CN108436881A - Home care apparatus suitable for handicapped person - Google Patents

Home care apparatus suitable for handicapped person Download PDF

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Publication number
CN108436881A
CN108436881A CN201810225891.9A CN201810225891A CN108436881A CN 108436881 A CN108436881 A CN 108436881A CN 201810225891 A CN201810225891 A CN 201810225891A CN 108436881 A CN108436881 A CN 108436881A
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China
Prior art keywords
nursing
handicapped person
person
module
detection module
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Withdrawn
Application number
CN201810225891.9A
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Chinese (zh)
Inventor
秦园园
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Individual
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Individual
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Priority to CN201810225891.9A priority Critical patent/CN108436881A/en
Publication of CN108436881A publication Critical patent/CN108436881A/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
    • A61B5/02—Detecting, measuring or recording pulse, heart rate, blood pressure or blood flow; Combined pulse/heart-rate/blood pressure determination; Evaluating a cardiovascular condition not otherwise provided for, e.g. using combinations of techniques provided for in this group with electrocardiography or electroauscultation; Heart catheters for measuring blood pressure
    • A61B5/0205—Simultaneously evaluating both cardiovascular conditions and different types of body conditions, e.g. heart and respiratory condition
    • 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
    • A61B5/681—Wristwatch-type devices
    • 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)
  • Pathology (AREA)
  • Biophysics (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Surgery (AREA)
  • Physics & Mathematics (AREA)
  • Nursing (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Cardiology (AREA)
  • Physiology (AREA)
  • Psychiatry (AREA)
  • Psychology (AREA)
  • Pulmonology (AREA)
  • Business, Economics & Management (AREA)
  • Critical Care (AREA)
  • Emergency Management (AREA)
  • Emergency Medicine (AREA)
  • Accommodation For Nursing Or Treatment Tables (AREA)

