CN109620593B - Turning-over type nursing cleaning device - Google Patents
Turning-over type nursing cleaning device Download PDFInfo
- Publication number
- CN109620593B CN109620593B CN201910123750.0A CN201910123750A CN109620593B CN 109620593 B CN109620593 B CN 109620593B CN 201910123750 A CN201910123750 A CN 201910123750A CN 109620593 B CN109620593 B CN 109620593B
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- Prior art keywords
- cleaning
- turnover
- arm
- turning
- paper
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/001—Beds specially adapted for nursing; Devices for lifting patients or disabled persons with means for turning-over the patient
-
- 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
- A61G7/0005—Means for bathing bedridden persons
-
- 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
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2200/00—Information related to the kind of patient or his position
- A61G2200/10—Type of patient
- A61G2200/20—Type of patient with asymmetric abilities, e.g. hemiplegic or missing a limb
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
Abstract
The invention discloses turn-over type nursing cleaning equipment, which comprises a bracket and a mechanical arm group arranged at the top end of the bracket and used for nursing patients, wherein the mechanical arm group comprises a turn-over mechanical arm assembly and a cleaning mechanical arm assembly which are arranged left and right; the turning mechanical arm assembly comprises a turning top seat, a turning rear arm, a turning front arm and a turning execution hand; the cleaning mechanical arm assembly comprises a cleaning footstock, a cleaning rear arm, a cleaning front arm and a cleaning executing component. The turnover type nursing cleaning device can realize mechanized turnover and defecation cleaning nursing of patients, greatly lightens the work of nursing staff, has simple and compact structure, low manufacturing and running cost and is convenient to popularize.
Description
Technical Field
The invention relates to the technical field of mechanical nursing, in particular to a turnover nursing cleaning device.
Background
For patients such as plant people, paralyzed patients and the like in hospitals, the weight of some patients can exceed 100 kg, and nursing of caregivers or families after the caregivers or families relieve the bowels is dirty and tired. The nursing robot in the prior art is not a robot which is specially used for nursing after the patient urinates and urinates, for example, a nursing robot with the application number of 201380072426.1 is used for assisting a cared person to stand up or sit down; the bath care robot with application number of 201811165126.9 is used for bath of senior citizens or disabled people.
Accordingly, there is a need for an improvement over the prior art to solve the above-described technical problems.
Disclosure of Invention
Accordingly, the present invention is directed to a turn-over care and cleaning device for helping patients to care and clean after defecation on the sickbed. Specifically, the method is realized by the following technical scheme:
the turnover type nursing cleaning equipment comprises a bracket and a mechanical arm group arranged at the top end of the bracket and used for nursing patients, wherein the mechanical arm group comprises a turnover mechanical arm assembly and a cleaning mechanical arm assembly which are arranged left and right;
the turnover mechanical arm assembly comprises a turnover top seat, a turnover rear arm, a turnover front arm and a turnover executing hand, wherein the turnover top seat is rotationally connected to the top end of the bracket in a horizontal plane, the upper end of the turnover rear arm is rotationally connected to the turnover top seat in a vertical plane, the turnover front arm is rotationally connected to the lower end of the turnover rear arm in the vertical plane, and the turnover executing hand is rotationally connected to the front end of the turnover front arm in the vertical plane;
the cleaning mechanical arm assembly comprises a cleaning footstock, a cleaning rear arm, a cleaning front arm and a cleaning execution assembly, wherein the cleaning execution assembly comprises a water spraying sleeve with the end part bent towards the buttocks of a patient and a water supply pipe sleeved in the water spraying sleeve; the cleaning footstock rotates in the horizontal plane to be connected in the support top, and clean back arm upper end rotates in vertical plane to be connected in clean footstock, and clean forearm rotates in vertical plane to be connected in clean back arm lower extreme, and water spray sleeve rotates in vertical plane to be connected in clean forearm front end.
In the preferred technical scheme, be provided with the paper extraction box on the support, water spray sleeve or turn over and be provided with on the executive hand and articulate in its own paper clamp that is used for pressing from both sides paper and be used for driving paper clamp pivoted paper clamp motor.
