CN109009811A - Nurse's formula automates care method - Google Patents

Nurse's formula automates care method Download PDF

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Publication number
CN109009811A
CN109009811A CN201810796722.0A CN201810796722A CN109009811A CN 109009811 A CN109009811 A CN 109009811A CN 201810796722 A CN201810796722 A CN 201810796722A CN 109009811 A CN109009811 A CN 109009811A
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CN
China
Prior art keywords
plate
motor
comb teeth
fixed
actuator
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201810796722.0A
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Chinese (zh)
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CN109009811B (en
Inventor
楼建忠
陈森辉
朱佳豪
林宗辉
史继贤
汪杰
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Yongchun County Product Quality Inspection Institute Fujian fragrance product quality inspection center, national incense burning product quality supervision and Inspection Center (Fujian)
Original Assignee
Zhejiang Institute of Mechanical and Electrical Engineering Co Ltd
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Priority to CN201810796722.0A priority Critical patent/CN109009811B/en
Publication of CN109009811A publication Critical patent/CN109009811A/en
Application granted granted Critical
Publication of CN109009811B publication Critical patent/CN109009811B/en
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Classifications

    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61GTRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G12/00Accommodation for nursing, e.g. in hospitals, not covered by groups A61G1/00 - A61G11/00, e.g. trolleys for transport of medicaments or food; Prescription lists
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61GTRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G12/00Accommodation for nursing, e.g. in hospitals, not covered by groups A61G1/00 - A61G11/00, e.g. trolleys for transport of medicaments or food; Prescription lists
    • A61G12/001Trolleys for transport of medicaments, food, linen, nursing supplies
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61GTRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G7/00Beds specially adapted for nursing; Devices for lifting patients or disabled persons
    • A61G7/0005Means for bathing bedridden persons
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61GTRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G7/00Beds specially adapted for nursing; Devices for lifting patients or disabled persons
    • A61G7/002Beds specially adapted for nursing; Devices for lifting patients or disabled persons having adjustable mattress frame
    • A61G7/015Beds specially adapted for nursing; Devices for lifting patients or disabled persons having adjustable mattress frame divided into different adjustable sections, e.g. for Gatch position
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61GTRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G7/00Beds specially adapted for nursing; Devices for lifting patients or disabled persons
    • A61G7/02Beds specially adapted for nursing; Devices for lifting patients or disabled persons with toilet conveniences, or specially adapted for use with toilets
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61GTRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G7/00Beds specially adapted for nursing; Devices for lifting patients or disabled persons
    • A61G7/05Parts, details or accessories of beds

Abstract

The invention discloses nurse's formulas to automate care method.There is the problems such as having a single function, the degree of automation is low, at high cost in the care method of existing old man's care device.The nursing system that the present invention uses, including nursing bed, food delivery mechanism, food cabinet, travelling bogie and food feed cabinet.Nursing bed includes bedstead, chair assembly, the first overturning actuator, the second overturning actuator, defecation assisting mechanism and bed sheet replacing mechanism.Defecation assisting mechanism includes lifting plate, sliding cover board, lifting actuator, sliding actuator, drying blower and cleaning sparge pipe.Bed sheet replacing mechanism includes strip sheet, output roller, output motor, recycling roller and recycling motor.Food supply cabinet includes replenishing frame, supply side plate, supply bottom plate, supply partition and ejecting mechanism.Food cabinet includes storing framework, the first storage partition, the second storage partition, heating tube and storage elevating mechanism.The present invention can be realized the function of food delivery, feeding, defecation assisting.

Description

Nurse's formula automates care method
Technical field
The invention belongs to nursing machinery technical fields, and in particular to a kind of nurse's formula automation care method.
Background technique
With the quickening of modern society's life paces, many children are busy with work and have no time to look after the old of oneself Parent, children should be the daily nursing of principal caregivers of old man, but current " 4-2-1 formula family structure " causes more and more The elderly " looks after vacant ".Most old old man has generally given nurse at present or home for destitute is looked after, but due to one A little reasons have been reported that when often will appear the event of the bad situation or even nurse's elder abuse for the treatment of old man also.
It is especially the old man that can not be taken care of oneself in order to look after old man, the research of efficient, effective and professional old man's nursing bed is Solve the preferable approach that aging society brings heavy pension load.But the nursing old man bed sold on present society is much It is not able to satisfy the demand of old man Yu children.It is mainly manifested in the following aspects:
1) nursing bed has a single function.Current most of nursing beds only have merely the functions such as hand backrest, nursing bed structure letter Single, function is unable to satisfy requirement;
2) the degree of automation is poor, and manpower is needed to assist.Nursing bed currently on the market cannot achieve self-service feeding, can not be certainly The old man of reason needs stool and urine also to need artificially to look after, and can not more change the sheet automatically when urinating and defecating, and the degree of automation is poor, can't take off Help from people;
3) price is too high.Many nursing beds have massage functions in the market, and practicability is poor, but price is again very high, very More families are unbearable.
Summary of the invention
The purpose of the present invention is to provide a kind of nurse's formulas to automate care method.
The nursing system that the present invention uses, including nursing bed, food delivery mechanism, food cabinet, travelling bogie and food are mended To cabinet.The nursing bed includes bedstead, chair assembly, the first overturning actuator, the second overturning actuator, defecation assisting mechanism With bed sheet replacing mechanism.The chair assembly includes backboard, podical plate, thigh plate and calf plate.The podical plate and bedstead Middle part is fixed.The both ends of the backboard inside edge are hinged with the one side edge of podical plate.Another side edge and thigh of podical plate The one side edge of plate is hinged.Another side edge of thigh plate and the one side edge of calf plate are hinged.The backboard inside edge Middle part offers resigning breach.Podical plate offers defecation through slot close to that side edge of backboard.Backboard is by the first overturning actuator Driving.Thigh plate is by the second overturning actuator driving.
The defecation assisting mechanism includes lifting plate, sliding cover board, lifting actuator, sliding actuator, drying blower With cleaning sparge pipe.The lifting plate is u-shaped, and hinged with the middle part of bedstead.It is lifted on the outer edge and podical plate of plate and arranges Just the chamfered shape of through slot is identical.The middle part of the sliding cover board and bedstead constitutes sliding pair.Slide cover board outer profile with The inside edge shape for being lifted plate is identical.It is aligned in sliding cover board and the width direction of the bedstead for the inward flange for being lifted plate.Lifting Plate is driven by lifting actuator.Sliding cover board is driven by sliding actuator.The drying blower and cleaning sparge pipe with bed Frame is fixed, and is located at the lower section of backboard.The air outlet for drying blower and the water outlet for cleaning sparge pipe are tilted towards on podical plate Defecation through slot.
The bed sheet replacing mechanism includes strip sheet, output roller, output motor, recycling roller and recycling electricity Machine.The output roller, recycling roller are supported on the two sides of bedstead respectively.Output motor and recycling motor are each attached to bedstead On.Output motor, the output shaft for recycling motor and output roller, recycling roller are fixed respectively.
The strip sheet bypasses the top surface of backboard, and both ends roll up respectively and returning output roller, recycling on roller.It is long Edge on bar shaped sheet close to backboard offers multiple defecation notches.Defecation through slot in the shape and podical plate of defecation notch Cross-sectional shape is identical.Multiple defecation notches are uniformly distributed along the length direction of strip sheet.
