CN112656263B - Auxiliary bathing robot device and working method thereof - Google Patents
Auxiliary bathing robot device and working method thereof Download PDFInfo
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- CN112656263B CN112656263B CN202011262887.3A CN202011262887A CN112656263B CN 112656263 B CN112656263 B CN 112656263B CN 202011262887 A CN202011262887 A CN 202011262887A CN 112656263 B CN112656263 B CN 112656263B
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Abstract
The invention discloses an auxiliary bathing robot device and a bathing method thereof. The back and the legs of the old or the disabled are difficult to scrub and wash due to the inconvenient movement. The invention relates to an auxiliary bathing robot device which comprises a flexible bending device and a bathing sprayer. The bathing spray nozzle is detachably arranged at the outer end of the flexible bending device. The flexible bending device comprises a pneumatic telescopic pipe, a limiting piece, a pull rope, a third flange and a water pipe. The inner ends of the n pneumatic telescopic pipes are fixed together, the outer ends are closed and fixed with the third flange, and n is more than or equal to 3. The inner end openings of the n pneumatic telescopic pipes are connected to an air source, and the air source can independently inflate one or more of the n pneumatic telescopic pipes. The flexible bending device adopts a soft structure, so that the flexible bending device is safer in the process of contacting with the body of a user. The flexible bending device adopts a hybrid driving mode of pneumatic driving and pull rope driving, and in the bending driving process, due to the antagonistic effect, the two driving modes are mutually inhibited, so that the rigidity of the device is increased.
Description
Technical Field
The invention belongs to the technical field of nursing robots, and particularly relates to an auxiliary bathing robot device and a working method thereof.
Background
In recent years, the aging trend of the Chinese population is accelerated, and China enters an aging society. With the arrival of an aging society and the pursuit of people for high-quality life, the demand of the elderly and the disabled for the auxiliary bathing robot is gradually increased. When bathing, the back and the legs of the old or the disabled are difficult to scrub and wash due to the inconvenient movement. Therefore, a robot capable of realizing the auxiliary bathing becomes necessary.
Disclosure of Invention
The present invention is directed to a bathing aid robot device, which solves the above-mentioned problems of the prior art. The invention can realize the bath assistance for the old or the disabled, and mainly realizes the functions of back rubbing, leg washing and back knocking for the user.
The invention relates to an auxiliary bathing robot device which comprises a flexible bending device and a bathing sprayer. The bathing spray head can be detachably arranged at the outer end of the flexible bending device. The flexible bending device comprises a pneumatic telescopic pipe, a limiting piece, a pull rope, a third flange and a water pipe. The inner ends of the n pneumatic telescopic pipes are fixed together, the outer ends are closed and fixed with the third flange, and n is more than or equal to 3. The inner end openings of the n pneumatic telescopic pipes are connected to an air source, and the air source can independently inflate one or more of the n pneumatic telescopic pipes. The n pull ropes are respectively arranged on one side of the n pneumatic telescopic pipes, the bottom ends of the n pull ropes are fixed with the third flange, and the top ends of the n pull ropes are respectively connected to the n winding rollers capable of actively rotating; the water pipe is enclosed among the n pneumatic telescopic pipes; the bottom end of the water pipe is butted with a water outlet on the third flange. The top end of the water pipe is connected to a bathing water source. A plurality of limiting sheets are sequentially arranged between the second flange and the third flange at intervals. The pneumatic telescopic pipe, the pull rope and the water pipe all penetrate through the limiting pieces.
Preferably, the auxiliary bathing robot device further comprises a horizontal moving device and a rigid vertical moving device. The flexible bending device is arranged on the rigid vertical moving device; the rigid vertical moving device is mounted on the horizontal moving device.
Preferably, the horizontal moving device comprises a frame, a traversing motor, a lead screw and a sliding block. The lead screw is supported on the frame and driven by the traversing motor. The sliding block and the frame form a sliding pair and form a screw pair with the screw rod. The rigid vertical moving device comprises a first flange, an electric push rod and a second flange. The first flange is fixed with the sliding block. The electric push rod is vertically arranged, and the shell is fixed with the first flange and the telescopic rod is fixed with the second flange. The pneumatic telescopic pipe adopts an inner-outer double-layer structure; the inner layer is made of latex material; the outer layer is made of corrugated plastic.
Preferably, the bathing sprayer can be replaced, and the three sprayers with different structures are respectively a back rubbing sprayer, a leg washing sprayer and a back knocking sprayer.
