cry for help when the physical condition information appearance of old inconvenience person is abnormal；If old age inconvenience person thinks sitting, the sound instruction for being propped up sitting can be sent out to nursing robot, old inconvenience person will be propped up sitting by nursing support apparatus.Intelligent nursing can be carried out to old inconvenience person, substantially reduce nursing cost in the case of unmanned collaboration by the home care apparatus.

Description

Home care apparatus suitable for old inconvenience person
Technical field
The present invention relates to the technical fields of care appliances more particularly to a kind of residential care being suitable for old inconvenience person to set It is standby.
Background technology
As Chinese aging trend is more and more obvious, elderly population are on the increase, and the various diseases caused by old age Also more and more, cause the patient of body part paralysis or pamplegia due to disease also gradually to increase.Wherein, if patient's long-time Lie on a bed, special nursing staff not only needed to nurse, for example, assist patient turn over, connect just, march leg live Dynamic, sitting etc. can also cause patient blood cycle obstructed, easily lead to skin infection and the generation of bedsore, be unfavorable for disease Restore.
Currently, the care appliances designed for old inconvenience person are also more and more, and it is dazzling, for example, nursing disease Bed is suitable for handicapped old inconvenience person and is used when being hospitalized or nursing at home, in order to which old age inconvenience person can be certain Autonomic activities in range accelerate its rehabilitation；Meanwhile this nursing hospital bed can carry out relatively simple nursing, example to old inconvenience person Such as, it realizes to have turned over and sits back and waits basic function.But current care appliances need nursing staff to cooperate mostly, it could be complete The nursing of old age inconvenience person in pairs, and nursing function is relatively simple, nursing efficacy is poor.Thus, how to utilize nursing robot certainly It is dynamic that patient is assisted to carry out some basic nursings, effectively to reduce the working strength of nursing staff, the nursing expense of patient is reduced, at For research hotspot in recent years.
As it can be seen that at least having the following defects in the prior art：Need nursing staff to cooperate and cannot be to old inconvenient The intelligent nursing of person's progress, nursing function is relatively simple, nursing efficacy is poor and nursing cost is high.
Therefore, it is necessary to provide a kind of technological means to solve drawbacks described above.
Invention content
It is an object of the invention to overcome the defect of the prior art, a kind of residential care being suitable for old inconvenience person is provided and is set It is standby, to solve to need nursing staff's collaborative work in the prior art intelligent nursing, nursing cannot be carried out to old inconvenience person The problem that function is relatively simple, nursing efficacy is poor and nursing cost is high.
The invention is realized in this way a kind of home care apparatus being suitable for old inconvenience person, including：
Support apparatus is nursed, the nursing support apparatus includes the branch for positioning setting and supporting the component being provided thereon Support frame frame, to the Backing member at the old inconvenience person back of support, driving the support of the Backing member rotation work to use Have driving device, the folding closet for solving stool and urine for old inconvenience person and to control the support apparatus driving dress The support apparatus control device of work is set, the braced frame is equipped with a host cavity for component receiving in the inner；It is described Backing member is rotatably set in the braced frame, and it is foldable be housed in the host cavity, the Backing member with it is described It is formed with folding in pivot region between braced frame and stops position and expansion stop position, the folding is gone in the Backing member When folded stop position, the Backing member folding is housed in the host cavity, and going to the expansion in the Backing member stops When position, the Backing member is unfolded in the braced frame；The support apparatus driving device is set in the braced frame, And it drives end to be connected to the Backing member；The folding closet is detachably set in the braced frame；The support Apparatus control device is set on the side of the braced frame, and is electrically connected with the support apparatus driving device；
Wearable detection apparatus, the wearable detection apparatus includes that can wear set on the head of old age inconvenience person to acquire It the brain wave acquisition cap of the brain physiological signal of old inconvenience person and can wear on the body of old age inconvenience person to acquire old age The electrocardiogram acquisition clothing of the heart physiological signal of inconvenient person, the brain wave acquisition cap includes cap body, several in the cap body It is a acquiring the textile electrode of the brain physiological signal of old inconvenience person and knit in the cap body and with described several The connection of object electrode controls chip to control the brain wave acquisition of several textile electrode work；The electrocardiogram acquisition clothing includes Garment body, in the garment body several are electric to the fabric for acquiring the heart physiological signal of old inconvenience person It pole and connect to control several textile electrode works in the garment body and with several described textile electrodes The electrocardiogram acquisition of work controls chip；
Nursing robot, the nursing robot include the mobile base that can be movably walking in given side, set on described Body in mobile base, two work for being movably arranged at the body both sides respectively and the action command of setting being executed by control It starts arm, the head set on the body upper end, the speech recognition system on the head, rescuing on the body Device and the nursing control device on the body, the nursing control device is helped to be electrically connected with the mobile base, with Control the mobile working of the mobile base；The nursing control device is electrically connected with the movable arm, to control the work Start arm execute setting action command；The nursing control device is electrically connected with the speech recognition system, so that when this is old When year inconvenience person or nursing staff audible instruction to the nursing robot, the speech recognition system may recognize that and this The digital signal that sound instruction matches, and the digital signal is sent to the nursing control device, then controlled by the nursing Device processed controls the mobile base according to the related content of the digital signal and/or the movable arm executes corresponding work Instruction；The nursing control device is electrically connected with the rescue device, can control the rescue device to old age inconvenience person Carry out Emergency Assistance；The rescue device includes the oxygen supply unit that oxygen can be provided to old inconvenience person, can be to old age inconvenience person Carry out electric shock stimulation with promote heartbeat recover electric shock unit and can to old age inconvenience person provide corresponding first-aid pill for prescription Member；
Wherein, the nursing control device is electrically connected with the support apparatus control device, with can be to the support apparatus Control device sends the work order of setting, to which the controllable support apparatus driving device drives the Backing member rotation Work makes old age inconvenience person that can crouch and lies on the Backing member when Backing member goes to the folding and stops position, When the Backing member goes to the expansion and stops position, make old age inconvenience person that can prop up sitting by the Backing member；
The nursing control device is electrically connected with brain wave acquisition control chip, can be controlled by the brain wave acquisition Several textile electrodes described in chip controls are acquired the brain physiological signal of old inconvenience person, and to collected brain Physiological signal is analyzed and obtains the old age corresponding physical condition information of inconvenience person, can also be according to the physical condition information pair Old age inconvenience person makes corresponding nursing, and by the physical condition information be sent to the cloud platform of medical institutions and with this it is old On the communication apparatus of year relevant caregiver of inconvenience person；
The nursing control device is electrically connected with electrocardiogram acquisition control chip, can be controlled by the electrocardiogram acquisition Several textile electrodes described in chip controls are acquired the heart physiological signal of old inconvenience person, and to collected heart Physiological signal is analyzed and obtains the old age corresponding physical condition information of inconvenience person, can also be according to the physical condition information pair Old age inconvenience person makes corresponding nursing, and by the physical condition information be sent to the cloud platform of medical institutions and with this it is old On the communication apparatus of year relevant caregiver of inconvenience person.