The food delivery mechanism include sideslip frame, cross slider, traversing actuator, vertical balladeur train, vertical sliding block, vertical shift actuator, Turning rod, the first joint motor, second joint motor, connecting plate, the first comb teeth bar and feeding mechanical arm.The sideslip frame and bed The side of frame is fixed.Cross slider and sideslip frame constitute sliding pair.Cross slider is driven by traversing actuator.Vertical balladeur train and cross slider are solid It is fixed.Vertical sliding block and vertical balladeur train constitute sliding pair.Vertical sliding block is driven by vertical shift actuator.The inner end of the turning rod and vertical sliding block structure At revolute pair.Turning rod is driven by the first joint motor.The outer end of the turning rod and the inner end of connecting plate constitute revolute pair.Even Fishplate bar is by second joint motor driven.The outer end of the connecting plate is fixed with the first comb teeth bar of n root successively equidistantly arranged, and 3 ≤n≤8.The width of first comb teeth bar is c, 1mm≤c≤5mm.The spacing of adjacent two first comb teeth bars be d, 1mm≤d≤ 8mm。
The food supply cabinet includes replenishing frame, supply side plate, supply bottom plate, supply partition and ejecting mechanism.It is described The setting of supply floor level, and fixed with the middle part of replenishing frame.Two blocks of supply side plates are separately fixed at the two sides of replenishing frame.Between It fixes, and is respectively positioned between two blocks of supply side plates with replenishing frame every two pieces of supply partitions of setting.Feed partition bottom with Feed bottom plate interval a distance setting.Multiple lunch boxes are stacked between two pieces of supply partitions in food supply cabinet.The height of lunch box For b, 0.5a < b < a.Ejecting mechanism includes releasing balladeur train, releasing sliding block, push away box block and release actuator.The release is sliding Frame is fixed on the bottom surface of supply bottom plate.The release sliding block and release balladeur train constitutes sliding pair.On the supply bottom plate Offer sliding slot.On the top surface for pushing away box block setting supply bottom plate.Push away box block bottom pass through sliding slot and with release sliding block It is fixed.
The travelling bogie includes vehicle seat, traveling driving assembly and comb teeth frame.Vehicle seat is driven by traveling driving assembly.Institute The top of the bottom and vehicle seat of stating comb teeth frame is fixed.The n- successively equidistantly arranged is provided at the top of the bottom of the comb teeth frame 1 second comb teeth bar.The width of second comb teeth bar is e.The spacing of adjacent two second comb teeth bars is f.E+f=c+d, and e < d。
The food cabinet includes storing framework, the first storage partition, the second storage partition, heating tube, first puts Set frame, the second rest stand and storage elevating mechanism.Described first stores partition, the second storage baffle interval is fixed on storage box In frame, storing framework is divided into heating zone, room temperature area and rubbish area by the first storage partition, the second storage partition.Rubbish area It is provided at the top of inlet and unloads box plate.The heating tube is fixed with storing framework, and is located at the top of heating zone.
First rest stand is fixed with storing framework, and is located in room temperature area.It is fixed with successively on first rest stand The n-1 root third comb teeth bar equidistantly arranged.The width of third comb teeth bar is e.The spacing of adjacent two third comb teeth bars is f.
Second rest stand is arranged in heating zone, and constitutes sliding pair with storage framework.Second rest stand is risen by storage Descending mechanism driving.The two sides of second rest stand and storing framework constitute the sliding pair slided along the vertical direction.On second rest stand It is fixed with the 4th comb teeth bar of n-1 root successively equidistantly arranged.The width of 4th comb teeth bar is e.Adjacent two the 4th comb teeth bars Spacing be f.
It includes defecation assisting method and food delivery method that nurse's formula, which automates care method,.
Defecation assisting method is specific as follows:
Step 1: the first overturning actuator and the second overturning actuator move when needing defecation by care-giver, so that Backboard and thigh plate are flipped up.It is sat up by care-giver.
Step 2: lifting actuator movement, lifting plate are flipped up, lift by the buttocks of care-giver.
Step 3: output motor and the synchronous rotating forward of recycling motor, so that the strip sheet on output roller rolls out, until A defecation notch on strip sheet is aligned with the defecation through slot on podical plate.
Meanwhile actuator movement is slid, so that sliding cover board slides into the lower section of backboard.
Step 4: lifting actuator movement, lifting plate are downwardly turned over to horizontality.Defecation is started by care-giver.
Step 5: cleaning sparge pipe sprays cleaning water flow to by the buttocks progress of care-giver after by care-giver's defecation Cleaning.
Step 6: cleaning sparge pipe stops water spray after by the huckle cleaning of care-giver.Dry blower starting, drying By the buttocks of care-giver.
Step 7: lifting actuator movement, lifting plate is flipped up, to lift by the buttocks of care-giver, so that by protecting Reason person's no longer extruded strip shape sheet.
Step 8: sliding actuator movement, so that sliding cover board resets.Meanwhile output motor and recycling motor synchronize just Turn, so that the strip sheet on output roller rolls out, until what the defecation notch being aligned with the defecation through slot on podical plate left The top surface of podical plate.
Step 9: lifting actuator movement, lifting plate are downwardly turned over to horizontality.
Step 10: the first overturning actuator and the second overturning actuator move, so that backboard, thigh plate and calf plate are equal Return back to horizontality.
Food delivery method is specific as follows:
Step 1: travelling bogie is moved at food supply cabinet.Release actuator movement so that a lunch box be pushed to On travelling bogie.
Step 2: travelling bogie marches at food delivery mechanism.Traversing motor, vertical shift motor, the first joint motor and second Joint motor rotation, so that the first comb teeth bar of n root reaches the lower section of the second comb teeth bar of n-1 root, and the first comb teeth bar of n root and n-1 Projection of the second comb teeth bar of root in same level is non-intersecting.
Step 3: vertical shift actuator moves, so that the first comb teeth bar of n root is increased above the shape of the second comb teeth bar of n-1 root State.Lunch box on the second comb teeth bar of n-1 root is transferred on the first comb teeth bar of n root.
Step 4: traversing actuator and the movement of vertical shift actuator, the first joint motor and the rotation of second joint motor, so that The first comb teeth bar of n root reach n-1 root third comb teeth bar top, and the first comb teeth bar of n root with n-1 root third comb teeth bar same Projection on horizontal plane is non-intersecting.
Step 5: vertical shift actuator moves, so that the first comb teeth bar of n root decreases below the shape of n-1 root third comb teeth bar State.Lunch box on the first comb teeth bar of n root is transferred on n-1 root third comb teeth bar.
Step 6: when being needed to have dinner by care-giver, traversing actuator and the movement of vertical shift actuator, the first joint motor and the Two joint motors rotation, so that the first comb teeth bar of n root reaches the lower section of n-1 root third comb teeth bar, and the first comb teeth bar of n root and n- Projection of 1 third comb teeth bar in same level is non-intersecting.
Step 7: vertical shift actuator moves, so that the first comb teeth bar of n root is increased above the shape of n-1 root third comb teeth bar State.Lunch box on n-1 root third comb teeth bar is transferred on the first comb teeth bar of n root.
Step 8: traversing actuator and the movement of vertical shift actuator, the first joint motor and the rotation of second joint motor, so that The first comb teeth bar of n root reach the 4th comb teeth bar of n-1 root top, and the first comb teeth bar of n root with three the 4th comb teeth bars same Projection on horizontal plane is non-intersecting.
Step 9: storage elevating mechanism movement, so that the 4th comb teeth bar of n-1 root is increased above the first comb teeth bar of n root State.Lunch box on the first comb teeth bar of n root is transferred on the 4th comb teeth bar of n-1 root.Food in heating tube electrified regulation lunch box Object.
Step 10: after the completion of heat foods in lunch box, storage elevating mechanism movement, so that the 4th comb teeth bar of n-1 root drops Down to the state for being lower than the first comb teeth bar of n root.Lunch box on the 4th comb teeth bar of n-1 root is transferred on the first comb teeth bar of n root.
Step 11: the first overturning actuator and the second overturning actuator move, so that backboard and thigh plate are upward Overturning.Calf plate slides and overturns under the drive of thigh plate.So that being sat up by care-giver, and the connection of calf plate and thigh plate Place can be supported by the knee joint of care-giver.
Step 12: traversing actuator and the movement of vertical shift actuator, the first joint motor and the rotation of second joint motor, make The first comb teeth bar of n root is obtained to reach by the chest of care-giver.
Step 13: the first overturning actuator and the second overturning actuator move after the completion of being had meal by care-giver, so that Backboard, thigh plate and calf plate return back to horizontality.Traversing actuator and vertical shift actuator movement, the first joint motor and Second joint motor rotation, so that the lunch box on the first comb teeth bar of n root enters in the rubbish area of food cabinet.