In the preferred technical scheme, a blowing port for blowing the paper to the clip is arranged below the paper extraction box on the bracket.
In the preferred technical scheme, still be provided with the nursing pad case that is equipped with the nursing pad on the support, be provided with on the water spray sleeve pipe or the turning over one that does not set up the paper clamp in the execution hand and articulate in its own nursing pad clamp that is used for pressing from both sides and be used for driving nursing pad clamp pivoted nursing pad clamp motor.
In the preferred technical scheme, the support is also provided with a nursing pad box provided with a nursing pad, and the nursing pad is clamped by the paper clamp.
In the preferred technical scheme, the cleaning footstock is connected to the top end of the bracket in a single-degree-of-freedom sliding manner along the left-right direction.
In the preferred technical scheme, the turning top seat is connected to the top end of the bracket in a single-degree-of-freedom sliding manner along the left-right direction.
The invention has the beneficial effects that: the turnover type nursing cleaning device can realize mechanized turnover and defecation cleaning and nursing of patients, greatly lightens the work of nursing staff, has simple and compact structure, low manufacturing and running cost and is convenient to popularize; other advantages of the present invention will be further described in connection with the following specific examples.
Drawings
The invention is further described below with reference to the accompanying drawings and examples:
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic view of a cleaning robot assembly;
fig. 3 is a schematic structural view of a turn-over mechanical arm assembly.
Detailed Description
Fig. 1 is a schematic structural view of the present invention, fig. 2 is a schematic structural view of a cleaning arm assembly, and fig. 3 is a schematic structural view of a turning-over arm assembly. Unless otherwise specified, the term "forward" refers to the direction toward the patient's bed, and the term "left" refers to the direction toward the patient's head and feet.
As shown in the figure: the turnover type nursing cleaning device in the embodiment comprises a bracket 1 and a mechanical arm group arranged at the top end of the bracket 1 and used for nursing patients, wherein the mechanical arm group comprises a turnover mechanical arm assembly 6 and a cleaning mechanical arm assembly 4 which are arranged left and right;
the turning-over mechanical arm assembly 6 comprises a turning-over top seat 6-11, a turning-over rear arm 6-7, a turning-over front arm 6-5 and a turning-over executing hand 6-2, wherein the turning-over top seat 6-11 is rotationally connected to the top end of the bracket 1 in a horizontal plane, the upper end of the turning-over rear arm 6-7 is rotationally connected to the turning-over top seat 6-11 in a vertical plane, the turning-over front arm 6-5 is rotationally connected to the lower end of the turning-over rear arm 6-7 in the vertical plane, and the turning-over executing hand 6-2 is rotationally connected to the front end of the turning-over front arm 6-5 in the vertical plane; the turning top seat 6-11 can be driven to rotate by the turning flexible transmission structure 6-9 and the turning motor 6-10, and the turning motor 6-10 can adopt a stepping motor or a servo motor; the turning back arm 6-7 is driven by a turning back electric push rod 6-8 with two ends respectively hinged to a turning top seat 6-11 and the turning back arm 6-7; the turning front arm 6-5 is driven by a turning front electric push rod 6-6 with two ends respectively hinged with a turning rear arm 6-7 and the turning front arm 6-5; the turning execution hand 6-2 is driven by the turning flexible transmission structure 6-3 and the turning motor 6-4, and the turning motor 6-4 can adopt a stepping motor or a servo motor.
