CN113425264B - Sleep monitoring therapeutic instrument - Google Patents
Sleep monitoring therapeutic instrument Download PDFInfo
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- CN113425264B CN113425264B CN202110714559.0A CN202110714559A CN113425264B CN 113425264 B CN113425264 B CN 113425264B CN 202110714559 A CN202110714559 A CN 202110714559A CN 113425264 B CN113425264 B CN 113425264B
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- 230000001225 therapeutic effect Effects 0.000 title claims abstract description 17
- 238000012544 monitoring process Methods 0.000 title claims abstract description 15
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- 230000005855 radiation Effects 0.000 claims description 24
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/48—Other medical applications
- A61B5/4806—Sleep evaluation
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/05—Detecting, measuring or recording for diagnosis by means of electric currents or magnetic fields; Measuring using microwaves or radio waves
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/48—Other medical applications
- A61B5/4806—Sleep evaluation
- A61B5/4809—Sleep detection, i.e. determining whether a subject is asleep or not
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B50/00—Containers, covers, furniture or holders specially adapted for surgical or diagnostic appliances or instruments, e.g. sterile covers
- A61B50/10—Furniture specially adapted for surgical or diagnostic appliances or instruments
- A61B50/13—Trolleys, e.g. carts
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H23/00—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms
- A61H23/02—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms with electric or magnetic drive
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M21/00—Other devices or methods to cause a change in the state of consciousness; Devices for producing or ending sleep by mechanical, optical, or acoustical means, e.g. for hypnosis
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M21/00—Other devices or methods to cause a change in the state of consciousness; Devices for producing or ending sleep by mechanical, optical, or acoustical means, e.g. for hypnosis
- A61M21/02—Other devices or methods to cause a change in the state of consciousness; Devices for producing or ending sleep by mechanical, optical, or acoustical means, e.g. for hypnosis for inducing sleep or relaxation, e.g. by direct nerve stimulation, hypnosis, analgesia
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M21/00—Other devices or methods to cause a change in the state of consciousness; Devices for producing or ending sleep by mechanical, optical, or acoustical means, e.g. for hypnosis
- A61M2021/0005—Other devices or methods to cause a change in the state of consciousness; Devices for producing or ending sleep by mechanical, optical, or acoustical means, e.g. for hypnosis by the use of a particular sense, or stimulus
- A61M2021/0022—Other devices or methods to cause a change in the state of consciousness; Devices for producing or ending sleep by mechanical, optical, or acoustical means, e.g. for hypnosis by the use of a particular sense, or stimulus by the tactile sense, e.g. vibrations
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M21/00—Other devices or methods to cause a change in the state of consciousness; Devices for producing or ending sleep by mechanical, optical, or acoustical means, e.g. for hypnosis
- A61M2021/0005—Other devices or methods to cause a change in the state of consciousness; Devices for producing or ending sleep by mechanical, optical, or acoustical means, e.g. for hypnosis by the use of a particular sense, or stimulus
- A61M2021/0027—Other devices or methods to cause a change in the state of consciousness; Devices for producing or ending sleep by mechanical, optical, or acoustical means, e.g. for hypnosis by the use of a particular sense, or stimulus by the hearing sense
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M21/00—Other devices or methods to cause a change in the state of consciousness; Devices for producing or ending sleep by mechanical, optical, or acoustical means, e.g. for hypnosis
- A61M2021/0005—Other devices or methods to cause a change in the state of consciousness; Devices for producing or ending sleep by mechanical, optical, or acoustical means, e.g. for hypnosis by the use of a particular sense, or stimulus
- A61M2021/0083—Other devices or methods to cause a change in the state of consciousness; Devices for producing or ending sleep by mechanical, optical, or acoustical means, e.g. for hypnosis by the use of a particular sense, or stimulus especially for waking up
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- 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
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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Abstract
The utility model provides a sleep monitoring therapeutic instrument, includes AGV mechanism, multistage actuating mechanism, treatment head subassembly assembly, its characterized in that: the AGV mechanism comprises a framework structure and a rolling support structure, wherein the framework structure is a plane support piece provided with a lower embedded part; the multistage driving mechanism comprises a sliding body assembly which is sleeved in sequence from outside to inside and can slide relatively linearly; the treatment head assembly comprises a framework structure and an extension assembly which moves linearly along the plane of the framework structure. Fundamentally solves the inconvenient problem of current sleep detection therapeutic instrument use, and it has simple structure compactness, convenient to use swift, degree of automation height scheduling advantage.