Abstract

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

Description

Home care apparatus suitable for handicapped person
Technical field
The present invention relates to the technical fields of care appliances more particularly to a kind of residential care suitable for handicapped 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 handicapped person are also more and more, and it is dazzling, for example, nursing disease Bed is suitable for handicapped handicapped person and is used when being hospitalized or nursing at home, in order to which handicapped person can be certain Autonomic activities in range accelerate its rehabilitation；Meanwhile this nursing hospital bed can carry out handicapped person relatively simple nursing, example 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 pairs of handicapped person, 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 cooperate and cannot be to handicapped 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 suitable for handicapped person is provided and is set It is standby, intelligent nursing, nursing cannot be carried out to handicapped person to solve to need nursing staff's collaborative work in the prior art 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 suitable for handicapped 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 handicapped 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 handicapped 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 this action inconvenience person to acquire The brain wave acquisition cap of the brain physiological signal of handicapped person and can wear the hand set on this action inconvenience person with acquire action not Just the Intelligent bracelet of physical condition information, the brain wave acquisition cap include cap body, several use in the cap body With acquire the textile electrode of the brain physiological signal of handicapped person and in the cap body and with several described fabrics electricity Pole connection controls chip to control the brain wave acquisition of several textile electrode work；The Intelligent bracelet includes cyclic annular sheet Body, MCU units, motional induction detection module, heart rate inductive detection module, blood pressure inductive detection module, liquid crystal display, alarm Trigger module and bracelet power supply module, the MCU units, the motional induction detection module, heart rate induction detection mould Block, the blood pressure inductive detection module, the liquid crystal display, the alarm triggering module and bracelet power supply module are set to In the annular body, the bracelet power supply module respectively with the MCU units, the motional induction detection module, the heart Rate inductive detection module, the blood pressure inductive detection module, the liquid crystal display, alarm triggering module connection, it is described MCU units respectively with the motional induction detection module, the heart rate inductive detection module, the blood pressure inductive detection module, The liquid crystal display, alarm triggering module electrical connection；
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 and on the body Control device is nursed, the nursing control device is electrically connected with the mobile base, to control the mobile work of the mobile base Make；The nursing control device is electrically connected with the movable arm, to control the action command that the movable arm executes setting； The nursing control device is electrically connected with the speech recognition system, so as to work as this action inconvenience person or nursing staff to the shield When reason robot audibles instruction, the speech recognition system may recognize that the digital signal to match with the sound instruction, And the digital signal is sent to the nursing control device, then by the nursing control device according to the correlation of the digital signal Mobile base described in content-control and/or the movable arm execute corresponding work order；
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 this action 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 this action 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 handicapped person, and to collected brain Physiological signal is analyzed and obtains the corresponding physical condition information of this action inconvenience person, can also be according to the physical condition information pair This action inconvenience person makes corresponding nursing, and by the physical condition information be sent to medical institutions cloud platform and with the row On the communication apparatus of the relevant caregiver of dynamic inconvenience person；
The nursing control device is electrically connected with the MCU units, can obtain the kinesthesia by the MCU units Detection module, the heart rate inductive detection module, the blood pressure inductive detection module is answered to be detected in real time to handicapped person Related physical condition information, and obtain that the alarm triggering module sends out about the MCU units to the kinesthesia Detection module, the heart rate inductive detection module, the blood pressure inductive detection module is answered to be detected in real time to handicapped person Related data carry out calculating analysis after be evaluated as very healthy relevant information, and the physical condition information is sent to doctor Treat mechanism cloud platform and on the communication apparatus of the relevant caregiver of this action inconvenience person.
Compared with prior art, the beneficial effects of the invention are as follows：
When needing to nurse handicapped person using the home care apparatus, first nursing support apparatus can be placed in On bed, and handicapped person is made to put on brain wave acquisition cap and Intelligent bracelet；
Then, can from the relevant caregiver of handicapped person or handicapped person to nursing robot send out by Handicapped 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 handicapped person is transferred on nursing support apparatus；