Compared with prior art, the beneficial effects of the invention are as follows：
When needing to nurse old inconvenience person using the home care apparatus, first nursing support apparatus can be placed in On bed, and old inconvenience person is made to put on brain wave acquisition cap and put on electrocardiogram acquisition clothing；
Then, can from the relevant caregiver of old inconvenience person or old age inconvenience person to nursing robot send out by Old inconvenience person is transferred to the sound instruction on nursing support apparatus, and the speech recognition system of nursing robot is receiving this The digital signal to match with the sound instruction will be identified after sound instruction, and the digital signal is sent to nursing control Device, then mobile base and movable arm work are controlled according to the related content of the digital signal by nursing control device, to hold It is about to the work order that old inconvenience person is transferred on nursing support apparatus；
After old inconvenience person crouches and lies on nursing support apparatus, the nursing control device of nursing robot can be adopted with brain electricity Collection control chip electrical connection, brain of several textile electrodes of chip controls to old inconvenience person can be controlled by brain wave acquisition Physiological signal is acquired, and is analyzed collected brain physiological signal and obtain the old age corresponding body of inconvenience person Condition information, such as there is larger spirit fluctuation in old inconvenience person, psychology changes, brain situation is abnormal, it can also be according to the body Body condition information makes corresponding nursing, such as pressing relaxing tendons and activating collaterals, ventilation first aid, electric shock first aid to old age inconvenience person, and Simultaneously by the physical condition information be sent to nearby or the cloud platform of relevant medical institutions and with old age inconvenience person it is relevant The communication apparatus of caregiver ensures that the emergency relief of abnormal conditions occurs in old inconvenience person can alert emergency；Simultaneously, it protects Managing the nursing control device of robot can be electrically connected with electrocardiogram acquisition control chip, can control chip controls by electrocardiogram acquisition Several textile electrodes are acquired the heart physiological signal of old inconvenience person, and are carried out to collected heart physiological signal It analyzes and obtains the old age corresponding physical condition information of inconvenience person, it can also be according to the physical condition information to old age inconvenience person Corresponding nursing, such as pressing first aid, ventilation first aid, electric shock first aid are made, and is simultaneously sent to the physical condition information just The cloud platform of close or relevant medical institutions and communication apparatus with the relevant caregiver of old age inconvenience person, are asked with that can alert It rescues, ensures that the emergency relief of abnormal conditions occurs in old inconvenience person；
If old inconvenience person is sleeping lie on nursing support apparatus after, think sitting, old age, inconvenience person can be to shield Reason robot sends out the sound instruction for being propped up sitting, and the speech recognition system of nursing robot refers to receiving the sound The digital signal to match with the sound instruction will be identified after order, and the digital signal is sent to nursing control device, Send the work order of setting to support apparatus control device according to the related content of the digital signal from nursing control device again, Expansion stop position is gone to control support apparatus driving device driving Backing member, makes old age inconvenience person can be by back bracket Component props up sitting, accordingly, can move the body of old inconvenience person to the full extent and exempt to come to harm.
Description of the drawings
Fig. 1 is the schematic diagram of the home care apparatus for being suitable for old inconvenience person of the embodiment of the present invention；
Fig. 2 is that the nursing control device of the home care apparatus for being suitable for old inconvenience person of the embodiment of the present invention uses support Has the control schematic diagram of control device, brain wave acquisition control chip, electrocardiogram acquisition control chip；
Fig. 3 is that the nursing control device of the home care apparatus for being suitable for old inconvenience person of the embodiment of the present invention is used with support Has the electrical connection schematic diagram of control device, brain wave acquisition control chip, electrocardiogram acquisition control chip；
Fig. 4 is the back bracket structure of the nursing support apparatus of the home care apparatus for being suitable for old inconvenience person of the embodiment of the present invention The schematic diagram that part is unfolded on the support frame；
Fig. 5 is showing for another angle of the nursing support apparatus of the home care apparatus for being suitable for old inconvenience person in Fig. 4 It is intended to, to show the concrete structure of anti-skid structure；
Fig. 6 is the back bracket structure of the nursing support apparatus of the home care apparatus for being suitable for old inconvenience person of the embodiment of the present invention Part folds the schematic diagram for the host cavity for being housed in braced frame；
Fig. 7 is the driving dress of the nursing support apparatus of the home care apparatus for being suitable for old inconvenience person of the embodiment of the present invention The schematic diagram set；
Fig. 8 is the folding horse of the nursing support apparatus of the home care apparatus for being suitable for old inconvenience person of the embodiment of the present invention The schematic diagram of bucket；
Fig. 9 is the folding horse of the nursing support apparatus of the home care apparatus for being suitable for old inconvenience person of the embodiment of the present invention Encirclement side plate in the folding bearing of bucket is folded in the schematic diagram on support baseboard；
Figure 10 is the folding of the nursing support apparatus of the home care apparatus for being suitable for old inconvenience person of the embodiment of the present invention The folding bearing of closestool is in schematic diagram when unfoldable shape；
Figure 11 a are the brain of the wearable detection apparatus of the home care apparatus for being suitable for old inconvenience person of the embodiment of the present invention The schematic diagram of electricity acquisition cap；
Figure 11 b are the heart of the wearable detection apparatus of the home care apparatus for being suitable for old inconvenience person of the embodiment of the present invention The schematic diagram of electricity acquisition cap；
Figure 12 is the schematic diagram of the nursing robot of the home care apparatus for being suitable for old inconvenience person of the embodiment of the present invention；
Figure 13 is the front view of the nursing robot of the home care apparatus for being suitable for old inconvenience person of the embodiment of the present invention；
Figure 14 is the rearview of the nursing robot of the home care apparatus for being suitable for old inconvenience person of the embodiment of the present invention；
Figure 15 is the movable hand of the nursing robot of the home care apparatus for being suitable for old inconvenience person of the embodiment of the present invention The structural schematic diagram of the first connecting elements and the second connecting elements of arm；
Figure 16 is the movable hand of the nursing robot of the home care apparatus for being suitable for old inconvenience person of the embodiment of the present invention The structural schematic diagram of the third connecting elements of arm；
Figure 17 is the relief dress of the nursing robot of the home care apparatus for being suitable for old inconvenience person of the embodiment of the present invention The schematic diagram set.
Specific implementation mode
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, right The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and It is not used in the restriction present invention.