Preferably, the bath nozzle adopts a back scrubbing nozzle, and specifically comprises a scrubbing shell, a sponge fixing disc, a scrubbing sponge, a central impeller and a first branch nozzle. A scrubbing water inlet is arranged at the central position of the inner end of the scrubbing shell. The inner cavity of the scrubbing shell is divided into a water inlet cavity, an impeller cavity and a water outlet cavity which are sequentially arranged from the inner end to the outer end. The water outlet cavity is annular. The water inlet cavity is communicated with the scrubbing water inlet. One or more first branch nozzles communicated with the water outlet cavity are arranged on the end surface of the outer end of the scrubbing shell. The water inlet cavity is communicated with the impeller cavity through the impeller input hole. The impeller cavity is communicated with the water outlet cavity through an impeller output hole. A central impeller is supported within the impeller chamber. The sponge fixing disc is positioned outside the scrubbing shell and is fixed with the central impeller; the outer side surfaces of the sponge fixing disc and the bathing sponge are fixed.
Preferably, a ratchet and pawl mechanism is arranged between the impeller and the inner cavity of the scrubbing shell. The bathing sponge is connected with the sponge fixing disc through a magic tape. The impeller input hole and the impeller output hole are staggered with the axis of the central impeller and are respectively positioned at two sides of the axis of the central impeller.
Preferably, the leg washing nozzle comprises a connecting plate, two branch water pipes and two circular arc-shaped bathing rings. The central position of the connecting plate is provided with a leg washing water inlet. The leg washing water inlet is connected to the inner ends of the two branch water pipes through a three-way connector. The outer ends of the two branch water pipes are respectively communicated with the middle parts of the two circular arc-shaped bathing rings. Flow passages are arranged inside the two circular arc-shaped bathing rings. A plurality of leg washing water outlet holes are formed in the inner side edges of the two circular arc-shaped bathing rings.
Preferably, the back knocking sprayer comprises a back knocking shell, a second branch sprayer, a back knocking rod and a back knocking driving assembly. A scrubbing water inlet is arranged at the central position of the inner end of the scrubbing shell. One or more second branch nozzles communicated with the scrubbing water inlet are arranged on the outer side of the back knocking shell. The back knocking rod is connected in the back knocking shell in a sliding mode, and the outer end of the back knocking rod extends out of the back knocking shell. An elastic massage ball is fixed at the end part of the outer end of the back knocking rod. The back knocking rod is driven by the back knocking driving component to slide back and forth.
Preferably, the back knocking driving assembly comprises a rotating rod, a disc, a gear, a rack and a back knocking driving motor. The disc is supported in the back knocking shell and is driven to rotate by a back knocking drive motor. A transmission column is eccentrically fixed on the side surface of one side of the disc. One end of the rotating rod and the inner cavity of the back knocking shell form a revolute pair. The rotating rod is provided with a strip-shaped sliding groove. The transmission post on the disc stretches into the strip-shaped sliding groove, so that the rotation of the disc can drive the rotating rod to turn over. The gear is fixed with the rotating rod. The rack is fixed with the back knocking rod. The rack is meshed with the gear.
The automatic bath method for assisting the squeezing of the bath robot device has the following specific structure:
step one, according to the requirements of a user, one of the back rubbing spray head, the leg washing spray head and the back knocking spray head is selected as a used bath spray head to be installed on the third flange.
And step two, the horizontal moving device and the rigid vertical moving device drive the bathing spray head to move to the cleaned part close to the user in the vertical plane. One or two pneumatic telescopic pipes which are far away from one side of the cleaned part in the flexible bending device are inflated to extend and bend, and one or two pull ropes which are close to one side of the cleaned part in the flexible bending device are rolled up, so that the outer end of the flexible bending device drives the bathing spray head to bend to the state of the cleaned part facing a user.
If the back scrubbing spray head is selected in the first step, the cleaned part is the back; the horizontal moving device and the rigid vertical moving device drive the back scrubbing spray head to prop against the back of the user. The water source connected with the water pipe starts to output the bath water, so that the bath water is sprayed to the back of the user from the back scrubbing spray head; when the bath water passes through the impeller cavity, the central impeller is driven to rotate, and then the bath sponge is driven to rotate; meanwhile, the horizontal moving device and the rigid vertical moving device drive the back scrubbing nozzle to move on the back of the user, so that the back of the user is scrubbed.