The cleaning mechanical arm assembly comprises a cleaning footstock 4-13, a cleaning rear arm 4-9, a cleaning front arm 4-7 and a cleaning execution assembly, wherein the cleaning execution assembly comprises a water spraying sleeve 4-2 with the end part bent towards the buttocks of a patient and a water supply pipe 4-4 sleeved in the water spraying sleeve; the cleaning footstock 4-13 rotates in the horizontal plane to be connected to the top end of the bracket 1, the upper end of the cleaning rear arm 4-9 rotates in the vertical plane to be connected to the cleaning footstock 4-13, the cleaning front arm 4-7 rotates in the vertical plane to be connected to the lower end of the cleaning rear arm 4-9, and the water spraying sleeve 4-2 rotates in the vertical plane to be connected to the front end of the cleaning front arm 4-9. The cleaning footstock 4-13 can be driven to rotate by the top cleaning flexible transmission structure 4-11 and the top cleaning motor 4-12, and the top cleaning motor 4-12 can adopt a stepping motor or a servo motor; the cleaning rear arm 4-9 is driven by a cleaning rear electric push rod 4-10 with two ends respectively hinged to the cleaning footstock 4-13 and the cleaning rear arm 4-9; the cleaning front arm 4-7 is driven by a cleaning front electric push rod 4-8 with two ends respectively hinged with the cleaning rear arm 4-9 and the cleaning front arm 4-7; the water spraying sleeve 4-2 is driven by the spraying sleeve flexible transmission structure 4-5 and the spraying sleeve motor 4-6, and the spraying sleeve motor 4-6 can adopt a stepping motor or a servo motor. The water spraying sleeve 4-2 is made of flexible materials such as rubber and the like so as to ensure the comfort of the patient to be nursed, the part of the water supply pipe 4-4 inserted into the water spraying sleeve 4-2 is made of rigid materials such as metal and the like so as to ensure the strength required by the water spraying sleeve when assisting the patient to turn over, and the other parts of the water supply pipe 4-4 are flexible pipes so as to ensure that the water supply pipe can move along with the water spraying sleeve.
Of course, the bottom of the bracket may be provided with a universal wheel and counterweight structure (prior art, not shown). When the turnover type nursing cleaning device is used, the turnover type nursing cleaning device is moved to the right side of a sickbed, the turnover mechanical arm assembly 6 and the cleaning mechanical arm assembly 4 act on the back of a patient together to enable the patient to turn over, and then the water spraying sleeve 4-2 on the cleaning mechanical arm sprays water to the buttocks of the patient to clean the urine and the feces.
In this embodiment, the paper extraction box 3 is disposed on the support 1, the water spraying sleeve 4-2 is provided with the paper clip 4-1 hinged to the water spraying sleeve and used for clipping paper and the paper clip motor 4-3 used for driving the paper clip to rotate, the paper clip motor 4-3 can adopt a stepping motor or a servo motor, in order to facilitate clipping paper from the paper clip on the cleaning mechanical arm assembly, the paper extraction box cannot be disposed right behind the cleaning mechanical arm, and can be disposed behind the turning mechanical arm assembly as shown in the figure. The cleaning footstock 4-13 rotates in the horizontal plane to drive the whole cleaning mechanical arm assembly to rotate, so that the paper clip 4-1 can draw paper from the paper extraction box, then the cleaning footstock 4-13 rotates reversely, the paper is used for wiping the urine and the feces of a patient, and after the paper is wiped, the paper clip motor 4-3 rotates reversely to loosen the paper and fall into a dustbin (not shown in the figure). Of course, the paper clip and the paper clip motor can also be arranged on the turning execution hand, and the paper extraction box can be arranged behind the cleaning mechanical arm at the moment.
In this embodiment, a blowing port 7 for blowing the paper toward the clip is provided below the paper extraction cassette 3 on the stand 1. The paper clip is convenient for clipping paper.
In this embodiment, the support 1 is further provided with a nursing pad box 2 with a nursing pad, and the turning-over executing hand is provided with a nursing pad clamp hinged to the turning-over executing hand for clamping the nursing pad and a nursing pad clamp motor (the structure of the nursing pad clamp motor is similar to that of a paper clamp and a paper clamp motor, and the nursing pad clamp motor is not shown in the figure). After the patient is cleaned, wiped and nursed, the nursing pad is clamped and laid under the patient. Of course, if the paper clip and the paper clip motor are arranged on the turn-over executing hand, the nursing pad clip and the nursing pad clip motor are arranged on the water spraying sleeve.
In this embodiment, the support 1 is further provided with a nursing pad box 2 provided with a nursing pad, and the nursing pad is clamped by the paper clamp 4-1. The paper clip has the functions of clipping paper and nursing pads, and the structure is more compact.