After handicapped 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 handicapped person can be controlled by brain wave acquisition Physiological signal is acquired, and is analyzed collected brain physiological signal and obtain the corresponding body of this action inconvenience person There is larger spirit fluctuation, psychology variation, brain situation exception in condition information, such as handicapped person, 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 this action inconvenience person, and Simultaneously by the physical condition information be sent to nearby or the cloud platform of relevant medical institutions and with this action inconvenience person it is relevant The communication apparatus of caregiver ensures that the emergency relief of abnormal conditions occurs in handicapped person can alert emergency；Simultaneously, it protects The nursing control device of reason robot can be electrically connected with MCU units, with can by MCU units acquisition motional induction detection module, Heart rate inductive detection module, blood pressure inductive detection module in the related physical condition information detected in real time to handicapped person, And obtain alarm triggering module send out about MCU units to motional induction detection module, heart rate inductive detection module, blood pressure Inductive detection module is evaluated as very healthy after the related data detected in real time to handicapped person carries out calculating analysis Relevant information, and by the physical condition information be sent to medical institutions cloud platform and with the relevant nurse of this action inconvenience person On the communication apparatus of people, emergency can be alerted, ensure that the emergency relief of abnormal conditions occurs in handicapped person；
If handicapped person is sleeping lie on nursing support apparatus after, think that sitting, handicapped person can be to shields 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 this action inconvenience person can be by back bracket Component props up sitting, accordingly, can move the body of handicapped 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 suitable for handicapped person of the embodiment of the present invention；
Fig. 2 is that the nursing control device of the home care apparatus suitable for handicapped person of the embodiment of the present invention uses support Has the control schematic diagram of control device, brain wave acquisition control chip and MCU units；
Fig. 3 is that the nursing control device of the home care apparatus suitable for handicapped person of the embodiment of the present invention and support are used Has the electrical connection schematic diagram of control device, brain wave acquisition control chip, MCU units；
Fig. 4 is the back bracket structure of the nursing support apparatus of the home care apparatus suitable for handicapped 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 suitable for handicapped 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 suitable for handicapped 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 suitable for handicapped 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 suitable for handicapped 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 suitable for handicapped 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 suitable for handicapped person of the embodiment of the present invention The folding bearing of closestool is in schematic diagram when unfoldable shape；
Figure 11 is the brain of the wearable detection apparatus of the home care apparatus suitable for handicapped 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 suitable for handicapped person of the embodiment of the present invention；
Figure 13 is the front view of the nursing robot of the home care apparatus suitable for handicapped person of the embodiment of the present invention；
Figure 14 is the rearview of the nursing robot of the home care apparatus suitable for handicapped person of the embodiment of the present invention；
Figure 15 is the movable hand of the nursing robot of the home care apparatus suitable for handicapped 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 suitable for handicapped 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 suitable for handicapped 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 Fig. 7, and combines Figure 11 and Figure 12, be a preferred embodiment provided by the invention, and the present embodiment In the home care apparatus 1 suitable for handicapped person, including nursing support apparatus 10, wearable detection apparatus 20 and cleaning device Device people 30 is below described further each building block of the home care apparatus 1 for being suitable for handicapped person：
Nursing support apparatus 10 includes positioning setting and supporting the braced frame 11 for the component being provided thereon, holding Hold in the palm the Backing member 12 at handicapped person back, the support apparatus driving device 13 to drive 12 rotation work of Backing member, For supplying handicapped person to solve the folding closet 18 of stool and urine and to control the support of the work of support apparatus driving device 13 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 this action inconvenience person to acquire the brain of handicapped person The brain wave acquisition cap 21 of physiological signal and the hand set on this action inconvenience person can be worn to acquire the physical condition of handicapped person The Intelligent bracelet 22 of information, brain wave acquisition cap 21 include cap body 211, in cap body 211 several to acquire action not Just the textile electrode 212 of brain physiological signal and connect in the cap body 211 and with several textile electrodes 212 to Control the brain wave acquisition control chip 213 of several textile electrodes 212 work；It should be noted that the arrangement of textile electrode 212 To be accordingly arranged in cap body 211 according to position needed for human body electroencephalogram's wave is measured, moreover, preferably, textile electrode 212 passes through The gel that can mutually melt with it and in cap body 211, in order to accurately measure the brain wave of handicapped person；And gel also known as jelly Glue, it be it is a kind of between liquid and solid have a kind of stiff substance of the semi-solid state of special elastic, its shape It is the determination experiment by tens thousand of times and 15 layers by biomolecule such as albumen, enzyme, recombinant protein, antibody, nucleic acid at process Analysis and purifying, finally extract a kind of a kind of object of similar human skin particular result substance.Intelligent bracelet 22 includes ring-type Ontology 221, MCU units 222, motional induction detection module 223, heart rate inductive detection