If the leg washing spray head is selected in the first step, the part to be cleaned is two legs; the user swings the two legs open, and the horizontal moving device and the rigid vertical moving device drive the inner side edges of the two arc-shaped bathing rings to be close to the two legs of the user respectively. The water source connected with the water pipe starts to output the bath water, so that the bath water is sprayed to the legs of the user; meanwhile, the rigid vertical moving device drives the back scrubbing nozzle to move up and down in a reciprocating mode, and the two legs of a user are washed.
If a back knocking spray head is selected in the first step, the cleaned part is the back part; the horizontal moving device and the rigid vertical moving device drive the back scrubbing spray head to be close to the back of the user. The water source connected with the water pipe starts to output the bath water, so that the bath water is sprayed to the back of the user from the back scrubbing spray head; meanwhile, the back knocking driving assembly drives the back knocking rod to reciprocate to knock and massage the back of the user, and the horizontal moving device and the rigid vertical moving device drive the back scrubbing nozzle to move on the back of the user, so that the back of the user is massaged and washed.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention designs three bath nozzles which are convenient to replace and can meet the requirements of users on three different working modes of back rubbing, leg washing and back knocking. The back scrubbing nozzle has a washing function on the basis of scrubbing, and can quickly and accurately wash down the skin scraps and grease on the back.
2. The flexible bending device adopts a soft structure, and is safer in the process of contacting with the body of a user. The flexible bending device adopts a hybrid driving mode of pneumatic driving and pull rope driving, and in the bending driving process, due to the antagonistic effect, the two driving modes are mutually inhibited, so that the rigidity of the bending device is increased.
3. The rigid vertical moving device is suitable for people with different heights, the moving of the bath head in the vertical direction can be realized by the rigid vertical moving device, and a user can sit or stand for washing. The flexible bending device can adjust the pitching angle of the back scrubbing nozzle, so that the back scrubbing nozzle is more fit with the body of a user.
4. The detachable sponge is arranged on the back scrubbing nozzle, so that the back scrubbing nozzle can be replaced when being used by different people, and personal hygiene is guaranteed.
Drawings
FIG. 1 is a schematic overall profile of the present invention;
FIG. 2 is a schematic structural diagram of the horizontal movement device of the present invention;
FIG. 3 is a schematic structural view of a section of the rigid vertical displacement device of the present invention;
FIG. 4 is a schematic view of the construction of the flexible bending apparatus of the present invention;
FIG. 5 is a schematic cross-sectional view of the back scrubbing nozzle of the present invention;
FIG. 6 is a schematic view of the leg rinse nozzle configuration of the present invention;
FIG. 7 is a schematic view of the configuration of a knockback jet of the present invention;
fig. 8 is a schematic view of the internal driving structure of the back knocking rod of the back knocking nozzle in the present invention.
Detailed Description
The technical scheme of the invention is clearly and completely described below with reference to the accompanying drawings.
As shown in figure 1, the auxiliary bathing robot device comprises a horizontal moving device 1, a rigid vertical moving device 2, a flexible bending device 3 and a bathing spray head 4. The horizontal moving device 1 is arranged on a wall body; the rigid vertical moving device 2 is installed on a sliding block of the horizontal moving device 1. The inner end of the flexible bending means 3 is mounted on the rigid vertical displacement means 2. The outer end of the flexible bending device 3 is provided with a bathing spray head. The bathing spray head can be replaced, and has three spray heads with different structures, namely a back rubbing spray head, a leg washing spray head and a back knocking spray head (the bathing spray head is the back rubbing spray head in figure 1).
As shown in fig. 1 and 2, the horizontal moving device 1 includes a frame 1.1, a traverse motor 1.2, a lead screw 1.3, and a sliding block 1.4. The transverse moving motor 1.2 is arranged on one side of the rack, and an output shaft is connected with one end of a lead screw 1.3 through a coupler. The sliding block 1.4 is arranged on the screw rod. When the traversing motor 1.2 rotates, the screw rod 1.3 is driven to rotate, and the sliding block 1.4 reciprocates linearly along with the forward and reverse rotation of the screw rod 1.3. A control box is arranged on the sliding block 1.4; a control module and three winding motors are arranged in the control box and are used for transmitting water, gas and electric control signals with certain pressure. Three winding motors are connected with the three pull ropes, and three independent air valves are arranged inside the sliding block and are respectively connected with the three air pipes below. The control module is integrated with a wireless communication module, and a user can adjust the pose and the working state of the auxiliary bathing robot through wireless transmission equipment according to the self requirement. One side of the control box is provided with three holes which are respectively connected with a control signal, water and gas with certain pressure intensity and used for controlling the rigid vertical moving device 2 and the flexible bending device 3 below the sliding block 1.4 to move.