Description
Technical Field
The utility model relates to intelligent equipment, in particular to a sleep monitoring therapeutic apparatus which is mainly suitable for non-inductive sleep monitoring and auxiliary therapy of insomnia.
Background
The existing sleep-aiding and nerve-soothing equipment mainly comprises two types, wherein one type is a fixed physiotherapy bed or physiotherapy chair, and the other type is a portable eyeshade or helmet. For the stationary sleep-aiding apparatus, there is an "auxiliary treatment apparatus for psychology department which is easy to adjust angle" disclosed in an authorized bulletin number CN209827908U for treating insomnia by means of psychological intervention; there are also "intelligent sleep-aiding robots" disclosed in the patent application publication No. CN111991672a, such as "multifunctional massage beds for medical use" disclosed in the patent application publication No. CN108670678A, such as "sleep disorder treatment devices" disclosed in the patent application publication No. CN209437855U, which are capable of improving sleep quality by physical and chemical means, such as low-frequency vibration, physical massage, administration of tranquillizing sleep-aiding drugs, administration of electromagnetic stimulation to the head of a patient, administration of oxygen or playing music, and the like.
In the above-mentioned prior art scheme, often only to mechanical structure or treatment mode's fractional improvement to can not realize the intelligent control of equipment, still need with the help of a large amount of manual intervention in the use, and because the defect in structural design, lead to its controllable dimension less, can't realize full automatization control, there is inconvenient, the treatment effect is not directly perceived, user experience poor shortcoming.
Disclosure of Invention
The utility model aims to provide a sleep monitoring therapeutic apparatus which fundamentally solves the problems and has the advantages of simple and compact structure, convenient and quick use, high degree of automation and the like.
In order to achieve the above purpose, the present utility model provides the following technical solutions: this sleep monitoring therapeutic instrument includes AGV mechanism, multistage actuating mechanism, treatment head subassembly assembly, and its technical essential is:
the AGV mechanism comprises a framework structure and a rolling support structure, wherein the framework structure is a plane support piece provided with a lower embedded part, the rolling support structure comprises a plurality of independently controlled driving wheel assemblies, and the driving wheel assemblies are respectively arranged at two ends of the lower embedded part;
the multistage driving mechanism comprises a sliding body assembly which is sleeved in sequence from outside to inside and can linearly slide relatively, and the sliding body assembly comprises a hollow sliding body, a linear driving mechanism limited in the sliding body, a pair of sliding rails extending in the same direction as the sliding body and a plurality of sliding blocks matched with the sliding rails; the adjacent inner sliding bodies and the outer sliding bodies are limited by relative sliding between the sliding blocks and the sliding rails;
the treatment head assembly comprises a framework structure and an extension assembly which moves linearly along a plane where the framework structure is located, wherein the extension assembly comprises a sliding rail, a linear driving mechanism matched with the sliding rail, a telescopic rod limited on the sliding rail in a sliding manner and a radiation assembly limited at the tail end of the telescopic rod.
Further, the drive wheel assembly comprises a hub motor with a drive wheel, a hub connecting plate and a hub supporting plate which are used for limiting the hub motor and mutually matched, a guide piece limited on the hub supporting plate, a guide column guided by the guide piece, a hub connecting plate limited in the suspension supporting plate, a spring limited between the hub connecting plate and the hub supporting plate, and a shock pad limited between the hub connecting plate and the guide piece.
Further, the radiation component comprises a disc fastener fixed on a corresponding supporting plate, a bowl-shaped fastener rotationally buckled with the disc fastener, a radiation cover which is limited in the bowl-shaped fastener and filled with sleep-aiding medicinal materials, a reflecting cover which is limited by a bracket, a bracket mounting plate for limiting the bracket, a rubber head which is limited at the front end of the bowl-shaped fastener and an infrared photoelectric sensor which is limited in the rubber head.
Further, between the adjacent sliding bodies, the fixed end of the linear driving mechanism of the inner sliding body is fixed on the outer sliding body, and the movable end of the linear driving mechanism is fixed on the inner sliding body.