It please refers to Fig.1 to Figure 17, is a preferred embodiment provided by the invention, and being suitable in the present embodiment is old inconvenient The home care apparatus 1 of person, including nursing support apparatus 10, wearable detection apparatus 20 and nursing robot 30, below to this Each building block of home care apparatus 1 suitable for old inconvenience person is described further：
Nursing support apparatus 10 includes positioning setting and supporting the braced frame 11 for the component being provided thereon, holding The Backing member 12 at confide-old year inconvenience person back, the support apparatus driving device 13 to drive 12 rotation work of Backing member, Folding closet 18 for solving stool and urine for old inconvenience person and to control the support that support apparatus driving device 13 works Apparatus control device 14, braced frame 11 are equipped with a host cavity Q for component receiving in the inner；Backing member 12 is rotatable In braced frame 11, and foldable it is housed in the host cavity Q, the rotational area between Backing member 12 and braced frame 11 It is formed with folding in domain and stops position T1 and expansion stop position T2, when Backing member 12 goes to folding and stops position T1, Backing member 12 fold and are housed in host cavity Q, and preferably, the bottom face of Backing member 12 is concordant with the bottom face of braced frame 11, To avoid with the Backing member 12 of user's back contact lead to user due to larger at a distance from 11 bottom face of braced frame Occur discomfort when lying down, and is also beneficial to reduce thickness setting when nursing support apparatus 10 folds；And in Backing member 12 When going to expansion stop position T2, Backing member 12 is unfolded in braced frame 11, and wherein, it can be back bracket that position T2 is stopped in expansion Any position within the scope of pivot region formed between component 12 and braced frame 11, the selection to increase user make With；Support apparatus driving device 13 is set in braced frame 11, and it drives end to be connected to Backing member 12, preferably, should Support apparatus driving device 13 is directly connect with a Rechargeable battery, to be energized by the Rechargeable battery；Folding closet 18 Detachably it is set to braced frame 11；Support apparatus control device 14 is set on the side of braced frame 11, and is driven with support apparatus Dynamic device 13 is electrically connected.
Wearable detection apparatus 20 includes that can wear set on the head of old age inconvenience person to acquire the brain of old inconvenience person The brain wave acquisition cap 21 of physiological signal and heart life on the body of old age inconvenience person with the old inconvenience person of acquisition can be worn Manage the electrocardiogram acquisition clothing 22 of signal, brain wave acquisition cap 21 include cap body 211, in cap body 211 several are old to acquire The brain electricity textile electrode 212 of the brain physiological signal of year inconvenience person and be set in cap body 211 and with several brain electricity textile electrodes 212 connections control chip 213 to control the brain wave acquisition of several brain electricity textile electrodes 212 work；Electrocardiogram acquisition clothing 22 wraps Garment body 221, several in garment body 221 are included acquiring the electrocardio of the heart physiological signal of old inconvenience person It textile electrode 222 and connect to control several hearts in garment body 221 and with several electrocardio textile electrodes 222 The electrocardiogram acquisition that electric textile electrode 222 works controls chip 223；It should be noted that the arrangement of brain electricity textile electrode 212 is root Accordingly it is arranged in cap body 211 according to position needed for human body electroencephalogram's wave is measured, the arrangement of electrocardio textile electrode 222 is according to measurement Position needed for human body electrocardio wave and be accordingly arranged in garment body 221；Moreover, preferably, brain electricity textile electrode 212 is by can With gel that it mutually melts in cap body 211, in order to accurately measure the brain wave of old inconvenience person；Electrocardio textile electrode 222 are set to by the gel that can mutually melt with it in garment body 221, in order to accurately measure the electrocardio wave of old inconvenience person； Wherein, gel also known as frozen glue, it be it is a kind of between liquid and solid have a kind of semi-solid state of special elastic Stiff substance, its forming process are by biomolecule such as albumen, enzyme, recombinant protein, antibody, nucleic acid, by tens thousand of surveys Fixed experiment and 15 chromatographies and purifying, finally extract a kind of a kind of object of similar human skin particular result substance.
Nursing robot 30 includes the mobile base 31 that can be movably walking in given plane, in mobile base 31 Body 32, is set two activity arms 33 for being movably arranged at 32 both sides of body respectively and being executed the action command of setting by control In the head 34 of 32 upper end of body, the speech recognition system 35 on head 34, the rescue device 39 on body 32 and Nursing control device 36 on body 32, nursing control device 36 is electrically connected with mobile base 31, to control mobile base 31 mobile working；Nursing control device 36 is electrically connected with movable arm 33, and the action of setting is executed with control activity arm 33 Instruction；Nursing control device 36 is electrically connected with speech recognition system 35, so as to work as old age inconvenience person or nursing staff to nursing When robot 30 audibles instruction, speech recognition system 35 may recognize that the digital signal to match with the sound instruction, and The digital signal is sent to nursing control device 36, then by nursing control device 36 according to the related content control of the digital signal Mobile base 31 processed and/or movable arm 33 execute corresponding work order；Nursing control device 36 is electrically connected with rescue device 39 It connects, Emergency Assistance is carried out to old age inconvenience person with controllable rescue device 39.
Wherein, nursing control device 36 is electrically connected with support apparatus control device 14, with can be to support apparatus control device 14 send the work order of setting, to which controllable support apparatus driving device 13 drives 12 rotation work of Backing member, in the back of the body Support component 12 goes to folding when stopping position T1, makes old age inconvenience person that can crouch and lies on Backing member 12, in 12 turns of Backing member When stopping position T2 to expansion, make old age inconvenience person that can prop up sitting by Backing member 12；
Nursing control device 36 is electrically connected with brain wave acquisition control chip 213, can control chip 213 by brain wave acquisition The brain physiological signal for controlling the old inconvenience person of several textile electrodes pair 212 is acquired, and to collected brain physiology Signal is analyzed and obtains the old age corresponding physical condition information of inconvenience person, can also be old to this according to the physical condition information Year inconvenience person makes corresponding nursing, and by the physical condition information be sent to the cloud platform of medical institutions and with the old age not Just on the communication apparatus of relevant caregiver；
Nursing control device 36 is electrically connected with electrocardiogram acquisition control chip 223, can control chip 223 by electrocardiogram acquisition The heart physiological signal for controlling the old inconvenience person of several textile electrodes pair 212 is acquired, and to collected heart physiological Signal is analyzed and obtains the old age corresponding physical condition information of inconvenience person, can also be old to this according to the physical condition information Year inconvenience person makes corresponding nursing, and by the physical condition information be sent to the cloud platform of medical institutions and with the old age not Just on the communication apparatus of relevant caregiver.