As shown in fig. 1 and 3, the rigid vertical displacement device 2 comprises a first flange 2.1, an electric push rod 2.2 and a second flange 2.3. The first flange 2.1 is fixed with the sliding block 1.4. Three electric putter 2.2 are regular triangle and arrange, and the top and the first flange 2.1 of shell, the bottom and the second flange 2.3 of telescopic link are fixed. The types and the parameters of the three electric push rods are completely consistent.
As shown in fig. 1 and 4, the flexible bending device 3 includes a second flange 2.3, a pneumatic telescopic tube 3.1, a limiting piece 3.2, a pull rope 3.3, a third flange 3.4, a water tube 3.5, a cable rolling module, an air source and a reversing valve. And the cable winding module and the three reversing valves are arranged in the control box. The cable rolling module comprises three rolling motors and three rolling rollers. The three winding rollers are supported in the sliding block 1.4 and are respectively driven by three winding motors. The input air ports of the reversing valves are all connected to an air source. The air source adopts an air pump. The pneumatic telescopic pipe 3.1 adopts an inner-outer double-layer structure; the inner layer is made of smooth and soft material, in particular latex material; the outer layer is made of corrugated plastic; when the inner layer of the pneumatic telescopic pipe is subjected to extension or contraction deformation, the outer layer structure correspondingly extends or contracts. The inner ends of the three pneumatic telescopic pipes 3.1 are fixed with the second flange, and the outer ends are closed and fixed with the third flange 3.4. The three pneumatic telescopic pipes 3.1 are arranged in a regular triangle. The inner end openings of the three pneumatic extension tubes 3.1 are respectively connected to the working air ports of the three reversing valves through air tubes 3.6. The three pull ropes 3.3 are respectively arranged at one side of the three pneumatic telescopic pipes 3.1, the bottom ends of the three pull ropes are all fixed with a third flange 3.4, and the top ends of the three pull ropes pass through a second flange and are connected to the three winding rollers; the winding motor drives the winding roller to rotate, so that the release amount of the pull rope can be controlled, and the bending direction and the bending degree of the flexible bending device 3 can be adjusted.
A water outlet is arranged at the central position of the third flange 3.4. The bottom end of the water pipe 3.5 is fixed with a water outlet on the third flange 3.4. The top end of the water pipe 3.5 passes through the central hole of the second flange 2.3, is connected with the sliding block 1.4, and is further connected to an external hot water source (a water faucet) through the sliding block 1.4; the water pipe 3.5 is provided with a margin between the second flange 2.3 and the sliding block 1.4 for matching the requirement of the flexible bending device 3 for stretching and bending. A plurality of limiting sheets 3.2 are sequentially arranged between the second flange and the third flange 3.4 at intervals. Three stringing holes, three air pipe holes and a water pipe hole are arranged on the limiting piece 3.2. The three rope-threading holes are respectively used for passing through the three pull ropes 3.3; the three air pipe holes are respectively used for penetrating through the three pneumatic telescopic pipes 3.1; the water pipe hole is used for penetrating the water pipe 3.5 and is fixed with the water pipe. The aperture of the air pipe hole is slightly larger than the minimum outer diameter of the pneumatic telescopic pipe and slightly smaller than the maximum outer diameter of the pneumatic telescopic pipe; the aperture of the rope threading hole is slightly larger than the diameter of the pull rope 3.3.