module 224, blood pressure inductive detection module 225, liquid crystal display (not indicated in figure), alarm triggering module 226 and bracelet power supply module (not indicated in figure)；MCU units 222, motional induction detection module 223, heart rate inductive detection module 224, blood pressure inductive detection module 225, liquid crystal display, report Alert trigger module 226 and bracelet power supply module are set in annular body 221；Bracelet power supply module be lithium battery, respectively with MCU units 222, motional induction detection module 223, heart rate inductive detection module 224, blood pressure inductive detection module 225, liquid crystal Show that device and alarm triggering module 226 connect, for being detected to MCU units 222, motional induction detection module 223, heart rate induction Module 224, blood pressure inductive detection module 225, liquid crystal display and alarm triggering module 226 provide power supply；MCU units 222 divide Not with motional induction detection module 223, heart rate inductive detection module 224, blood pressure inductive detection module 225, liquid crystal display, report Alert trigger module 226 is electrically connected, for controlled motion inductive detection module 223, heart rate inductive detection module 224, blood pressure sense Answer the work of detection module 225, liquid crystal display, alarm triggering module 226.
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 It controls and fills in the head 34 of 32 upper end of body, the speech recognition system 35 on head 34 and the nursing on body 32 36 are set, nursing control device 36 is electrically connected with mobile base 31, to control the mobile working of mobile base 31；Nurse control device 36 are electrically connected with movable arm 33, and the action command of setting is executed with control activity arm 33；Nurse control device 36 and voice Identifying system 35 is electrically connected, so that when this action inconvenience person or nursing staff audible instruction to nursing robot 30, language Sound identifying 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 mobile base 31 and/or movable arm are controlled according to the related content of the digital signal by nursing control device 36 33 execute corresponding work order.
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 this action inconvenience person that can crouch and lies on Backing member 12, in 12 turns of Backing member When stopping position T2 to expansion, make this action 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 212 handicapped person of several textile electrodes pair is acquired, and to collected brain physiology Signal is analyzed and obtains the corresponding physical condition information of this action inconvenience person, can also be according to the physical condition information to the row Dynamic inconvenience person makes corresponding nursing, and by the physical condition information be sent to the cloud platform of medical institutions and with this action not Just on the communication apparatus of relevant caregiver；
Nursing control device 36 is electrically connected with MCU units 222, and mould is detected can obtain motional induction by MCU units 222 Block 223, heart rate inductive detection module 224, blood pressure inductive detection module 225 are in the related body detected in real time to handicapped person Body condition information, and obtain alarm triggering module 226 send out about MCU units 222 to motional induction detection module 223, Heart rate inductive detection module 224, blood pressure inductive detection module 225 are carried out in the related data detected in real time to handicapped person It is evaluated as very healthy relevant information after calculating analysis, and the physical condition information is sent to the cloud platform of medical institutions With on the communication apparatus of the relevant caregiver of this action inconvenience person.
When needing to nurse handicapped 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 handicapped person is put on brain wave acquisition cap 21 and Intelligent bracelet 22；
It then, can be from being sent out to nursing robot 30 with the relevant caregiver of handicapped person or handicapped person Handicapped 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 handicapped person on nursing support apparatus 10；
Handicapped person is sleeping lie on nursing support apparatus 10 after, the nursing control device 36 of nursing robot 30 can be with Brain wave acquisition controls chip 213 and is electrically connected, right can control several textile electrodes 212 by brain wave acquisition control chip 213 The brain physiological signal of handicapped person is acquired, and is analyzed collected brain physiological signal and obtain this action There is larger spirit fluctuation in the inconvenient corresponding physical condition information of person, such as handicapped person, psychology changes, brain situation is abnormal Deng can also making corresponding nursing to this action inconvenience person according to the physical condition information, it is anxious such as to press relaxing tendons and activating collaterals, oxygen supply Rescue, first aid of shocking by electricity etc., and simultaneously by the physical condition information be sent to nearby or the cloud platform of relevant medical institutions and with this The communication apparatus (smartwatch or mobile phone) of the handicapped relevant caregiver of person ensures handicapped person can alert emergency There is the emergency relief of abnormal conditions；