When needing to nurse old inconvenience person using the home care apparatus 1, first the nursing folded can be held Support apparatus 10 is placed on bed not smaller than its width, without it is fixed using the fixing piece of screw etc, together When, so that old inconvenience person is put on brain wave acquisition cap 21 and is put on electrocardiogram acquisition clothing 22；
It then, can be from being sent out to nursing robot 30 with the relevant caregiver of old inconvenience person or old inconvenience person Old age inconvenience person is transferred to the sound instruction on nursing support apparatus 10, and the speech recognition system 35 of nursing robot 30 exists The digital signal to match with the sound instruction will be identified after receiving the sound instruction, and the digital signal is sent to Control device 36 is nursed, then mobile base 31 and activity are controlled according to the related content of the digital signal by nursing control device 36 Arm 33 works, to execute the work order being transferred to old inconvenience person on nursing support apparatus 10；
Old inconvenience person is sleeping lie on nursing support apparatus 10 after, the nursing control device 36 of nursing robot 30 understand with Brain wave acquisition controls chip 213 and is electrically connected, several brain electricity textile electrodes are controlled can control chip 213 by brain wave acquisition The brain physiological signal of 212 couples of old inconvenience persons is acquired, and is analyzed collected brain physiological signal and obtained There is larger spirit fluctuation, psychology variation, brain shape in the old age corresponding physical condition information of inconvenience person, such as old inconvenience person Condition exception etc., can also make corresponding nursing according to the physical condition information to old age inconvenience person, such as press relaxing tendons and activating collaterals, supply Oxygen emergency treatment, electric shock first aid etc., and simultaneously by the physical condition information be sent to nearby or the cloud platform of relevant medical institutions and Ensure old age not with the communication apparatus (smartwatch or mobile phone) of the relevant caregiver of old age inconvenience person emergency can be alerted Just there is the emergency relief of abnormal conditions；
Simultaneously, the nursing control device 36 of nursing robot 30 can be electrically connected with electrocardiogram acquisition control chip 223, with can By electrocardiogram acquisition control chip 223 control several electrocardio textile electrodes 222 to the heart physiological signal of old inconvenience person into Row acquisition, and collected heart physiological signal is filtered except interference, specifically, nursing control device 36 is equipped with filtering System, in order to the physiological signal to acquisition can filtering and impurity removing, to ensure the accurate analysis of next step；Then, nursing control Device 36 calculates analysis to obtain the old age corresponding physical condition information of inconvenience person to the heart physiological signal, such as obtains old Inconvenient person's heart information can also make corresponding nursing according to the physical condition information to old age inconvenience person, such as press First aid, ventilation first aid, electric shock first aid etc., and be simultaneously sent to the physical condition information nearby or the cloud of relevant medical institutions Platform and communication apparatus (smartwatch or mobile phone) with the relevant caregiver of old age inconvenience person are ensured with that can alert emergency There is the emergency relief of abnormal conditions in old inconvenience person；
If old inconvenience person is sleeping lie on nursing support apparatus 10 after, think sitting, old age inconvenience person can be to Nursing robot 30 sends out the sound instruction for being propped up sitting, and the speech recognition system 35 of nursing robot 30 is receiving The digital signal to match with the sound instruction will be identified after the sound instruction, and the digital signal is sent to nursing control Device 36 processed, then set from nursing control device 36 to the transmission of support apparatus control device 14 according to the related content of the digital signal Fixed work order drives Backing member 12 to go to expansion stop position T2, makes to control support apparatus driving device 13 Old age inconvenience person can prop up sitting by Backing member 12, can move the body of old inconvenience person to the full extent as a result, and Exempt to come to harm.
In addition, nursing robot 30 can also according to the set procedure, to old inconvenience person progress on time feeding, massage on time Physical palsy part etc..
In addition, by folding closet 18, when old age, inconvenience person needed to solve stool and urine, directly folding closet 19 can be torn open It unloads down, then folding closet 18 is unfolded, at this point, stool and urine can be solved on folding closet 18；After complete, as long as to shield Reason robot 30 sends out the sound instruction removed and remove folding closet 18, and nursing robot 30 will move the folding closet 18 It walks, not only ensure that the health of care environments, but also can avoid the awkward at heart of old inconvenience person.
It can be seen that the home care apparatus 1 for being suitable for old inconvenience person by this can be in the case of unmanned collaboration, to old Year, inconvenience person carried out intelligent nursing, substantially reduced nursing cost, and its nursing function is more, nursing efficacy is good, is conducive to It is promoted the use of in family or medical institutions.
It is used it should be noted that the brain wave acquisition cap 21 in the present embodiment can also be used alone as the detection of human body electroencephalogram's wave, It is simple and convenient and in use, user directly wears brain wave acquisition cap 21 on head.It is detected and nothing moreover, being in It need to be measured to hospital, greatly improve its flexibility and convenience.
Secondly, traditional electrode is substituted using brain electricity textile electrode 212, and the arrangement of brain electricity textile electrode 212 is according to survey Amount human body electroencephalogram's wave needed for position and be accordingly arranged in cap body 211, as long as a result, user in use, by the cap body wear in It is simple and convenient on head, avoid conventionally employed " electrode+conductive paste+adhesive plaster " it is this need professional person and more take Ground is attached at the embodiment of human body head；Simultaneously due to which brain electricity textile electrode 212 can be worn with cap body 211 in user Head after position and fix, it is not easy to generate the obscission occurred using " electrode+conductive paste+adhesive plaster " this embodiment； Further more, during user's use, it can be freely movable, it needs to keep posture different from traditional approach, improves relaxing for user Appropriateness.
Then, due to the use of brain electricity textile electrode 212, accordingly, the electrode attached at the top of human body head is needed to move to patch Attached human body head forehead, to also make to brain wave acquisition cap 21 to wear, mode is more convenient, and structure is simpler；
Further more, since the brain wave acquisition cap 21 can accurately measure human body electroencephalogram's wave, it can accurately obtain user's accordingly Sleep quality, consequently facilitating doctor accurately treats the sleeping problems such as sleep insufficiency, the snoring of user's appearance.In addition, the brain is electric It acquires cap 21 to become various intracranial lesions, such as headstroke, encephalitis, brain tumor, metabolic encephalopathy, also there is prodigious diagnosis to help It helps.
Similarly, the electrocardiogram acquisition clothing 22 in the present embodiment can also be used alone as the detection use of human body electrocardio wave, and use When, electrocardiogram acquisition clothing 22 is directly worn on body by user, simple and convenient.Moreover, be in be detected without It is measured to hospital, greatly improves its flexibility and convenience.
Secondly, traditional electrode is substituted using electrocardio textile electrode 222, and the arrangement of electrocardio textile electrode 222 is according to survey It measures position needed for human body electrocardio wave and is accordingly arranged in garment body 221, as long as user is in use, by the clothes as a result, Ontology is worn on body, simple and convenient, avoids that conventionally employed " electrode+conductive paste+adhesive plaster " is this to need professional people Scholar and more time-consumingly it is attached at the embodiment on human body body；Simultaneously due to which electrocardio textile electrode 222 can be with clothes Positioning is fixed after ontology 221 is worn on the body of user, it is not easy to be generated and be used " electrode+conductive paste+adhesive plaster " this reality The obscission that the mode of applying occurs；Further more, during user's use, it can be freely movable, it needs to protect different from traditional approach Posture is held, the comfort level of user is improved.
Fig. 2 and Fig. 3 are please referred to, the nursing control device 36 of the present embodiment includes a nursing control circuit board 361, nursing control Circuit board 361 processed is set to inside body 32, and is electrically connected with brain wave acquisition control chip 213, electrocardiogram acquisition control chip 223, And nurse the infrared transmitter 3611 that control circuit board 361 is equipped with transmittable infrared control instruction；Nurse control circuit Being additionally provided on plate 361 has to carry out the rescue module of Emergency Assistance to old inconvenience person, for being controlled to rescue device 39 System.
Support apparatus control device 14 includes a support apparatus control circuit board 141, in support apparatus control circuit board 141 Equipped with the infrared receiver 1411 that can receive the infrared control instruction sent by infrared transmitter 3611.
Wherein, by infrared transmitter 3611 and infrared receiver 1411, it can make to nurse control device 36 directly Work order quickly is sent out to support apparatus control device 14, and support apparatus control device 14 can also be quickly responded and be connect It receives, improves its response speed, and can also preferably avoid extraneous interference effect.