The bath nozzle and the third flange 3.4 are detachably fixed through bolts; a water inlet on the bathing spray head is butted with a water outlet on the third flange 3.4. The three bath nozzles have the following structures:
(1) as shown in fig. 5, the back scrubbing nozzle comprises a scrubbing shell, a sponge fixing disc 4.1, a scrubbing sponge 4.2, a central impeller 4.6, a magic tape 4.3 and a first branch nozzle 4.4. The inner end edge of the scrubbing shell is provided with a threaded hole corresponding to the third flange 3.4 and used for being in butt joint with the third flange 3.4 for fixing. A scrubbing water inlet is arranged at the central position of the inner end of the scrubbing shell. The scrubbing water inlet corresponds to the water outlet on the third flange 3.4. The inner cavity of the scrubbing shell is divided into a water inlet cavity 4.9, an impeller cavity 4.10 and a water outlet cavity 4.11 which are sequentially arranged from the inner end to the outer end through a partition plate. The water outlet cavity 4.11 is annular. The water inlet cavity 4.9 is communicated with the scrubbing water inlet. The end surface of the outer end of the scrubbing shell is provided with a plurality of circles of first branch nozzles 4.4 communicated with the water outlet cavity 4.11 and used for outputting water flow to wash the back of a user. The water inlet cavity 4.9 is communicated with the impeller cavity 4.10 through an impeller input hole 4.8. The impeller cavity 4.10 is communicated with the water outlet cavity 4.11 through an impeller output hole 4.5. The central impeller 4.6 is supported in a central position in the impeller chamber 4.10 by means of a sleeve. A ratchet and pawl mechanism is arranged between the sleeve on the central impeller 4.6 and the inner cavity of the scrubbing shell, so that the rotating direction of the central impeller 4.6 is kept unchanged.
The impeller input hole 4.8 and the impeller output hole 4.5 are staggered with the axis of the central impeller 4.6 and are respectively positioned at two sides of the axis of the central impeller 4.6. When water flows through the impeller input hole 4.8 and is input into the impeller cavity 4.10 and then is output from the impeller cavity 4.10 through the impeller output hole 4.5, the central impeller 4.6 is driven to rotate. The end part of the outer end of the sleeve fixed with the central impeller 4.6 extends out of the scrubbing shell; the sponge fixing disc 4.1 is fixed with the outer end of the sleeve; the outer side surfaces of the bathing sponge 4.2 and the sponge fixing disc 4.1 are fixed through magic tapes, so that the bathing sponge 4.2 can be replaced at any time. When the central impeller 4.6 rotates, the bathing sponge 4.2 can be driven to rotate on the back of a user, so that the bathing effect is achieved. Therefore, the back scrubbing nozzle can simultaneously realize the rotating scrubbing function and the water spraying scrubbing function of the scrubbing head, is completely driven by water power and does not need electric power.
(2) As shown in figure 6, the leg washing nozzle comprises a connecting plate, two branch water pipes 5.2 and two circular arc-shaped bathing rings 5.3. The connecting plate is provided with a threaded hole corresponding to the third flange 3.4 and used for being butted and fixed with the third flange 3.4. The central position of the connecting plate is provided with a leg washing water inlet. The leg flushing water inlet is connected to the inner ends of the two branch water pipes 5.2 through a three-way connector. The outer ends of the two branch water pipes 5.2 are respectively communicated with the middle parts of the two circular arc-shaped bathing rings 5.3. Flow passages are arranged inside the two circular arc-shaped bathing rings 5.3. The inner side edges of the two circular arc-shaped bathing rings 5.3 are provided with a plurality of leg washing water outlet holes communicated with the inner flow channel. The two circular arc-shaped bathing rings 5.3 are arranged side by side, and the central axes of the two circular arc-shaped bathing rings are parallel to each other and are used for washing the two legs of a user. When the washing device is used, the inner side edges of the two circular arc-shaped bathing rings 5.3 are respectively aligned with the two legs of a user, the bathing water enters the circular arc-shaped bathing rings 5.3 along the branch water pipes 5.2 and is sprayed out through the leg washing water outlet holes on the inner sides of the circular arc-shaped bathing rings 5.3, and the two legs of the user are synchronously washed.
(3) As shown in fig. 7 and 8, the back-beating spray head comprises a back-beating housing, a second branch spray head 6.2, a back-beating rod 6.1 and a back-beating driving assembly. And a threaded hole corresponding to the third flange 3.4 is formed in the inner edge of the back knocking shell and is used for being fixedly butted with the third flange 3.4. A scrubbing water inlet is arranged at the central position of the inner end of the scrubbing shell. The outer side of the back knocking shell is provided with one or more circles of second branch nozzles 6.2 communicated with the scrubbing water inlet and used for outputting water flow to wash the back of a user. The back knocking rod 6.1 is connected in the back knocking shell in a sliding way, and the outer end of the back knocking rod extends out of the back knocking shell. An elastic massage ball is fixed at the end part of the outer end of the back knocking rod 6.1.