Step 14: vertical shift motor rotates forward, so that the top of lunch box is higher than the lower edge for unloading box plate.Later, traversing motor Rotation, so that the first comb teeth bar of n root leaves the rubbish area of food cabinet.Lunch box stays in cabinet under the blocking for unloading box plate In rubbish area, and fall to the bottom in rubbish area.
Further, under original state, backboard, podical plate, the top surface of thigh plate and calf plate are horizontally disposed.It is lifted plate position In in defecation through slot.Slide the inside that cover board is located at lifting plate.The adjacent excretion notch difference of two of them on strip sheet Positioned at the both ends of backboard.Strip sheet is located at the part above backboard and contacts with the bottom surface of lifting plate.
Further, the first overturning actuator, the second overturning actuator, defecation assisting mechanism and bed sheet replacing machine Structure is respectively positioned on the lower section of chair assembly.
Further, the length of the output roller and recycling roller is equal to the width of podical plate.Output roller and recycling Roller is to be detachably connected with bedstead.
The spacing of two neighboring excretion notch is equal to g on the strip sheet.G is the length of backboard.
Further, it is described lifting plate, bedstead articulated shaft axis be overlapped with the articulated shaft axis of backboard, podical plate.It is described It slides and is provided with moisture sensor on the top surface of cover board.
Further, excreta collection bucket is provided with immediately below the defecation through slot.
Further, the food delivery mechanism further includes feeding mechanical arm.The feeding mechanical arm includes the first rotation Steering engine, arm seat, the second rotate steering wheel, joint and Feeding rack.Joint is made of driving steering engine and rotating turret;Drive the output of steering engine Axis is fixed with rotating turret.Joint shares m, 2≤m≤6.M joint is arranged successively connection, and the rotating turret in upper level joint is under The driving steering engine in level-one joint is fixed.Driving steering engine positioned at the joint of head end is fixed with arm seat.Arm seat and rotate steering wheel it is defeated Shaft is fixed, and rotate steering wheel is fixed on connecting plate.Rotating turret positioned at the joint of end is fixed with the second rotate steering wheel.Second The output shaft of rotate steering wheel is fixed with Feeding rack.Spoon for feeding and water drinking tube are fixed on Feeding rack.The inner end of water drinking tube and placement Scuttlebutt in bedstead side is connected.
Further, traveling driving assembly includes wheel and traveling motor.Four traveling motors in pairs fix by centering In the two sides of saddle base;The output shaft of four traveling motors is fixed respectively with four wheels.
Further, the first overturning actuator includes the first overturning motor, the first lead screw, the first sliding block and first Connecting rod.First lead screw is supported on bedstead.First overturning motor is fixed on bedstead.The output shaft of first overturning motor It is fixed with one end of the first lead screw.First sliding block and bedstead constitute sliding pair, and constitute screw pair with the first lead screw.First connecting rod One end and the first sliding block it is hinged, the other end is hinged with backboard.
The second overturning actuator includes the second overturning motor, the second lead screw, the second sliding block and second connecting rod.It is described The second lead screw be supported on bedstead.Second overturning motor is fixed on bedstead.Second overturns the output shaft of motor and second One end of thick stick is fixed.Second sliding block and bedstead constitute sliding pair, and constitute screw pair with the second lead screw.One end of second connecting rod with Second sliding block is hinged, and the other end and thigh plate are hinged.
Further, the lifting actuator includes lifting motor, lifting lead screw, lifting sliding block, lifting connecting rod and lift Rise fixed link.The lifting lead screw is supported on bedstead.The lifting motor is fixed on bedstead.It is lifted the output of motor One end of axis and lifting lead screw is fixed.It is lifted sliding block and bedstead constitutes sliding pair, and constitute screw pair with lifting lead screw.Lifting connects One end of bar and lifting sliding block constitute transmission, and the other end and one end of lifting fixed link are hinged.It is lifted the other end of fixed link It is fixed with lifting plate.
The sliding actuator includes sliding motor, shifting slide gear and sliding rack gear.The sliding motor and bedstead It is fixed.The output shaft of sliding motor is fixed with shifting slide gear.Sliding rack gear one slides cover board and fixes.Shifting slide gear and sliding rack gear Engagement.
Traversing actuator includes traversing motor and traversing lead screw.Traversing lead screw is supported on sideslip frame.Cross slider with it is traversing Screw rod constitutes screw pair.Traversing motor is fixed on sideslip frame.The output shaft of traversing motor and one end of traversing screw rod are fixed.
Vertical shift actuator includes vertical shift motor and vertical shift lead screw.Vertical shift lead screw is supported on vertical balladeur train.Vertical sliding block and vertical shift Screw rod constitutes screw pair.Vertical shift motor is fixed on vertical balladeur train.The output shaft of vertical shift motor and one end of vertical shift screw rod are fixed.
First joint motor is fixed on vertical sliding block.The output shaft of first joint motor is fixed with turning rod.
The second joint motor is fixed on turning rod.The output shaft of second joint motor is fixed with connecting plate.
Releasing actuator includes releasing lead screw and release motor.Lead screw is released to be supported on release balladeur train.Release motor with Balladeur train is released to fix.The output shaft for releasing motor is fixed with the one end for releasing screw rod.The release sliding block and release lead screw structure At screw pair.
Storing elevating mechanism includes storage lead screw, storage sliding block, synchronous pulley, synchronous belt and storage motor.It is vertically arranged Two storage lead screws be supported on the two sides of storing framework respectively.Two storage sliding blocks and two storage lead screws respectively constitute spiral It is secondary.The top of two synchronous pulleys and two storage lead screws is fixed respectively.Two synchronous pulleys pass through synchronous band connection.Storage electricity Machine is fixed on storing framework.The one end for storing the output shaft and a wherein storage lead screw of motor is fixed.Two storage sliding blocks Fixed with the second rest stand.
The invention has the advantages that:
1, the present invention can assist by care-giver's progress defecation and can be the cleaning for being carried out buttocks by care-giver after an action of the bowels And drying.
2, the present invention can changed the sheet automatically after an action of the bowels by care-giver.Guarantee the cleaning and health of nursing bed.
3, the present invention can be automatically to transport and heating food by care-giver, and can be realized automatic feeding.
4, the present invention can continue repeatedly to transport food to by care-giver, reduce staff and need the frequency occurred.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention;
Fig. 2 is the perspective view of nursing bed in the present invention;
Fig. 3 is the bottom view of nursing bed in the present invention;
Fig. 4 is the combination diagram of defecation assisting mechanism and bed sheet replacing mechanism in the present invention;
Fig. 5 is the perspective view that food delivery mechanism removes feeding mechanical arm in the present invention;
Fig. 6 is the perspective view of feeding mechanical arm in the present invention;
Fig. 7 is the perspective view that food feeds cabinet in the present invention;
Fig. 8 is the perspective view of ejecting mechanism in the present invention;
Fig. 9 is the perspective view of travelling bogie in the present invention;
Figure 10 is first schematic diagram of food cabinet in the present invention;
Figure 11 is second schematic diagram of food cabinet in the present invention.
Specific embodiment
Below in conjunction with attached drawing, the invention will be further described.
As shown in Figure 1,2 and 3, nurse's formula automates care method, and the nursing system of use includes nursing bed 1, feeder Structure 2, food cabinet 3, travelling bogie 4 and food feed cabinet 5.Nursing bed 1 includes bedstead 1-1, chair assembly, the first overturning drive Moving part, the second overturning actuator, defecation assisting mechanism 1-6 and bed sheet replacing mechanism.First overturning actuator, the second overturning driving Part, defecation assisting mechanism 1-6 and bed sheet replacing mechanism are respectively positioned on the lower section of chair assembly.Chair assembly includes backboard 1-2, podical plate 1-3, thigh plate 1-4 and calf plate 1-5.Podical plate 1-3 and the middle part of bedstead 1-1 are fixed.The both ends of the inside edge backboard 1-2 with The one side edge of podical plate 1-3 is hinged.Another side edge of podical plate 1-3 and the one side edge of thigh plate 1-4 are hinged.Thigh plate 1-4 Another side edge and calf plate 1-5 one side edge it is hinged.Backboard 1-2, podical plate 1-3, thigh plate 1-4, calf plate 1-5 are constituted The bed board that old man can be assisted to sit up.Backboard 1-2 offers resigning breach in the middle part of inside edge.Podical plate 1-3 is close to backboard 1-2 That side edge offer defecation through slot.Defecation object collecting vessel is provided with immediately below defecation through slot.