In addition, in order to efficiently and easily make nursing control circuit board 361 control chip 213, electrocardiogram acquisition with brain wave acquisition Control chip 223 be electrically connected, nursing control circuit board 361 by first be wirelessly connected module 41 by with brain wave acquisition control chip 213 electrical connection, nursing control circuit board 361 by second wireless connection module 42 by with electrocardiogram acquisition control chip 223 be electrically connected It connects.Moreover, preferably, it is bluetooth connection module or NFC close that the first wireless connection module 41, second, which is wirelessly connected module 42, Link block, in favor of installing and being adapted to and popularization and application.
Fig. 4 to Fig. 7 is please referred to, for another preferred embodiment of the present invention, the implementation content with above-described embodiment, In, foregoing description is seen for the specific implementation mode of above-described embodiment, embodiment herein is not repeated detailed description；And at this In embodiment, with above-described embodiment difference lies in：
The preferred embodiment of the braced frame 11 of the present embodiment is comprising the first support moulding 111, with the first support The the second support moulding 112 and the first support moulding 111 of one end connection of the setting of 111 relative spacing of moulding and other end connection the The third of two support mouldings 112 supports moulding 113, the first support moulding 111, second that moulding 112 and third is supported to support moulding Host cavity Q is surrounded between 113 threes.
Wherein, which supports moulding 112 and third support moulding 113 can be curved by a rectangular tube Folding is formed, also can be by being welded.In addition, the braced frame 11 is in a U-shape, in order to fabricate.
And the preferred embodiment of Backing member 12 is comprising back bracket frame 121 and on the back bracket frame 121 with With the flexible back bracket part 122 of the back contact of user.
Wherein, back bracket frame 121 includes the first back bracket moulding 1211, is arranged with 1211 relative spacing of the first back bracket moulding Second back bracket moulding 1212 and one end connect the third of the first back bracket moulding 1211 and the other end the second back bracket moulding 1212 of connection Back bracket moulding 1213, flexible back bracket part 122 are set to by the first back bracket moulding 1211, the second back bracket moulding 1212 and third back bracket frame In the cavity that item 1213 surrounds, and it is connected to the first back bracket moulding 1211, the second back bracket moulding 1212, third back bracket moulding 1213.And the first back bracket moulding 1211, the second back bracket moulding 1212 and third back bracket moulding 1213 can be bent by a rectangular tube It is formed, it also can be by being welded.
In addition, the back bracket frame 121 is in a U-shape, in order to fabricate.So, it is accommodated when Backing member 12 folds When in host cavity Q, the first back bracket moulding 1211 is opposite with the first support moulding 111 to be abutted, and the upper and lower end face of the rwo Concordantly, the second back bracket moulding 1212 is opposite with the second support moulding 112 abuts, and the upper and lower end face of the rwo is concordant, third Back bracket moulding 1213 is opposite with third support moulding 113 to be abutted, and the upper and lower end face of the rwo is concordant, accordingly, can be conducive to Ensure that Backing member 12 folds the folding effect being housed in host cavity Q, makes to user to lie in the flexible back of the body of Backing member 12 Without significantly tilting sense when in supporting piece 122, ensure comfort.
And preferably, the flexibility back bracket part 122 to may be selected to be canvas, braided fabric or mesh cloth etc. solid, frivolous, soft Material, in order to draw materials and installation settings.
Simultaneously, the embodiment of the rotation connection between Backing member 12 and braced frame 11 is：First back bracket moulding 1211 are pivotally connected by one first rotation axis 141 and the first support moulding 111, and the second back bracket moulding 1212 passes through one second turn Moving axis 142 is pivotally connected with the second support moulding 112.
Referring to Fig. 7, the driving end of the support apparatus driving device 13 in the present embodiment is a telescopic drive portion 131, stretch Contracting driving portion 131 is connect by transmission mechanism 132 with Backing member 12, wherein by the setting of transmission mechanism 132, is removed Be conducive to reach the power that support apparatus driving device 13 generates on Backing member 12, with the Backing member that can smoothly drive 12 rotation work also helps the positioning setting of support apparatus driving device 13.And preferably, the support apparatus driving device 13 be preferably electric pushrod, then its telescopic drive portion 131 is a telescopic screw rod.Certainly, support apparatus driving device 13 is also optional It is selected as cylinder or hydraulic cylinder, also belongs to the protection category of the present embodiment.
And the preferred embodiment of transmission mechanism 132 is comprising a drive connection plate 1321, on drive connection plate 1321 Equipped with the first connecting pin 13211, with the second connection end 13212 of 13211 relative spacing of the first connecting pin setting and positioned at first Third connecting pin 13213 between connecting pin 13211 and second connection end 13212, and the drive connection plate 1321 is a triangle Plate can be preferably provided as isosceles triangle, in order to the first connecting pin 13211, second connection end 13212, third connecting pin 13213 installation settings, accordingly, the first connecting pin 13211 are provided close to the position at one of drive connection plate 1321 base angle Place is set, second connection end 13212 is provided close at the position at another base angle of drive connection plate 1321, third connecting pin 13213 are provided close at the position of the apex angle of drive connection plate 1321.
Wherein, the first connecting pin 13211 is slidably set on the first back bracket moulding 1211 of Backing member 12, specifically, First back bracket moulding 1211 of Backing member 12 is equipped with a sliding groove 12111, and the first connecting pin 13211 is equipped with a sliding part 132110, sliding part 132110 is inserted in sliding groove 12111, and is slidably matched with sliding groove 12111.And the sliding part 132110 include one towards sliding groove 12111 sliding bar 132111 and be sheathed on the side of sliding bar 132111 outwardly And the fixing bearing 132112 for stretching into sliding groove 12111 and being contained by the inner cavity of the first back bracket moulding 1211, the fixing bearing 132112 width is the width more than sliding groove 12111, and the width of the inner cavity less than the first back bracket moulding 1211, can with this Ensure that fixing bearing 132112 is placed in the inner cavity of the first back bracket moulding 1211 and cannot be detached from easily from sliding groove 12111.
The rotation of second connection end 13212 is on the first support moulding 111 of braced frame 11, specifically, braced frame 11 the first support moulding 111 is equipped with a fixed seat 132121, which can be arranged by welding manner On first support moulding 111 of braced frame 11, and second connection end 13212 passes through a connection axis pin 132122 and fixed seat 132121 are pivotally connected.
Third connecting pin 13213 is rotatablely connected with telescopic drive portion 131, specifically, third connecting pin 13213 is inserted by one Pin 132131 is pivotally connected with telescopic drive portion 131.
It can be seen that the drive connection plate 1321 is equivalent to a cam mechanism, it will be appreciated that ground, when drive connection plate 1321 Sliding part 132110 on first connecting pin 13211 moves to the upside of the sliding groove 12111 on the first back bracket moulding 1211 When at position, the folding of Backing member 12 is housed in host cavity Q；When on the first connecting pin 13211 of drive connection plate 1321 When sliding part 132110 is moved at the position of the lower side of the sliding groove 12111 on the first back bracket moulding 1211, Backing member 12 It is unfolded in braced frame 11.