Simultaneously, nursing control device 36 is electrically connected with MCU units 222, can obtain kinesthesia by MCU units 222 Detection module 223, heart rate inductive detection module 224, blood pressure inductive detection module 225 is answered to be detected in real time to handicapped person Related physical condition information, and obtain alarm triggering module 226 send out about MCU units 222 to motional induction detect Module 223, heart rate inductive detection module 224, blood pressure inductive detection module 225 are in the correlation detected in real time to handicapped person Data are evaluated as very healthy relevant information after carrying out calculating analysis, wherein 226 signal an alert of alarm triggering module is It generates in this way：It is gone up and when being activated work when Intelligent bracelet is worn on handicapped person, this moment, motional induction detection module 223 can carry out the motion conditions of handicapped person induction detection, heart rate inductive detection module 224 understands the heart to handicapped person Rate carries out induction detection, blood pressure inductive detection module 225 can carry out induction detection to the blood pressure of handicapped person, later, movement The dependency number that inductive detection module 223, heart rate inductive detection module 224, blood pressure inductive detection module 225 will can respectively detect Calculating analysis is carried out to these related datas according to being sent to MCU units 222, then by MCU units 222, if the outcome evaluation obtained To be in good health, then alarm triggering module 226 will not signal an alert, conversely, then alarm triggering module 226 can send out alarm Signal, and the information is sent to nursing control device 36 by MCU units 222；Followed by, nursing control device 36 should Physical condition information be sent to medical institutions cloud platform and on the communication apparatus of the relevant caregiver of this action inconvenience person.
If handicapped person is sleeping lie on nursing support apparatus 10 after, think sitting, handicapped 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 This action inconvenience person can prop up sitting by Backing member 12, the body of handicapped person can be moved 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 handicapped person carry out on time feeding, massage on time Physical palsy part etc..
In addition, by folding closet 18, when handicapped person needs 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 handicapped person.
It can be seen that the home care apparatus 1 for being suitable for handicapped person by this can be in the case of unmanned collaboration, to row Dynamic inconvenience person carries out intelligent nursing, substantially reduces 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 textile electrode 212, and the arrangement of textile electrode 212 is according to measurement human body brain Position needed for electric wave and be accordingly arranged in cap body 211, as long as user is in use, wearing the cap body on head as a result, It is simple and convenient, avoid that conventionally employed " electrode+conductive paste+adhesive plaster " is this to be needed professional person and be more time-consumingly attached at people The embodiment on body head；It is positioned admittedly behind the head of user simultaneously due to which textile electrode 212 can be worn with cap body 211 It is fixed, it is not easy to generate the obscission occurred using " electrode+conductive paste+adhesive plaster " this embodiment；Further more, user uses In the process, can be freely movable, it needs to keep posture different from traditional approach, improves the comfort level of user.
Then, it due to the use of textile electrode 212, accordingly, needs to attach the electrode at the top of human body head and moves to attaching people 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.
Fig. 2 and Fig. 3 are 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 nursing control device 36 of the present embodiment includes a nursing control circuit board 361, and nursing control circuit board 361 is set to It inside body 32, and is electrically connected with brain wave acquisition control chip 213, MCU units 222, and nurses control circuit board 361 and be equipped with The infrared transmitter 3611 of transmittable infrared control instruction；
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, being electrically connected to efficiently and easily make nursing control circuit board 361 and brain wave acquisition control chip 213, protect Reason control circuit board 361 by first wireless connection module 41 by with brain wave acquisition control chip 213 be electrically connected, and nurse control Circuit board by second wireless connection module 42 by be electrically connected with MCU units 222.Moreover, preferably, the first wireless connection mould It is bluetooth connection module or the near fields NFC link block that block 41 and second, which is wirelessly connected module 42, in favor of installing and being adapted to, with 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 carried on the back with first Second back bracket moulding 1212 of 1211 relative spacing of holding frame item setting and one end connect the first back bracket moulding 1211 and the other end connects The third back bracket moulding 1213 of the second back bracket moulding 1212 is connect, flexible back bracket part 122 is set to by the first back bracket moulding 1211, second In the cavity that back bracket moulding 1212 and third back bracket moulding 1213 surround, and it is connected to the first back bracket moulding 1211, 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 to form by a rectangular tube, 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 support apparatus driving device 13 is a telescopic drive portion 131, telescopic drive portion 131 is logical It crosses a transmission mechanism 132 and is connect with Backing member 12, wherein by the setting of transmission mechanism 132, in addition to being conducive to support The power that apparatus driving device 13 generates reaches on Backing member 12, with the rotation work for the Backing member 12 that can smoothly drive, Also help the positioning setting of support apparatus driving device 13.And preferably, the support apparatus driving device 13 is preferably electronic Push rod, then its telescopic drive portion 131 is a telescopic screw rod.Certainly, support apparatus driving device 13 also may be selected to be cylinder or liquid Cylinder pressure 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, specifically, nursing support apparatus 10 further includes being set in braced frame 11 and blocking the drive of support apparatus Dynamic device 13 can prevent the hand of user from touching support apparatus driving device 13 and take into account the outer cover 15 of handrail function, In, which can be used the making of the materials such as metal, plastics, timber.