First overturning actuator includes the first overturning motor 1-12, the first lead screw 1-13, the company of the first sliding block 1-8 and first Bar.The first lead screw 1-13 along the setting of bedstead 1-1 length direction is supported on bedstead 1-1, and is located at the underface of backboard 1-2. First overturning motor 1-12 is fixed on bedstead 1-1.The output shaft of first overturning motor 1-12 and one end of the first lead screw 1-13 It is fixed.First sliding block 1-8 and bedstead 1-1 constitutes sliding pair, and constitutes screw pair with the first lead screw 1-13.One end of first connecting rod Hinged with the first sliding block 1-8, the middle part of the other end and backboard 1-2 is hinged.It can be driven by the rotation of the first overturning motor 1-12 Dynamic backboard 1-2 overturning.
Second overturning actuator includes the second overturning motor 1-9, the second lead screw 1-10, the company of the second sliding block 1-11 and second Bar.Along bedstead 1-1 length direction setting the second lead screw 1-10 be supported on bedstead 1-1, and positioned at thigh plate 1-4 just under Side.Second overturning motor 1-9 is fixed on bedstead 1-1.The output shaft of second overturning motor 1-9 and one end of the second lead screw 1-10 It is fixed.Second sliding block 1-11 and bedstead 1-1 constitutes sliding pair, and constitutes screw pair with the second lead screw 1-10.The one of second connecting rod End is hinged with the second sliding block 1-11, and the middle part of the other end and thigh plate 1-4 is hinged.Pass through the rotation energy of the second overturning motor 1-9 Enough driving thigh plate 1-4 overturnings, to drive calf plate 1-5 movement, (calf plate 1-5 exists far from that side edge of thigh plate 1-4 It is slid on bedstead 1-1).
As shown in Fig. 2,3 and 4, defecation assisting mechanism 1-6 includes lifting plate 1-6-1, sliding cover board 1-6-2, lifting driving Part, sliding actuator, drying blower 1-6-3 and cleaning sparge pipe 1-6-4.It is u-shaped to be lifted plate 1-6-1, and with bedstead 1-1's Middle part is hinged.It is lifted plate 1-6-1, the articulated shaft axis of bedstead 1-1 is overlapped with the articulated shaft axis of backboard 1-2, podical plate 1-3.Lift The outer edge of lift slab 1-6-1 is identical as the chamfered shape of defecation through slot on podical plate 1-3.It slides in cover board 1-6-2 and bedstead 1-1 Portion constitutes the sliding pair slided along bedstead 1-1 length direction.Slide the outer profile of cover board 1-6-2 and the inside of lifting plate 1-6-1 Edge shape is identical.It is aligned in sliding cover board 1-6-2 and the width direction of the bedstead 1-1 for the inward flange for being lifted plate 1-6-1.Sliding Moisture sensor is provided on the top surface of cover board 1-6-2.
Being lifted actuator includes lifting motor, lifting lead screw 1-6-5, lifting sliding block 1-6-6, lifting connecting rod 1-6-7 and lift Rise fixed link 1-6-8.Lifting lead screw 1-6-5 is supported on bedstead 1-1.Lifting motor is fixed on bedstead 1-1.It is lifted motor One end of output shaft and lifting lead screw 1-6-5 is fixed.Be lifted sliding block 1-6-6 and bedstead 1-1 and constitute sliding pair, and with lifting lead screw 1-6-5 constitutes screw pair.The one end and lifting sliding block 1-6-6 for being lifted connecting rod 1-6-7 constitute transmission, and the other end and lifting are fixed One end of bar 1-6-8 is hinged.The other end and lifting plate 1-6-1 for being lifted fixed link 1-6-8 are fixed.
Sliding actuator includes sliding motor, shifting slide gear and sliding rack gear.Sliding motor is fixed with bedstead 1-1.Sliding The output shaft of motor is fixed with shifting slide gear.Sliding rack gear one slides cover board 1-6-2 and fixes.Shifting slide gear is nibbled with sliding rack gear It closes.Drying blower 1-6-3 and cleaning sparge pipe 1-6-4 are fixed with bedstead 1-1, and are located at the lower section of backboard 1-2.Dry blower The air outlet of 1-6-3 and the water outlet for cleaning sparge pipe 1-6-4 are tilted towards the defecation through slot on podical plate 1-3.
Bed sheet replacing mechanism immediately below backboard 1-2 includes strip sheet, output roller 1-7, output motor 1- 15, roller 1-14 and recycling motor 1-16 are recycled.Output roller 1-7, recycling roller 1-14 are supported on the two of bedstead 1-1 respectively Side.Output roller 1-7 and the length for recycling roller 1-14 are equal to the width of podical plate 1-3.Output motor 1-15 and recycling motor 1-16 is each attached on bedstead 1-1.Output motor 1-15, the output shaft for recycling motor 1-16 and output roller 1-7, recycling roller 1-14 is fixed respectively.Output roller 1-7, recycling roller 1-14 and bedstead 1-1 are to be detachably connected.
Strip sheet bypasses the top surface of backboard 1-2, and both ends roll up returning output roller 1-7, recycling roller 1-14 respectively On.Edge on strip sheet close to backboard 1-2 offers multiple defecation notches.The shape and podical plate 1-3 of defecation notch The cross-sectional shape of upper defecation through slot is identical.Multiple defecation notches are uniformly distributed along the length direction of strip sheet.It is two neighboring The spacing of defecation notch is equal to g.G is the length of backboard 1-2.
Under original state, backboard 1-2, podical plate 1-3, the top surface of thigh plate 1-4 and calf plate 1-5 are horizontally disposed.Lifting Plate 1-6-1 is located in defecation through slot.Slide the inside that cover board 1-6-2 is located at lifting plate 1-6-1.Wherein two on strip sheet A adjacent defecation notch is located at the both ends of backboard 1-2.The part that strip sheet is located above backboard 1-2 is lifted plate 1- 6-1 is pushed down.Since lifting plate 1-6-1 pushes down strip sheet, therefore when lifting plate is dug upwards, strip sheet will not be supportted It rises.In the state that backboard 1-2 is dug, sliding cover board 1-6-2 can skid off lifting plate 1- by the resigning breach on backboard 1-2 The range that 6-1 ring is lived.
As described in figures 1 and 5, food delivery mechanism 2 includes sideslip frame 2-1, cross slider 2-2, traversing actuator, vertical balladeur train 2-3, indulges Sliding block 2-4, vertical shift actuator, turning rod 2-5, the first joint motor 2-6, second joint motor 2-7, connecting plate 2-8 and first Comb teeth bar 2-9.Sideslip frame 2-1 and the side of bedstead 1-1 are fixed.Cross slider 2-2 and sideslip frame 2-1 constitutes sliding pair.Traversing drive Moving part includes traversing motor 2-10 and traversing lead screw 2-11.Traversing lead screw 2-11 is supported on sideslip frame 2-1.Cross slider 2-2 with Traversing screw rod constitutes screw pair.Traversing motor 2-10 is fixed on sideslip frame 2-1.The output shaft and traversing silk of traversing motor 2-10 One end of bar is fixed.Vertical balladeur train 2-3 and cross slider 2-2 is fixed.Vertical sliding block 2-4 and vertical balladeur train 2-3 constitutes sliding pair.Vertical shift driving Part includes vertical shift motor 2-12 and vertical shift lead screw 2-13.Vertical shift lead screw 2-13 is supported on vertical balladeur train 2-3.It indulges sliding block 2-4 and indulges Silk shifting rod constitutes screw pair.Vertical shift motor 2-12 is fixed on vertical balladeur train 2-3.The output shaft and vertical shift screw rod of vertical shift motor 2-12 One end fix.The inner end of turning rod 2-5 and vertical sliding block 2-4 constitute revolute pair.First joint motor 2-6 is fixed on vertical sliding block 2- On 4.The output shaft of first joint motor 2-6 is fixed with turning rod 2-5.The outer end of turning rod 2-5 and the inner end structure of connecting plate 2-8 At revolute pair.Second joint motor 2-7 is fixed on turning rod 2-5.The output shaft and connecting plate 2-8 of second joint motor 2-7 It is fixed.The outer end of connecting plate 2-8 is fixed with the four first comb teeth bar 2-9 successively equidistantly arranged.The width of first comb teeth bar 2-9 Degree is c, c=3mm.The spacing of adjacent two first comb teeth bar 2-9 is d, d=5mm.