It is supported on moulding 111 set on the first of braced frame 11 in addition, support apparatus driving device 13 is rotation, tool Body is that the first support moulding 111 is equipped with a fixed seat 132, and the side of support apparatus driving device 13 passes through a connection axis pin 133 are pivotally connected with fixed seat 132.
Referring to Fig. 6, preferably, the nursing support apparatus 10 of the present embodiment further includes being set in braced frame 11 and blocking Support apparatus driving device 13 is can prevent the hand of user from touching support apparatus driving device 13 and take into account handrail function Outer cover 15, wherein the making of the materials such as metal, plastics, timber can be used in the outer cover 15.
Referring to Fig. 5, further, the nursing support apparatus 10 of the present embodiment further includes set on the bottom side of braced frame 11 On anti-skid structure 16 to slide after preventing braced frame 11 to be placed on bed.
Wherein, the preferred embodiment of anti-skid structure 16 is comprising is set to anti-on the bottom side end face of braced frame 11 Skidding 161, there are four which sets, which is divided into four angles of the bottom side end face of braced frame 11 Place is fallen, enhances the antiskid effect of braced frame 11 with this.And preferably, silica gel material can be used in the non-slip mat 161, in order to take Material installation settings.
Referring to Fig. 6, further, the nursing support apparatus 10 of the present embodiment further includes being set to flexible back bracket part 122 On for fixed pillow pillow fixing piece 17, the wherein pillow fixing piece 17 is an elastic webbing, it is preferable that the elastic webbing is set There are two, and two elastic webbings are divided into the upper surface of flexible back bracket part 122 and close to the positions of third back bracket moulding 1213 Place.In addition, preferably, the pillow fixing piece 17 can also be velcro, it thus also can easy and convenient fixed pillow.
Fig. 8 is please referred to Figure 10, and combine Fig. 6, preferably, the folding closet 18 of the present embodiment include fold bearing 181, Convenient bag 182 and cushion 183 fold bearing 181 with form and unfoldable shape is folded, are to fold form when folding bearing 181 When, it can be used for being collected in braced frame 11, when it is unfoldable shape to fold bearing 181, can be used for carrying old inconvenience The weight of person, and it is formed with an accommodating chamber 1813 thereon；Convenient bag 182 is set on the folding bearing 181 of unfoldable shape, and its End portion is housed in accommodating chamber 1813；Cushion 183 is set on the folding bearing 181 of unfoldable shape and is located at convenient bag On 182, and cushion 183 is equipped with the entrance 1831 being connected to the accommodating chamber 1813 for folding bearing 181, so that old inconvenience person is such as When lavatory, its stool and urine can be made to fall within 182 part of convenient bag in accommodating chamber 1813 by entrance 1831.And when old After year inconvenience person has gone to the toilet, cushion 183 is removed, convenient bag 182 is taken out, is then sent out to nursing robot 30 and removes convenient bag 182 sound instruction, and nursing robot 30 will execute this work order and remove convenient bag 182, at this point, can continue The clean hygiene for ensureing surrounding environment had not only facilitated old inconvenience person, but also can avoid its inconvenience to go to the toilet.
Wherein, which includes support baseboard 1811 and surrounds side plate 1812, surrounds side plate 1812 and support bottom Plate 1811 connects, and is taken shape in the side surrounding of support baseboard 1811 by folding, and accommodating chamber 1813 is formed in encirclement Between side plate 1812 and support baseboard 1811；And preferably, it is using paper material, accordingly, in addition to that can protect to surround side plate 1812 Card, which surrounds side plate 1812 itself, can buffer the active force of the stool and urine generated when the old inconvenience person of abatement goes to the toilet, avoid splashing everywhere Go out, also help reduction production cost, recycles, it is environmentally protective.
1a and Figure 11 b are please referred to Fig.1, for another preferred embodiment of the present invention, in the implementation with above-described embodiment Hold, wherein foregoing description is seen for the specific implementation mode of above-described embodiment, embodiment herein is not repeated detailed description； And in the present embodiment, with above-described embodiment difference lies in：
The cap body 211 and garment body 221 of the present embodiment are mainly to be formed through knitting device by high-strength yarn and use, with Make that there are multiple knitted mesh structures in cap body 211 and garment body 221, ensures its gas permeability.Moreover, in order to ensure cap body 211 and garment body 221 use well, the cap body 211 and garment body 221 include larger ventilating structure and compared to The weak smaller ventilating structure of the gas permeability of larger ventilating structure, specifically, the larger ventilative knot of cap body 211 and garment body 221 Structure has the characteristics that warp knit or weft knitting is good flexible and extensibility, tool at the larger ventilating structure of cap body 211 and garment body 221 The structure for having single layer mesh larger e.g. forms tuck stitch or eyelet stitch, such vent canopy is good, and cap body 211 and clothing It is polyamide fibre, terylene or spandex to take material used by the larger ventilating structure of ontology 221；As for cap body 211 and garment body 221 Smaller ventilating structure, since the local deformation requirements of 221 cabling of its cap body 211 and garment body are small, ventilative requirement need it is small, Therefore it need to can only be realized with the material of tight ness rating, and material used by the smaller ventilating structure of cap body 211 and garment body 221 Material is also polyamide fibre, terylene or spandex.
2 are please referred to Fig.1, for another preferred embodiment of the present invention, the implementation content with above-described embodiment, wherein Foregoing description is seen for the specific implementation mode of above-described embodiment, embodiment herein is not repeated detailed description；And in this reality Apply in example, with above-described embodiment difference lies in：
The mobile base 31 of the present embodiment include base housing 311, rotatably be set to base housing 311 on movable pulley 312, It is connect on base housing 311 and with movable pulley 312 to drive the sliding driving motor of sliding slipping work (for mark in figure Show), sliding driving motor is electrically connected with nursing control device 36.And by the setting of movable pulley 312 and sliding driving motor, it can Simply and effectively to realize the locomotive function of mobile base 31, is conducive to installation and implements.
2 and Figure 13 are please referred to Fig.1, in the present embodiment, any one movable arm 33 includes that rotation is set on body 32 The second connecting elements 332 and rotation that first connecting elements 331, rotation are set on the first connecting elements 331 are set to the second connection Third connecting elements 333 on component 332.Due to the first connecting elements 331, the second connecting elements 332 and third connecting elements 333 setting can accurately make to movable arm 33 to be located at desired position, and mobile required article.
5 are please referred to Fig.1, the preferred structure of the first connecting elements 331 is comprising connect with body 32 is rotatablely connected first Extension bar part 3311, connect on body 32 and with head rod part 3311 with drive that head rod part 3311 rotates the One driving source 3312, wherein specifically, one end of head rod part 3311 is equipped with the first rotation axis 3313, this first turn The axis of moving axis 3313 and the axis of head rod part 3311 intersect vertically, and head rod part 3311 be by this One rotation axis 3313 is rotatablely connected with body 32, then, head rod part 3311 is the axis around the first rotation axis 3313 Rotation.