The back knocking driving component comprises a rotating rod 6.4, a disc 6.5, a gear, a rack and a back knocking driving motor. The disc 6.5 is supported in the back knocking shell 6.3 and is driven to rotate by a back knocking drive motor. A transmission column is eccentrically fixed on the side surface of one side of the disc 6.5. One end of the rotating rod 6.4 and the inner cavity of the back knocking shell 6.3 form a revolute pair. The rotating rod 6.4 is provided with a strip-shaped sliding groove. The transmission post on the disc 6.5 extends into the strip-shaped sliding groove, so that the disc 6.5 can rotate to drive the rotating rod 6.4 to turn over. The gear is fixed with the rotating rod 6.4. The axis of rotation of the gear wheel, which is an incomplete gear wheel, coincides with the axis of rotation of the swivelling levers 6.4. The rack is fixed with the back knocking rod 6.1. The rack is meshed with the gear to realize the reciprocating telescopic driving of the rotating rod 6.4. When in use, the bath water enters the back knocking spray head and then is sprayed out from the second branch spray head 6.2, thereby achieving the washing effect. The back knocking driving motor rotates to drive the disc 6.5 to rotate, the back knocking rod 6.1 is driven to do periodic reciprocating linear motion, and the back knocking head knocks the back of a user, so that the back knocking effect is achieved.
The automatic bath method of the auxiliary bath robot device has the following specific structure:
step one, according to the requirements of a user, one of the back rubbing spray head, the leg washing spray head and the back knocking spray head is selected as a used bath spray head to be installed on the third flange 3.4.
Step two, a transverse moving motor 1.2 in the horizontal moving device 1 rotates, and an electric push rod 2.2 in the rigid vertical moving device 2 stretches; the shower nozzle is driven to move to the cleaned part close to the user in the vertical plane. One or two pneumatic telescopic pipes 3.1 at one side of the flexible bending device 3 far away from the cleaned part are inflated to extend and bend, and one or two pull ropes 3.3 at one side of the flexible bending device 3 near the cleaned part are rolled (the released part is shortened), so that the outer end of the flexible bending device 3 drives the bathing spray head to bend to the state of facing the cleaned part of the user.
If the back scrubbing spray head is selected in the first step, the cleaned part is the back; the horizontal moving device 1 and the rigid vertical moving device 2 drive the back scrubbing nozzle to abut against the back of the user. The water source connected with the water pipe 5.2 starts to output the bath water, so that the bath water is sprayed to the back of the user from the back scrubbing spray head; when the bath water passes through the impeller cavity 4.10, the central impeller 4.6 is driven to rotate, and then the bath sponge 4.2 is driven to rotate; meanwhile, the horizontal moving device 1 and the rigid vertical moving device 2 drive the back scrubbing nozzle to move on the back of the user, so that the back of the user is scrubbed. The flexible bending device 3 is a soft structure consisting of the pneumatic telescopic pipe 3.1 and the pull rope, and can deform under resistance, so that the bathing sprayer can continuously keep the attachment to the back of a user and cannot injure the user.
If the leg washing spray head is selected in the first step, the part to be cleaned is two legs; the user swings the two legs open, and the horizontal moving device 1 and the rigid vertical moving device 2 drive the inner side edges of the two circular arc-shaped bathing rings 5.3 to be close to the two legs of the user respectively. The water source connected with the water pipe 5.2 starts to output the bath water, so that the bath water is sprayed to the legs of the user; meanwhile, the rigid vertical moving device 2 drives the back scrubbing spray head to move up and down in a reciprocating mode, and the washing of the two legs of a user is achieved.
If a back knocking spray head is selected in the first step, the cleaned part is the back part; the horizontal movement means 1 and the rigid vertical movement means 2 drive the back scrub jets close to the user's back. The water source connected with the water pipe 5.2 starts to output the bath water, so that the bath water is sprayed to the back of the user from the back scrubbing spray head; meanwhile, the back knocking driving motor moves the back knocking rod 6.1 to reciprocate to knock and massage the back of the user, the horizontal moving device 1 and the rigid vertical moving device 2 drive the back scrubbing nozzle to move on the back of the user, and the back of the user is massaged and washed.