Further, the fixed end of the linear driving mechanism of the inner slide body is fixed at the proximal end of the outer slide body, and the movable end of the linear driving mechanism is fixed at the distal end of the inner slide body.
Further, the sliding body of the sliding body assembly positioned at the innermost side is in an L-shaped structure, and the lower half section of the L-shaped sliding body is limited by the sliding of the outer sliding body adjacent to the lower half section of the L-shaped sliding body.
Further, another linear driving mechanism is arranged in the upper half section of the L-shaped sliding body, and the linear driving mechanism drives a supporting plate to linearly slide through a guide rail and a sliding block assembly which are in sliding fit with each other.
The utility model has the beneficial effects that: on the whole structure, the AGV mechanism with the active evacuation obstacle avoidance function is used as a driving base to drive the whole XY plane of the device to rotate in a random translation mode. When the AGV moves to the user position, the vertical distance of the treatment head assembly on the Z axis is adjusted by the two-stage lifting driving mechanism. Meanwhile, the lifting driving mechanism is also provided with a treatment head angle adjusting component, and the rotation angle of the treatment head can be adjusted around the Z axis under the driving of the stepping motor, so that the aim of completely adapting to various treatment modes is fulfilled.
In order for the device to handle multiple treatment modes, the AGV mechanism should be able to run to the seat and bed bottom. This places demands on the structure of the AGV trolley. In a specific structure, the AGV mechanism adopts a suspension driving system, a concave structure is arranged in the middle of a chassis of the vehicle, so that the vehicle adopts a metal plate embedded suspension structure, the unified height of the universal wheel and the driving wheel is realized by using a concise structure under the condition of reducing the whole height as much as possible, and the simplified structure enables the vehicle frame and the damping suspension to be integrated. The driving wheel assembly with the spring structure is suspended on the chassis through the suspension supporting plate, so that the stability of the AGV mechanism in the running process is improved, and the automatic guided vehicle has the characteristics of simple structure, reduced equipment height, high standardization degree, low manufacturing cost and the like. Meanwhile, the overall height is effectively reduced, and the obstacle crossing capability is improved. The AGV mechanism adopts two independent suspension driving wheel assemblies, and realizes steering, movement and the like in an XY plane under the cooperation of universal auxiliary wheels of a chassis. In order to enable equipment to run under a table and a chair in a seat treatment mode, the AGV trolley adopts a metal plate embedded suspension structure, the heights of unified auxiliary (universal) wheels and driving wheels are realized by using a simple structure under the condition of reducing the overall height as much as possible, and a spring mechanism is integrated in the driving wheel structure on the premise of ensuring the compression height, so that the simplified structure enables a frame and a damping suspension to be integrated. Furthermore, the obstacle avoidance module on the front shell is matched, and autonomous movement is effectively realized in a specific field environment. The AGV mechanism is provided with a chargeable power supply, so that the AGV mechanism can be used in a wireless state. By adding the autonomous path-finding function, the automatic return charging is realized. In conclusion, the AGV mechanism has the characteristics of simple structure, reduced equipment height, high standardization degree, low manufacturing cost and the like.
The multistage lifting driving mechanism adopts a two-stage lifting driving mechanism, takes a chassis of the AGV mechanism as a base, vertically sets a pair of side posts on the base as a basic structure, realizes multistage lifting in an 'inner driving' mode, reduces the occupied area as much as possible in the equipment standby state, and saves the space. The electric push rod serving as the linear driving mechanism is smaller in size, can realize multistage large-stroke transmission, can realize high-precision stepless expansion under a cladding shell and the like, and can realize multi-section simultaneous expansion or relay expansion.
In a specific structure, the utility model can realize random expansion and contraction of the multi-stage push rod, so that the small-stroke electric push rod mechanism can realize multi-stage large-stroke transmission, high-precision expansion and contraction under a cladding shell and the like, and multi-stage simultaneous expansion and contraction or relay expansion and contraction can be realized. The structure has the characteristics of no interference of the multi-section cladding independent shell, occupied area saving after retraction, high transmission precision, high transmission efficiency, low noise and the like. The side column is internally provided with a primary sliding body which is driven by the primary electric push rod to lift, the primary sliding body is internally provided with a secondary electric push rod and a secondary sliding body in an L-shaped manner, and finally the multi-stage push rod can stretch and retract randomly. The lower half section (vertical section) of the L-shaped second-level sliding body is used as a lifting part, and an adjusting mechanism which can be used for driving the treatment head assembly to integrally translate along the +/-X direction and rotate around the Z axis is also arranged in the upper half section (horizontal section) of the L-shaped second-level sliding body, so that the multi-dimensional adjustment of the position of the treatment head assembly is realized.