Referring to Fig. 5, further, nursing support apparatus 10 further includes on the bottom side of braced frame 11 to prevent from propping up The anti-skid structure 16 that support frame frame 11 slides after being 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, nursing support apparatus 10 further includes being set on flexible back bracket part 122 for solid Determine the pillow fixing piece 17 of pillow, wherein the pillow fixing piece 17 is an elastic webbing, it is preferable that there are two the elastic webbing is set, and Two elastic webbings are divided into the upper surface of flexible back bracket part 122 and at the positions of third back bracket moulding 1213.In addition, compared with Goodly, which can also be velcro, 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 handicapped 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 handicapped 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 row After dynamic 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 handicapped 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 for cutting down the stool and urine generated when handicapped person goes to the toilet, avoid splashing everywhere Go out, also help reduction production cost, recycles, it is environmentally protective.
1 is 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 cap body 211 of the present embodiment is mainly by high-strength yarn and using being formed through knitting device, so as to have in cap body 211 more A knitted mesh structure, ensures its gas permeability.Moreover, in order to ensure that cap body 211 uses well, which includes larger Ventilating structure and the smaller ventilating structure weak compared to the gas permeability of larger ventilating structure, specifically, cap body 211 it is larger Depressed structure has the characteristics that warp knit or the good flexible and extensibility of weft knitting, has monolayer net at the larger ventilating structure of cap body 211 The larger structure in hole e.g. forms tuck stitch or eyelet stitch, such vent canopy is good, and the larger ventilative knot of cap body 211 Material used by structure is polyamide fibre, terylene or spandex；As for the smaller ventilating structure of cap body 211, due to its 211 cabling of cap body Local deformation requirements are small, and ventilative requirement need to be small, therefore need to can only be realized with the material of tight ness rating, and cap body 211 is smaller Material used by ventilating structure 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, 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 the present embodiment, with above-described embodiment difference lies in：
In the present embodiment, any one movable arm 33 includes rotating the first connecting elements 331 being set on body 32, turning The third that dynamic the second connecting elements 332 and rotation on the first connecting elements 331 is set on the second connecting elements 332 connects Connection member 333.It, can relatively precisely due to the setting of the first connecting elements 331, the second connecting elements 332 and third connecting elements 333 Ground makes 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 this action inconvenience person and this action 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 the relatives in handicapped person because work or other reasons are not being taken action Inconvenient person at one's side when, can chat with handicapped person's remote communication, improve the interactivity between handicapped person and relatives, Be conducive to improve the emotion satisfaction of handicapped person.
3 are please referred to Fig.1, in order to enable accurately to be moved to specified location to nursing robot 30, and can be to moving The barrier encountered when dynamic can smoothly be got around without colliding, and nursing robot 30 further includes positioning system 381 and obstacle Object induction system 382, positioning system 381 and barrier induction system 382 may be contained on head 34, and with nursing control device 36 electrical connections.
4 and Figure 17 are please referred to Fig.1, further, nursing robot 30 further includes tight to be carried out to this action inconvenience person The rescue device 39 that first aid helps, rescue device 39 are set on body 32, and rescue device 39 is electrically connected with nursing control device 36, Work can be controlled by nursing control device 36；And specifically, it nurses corresponding in the nursing control circuit board 361 of control device 36 Equipped with to the rescue module to handicapped person progress Emergency Assistance.
And the rescue device 39 include can to handicapped person provide oxygen oxygen supply unit 391, can be to handicapped person Electric shock stimulation is carried out to promote the electric shock unit 392 of heartbeat recovery and the confession of corresponding first-aid pill can be provided to handicapped person Prescription member 393 supplies oxygen unit 391, electric shock unit 392 and is arranged inside body 32 for prescription member 393, can supply oxygen list Member 391, electric shock unit 392 and while not working for prescription member 393, can preferably be protected；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 handicapped 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 handicapped 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 handicapped 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 handicapped person by the arm of control activity simultaneously 33, by This, can rescue handicapped person in time using the oxygen of oxygen cylinder.
The unit 392 that shocks by electricity includes the outer defibrillator of an automaton, and handicapped 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 handicapped person's body at position corresponding with heart by control activity arm 33, by This, can rescue handicapped 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 handicapped person, it can pass through and nurse the first for prescription of the control rescue device 39 of 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 handicapped person, handicapped 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 suitable for handicapped 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 handicapped 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 handicapped 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 include that can wear set on the head of this action inconvenience person to acquire action The brain wave acquisition cap of the brain physiological signal of inconvenient person and the hand set on this action inconvenience person can be worn to acquire handicapped person Physical condition information Intelligent