As shown in figs. 1 and 6, feeding mechanical arm includes the first rotate steering wheel, arm seat 2-14, the second rotate steering wheel 2-15, closes Section and Feeding rack.Joint is made of driving steering engine 2-16 and rotating turret 2-17;Drive the output shaft and rotating turret 2- of steering engine 2-16 17 is fixed.Three joints are arranged successively connection, the rotating turret 2-17 in upper level joint and the driving steering engine 2-16 in next stage joint It is fixed.The driving steering engine 2-16 and arm seat 2-14 in head end joint are fixed.Arm seat 2-14 and the output shaft of rotate steering wheel are fixed, rotation Steering engine is fixed on connecting plate 2-8.The rotating turret 2-17 in end joint is fixed with the second rotate steering wheel 2-15.Three driving steering engines 2-16 output shaft axis is parallel.The output shaft of second rotate steering wheel 2-15 is fixed with Feeding rack.Spoon for feeding is fixed on Feeding rack 2-18 and water drinking tube 2-19.The inner end of water drinking tube 2-19 is connected with the scuttlebutt for being placed on the side bedstead 1-1.
As shown in Fig. 1,7 and 8, it includes replenishing frame 5-1, supply side plate 5-2, supply bottom plate 5-3, supply that food, which feeds cabinet 5, Partition 5-4 and ejecting mechanism.It is horizontally disposed to feed bottom plate 5-3, and is fixed with the middle part of replenishing frame 5-1.Parallel to each other and interval Two pieces of supply side plate 5-2 being arranged are separately fixed at the two sides of replenishing frame 5-1.It is parallel to each other and it is spaced two pieces supply every Plate 5-4 is fixed with replenishing frame 5-1.Two pieces of supply partition 5-4 are respectively positioned between two pieces of supply side plate 5-2, and with supply bottom Plate 5-3 interval a distance setting, a=12mm.Multiple lunch boxes are stacked between two pieces of supply partition 5-4 in food supply cabinet 5. The height of lunch box is b, 0.5a < b < a.Ejecting mechanism includes releasing balladeur train 5-5, pushing away box block 5-6, release lead screw, release sliding block 5-7 and release motor.Balladeur train 5-5 is released to be fixed on the bottom surface of supply bottom plate 5-3.It releases lead screw and is supported on release balladeur train 5-5 On.It releases motor and is fixed with balladeur train 5-5 is released.The output shaft for releasing motor is fixed with the one end for releasing screw rod.Release sliding block 5-7 Sliding pair is constituted with balladeur train 5-5 is released, and constitutes screw pair with lead screw is released.Sliding slot is offered on supply bottom plate 5-3.Push away box block On the top surface of 5-6 setting supply bottom plate.The bottom for pushing away box block 5-6 passes through sliding slot and fixes with sliding block 5-7 is released.Push away box block 5-6 The spacing of top surface and the supply top surface bottom plate 5-3 is equal to b.Reciprocating motion by pushing away box block 5-6 can be by the meal in ejecting mechanism Box is released one by one.One of supply partition 5-4 is concordant with the supply edge of side plate 5-2, should convenient for the complete release of lunch box The lower section of block supply partition 5-4 is the exit of food supply cabinet 5.
As illustrated in figs 1 and 9, travelling bogie 4 includes vehicle seat 4-1, wheel 4-2, traveling motor and comb teeth frame 4-3.Four rows It is fixed on the two sides of the bottom vehicle seat 4-1 in pairs into motor;The output shaft of four traveling motors and four wheel 4-2 points Gu Ding not.The bottom of comb teeth frame 4-3 and the top of vehicle seat 4-1 are fixed.It is provided at the top of the bottom of comb teeth frame 4-3 between successively waiting Three second comb teeth bar 4-4 away from arrangement.The width of second comb teeth bar 4-4 is e.The spacing of adjacent two second comb teeth bar 4-4 For f.E+f=c+d, and e < d.The high settings such as at the top of the second comb teeth bar 4-4 and top surface of supply bottom plate 5-3.
As shown in Fig. 1,10 and 11, food cabinet 3 includes storing framework 3-1, the first storage partition 3-2, the second storage Partition 3-3, heating tube, the first rest stand 3-5, the second rest stand 3-6 and storage elevating mechanism.It is horizontally disposed first storage every Plate 3-2, second storage the interval partition 3-3 be fixed in storing framework 3-1, and then by storing framework 3-1 be divided into heating zone, often Warm area and rubbish area.It is provided at the top of the inlet in rubbish area and unloads box plate 3-7.
First rest stand 3-5 and storing framework 3-1 is fixed, and is located in room temperature area.Be fixed on first rest stand 3-5 according to Three third comb teeth bar 3-8 of inferior spacing arrangement.The width of third comb teeth bar 3-8 is e.Adjacent two third comb teeth bars 3-8 Spacing be f.All third comb teeth bar 3-8 are arranged with the first storage interval partition 3-2.Heating tube and storing framework 3-1 are solid It is fixed, and it is located at the top of heating zone.
Second rest stand 3-6 and storage elevating mechanism are arranged in heating zone.Storing elevating mechanism includes storage lead screw 3-4, storage sliding block, synchronous pulley, synchronous belt and storage motor.Two storage lead screws being vertically arranged are supported on storage box respectively The two sides of frame 3-1.Two storage sliding blocks and two storage lead screws respectively constitute screw pair.Two synchronous pulleys and two storage silks The top of thick stick is fixed respectively.Two synchronous pulleys pass through synchronous band connection.Storage motor is fixed on storing framework 3-1.Storage The output shaft of motor and one end of a wherein storage lead screw are fixed.Two storage sliding blocks are fixed with the second rest stand 3-6.The The two sides of two rest stand 3-6 and storing framework 3-1 constitute the sliding pair slided along the vertical direction.It is fixed on second rest stand 3-6 There are three the 4th comb teeth bar 3-9 successively equidistantly arranged.The width of 4th comb teeth bar 3-9 is e.Adjacent two the 4th comb teeth bars The spacing of 3-9 is f.The lunch box for putting the 4th comb teeth bar 3-9 can be increased to close to the position of heat-generating pipe by storage elevating mechanism It is heated.
It includes defecation assisting method and food delivery method that nurse's formula, which automates care method,.
Defecation assisting method is specific as follows:
Step 1: first turns over when needing defecation or moisture sensor to detect that strip sheet is wetted by care-giver The overturning of rotating motor 1-12 and second motor 1-9 is rotated forward, so that backboard 1-2 and thigh plate 1-4 are flipped up.Calf plate 1-5 It slides and overturns under the drive of thigh plate 1-4.So that being sat up by care-giver, and the junction of calf plate 1-5 and thigh plate 1-4 It can support by the knee joint of care-giver.
Step 2: lifting motor rotates forward, lifting plate 1-6-1 is flipped up, thus lift by the buttocks of care-giver, so that by Care-giver's no longer extruded strip shape sheet.
Step 3: output motor 1-15 and the synchronous rotating forward of recycling motor 1-16, so that the strip bed on output roller 1-7 Monovolume goes out, until a defecation notch on strip sheet is aligned with the defecation through slot on podical plate 1-3.
Meanwhile sliding motor and rotating forward, so that sliding cover board 1-6-2 slides into the lower section of backboard 1-2, by the buttocks of care-giver There is no objects to block between defecation object collecting vessel.