The treatment head assembly is provided with a middle treatment head and a plurality of side treatment heads, wherein the middle treatment head can linearly move along the + -X direction under the drive of the three-stage assembly, and each side treatment head assembly can linearly move through a sliding rail, an electric push rod, a telescopic rod and a sliding block, wherein the sliding rail is positioned in the top shell of the central part and the bottom shell of the central part, the telescopic rod is positioned at the output end of the electric push rod, and the sliding block is positioned at the bottom of the telescopic rod and matched with the sliding rail. For example, when the treatment head assembly is in the position shown in fig. 1, the lateral treatment head can be linearly moved in the + -X direction and the + -Y direction to adjust its position relative to the central treatment head. When mated with the treatment head angle adjustment assembly as shown in fig. 9, the treatment head assembly is free to rotate about the Z-axis. The radiation component adopts the rotary buckling structure of the bowl-shaped fastener and the chassis, thereby facilitating the replacement of medicinal materials and being convenient and safe to use.
The whole machine is provided with a 7-inch touch screen and a man-machine interaction interface to complete function setting and parameter setting, and automatic operation is completed. Full logic electric control is realized through various sensors and electric mechanisms, and various modes of actions are guided to be completed. Furthermore, the whole device can integrate a millimeter wave radar system at multiple positions, monitor the heartbeat, respiration and micro motion of the human body in real time, and evaluate the sleeping condition after treatment. By monitoring the sleeping information of the patient in real time, the sleep monitoring therapeutic apparatus can automatically stop sleeping-aiding music, adjust the awakening time, intelligently switch the therapeutic mode, actively withdraw after completing the treatment and the like.
In summary, the utility model can realize multidimensional control such as free lifting and rotation of the treatment head, realize the autonomous path-finding and homing functions of the whole device, and realize complete automation of the sleep-aiding function by matching with corresponding control software.
Drawings
Fig. 1 is an isometric side view schematic of a sleep monitoring therapeutic apparatus of the present utility model.
FIG. 2 is a schematic isometric side view of the AGV mechanism of the present utility model.
Fig. 3 is a schematic diagram of the explosive structure of fig. 2.
Fig. 4 is an exploded view of the drive wheel assembly of fig. 3.
Fig. 5 is a schematic diagram of an isometric side view of the lift drive mechanism of the present utility model.
Fig. 6 is an exploded view I of the elevating driving mechanism of the present utility model.
Fig. 7 is an exploded view II of the elevating driving mechanism of the present utility model.
Fig. 8 is an exploded view of the elevating driving mechanism of the present utility model.
Fig. 9 is a schematic view of a partial enlarged structure of a portion a in fig. 8.
Figure 10 is a schematic isometric side view of a treatment head assembly of the present utility model.
Fig. 11 is a schematic exploded view of a treatment head assembly according to the present utility model.
Fig. 12 is a partially enlarged schematic view of the portion B in fig. 11.
Fig. 13 is a schematic diagram I of an exploded construction of a radiation assembly according to the present utility model.
Fig. 14 is a schematic diagram II of an exploded construction of a radiation assembly according to the present utility model.
Fig. 15 is a reference diagram showing the usage state of the sleep monitor therapy apparatus according to the present utility model when the sleep monitor therapy apparatus is used in a sitting position.
Fig. 16 is a reference diagram of the usage state of the sleep monitor therapy apparatus according to the present utility model when the sleep monitor therapy apparatus is used in the recumbent position.