Claims (7)
1. An auxiliary bathing robot device comprises a bathing spray head (4); the method is characterized in that: the device also comprises a horizontal moving device (1), a rigid vertical moving device (2) and a flexible bending device (3); the bathing spray head is detachably arranged at the outer end of the flexible bending device (3); the flexible bending device (3) comprises a pneumatic telescopic pipe (3.1), a limiting piece (3.2), a pull rope (3.3), a third flange (3.4) and a water pipe (3.5); the inner ends of the n pneumatic telescopic pipes (3.1) are fixed together, the outer ends are closed and are fixed with a third flange (3.4), and n is more than or equal to 3; the inner end openings of the n pneumatic telescopic pipes (3.1) are connected to an air source, and the air source can independently inflate one or more pneumatic telescopic pipes (3.1); the n pull ropes (3.3) are respectively arranged on one side of the n pneumatic telescopic pipes (3.1), the bottom ends of the pull ropes are all fixed with a third flange (3.4), and the top ends of the pull ropes are respectively connected to n winding rollers capable of actively rotating; the water pipes (3.5) are enclosed among the n pneumatic telescopic pipes (3.1); the bottom end of the water pipe (3.5) is butted with a water outlet on the third flange (3.4); the top end of the water pipe (3.5) is connected to a bathing water source; a plurality of limiting sheets (3.2) are sequentially arranged between the second flange and the third flange (3.4) at intervals; the pneumatic telescopic pipe (3.1), the pull rope (3.3) and the water pipe all penetrate through the limiting pieces (3.2);
the flexible bending device (3) is arranged on the rigid vertical moving device (2); the rigid vertical moving device (2) is arranged on the horizontal moving device (1); the shower nozzle can be replaced, and has three different structures, namely a back rubbing nozzle, a leg washing nozzle and a back knocking nozzle; the bath nozzle adopts a back scrubbing nozzle and specifically comprises a scrubbing shell, a sponge fixing disc (4.1), a scrubbing sponge (4.2), a central impeller (4.6) and a first branch nozzle (4.4); a scrubbing water inlet is formed in the center of the inner end of the scrubbing shell; the inner cavity of the scrubbing shell is divided into a water inlet cavity (4.9), an impeller cavity (4.10) and a water outlet cavity (4.11) which are sequentially arranged from the inner end to the outer end; the water outlet cavity (4.11) is annular; the water inlet cavity (4.9) is communicated with the scrubbing water inlet; one or more first branch nozzles (4.4) communicated with the water outlet cavity (4.11) are arranged on the end surface of the outer end of the scrubbing shell; the water inlet cavity (4.9) is communicated with the impeller cavity (4.10) through an impeller input hole (4.8); the impeller cavity (4.10) is communicated with the water outlet cavity (4.11) through an impeller output hole (4.5); the central impeller (4.6) is supported in the impeller cavity (4.10); the sponge fixing disc (4.1) is positioned outside the scrubbing shell and is fixed with the central impeller (4.6); the outer side surface of the sponge fixing disc (4.1) is fixed with the bathing sponge (4.2).
2. An auxiliary bathing robot device according to claim 1, wherein: the horizontal moving device (1) comprises a rack (1.1), a traversing motor (1.2), a screw rod (1.3) and a sliding block (1.4); the screw rod (1.3) is supported on the frame and is driven by the traversing motor (1.2); the sliding block (1.4) and the rack (1.1) form a sliding pair, and form a screw pair with the screw rod (1.3); the rigid vertical moving device (2) comprises a first flange (2.1), an electric push rod (2.2) and a second flange (2.3); the first flange (2.1) is fixed with the sliding block; the electric push rod (2.2) is vertically arranged; the shell of the electric push rod (2.2) is fixed with the first flange (2.1); the telescopic rod of the electric push rod (2.2) is fixed with the second flange (2.3); the pneumatic telescopic pipe (3.1) adopts an inner-outer double-layer structure; the inner layer is made of latex material; the outer layer is made of corrugated plastic.
3. An auxiliary bathing robot device according to claim 1, wherein: a ratchet and pawl mechanism is arranged between the impeller (4.6) and the inner cavity of the scrubbing shell; the bath sponge (4.2) is connected with the sponge fixing disc (4.1) through a magic tape; the impeller input hole (4.8) and the impeller output hole (4.5) are staggered with the axis of the central impeller (4.6) and are respectively positioned at two sides of the axis of the central impeller (4.6).
4. An auxiliary bathing robot device according to claim 1, wherein: the leg washing nozzle comprises a connecting plate, two branch water pipes (5.2) and two circular arc-shaped bathing rings (5.3); a leg washing water inlet is formed in the center of the connecting plate; the leg washing water inlet is connected to the inner ends of the two branch water pipes (5.2) through a three-way interface; the outer ends of the two branch water pipes (5.2) are respectively communicated with the middle parts of the two circular arc-shaped bathing rings (5.3); flow passages are arranged inside the two circular arc-shaped bath rings (5.3); the inner side edges of the two circular arc-shaped bathing rings (5.3) are provided with a plurality of leg washing water outlet holes.