Step 4: lifting motor reversal, lifting plate 1-6-1 is downwardly turned over to horizontality.Defecation is started by care-giver.
Step 5: cleaning sparge pipe 1-6-4 sprays cleaning water flow to by the buttocks of care-giver after by care-giver's defecation It is cleaned.
Step 6: cleaning sparge pipe 1-6-4 stops water spray after by the huckle cleaning of care-giver.Dry blower 1-6-3 Starting is dried up by the buttocks of care-giver.
Step 7: lifting motor rotates forward, lifting plate 1-6-1 is flipped up, thus lift by the buttocks of care-giver, so that by Care-giver's no longer extruded strip shape sheet.
Step 8: sliding motor reversal, so that sliding cover board 1-6-2 resets.Meanwhile output motor 1-15 and recycling motor 1-16 is synchronous to be rotated forward, so that the strip sheet on output roller 1-7 rolls out, until being aligned with the defecation through slot on podical plate 1-3 The top surface of podical plate 1-3 left of defecation notch.
Step 9: lifting motor reversal, lifting plate 1-6-1 is downwardly turned over to horizontality.
Step 10: the first overturning motor 1-12 and the second overturning motor 1-9 are inverted, so that backboard 1-2, thigh plate 1-4 And calf plate 1-5 returns back to horizontality.
Food delivery method is specific as follows:
Step 1: travelling bogie 4 is moved to the exit of food supply cabinet 5.It releases motor to rotate forward, so that a lunch box quilt It pushes on travelling bogie 4.
Step 2: travelling bogie 4 marches at food delivery mechanism 2.Traversing motor 2-10, vertical shift motor 2-12, the first joint Motor 2-6 and second joint motor 2-7 rotation, so that four first comb teeth bar 2-9 are reached under three second comb teeth bar 4-4 Side, and projection of the four first comb teeth bar 2-9 and three second comb teeth bar 4-4 in same level is non-intersecting.
Step 3: vertical shift motor 2-12 is rotated forward, so that four first comb teeth bar 2-9 are increased above three second comb teeth bars The state of 4-4.Lunch box on three second comb teeth bar 4-4 is transferred on four first comb teeth bar 2-9.
Step 4: traversing motor 2-10, vertical shift motor 2-12, the first joint motor 2-6 and second joint motor 2-7 turn It is dynamic, so that four first comb teeth bar 2-9 reach the top of three third comb teeth bar 3-8, and four first comb teeth bar 2-9 and three Projection of the third comb teeth bar 3-8 in same level is non-intersecting.
Step 5: vertical shift motor 2-12 is inverted, so that four first comb teeth bar 2-9 decrease below three third comb teeth bars The state of 3-8.Lunch box on four first comb teeth bar 2-9 is transferred on three third comb teeth bar 3-8.
Step 6: when being needed to have dinner by care-giver, traversing motor 2-10, vertical shift motor 2-12, the first joint motor 2-6 and Second joint motor 2-7 rotation, so that four first comb teeth bar 2-9 reach the lower section of three third comb teeth bar 3-8, and four pieces the One comb teeth bar 2-9 and projection of three third comb teeth bar 3-8 in same level are non-intersecting.
Step 7: vertical shift motor 2-12 is rotated forward, so that four first comb teeth bar 2-9 are increased above three third comb teeth bars The state of 3-8.Lunch box on three third comb teeth bar 3-8 is transferred on four first comb teeth bar 2-9.
Step 8: traversing motor 2-10, vertical shift motor 2-12, the first joint motor 2-6 and second joint motor 2-7 turn It is dynamic, so that four first comb teeth bar 2-9 reach the top of three the 4th comb teeth bar 3-9, and four first comb teeth bar 2-9 and three Projection of the 4th comb teeth bar 3-9 in same level is non-intersecting.
It is rotated forward Step 9: two storage motors are synchronous, so that three the 4th comb teeth bar 3-9 are increased above four first combs The state of rack gear 2-9.Lunch box on four first comb teeth bar 2-9 is transferred on three the 4th comb teeth bar 3-9.And lunch box is close Heating tube.Food in heating tube electrified regulation lunch box.
Step 10: after the completion of heat foods in lunch box, the synchronous reversion of two storage motors, so that three the 4th comb teeth bars 3-9 decreases below the state of four first comb teeth bar 2-9.Lunch box on three the 4th comb teeth bar 3-9 is transferred to four On one comb teeth bar 2-9.
Step 11: the first overturning motor 1-12 and the second overturning motor 1-9 are rotated forward, so that backboard 1-2 and thigh plate 1-4 is flipped up.Calf plate 1-5 slides and overturns under the drive of thigh plate 1-4.So that being sat up by care-giver, and shank The junction of plate 1-5 and thigh plate 1-4 can be supported by the knee joint of care-giver.
Step 12: traversing motor 2-10, vertical shift motor 2-12, the first joint motor 2-6 and second joint motor 2-7 turn It is dynamic, so that four first comb teeth bar 2-9 are reached by the chest of care-giver.Food is fed for by care-giver by feeding mechanical arm.
Step 13: after the completion of being had meal by care-giver, traversing motor 2-10, vertical shift motor 2-12, the first joint motor 2-6 And second joint motor 2-7 rotation, so that the lunch box on four first comb teeth bar 2-9 protrudes into the rubbish area of food cabinet 3.
Step 14: vertical shift motor 2-12 is rotated forward, so that the top of lunch box is higher than the lower edge for unloading box plate 3-7.Later, horizontal Motor 2-10 rotation is moved, so that four first comb teeth bar 2-9 leave the rubbish area of food cabinet 3.Lunch box is unloading box plate 3-7's It is stayed under blocking in the rubbish area of cabinet, and falls to the bottom in rubbish area.
Step 15: repeating step 1 to 14.