Preferably, first driving source 3312 can be a micromotor, and the micromotor passes through the first transmission gear It is 3314 to be connect with the first rotation axis 3313.
Please continue to refer to Figure 15, the preferred structure of the second connecting elements 332 is comprising with 331 turns of the first connecting elements Second connecting rod 3321 of dynamic connection, be set on first connecting elements 331 and connect with the second connecting rod 3321 with The second driving source 3322 for driving the second connecting rod 3321 to rotate, wherein specifically, on one end of the second connecting rod 3321 Equipped with the second rotation axis 3323, the axis of second rotation axis 3323 and the axis of the second connecting rod 3321 intersect vertically, and And second connecting rod 3321 be rotatablely connected by second rotation axis 3323 and the first connecting elements 331, then, the second company Extension bar part 3321 is the axis rotation around the second rotation axis 3323.
Preferably, second driving source 3322 can be a micromotor, and the micromotor passes through the second transmission gear It is 3324 to be connect with the second rotation axis 3323.
6 are please referred to Fig.1, the preferred structure of third connecting elements 333 is comprising rotate and connect with the second connecting elements 332 The third connecting rod 3331 that connects is connect on the second connecting elements 332 and with third connecting rod 3331 to drive third The third driving source 3332 that connecting rod 3331 rotates, wherein specifically, one end of third connecting rod 3331 is equipped with third The axis of rotation axis 3333, the axis and third connecting rod 3331 of the third rotation axis 3333 intersects vertically, and third connects Extension bar part 3331 be by the third rotation axis 3333 and the second connecting elements 332 rotation connection, then, third connecting rod 3331 is around the rotations of the axis of third rotation axis 3333.
Preferably, the third driving source 3332 can be a micromotor, and the micromotor passes through third transmission gear It is 3334 to be connect with third rotation axis 3333.
3 are please referred to Fig.1, for another preferred embodiment of the present invention, the implementation content with above-described embodiment, wherein Foregoing description is seen for the specific implementation mode of above-described embodiment, embodiment herein is not repeated detailed description；And in this reality Apply in example, with above-described embodiment difference lies in：
The nursing robot 30 of the present embodiment further include one for the relevant caregiver of old age inconvenience person and the old age Inconvenient person carries out the display screen 37 of video conversation, and display screen 37 is set on the front end of body, and with the nursing control device 36 Electrical connection.And by the setting of display screen 37, be conducive to relatives in old inconvenience person because working or other reasons are not or not old age Inconvenient person at one's side when, can chat with old inconvenience person remote communication, improve the interactivity between old age inconvenience person and relatives, Be conducive to improve the emotion satisfaction of old inconvenience person.
3 are please referred to Fig.1, preferably, in order to enable accurately to be moved to specified location, and energy to nursing robot 30 The barrier encountered when moving can smoothly be got around without colliding, nursing robot 30 further includes positioning system 381 And barrier induction system 382, positioning system 381 and barrier induction system 382 may be contained on head 34, and controlled with nursing Device 36 processed is electrically connected.
4 and Figure 17 are please referred to Fig.1, preferably, the rescue device 39 of the present embodiment includes that can provide oxygen to old inconvenience person The oxygen supply unit 391 of gas, electric shock stimulation can be carried out to old inconvenience person with promote heartbeat recovery electric shock unit 392 and can be to Old inconvenience person provide corresponding first-aid pill for prescription member 393, oxygen supply unit 391, shock by electricity unit 392 and for prescription member 393 Be arranged inside body 32, with can supply oxygen unit 391, electric shock unit 392 and when not working for prescription member 393 can by compared with Good protection；Correspondingly, rescue module includes supplying oxygen module, electric shock module and for medicine module.
Wherein, oxygen supply unit 391, which includes internal reservoir, has the oxygen cylinder of oxygen, for wearing the face for being set to old inconvenience person Oxygen face mask, the hose for connecting both oxygen cylinder and oxygen face mask, wherein one end of hose connects oxygen cylinder, another The oxygen of oxygen cylinder storage is delivered to old inconvenience person by connection oxygen face mask in end with this by oxygen face mask.In addition, oxygen cylinder Bottle outside set there are two shockproof rubber coil, meanwhile, the bottle of oxygen cylinder is sky blue, in order to identify.Besides protecting Under the premise of card dosage is enough, storage can be conducive to, which is 4L capacity, also can be other capacity, such as 8L, 10L certainly. Accordingly, when nursing robot 30 has found that anoxic occurs in old inconvenience person, rescue device can be controlled by nursing control device 36 39 oxygen supply unit 391 works, and oxygen face mask is attached in the face of old inconvenience person by the arm of control activity simultaneously 33, by This, can rescue old inconvenience person in time using the oxygen of oxygen cylinder.
The unit 392 that shocks by electricity includes the outer defibrillator of an automaton, and old inconvenience person's pulse is found in nursing robot 30 Whens stopping, arrhythmia cordis etc., the electric shock unit 392 that rescue device 39 can be controlled by nursing control device 36 works, and simultaneously Defibrillator outside automaton is attached on old inconvenience person's body at position corresponding with heart by control activity arm 33, by This, can rescue old inconvenience person in time by the electric shock that defibrillator outside automaton generates.
Work as nursing robot accordingly including pill storage container, dose dispenser and drinking water bottle for prescription member 393 When 30 confirmations need to feed pill to old inconvenience person, the first for prescription of rescue device 39 can be controlled by nursing control device 36 393 work, to obtain suitable pill by dose dispenser, and the arm of control activity simultaneously 33 is by pill, drinking water bottle Pure water send to the face of old inconvenience person, old age inconvenience person can in time be rescued by drug as a result,.
The foregoing is merely preferred embodiments of the present invention, structure is not limited to the above-mentioned shape enumerated, it is all All any modification, equivalent and improvement made by within the spirit and principles in the present invention etc. should be included in the protection of the present invention Within the scope of.