In this embodiment, the cleaning top bases 4-13 are slidably connected to the top end of the support 1 along the left-right direction with a single degree of freedom, and can be driven by a ball screw structure and a servo motor 5. The degree of freedom of the cleaning mechanical arm assembly is increased, the cleaning mechanical arm assembly is more flexible, and patients with different heights can be accommodated.
In this embodiment, the turning top seat 6-11 is slidably connected to the top end of the bracket along the left-right direction with a single degree of freedom, which is not shown in the sliding structure. The degree of freedom of the turning-over mechanical arm assembly is increased, the turning-over mechanical arm assembly is more flexible, and patients with different heights can be adapted.
Finally, it is noted that the above embodiments are only for illustrating the technical solution of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications and equivalents may be made thereto without departing from the spirit and scope of the technical solution of the present invention, which is intended to be covered by the scope of the claims of the present invention.
Claims (7)
1. A turn-over type nursing cleaning device, characterized in that: the device comprises a bracket and a mechanical arm group arranged at the top end of the bracket and used for nursing patients, wherein the mechanical arm group comprises a turning-over mechanical arm assembly and a cleaning mechanical arm assembly which are arranged left and right;
the turnover mechanical arm assembly comprises a turnover top seat, a turnover rear arm, a turnover front arm and a turnover executing hand, wherein the turnover top seat is rotationally connected to the top end of the bracket in a horizontal plane, the upper end of the turnover rear arm is rotationally connected to the turnover top seat in a vertical plane, the turnover front arm is rotationally connected to the lower end of the turnover rear arm in the vertical plane, and the turnover executing hand is rotationally connected to the front end of the turnover front arm in the vertical plane; the turnover top seat is driven to rotate by a turnover flexible transmission structure and a turnover motor, the turnover rear arm is driven by a turnover rear electric push rod of which the two ends are respectively hinged to the turnover top seat and the turnover rear arm, the turnover front arm is driven by a turnover front electric push rod of which the two ends are respectively hinged to the turnover rear arm and the turnover front arm, and the turnover executing hand is driven by a turnover flexible transmission structure and a turnover motor;
the cleaning mechanical arm assembly comprises a cleaning footstock, a cleaning rear arm, a cleaning front arm and a cleaning execution assembly, wherein the cleaning execution assembly comprises a water spraying sleeve with the end part bent towards the buttocks of a patient and a water supply pipe sleeved in the water spraying sleeve; the cleaning top seat is rotationally connected to the top end of the bracket in a horizontal plane, the upper end of the cleaning rear arm is rotationally connected to the cleaning top seat in a vertical plane, the cleaning front arm is rotationally connected to the lower end of the cleaning rear arm in the vertical plane, and the water spraying sleeve is rotationally connected to the front end of the cleaning front arm in the vertical plane; the cleaning footstock is driven to rotate through a top cleaning flexible transmission structure and a top cleaning motor, the cleaning rear arm is driven by a cleaning rear electric push rod of which the two ends are respectively hinged to the cleaning footstock and the cleaning rear arm, the cleaning front arm is driven by a cleaning front electric push rod of which the two ends are respectively hinged to the cleaning rear arm and the cleaning front arm, and the water spraying sleeve is driven by a spraying sleeve flexible transmission structure and a spraying sleeve motor.
2. The roll-over care cleaning apparatus of claim 1, wherein: the support is provided with a tissue extraction box, and a water spraying sleeve or a turning execution hand is provided with a paper clamp hinged to the support and used for clamping paper and a paper clamp motor used for driving the paper clamp to rotate.
3. The roll-over care cleaning apparatus of claim 2, wherein: and a blowing port for blowing the paper to the paper clip is arranged below the paper extraction box on the bracket.
4. The roll-over care cleaning apparatus of claim 2, wherein: the nursing pad box is characterized in that the nursing pad box is further arranged on the support, and a nursing pad clamp hinged to the nursing pad clamp and used for clamping the nursing pad and a nursing pad clamp motor used for driving the nursing pad clamp to rotate are arranged on one of the water spraying sleeve or the turnover executing hand, which is not provided with the paper clamp.
5. The roll-over care cleaning apparatus of claim 2, wherein: the nursing pad box is further provided with a nursing pad, and the nursing pad is clamped by the paper clamp.