Claims (10)

1. nurse's formula automates care method, it is characterised in that: the nursing system of use includes nursing bed, food delivery mechanism, food Cabinet, travelling bogie and food feed cabinet;The nursing bed includes bedstead, chair assembly, the first overturning actuator, second Overturn actuator, defecation assisting mechanism and bed sheet replacing mechanism;The chair assembly includes backboard, podical plate, thigh plate and small Leg plate;The middle part of the podical plate and bedstead is fixed;The both ends of the backboard inside edge are hinged with the one side edge of podical plate; Another side edge of podical plate and the one side edge of thigh plate are hinged;Another side edge of thigh plate and the one side edge of calf plate are cut with scissors It connects;Resigning breach is offered in the middle part of the backboard inside edge;Podical plate offers defecation through slot close to that side edge of backboard; Backboard is by the first overturning actuator driving;Thigh plate is by the second overturning actuator driving;
The defecation assisting mechanism includes lifting plate, sliding cover board, lifting actuator, sliding actuator, drying blower and clear Wash sparge pipe;The lifting plate is u-shaped, and hinged with the middle part of bedstead;It is logical to be lifted defecation on the outer edge and podical plate of plate The chamfered shape of slot is identical;The middle part of the sliding cover board and bedstead constitutes sliding pair;Slide outer profile and the lifting of cover board The inside edge shape of plate is identical;It is aligned in sliding cover board and the width direction of the bedstead for the inward flange for being lifted plate;Be lifted plate by It is lifted actuator driving;Sliding cover board is driven by sliding actuator;The drying blower and cleaning sparge pipe is solid with bedstead It is fixed, and it is located at the lower section of backboard;The air outlet for drying blower and the water outlet for cleaning sparge pipe are tilted towards the row on podical plate Just through slot;
The bed sheet replacing mechanism includes strip sheet, output roller, output motor, recycling roller and recycling motor;Institute Output roller, the recycling roller stated are supported on the two sides of bedstead respectively;Output motor and recycling motor are each attached on bedstead;It is defeated Motor, the output shaft of recycling motor and output roller, recycling roller are fixed respectively out;
The strip sheet bypasses the top surface of backboard, and both ends roll up respectively and returning output roller, recycling on roller;Strip Edge on sheet close to backboard offers multiple defecation notches;Defecation through slot is transversal in the shape and podical plate of defecation notch Face shape is identical;Multiple defecation notches are uniformly distributed along the length direction of strip sheet;
The food delivery mechanism includes sideslip frame, cross slider, traversing actuator, vertical balladeur train, vertical sliding block, vertical shift actuator, overturning Bar, the first joint motor, second joint motor, connecting plate, the first comb teeth bar and feeding mechanical arm;The sideslip frame and bedstead Side is fixed;Cross slider and sideslip frame constitute sliding pair;Cross slider is driven by traversing actuator;Vertical balladeur train is fixed with cross slider; Vertical sliding block and vertical balladeur train constitute sliding pair;Vertical sliding block is driven by vertical shift actuator;The inner end of the turning rod and vertical sliding block are constituted Revolute pair;Turning rod is driven by the first joint motor;The outer end of the turning rod and the inner end of connecting plate constitute revolute pair;Connection Plate is by second joint motor driven;The outer end of the connecting plate is fixed with the first comb teeth bar of n root successively equidistantly arranged, 3≤n ≤8;The width of first comb teeth bar is c, 1mm≤c≤5mm;The spacing of adjacent two first comb teeth bars is d, 1mm≤d≤8mm;
The food supply cabinet includes replenishing frame, supply side plate, supply bottom plate, supply partition and ejecting mechanism;The benefit It is arranged to floor level, and is fixed with the middle part of replenishing frame;Two blocks of supply side plates are separately fixed at the two sides of replenishing frame;Interval is set The two pieces of supply partitions set are fixed with replenishing frame, and are respectively positioned between two blocks of supply side plates;Feed bottom and the supply of partition Bottom plate interval a distance setting;Multiple lunch boxes are stacked between two pieces of supply partitions in food supply cabinet;The height of lunch box is b, 0.5a < b < a;Ejecting mechanism includes releasing balladeur train, releasing sliding block, push away box block and release actuator;The release balladeur train is solid It is scheduled on the bottom surface of supply bottom plate;The release sliding block and release balladeur train constitutes sliding pair;It is opened up on the supply bottom plate There is sliding slot;On the top surface for pushing away box block setting supply bottom plate;The bottom for pushing away box block passes through sliding slot and fixes with sliding block is released;
The travelling bogie includes vehicle seat, traveling driving assembly and comb teeth frame;Vehicle seat is driven by traveling driving assembly;The comb The bottom of braces and the top of vehicle seat are fixed;The n-1 root successively equidistantly arranged is provided at the top of the bottom of the comb teeth frame Second comb teeth bar;The width of second comb teeth bar is e;The spacing of adjacent two second comb teeth bars is f;E+f=c+d, and e < d;
The food cabinet include storing framework, first storage partition, second storage partition, heating tube, the first rest stand, Second rest stand and storage elevating mechanism;Described first stores partition, the second storage baffle interval is fixed in storing framework, Storing framework is divided into heating zone, room temperature area and rubbish area by the first storage partition, the second storage partition;The inlet in rubbish area Top, which is provided with, unloads box plate;The heating tube is fixed with storing framework, and is located at the top of heating zone;
First rest stand is fixed with storing framework, and is located in room temperature area;It is fixed on first rest stand between successively waiting N-1 root third comb teeth bar away from arrangement;The width of third comb teeth bar is e;The spacing of adjacent two third comb teeth bars is f;
Second rest stand is arranged in heating zone, and constitutes sliding pair with storage framework;Second rest stand is by storage elevator Structure driving;The two sides of second rest stand and storing framework constitute the sliding pair slided along the vertical direction;It is fixed on second rest stand There is the 4th comb teeth bar of n-1 root successively equidistantly arranged;The width of 4th comb teeth bar is e;Between adjacent two the 4th comb teeth bars Away from for f;
It includes defecation assisting method and food delivery method that nurse's formula, which automates care method,;
Defecation assisting method is specific as follows:
Step 1: the first overturning actuator and the second overturning actuator move, so that backboard when needing defecation by care-giver And thigh plate is flipped up;It is sat up by care-giver;
Step 2: lifting actuator movement, lifting plate are flipped up, lift by the buttocks of care-giver;
Step 3: output motor and the synchronous rotating forward of recycling motor, so that the strip sheet on output roller rolls out, until strip A defecation notch on shape sheet is aligned with the defecation through slot on podical plate;
Meanwhile actuator movement is slid, so that sliding cover board slides into the lower section of backboard;
Step 4: lifting actuator movement, lifting plate are downwardly turned over to horizontality;Defecation is started by care-giver;
Step 5: cleaning sparge pipe sprays cleaning water flow and cleans to by the buttocks of care-giver after by care-giver's defecation;
Step 6: cleaning sparge pipe stops water spray after by the huckle cleaning of care-giver;Blower starting is dried, drying is protected The buttocks of reason person;
Step 7: lifting actuator movement, lifting plate is flipped up, to lift by the buttocks of care-giver, so that by care-giver No longer extruded strip shape sheet;
Step 8: sliding actuator movement, so that sliding cover board resets;Meanwhile output motor and recycling motor are synchronized and are rotated forward, and are made The strip sheet obtained on output roller rolls out, until the podical plate that the defecation notch being aligned with the defecation through slot on podical plate leaves Top surface;
Step 9: lifting actuator movement, lifting plate are downwardly turned over to horizontality;
Step 10: the first overturning actuator and the second overturning actuator move, so that backboard, thigh plate and calf plate are replied To horizontality;
Food delivery method is specific as follows:
Step 1: travelling bogie is moved at food supply cabinet;Actuator movement is released, so that a lunch box is pushed to transport On trolley;
Step 2: travelling bogie marches at food delivery mechanism;Traversing motor, vertical shift motor, the first joint motor and second joint Motor rotation, so that the first comb teeth bar of n root reaches the lower section of the second comb teeth bar of n-1 root, and the first comb teeth bar of n root and n-1 root the Projection of two comb teeth bars in same level is non-intersecting;
Step 3: vertical shift actuator moves, so that the first comb teeth bar of n root is increased above the state of the second comb teeth bar of n-1 root;n- Lunch box on 1 second comb teeth bar is transferred on the first comb teeth bar of n root;
Step 4: traversing actuator and the movement of vertical shift actuator, the first joint motor and the rotation of second joint motor, so that n root First comb teeth bar reaches the top of n-1 root third comb teeth bar, and the first comb teeth bar of n root and n-1 root third comb teeth bar are in same water Projection in plane is non-intersecting;
Step 5: vertical shift actuator moves, so that the first comb teeth bar of n root decreases below the state of n-1 root third comb teeth bar;n Lunch box on the first comb teeth bar of root is transferred on n-1 root third comb teeth bar;
Step 6: traversing actuator and vertical shift actuator move when being needed to have dinner by care-giver, the first joint motor and the second pass Motor rotation is saved, so that the first comb teeth bar of n root reaches the lower section of n-1 root third comb teeth bar, and the first comb teeth bar of n root and n-1 root Projection of the third comb teeth bar in same level is non-intersecting;
Step 7: vertical shift actuator moves, so that the first comb teeth bar of n root is increased above the state of n-1 root third comb teeth bar;n- Lunch box on 1 third comb teeth bar is transferred on the first comb teeth bar of n root;
Step 8: traversing actuator and the movement of vertical shift actuator, the first joint motor and the rotation of second joint motor, so that n root First comb teeth bar reaches the top of the 4th comb teeth bar of n-1 root, and the first comb teeth bar of n root and three the 4th comb teeth bars are in same level Projection on face is non-intersecting;
Step 9: storage elevating mechanism movement, so that the 4th comb teeth bar of n-1 root is increased above the state of the first comb teeth bar of n root; Lunch box on the first comb teeth bar of n root is transferred on the 4th comb teeth bar of n-1 root;Food in heating tube electrified regulation lunch box;
Step 10: after the completion of heat foods in lunch box, storage elevating mechanism movement, so that the 4th comb teeth bar of n-1 root is reduced to Lower than the state of the first comb teeth bar of n root;Lunch box on the 4th comb teeth bar of n-1 root is transferred on the first comb teeth bar of n root;
Step 11: the first overturning actuator and the second overturning actuator move, so that backboard and thigh plate are flipped up; Calf plate slides and overturns under the drive of thigh plate;So that being sat up by care-giver, and the junction energy of calf plate and thigh plate Enough supports are by the knee joint of care-giver;
Step 12: traversing actuator and the movement of vertical shift actuator, the first joint motor and the rotation of second joint motor, so that n The first comb teeth bar of root is reached by the chest of care-giver;
Step 13: the first overturning actuator and the second overturning actuator move, so that back after the completion of being had meal by care-giver Plate, thigh plate and calf plate return back to horizontality;Traversing actuator and the movement of vertical shift actuator, the first joint motor and the Two joint motors rotation, so that the lunch box on the first comb teeth bar of n root enters in the rubbish area of food cabinet;
Step 14: vertical shift motor rotates forward, so that the top of lunch box is higher than the lower edge for unloading box plate;Later, traversing motor rotation, So that the first comb teeth bar of n root leaves the rubbish area of food cabinet;Lunch box stays in the rubbish of cabinet under the blocking for unloading box plate In area, and fall to the bottom in rubbish area.