bracelet, the brain wave acquisition cap includes cap body, several in the cap body adopting Collect the textile electrode of the brain physiological signal of handicapped person and connects in the cap body and with several described textile electrodes The brain wave acquisition for connecing to control several textile electrode work controls chip；The Intelligent bracelet include annular body, MCU units, motional induction detection module, heart rate inductive detection module, blood pressure inductive detection module, liquid crystal display, alarm are touched Send out module and bracelet power supply module, the MCU units, the motional induction detection module, the heart rate inductive detection module, The blood pressure inductive detection module, the liquid crystal display, the alarm triggering module and bracelet power supply module are set to described In annular body, the bracelet power supply module respectively with the MCU units, the motional induction detection module, the heart rate sense Answer detection module, the blood pressure inductive detection module, the liquid crystal display, alarm triggering module connection, the MCU mono- Member respectively with the motional induction detection module, the heart rate inductive detection module, the blood pressure inductive detection module, the liquid Crystal display, alarm triggering module electrical connection；
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 and the nursing on the body Control device, the nursing control device are electrically connected with the mobile base, to control the mobile working of the mobile base；Institute It states nursing control device to be electrically connected with the movable arm, to control the action command that the movable arm executes setting；It is described Nursing control device is electrically connected with the speech recognition system, so as to work as this action inconvenience person or nursing staff to the cleaning device When device people audibles instruction, the speech recognition system may recognize that the digital signal to match with the sound instruction, and will The digital signal is sent to the nursing control device, then by the nursing control device according to the related content of the digital signal It controls the mobile base and/or the movable arm executes corresponding work order；
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 this action inconvenience person that can crouch and lie on the Backing member, in When the Backing member goes to the expansion stop position, make this action 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 handicapped person, and to collected brain physiology Signal is analyzed and obtains the corresponding physical condition information of this action inconvenience person, can also be according to the physical condition information to the row Dynamic inconvenience person makes corresponding nursing, and by the physical condition information be sent to the cloud platform of medical institutions and with this action not Just on the communication apparatus of relevant caregiver；
The nursing control device is electrically connected with the MCU units, is examined with that can obtain the motional induction by the MCU units Module, the heart rate inductive detection module, the blood pressure inductive detection module are surveyed in the phase detected in real time to handicapped person Physical condition information is closed, and obtain that the alarm triggering module sends out examine the motional induction about the MCU units Module, the heart rate inductive detection module, the blood pressure inductive detection module are surveyed in the phase detected in real time to handicapped person It closes after data carry out calculating analysis and is evaluated as very healthy relevant information, and the physical condition information is sent to therapeutic machine The cloud platform of structure and on the communication apparatus of the relevant caregiver of this action inconvenience person.
2. being suitable for the home care apparatus of handicapped person as described in claim 1, 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, MCU units electrical connection, and the nursing control circuit board is equipped with the infrared of transmittable infrared control instruction Line transmitter；
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. being suitable for the home care apparatus of handicapped person as claimed in claim 2, 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 the MCU units.
4. being suitable for the home care apparatus of handicapped person as claimed in claim 3, 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. being suitable for the home care apparatus of handicapped person as described in claim 1, 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. being suitable for the home care apparatus of handicapped person as described in claim 1, 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. being suitable for the home care apparatus of handicapped person as claimed in claim 6, 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. being suitable for the home care apparatus of handicapped person as claimed in claim 6, 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. being suitable for the home care apparatus of handicapped person as claimed in claim 6, 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 handicapped person, it is characterised in that：It is described Nursing robot further includes one for carrying out video conversation with the relevant caregiver of this action inconvenience person and this action 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.
CN201810225891.9A 2018-03-19 2018-03-19 Home care apparatus suitable for handicapped person Withdrawn CN108436881A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201810225891.9A CN108436881A (en) 2018-03-19 2018-03-19 Home care apparatus suitable for handicapped person

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201810225891.9A CN108436881A (en) 2018-03-19 2018-03-19 Home care apparatus suitable for handicapped person

Publications (1)

Publication Number Publication Date
CN108436881A true CN108436881A (en) 2018-08-24

Family

ID=63195744

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201810225891.9A Withdrawn CN108436881A (en) 2018-03-19 2018-03-19 Home care apparatus suitable for handicapped person

Country Status (1)

Country Link
CN (1) CN108436881A (en)

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