5. An auxiliary bathing robot device according to claim 4, wherein: the back knocking sprayer comprises a back knocking shell, a second branch sprayer (6.2), a back knocking rod (6.1) and a back knocking driving assembly; a scrubbing water inlet is formed in the center of the inner end of the scrubbing shell; one or more second branch nozzles (6.2) communicated with the scrubbing water inlet are arranged on the outer side of the back knocking shell; the back knocking rod (6.1) is connected in the back knocking shell in a sliding way, and the outer end of the back knocking rod extends out of the back knocking shell; an elastic massage ball is fixed at the end part of the outer end of the back knocking rod (6.1); the back knocking rod (6.1) is driven by the back knocking driving component to slide back and forth.
6. An auxiliary bathing robot device according to claim 5, wherein: the back knocking driving assembly comprises a rotating rod (6.4), a disc (6.5), a gear, a rack and a back knocking driving motor; the disc (6.5) is supported in the back knocking shell (6.3) and is driven to rotate by a back knocking drive motor; a transmission column is eccentrically fixed on the side surface of one side of the disc (6.5); one end of the rotating rod (6.4) and the inner cavity of the back knocking shell (6.3) form a revolute pair; a strip-shaped chute is arranged on the rotating rod (6.4); the transmission column on the disc (6.5) extends into the strip-shaped chute, so that the rotation of the disc (6.5) can drive the rotating rod (6.4) to turn over; the gear is fixed with the rotating rod (6.4); the rack is fixed with the back knocking rod (6.1); the rack is meshed with the gear.
7. A method of operating an auxiliary bathing robot device according to claim 5, wherein: step one, according to the requirements of a user, one of a back rubbing spray head, a leg washing spray head and a back knocking spray head is selected as a used bath spray head to be installed on a third flange (3.4);
secondly, the horizontal moving device (1) and the rigid vertical moving device (2) drive the bathing spray head to move to a cleaned part close to a user in a vertical plane; one or two pneumatic telescopic pipes (3.1) at one side of the flexible bending device (3) far away from the cleaned part are inflated to extend and bend, one or two pull ropes (3.3) at one side of the flexible bending device (3) close to the cleaned part are wound and rolled, so that the outer end of the flexible bending device (3) drives the bathing spray head to bend to a state of facing the cleaned part of a user;
if the back scrubbing spray head is selected in the first step, the cleaned part is the back; the horizontal moving device (1) and the rigid vertical moving device (2) drive the back scrubbing spray head to prop against the back of a user; a water source connected with the water pipe (5.2) starts to output the bath water, so that the bath water is sprayed to the back of the user from the back scrubbing spray head; when the bath water passes through the impeller cavity (4.10), the central impeller (4.6) is driven to rotate, and then the bath sponge (4.2) is driven to rotate; meanwhile, the horizontal moving device (1) and the rigid vertical moving device (2) drive the back scrubbing nozzle to move on the back of the user, so that the back of the user is scrubbed;
if the leg washing spray head is selected in the first step, the part to be cleaned is two legs; the user swings the two legs open, the horizontal moving device (1) and the rigid vertical moving device (2) drive the inner side edges of the two circular arc-shaped bathing rings (5.3) to be respectively close to the two legs of the user; the water source connected with the water pipe (5.2) starts to output the bath water, so that the bath water is sprayed to the legs of the user; meanwhile, the rigid vertical moving device (2) drives the back scrubbing spray head to move up and down in a reciprocating manner, so that the washing of the two legs of the user is realized;
if a back knocking spray head is selected in the first step, the cleaned part is the back part; the horizontal moving device (1) and the rigid vertical moving device (2) drive the back scrubbing spray head to be close to the back of a user; a water source connected with the water pipe (5.2) starts to output the bath water, so that the bath water is sprayed to the back of the user from the back scrubbing spray head; meanwhile, the back knocking driving assembly drives the back knocking rod (6.1) to reciprocate to knock and massage the back of the user, and the horizontal moving device (1) and the rigid vertical moving device (2) drive the back scrubbing nozzle to move on the back of the user, so that the back of the user is massaged and washed.
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| CN113017458B (en) * | 2021-04-29 | 2022-08-12 | 青岛市市立医院 | Hospital is with bed patient bath device |
| CN113116197A (en) * | 2021-05-26 | 2021-07-16 | 河北工业大学 | Shower system |
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