2. nurse's formula according to claim 1 automates care method, it is characterised in that: under original state, backboard, stern The top surface of plate, thigh plate and calf plate is horizontally disposed;Lifting plate is located in defecation through slot;It slides cover board and is located at the interior of lifting plate Side;The adjacent excretion notch of two of them on strip sheet is located at the both ends of backboard;Strip sheet is located on backboard The part of side is contacted with the bottom surface of lifting plate.
3. nurse's formula according to claim 1 automates care method, it is characterised in that: the first overturning driving Part, the second overturning actuator, defecation assisting mechanism and bed sheet replacing mechanism are respectively positioned on the lower section of chair assembly.
4. nurse's formula according to claim 1 automates care method, it is characterised in that: the output roller and recycling rolling The length of cylinder is equal to the width of podical plate;Output roller and recycling roller with bedstead are to be detachably connected;
The spacing of two neighboring excretion notch is equal to g on the strip sheet;G is the length of backboard.
5. nurse's formula according to claim 1 automates care method, it is characterised in that: the hinge of the lifting plate, bedstead Spindle axis is overlapped with the articulated shaft axis of backboard, podical plate;Moisture sensor is provided on the top surface of the sliding cover board.
6. nurse's formula according to claim 1 automates care method, it is characterised in that: the underface of the defecation through slot It is provided with excreta collection bucket.
7. nurse's formula according to claim 1 automates care method, it is characterised in that: the food delivery mechanism further includes Feeding mechanical arm;The feeding mechanical arm includes the first rotate steering wheel, arm seat, the second rotate steering wheel, joint and Feeding rack;It closes Section is made of driving steering engine and rotating turret;The output shaft of driving steering engine is fixed with rotating turret;Joint shares m, 2≤m≤6;M Joint is arranged successively connection, and the rotating turret in upper level joint is fixed with the driving steering engine in next stage joint;Positioned at the joint of head end Driving steering engine fixed with arm seat;Arm seat and the output shaft of rotate steering wheel are fixed, and rotate steering wheel is fixed on connecting plate;Positioned at end The rotating turret in the joint at end is fixed with the second rotate steering wheel;The output shaft of second rotate steering wheel is fixed with Feeding rack;On Feeding rack It is fixed with spoon for feeding and water drinking tube;The inner end of water drinking tube is connected with the scuttlebutt for being placed on bedstead side.
8. nurse's formula according to claim 1 automates care method, it is characterised in that: traveling driving assembly includes wheel With traveling motor;Four traveling motors are fixed on the two sides of saddle base in pairs;The output shaft of four traveling motors It is fixed respectively with four wheels.
9. nurse's formula according to claim 1 automates care method, it is characterised in that: the first overturning actuator Including the first overturning motor, the first lead screw, the first sliding block and first connecting rod;First lead screw is supported on bedstead;First Overturning motor is fixed on bedstead;One end of the output shaft and the first lead screw of first overturning motor is fixed;First sliding block and bedstead Sliding pair is constituted, and constitutes screw pair with the first lead screw;One end of first connecting rod and the first sliding block are hinged, and the other end and backboard are cut with scissors It connects;
The second overturning actuator includes the second overturning motor, the second lead screw, the second sliding block and second connecting rod;Described Two lead screws are supported on bedstead;Second overturning motor is fixed on bedstead;The output shaft and second lead screw of second overturning motor One end is fixed;Second sliding block and bedstead constitute sliding pair, and constitute screw pair with the second lead screw;One end of second connecting rod and second Sliding block is hinged, and the other end and thigh plate are hinged.
10. nurse's formula according to claim 1 automates care method, it is characterised in that: the lifting actuator packet Include lifting motor, lifting lead screw, lifting sliding block, lifting connecting rod and lifting fixed link;The lifting lead screw is supported on bedstead; The lifting motor is fixed on bedstead;The one end for being lifted the output shaft and lifting lead screw of motor is fixed;It is lifted sliding block and bed Frame constitutes sliding pair, and constitutes screw pair with lifting lead screw;The one end and lifting sliding block for being lifted connecting rod constitute transmission, the other end It is hinged with one end of lifting fixed link;The other end and lifting plate for being lifted fixed link are fixed;
The sliding actuator includes sliding motor, shifting slide gear and sliding rack gear;The sliding motor is fixed with bedstead; The output shaft of sliding motor is fixed with shifting slide gear;Sliding rack gear one slides cover board and fixes;Shifting slide gear is engaged with sliding rack gear;
Traversing actuator includes traversing motor and traversing lead screw;Traversing lead screw is supported on sideslip frame;Cross slider and traversing screw rod Constitute screw pair;Traversing motor is fixed on sideslip frame;The output shaft of traversing motor and one end of traversing screw rod are fixed;
Vertical shift actuator includes vertical shift motor and vertical shift lead screw;Vertical shift lead screw is supported on vertical balladeur train;Vertical sliding block and vertical shift screw rod Constitute screw pair;Vertical shift motor is fixed on vertical balladeur train;The output shaft of vertical shift motor and one end of vertical shift screw rod are fixed;
First joint motor is fixed on vertical sliding block;The output shaft of first joint motor is fixed with turning rod;
The second joint motor is fixed on turning rod;The output shaft of second joint motor is fixed with connecting plate;
Releasing actuator includes releasing lead screw and release motor;Lead screw is released to be supported on release balladeur train;It releases motor and releases Balladeur train is fixed;The output shaft for releasing motor is fixed with the one end for releasing screw rod;The release sliding block and release lead screw constitutes spiral shell Rotation is secondary;
Storing elevating mechanism includes storage lead screw, storage sliding block, synchronous pulley, synchronous belt and storage motor;Two be vertically arranged Root storage lead screw is supported on the two sides of storing framework respectively;Two storage sliding blocks and two storage lead screws respectively constitute screw pair; The top of two synchronous pulleys and two storage lead screws is fixed respectively;Two synchronous pulleys pass through synchronous band connection;Store motor It is fixed on storing framework;The one end for storing the output shaft and a wherein storage lead screw of motor is fixed;Two storage sliding blocks are equal It is fixed with the second rest stand.
CN201810796722.0A 2018-07-19 2018-07-19 Nursing type automatic nursing method Active CN109009811B (en)

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Publication number Priority date Publication date Assignee Title
CN109673324A (en) * 2019-01-04 2019-04-26 浙江理工大学 A kind of field paving disk machine
CN111392240A (en) * 2020-03-18 2020-07-10 上海长征医院 Intelligent food sample retention storage cabinet

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CN107822316A (en) * 2017-11-30 2018-03-23 夏爱华 A kind of automatic serving trolley of hospital
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US20030009825A1 (en) * 2001-05-25 2003-01-16 Gallant Dennis J. Architectural bed docking apparatus
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CN109673324A (en) * 2019-01-04 2019-04-26 浙江理工大学 A kind of field paving disk machine
CN111392240A (en) * 2020-03-18 2020-07-10 上海长征医院 Intelligent food sample retention storage cabinet

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