6. The roll-over care cleaning apparatus as recited in any one of claims 1-5, wherein: the cleaning footstock is connected to the top end of the bracket in a single-degree-of-freedom sliding manner along the left-right direction.
7. The roll-over care cleaning apparatus as recited in any one of claims 1-5, wherein: the turning top seat is connected to the top end of the bracket in a single-degree-of-freedom sliding manner along the left-right direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910123750.0A CN109620593B (en) | 2019-02-19 | 2019-02-19 | Turning-over type nursing cleaning device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910123750.0A CN109620593B (en) | 2019-02-19 | 2019-02-19 | Turning-over type nursing cleaning device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109620593A CN109620593A (en) | 2019-04-16 |
| CN109620593B true CN109620593B (en) | 2023-08-01 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910123750.0A Active CN109620593B (en) | 2019-02-19 | 2019-02-19 | Turning-over type nursing cleaning device |
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| Country | Link |
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| CN (1) | CN109620593B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112975997B (en) * | 2021-02-05 | 2022-03-15 | 西安秦玄汉信息科技有限公司 | Multi-mechanical-arm nursing system, nursing robot and nursing platform |
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| CN105342777A (en) * | 2015-10-21 | 2016-02-24 | 江苏天语雅思医疗设备有限公司 | Multifunctional intelligent nursing bed |
| CN105965502A (en) * | 2016-06-13 | 2016-09-28 | 新乡学院 | Multifunctional manipulator |
| TWI568506B (en) * | 2016-07-22 | 2017-02-01 | 迅得機械股份有限公司 | Workpiece cleaning inspection apparatus |
| CN106695767A (en) * | 2017-03-03 | 2017-05-24 | 合肥工业大学 | Parallel device based on Delta mechanism and 3D printer adopting same |
| CN107349069A (en) * | 2017-08-29 | 2017-11-17 | 上海畅荔智能科技有限公司 | A kind of new-type intelligent mobile nursing device combination |
| CN207736312U (en) * | 2018-01-10 | 2018-08-17 | 绍兴光彩显示技术有限公司 | A kind of folding mechanical arm |
| CN109044682A (en) * | 2018-08-17 | 2018-12-21 | 深圳盛航科技有限公司 | A kind of nursing system convenient for being nursed to bed person |
| CN210205176U (en) * | 2019-02-19 | 2020-03-31 | 郑州爱丁宝机电科技有限公司 | Turn-over type nursing cleaning robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6730314B2 (en) * | 2015-12-12 | 2020-07-29 | ライフロボティクス株式会社 | Robot arm mechanism |
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2019
- 2019-02-19 CN CN201910123750.0A patent/CN109620593B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2123588A5 (en) * | 1971-01-13 | 1972-09-15 | Burthe Edouard | |
| CN105342777A (en) * | 2015-10-21 | 2016-02-24 | 江苏天语雅思医疗设备有限公司 | Multifunctional intelligent nursing bed |
| CN105965502A (en) * | 2016-06-13 | 2016-09-28 | 新乡学院 | Multifunctional manipulator |
| TWI568506B (en) * | 2016-07-22 | 2017-02-01 | 迅得機械股份有限公司 | Workpiece cleaning inspection apparatus |
| CN106695767A (en) * | 2017-03-03 | 2017-05-24 | 合肥工业大学 | Parallel device based on Delta mechanism and 3D printer adopting same |
| CN107349069A (en) * | 2017-08-29 | 2017-11-17 | 上海畅荔智能科技有限公司 | A kind of new-type intelligent mobile nursing device combination |
| CN207736312U (en) * | 2018-01-10 | 2018-08-17 | 绍兴光彩显示技术有限公司 | A kind of folding mechanical arm |
| CN109044682A (en) * | 2018-08-17 | 2018-12-21 | 深圳盛航科技有限公司 | A kind of nursing system convenient for being nursed to bed person |
| CN210205176U (en) * | 2019-02-19 | 2020-03-31 | 郑州爱丁宝机电科技有限公司 | Turn-over type nursing cleaning robot |
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| Publication number | Publication date |
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| CN109620593A (en) | 2019-04-16 |
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