Claims (10)

1. a kind of home care apparatus being suitable for old inconvenience person, which is characterized in that including：
Support apparatus is nursed, the nursing support apparatus includes the support frame for positioning setting and supporting the component being provided thereon Frame, to the Backing member at the old inconvenience person back of support, driving the support apparatus of the Backing member rotation work to drive Move device, for solving the folding closet of stool and urine for old inconvenience person and to control the support apparatus driving device work The support apparatus control device of work, the braced frame are equipped with a host cavity for component receiving in the inner；The back bracket Component is rotatably set in the braced frame, and it is foldable be housed in the host cavity, the Backing member and the support It is formed with folding in pivot region between frame and stops position and expansion stop position, going to the folding in the Backing member stops When by position, the Backing member folding is housed in the host cavity, when the Backing member goes to the expansion and stops position, The Backing member is unfolded in the braced frame；The support apparatus driving device is set in the braced frame, and It drives end to be connected to the Backing member；The folding closet is detachably set in the braced frame；The support apparatus Control device is set on the side of the braced frame, and is electrically connected with the support apparatus driving device；
Wearable detection apparatus, the wearable detection apparatus includes that can wear set on the head of old age inconvenience person to acquire old age It the brain wave acquisition cap of the brain physiological signal of inconvenient person and can wear old inconvenient with acquisition on the body of old age inconvenience person The electrocardiogram acquisition clothing of the heart physiological signal of person, the brain wave acquisition cap include cap body, several use in the cap body It is with the textile electrode of the brain physiological signal of the old inconvenience person of acquisition and in the cap body and electric with several described fabrics Pole connection controls chip to control the brain wave acquisition of several textile electrode work；The electrocardiogram acquisition clothing includes clothes Ontology, in the garment body several to acquire the heart physiological signal of old inconvenience person textile electrode and It connect to control several textile electrode work in the garment body and with several described textile electrodes Electrocardiogram acquisition controls chip；
Nursing robot, the nursing robot include the mobile base that can be movably walking in given side, are set to the movement Body on pedestal, two movable hands for being movably arranged at the body both sides respectively and the action command of setting being executed by control Arm, the head set on the body upper end, the speech recognition system on the head, the relief dress on the body It sets and the nursing control device on the body, the nursing control device is electrically connected with the mobile base, with control The mobile working of the mobile base；The nursing control device is electrically connected with the movable arm, to control the movable hand Arm executes the action command of setting；The nursing control device is electrically connected with the speech recognition system, so as to work as the old age not Just when or nursing staff is audibled instruction to the nursing robot, the speech recognition system may recognize that and the sound The digital signal to match is instructed, and the digital signal is sent to the nursing control device, then is controlled and is filled by the nursing It sets and executes corresponding work according to the related content of the digital signal control mobile base and/or the movable arm and refer to It enables；The nursing control device is electrically connected with the rescue device, with can control the rescue device to old age inconvenience person into Row Emergency Assistance；The rescue device include the oxygen supply unit that oxygen can be provided to old inconvenience person, can to old age inconvenience person into Row electric shock stimulation with promote heartbeat recover electric shock unit and can to old age inconvenience person provide corresponding first-aid pill for prescription Member；
Wherein, the nursing control device is electrically connected with the support apparatus control device, can be controlled to the support apparatus Device sends the work order of setting, to which the controllable support apparatus driving device drives the Backing member to rotate work Make, when the Backing member goes to the folding and stops position, makes old age inconvenience person that can crouch and lie on the Backing member, in When the Backing member goes to the expansion stop position, make old age inconvenience person that can prop up sitting by the Backing member；
The nursing control device is electrically connected with brain wave acquisition control chip, can control chip by the brain wave acquisition Several described textile electrodes of control are acquired the brain physiological signal of old inconvenience person, and to collected brain physiology Signal is analyzed and obtains the old age corresponding physical condition information of inconvenience person, can also be old to this according to the physical condition information Year inconvenience person makes corresponding nursing, and by the physical condition information be sent to the cloud platform of medical institutions and with the old age not Just on the communication apparatus of relevant caregiver；
The nursing control device is electrically connected with electrocardiogram acquisition control chip, can control chip by the electrocardiogram acquisition Several described textile electrodes of control are acquired the heart physiological signal of old inconvenience person, and to collected heart physiological Signal is analyzed and obtains the old age corresponding physical condition information of inconvenience person, can also be old to this according to the physical condition information Year inconvenience person makes corresponding nursing, and by the physical condition information be sent to the cloud platform of medical institutions and with the old age not Just on the communication apparatus of relevant caregiver.
2. the home care apparatus as described in claim 1 for being suitable for old inconvenience person, it is characterised in that：The nursing control dress Set including a nursing control circuit board, the nursing control circuit board inside the body, and with the brain wave acquisition control Coremaking piece, electrocardiogram acquisition control chip electrical connection, and the nursing control circuit board is equipped with transmittable infrared control The infrared transmitter of instruction；
The support apparatus control device includes a support apparatus control circuit board, and the support apparatus control circuit board is equipped with It can receive the infrared receiver of the infrared control instruction sent by the infrared transmitter.
3. the home care apparatus as claimed in claim 2 for being suitable for old inconvenience person, it is characterised in that：The nursing control electricity Road plate by first wireless connection module by with the brain wave acquisition control chip be electrically connected；The nursing control circuit board passes through Second is wirelessly connected module and is electrically connected with electrocardiogram acquisition control chip.
4. the home care apparatus as claimed in claim 3 for being suitable for old inconvenience person, it is characterised in that：Described first wirelessly connects Connection module is bluetooth connection module or the near fields NFC link block；Described second is wirelessly connected module as bluetooth connection module or NFC Near field link block.
5. the home care apparatus as described in claim 1 for being suitable for old inconvenience person, it is characterised in that：The mobile base packet Base housing is included, movable pulley on the base housing is rotatably set to, is set on the base housing and connects with the movable pulley Connect the sliding driving motor to drive the sliding slipping to work, the sliding driving motor and nursing control device electricity Connection.
6. the home care apparatus as described in claim 1 for being suitable for old inconvenience person, it is characterised in that：Any one described activity Arm includes that rotation is set to the first connecting elements on the body, second that rotation is set on first connecting elements connects Component and rotation are set to the third connecting elements on second connecting elements.
7. the home care apparatus as claimed in claim 6 for being suitable for old inconvenience person, it is characterised in that：The first connection structure Part includes the head rod part being rotatablely connected with the body, is set on the body and is connect with the head rod part To drive the first driving source of the head rod part rotation.
8. the home care apparatus as claimed in claim 6 for being suitable for old inconvenience person, it is characterised in that：The second connection structure Part include the second connecting rod being rotatablely connected with first connecting elements, be set to first connecting elements on and with it is described The connection of second connecting rod is to drive the second driving source of the second connecting rod rotation.
9. the home care apparatus as claimed in claim 6 for being suitable for old inconvenience person, it is characterised in that：The third connects structure Part include the third connecting rod being rotatablely connected with second connecting elements, be set to second connecting elements on and with it is described The connection of third connecting rod is to drive the third driving source of the third connecting rod rotation.
10. as claim 1-9 any one of them is suitable for the home care apparatus of old inconvenience person, it is characterised in that：It is described Nursing robot further includes one for carrying out video conversation with the relevant caregiver of old age inconvenience person and old age inconvenience person Display screen, the display screen is set on the front end of the body, and is electrically connected with the nursing control device.
CN201810225398.7A 2018-03-19 2018-03-19 Home care apparatus suitable for old inconvenience person Withdrawn CN108436878A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201810225398.7A CN108436878A (en) 2018-03-19 2018-03-19 Home care apparatus suitable for old inconvenience person

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201810225398.7A CN108436878A (en) 2018-03-19 2018-03-19 Home care apparatus suitable for old inconvenience person

Publications (1)

Publication Number Publication Date
CN108436878A true CN108436878A (en) 2018-08-24

Family

ID=63195792

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201810225398.7A Withdrawn CN108436878A (en) 2018-03-19 2018-03-19 Home care apparatus suitable for old inconvenience person

Country Status (1)

Country Link
CN (1) CN108436878A (en)

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Application publication date: 20180824