Reference numerals illustrate: the automobile comprises an AGV mechanism, an 11 automobile chassis, a 12 bracket component, 121 supporting legs, 122 heat dissipation holes, 123 supporting leg reinforcing ribs, a 124 suspension supporting plate, 13 driving wheel components, a 131 hub motor, a 132 hub connecting plate, a 133 hub supporting plate, a 134 hub pressing plate, 135 springs, 136 guide posts, 137 guide pieces, 138 shock pads, 14 auxiliary wheel components, 15 drivers and 16 power supplies; 2. the treatment head assembly, 21 center treatment head, 211 center top shell, 212 center bottom shell, 213 center support plate, 214 center engagement housing, 215 center radiation assembly, 22 side treatment head, 221 side electric push rod, 222 side slide rail, 223 side slide block, 224 side telescoping rod, 225 side outer cover, 226 side inner cover, 227 side radiation assembly, 23 radiation assembly, 231 rubber head, 232 infrared sensor, 233 bowl fastener, 234 disc fastener, 235 radiation shield, 236 support, 237 reflection shield, 238 support mounting disc; 3. the device comprises a controller component, a 31 touch display, a 32 control button (a power button, a reset button and an emergency stop button), a 33 electric appliance component and a 34 (sonar) obstacle avoidance component; 4. the device comprises a lifting driving mechanism, a first-stage component, a first-stage lifting front shell 411, a first-stage lifting rear shell 412, a first-stage slide rail 413, a first-stage slide block 414, a first-stage sliding body 415, a first-stage electric push rod 416, a side column 417, a side column support leg 4171, a double-screw bolt 418, a second-stage component 42, a second-stage lifting front shell 421, a second-stage lifting rear shell 422, a second-stage slide rail 423, a second-stage sliding body lower half section 425, a second-stage electric push rod 426, a third-stage component 43, a third-stage upper shell 431, a third-stage lower shell 432, a third-stage slide rail 433, a third-stage sliding block 434, a second-stage sliding body upper half section 435, a third-stage electric push rod 436, a 437 loudspeaker 438, a treatment head angle adjusting component 4381, a driving bevel gear 4383 driven bevel gear 4384, a transmission shaft 4385 transmission bearing component 4386 shifting piece 4387 micro-switch 4388 notch photoelectric switch 439 treatment head component support plate 4391 stepping motor support part 44 positioning plate.
Detailed Description
The present utility model will be described in detail below by way of specific embodiments with reference to the accompanying drawings. As shown in fig. 1, the sleep monitoring therapeutic apparatus comprises an AGV mechanism 1, a therapeutic head assembly 2, a controller assembly 3, and a lifting drive mechanism 4.
Example 1 AGV mechanism
The following describes the detailed structure of an AGV mechanism with the provision of a pair of drive wheel assemblies. As shown in fig. 2 to 3, the AGV mechanism 1 includes a chassis 11, a driving wheel assembly 13, a plurality of auxiliary wheel assemblies 14, a driver 15 for controlling the driving wheel assembly 13, and a power source 16 limited on the chassis 11 by a battery barrier (not shown), wherein the driver 15 is attached to the side of the power source 16 for making the structure more compact. The bracket assembly 12 is fixed on the chassis 11 through the support legs 121, and the support legs 121 are provided with support leg reinforcing ribs 123. The middle part of the chassis 11 is of a 'lower embedded part' structure, and is mainly matched with a limiting driving wheel assembly 13 to realize a hanging function. Specifically, as shown in fig. 4, the driving wheel assembly 13 includes a hub motor 131 with a driving wheel (not numbered), a hub connection plate 132 and a hub support plate 133 for restraining the hub motor 131 to cooperate with each other, a guide 137 restrained on the hub support plate 133, a guide post 136 guided by the guide 137, a hub connection plate 132 restrained within the suspension support plate 124, a spring 135 restrained between the hub connection plate 132 and the hub support plate 133, and a shock pad 138 restrained between the hub connection plate 132 and the guide 137. The two sides of the lower embedded part are recessed inwards to reserve an installation space for the driving wheel assembly, the outer sides of the lower embedded parts are respectively and correspondingly provided with a hanging support plate 124, and the driving wheel assembly 13 is hung on the hanging support plates 124 through a hub connecting plate 132. When a pair of drive wheel assemblies 13 are provided, they are typically provided on the "center drive" of the chassis to output forward or reverse power, avoiding side slip phenomena caused by either the front or rear drive.
In order to serve as a movable base of the multi-stage driving mechanism, the center of the multi-stage driving mechanism is located at one side of the chassis 11, overturning is avoided in the running process of the AGV mechanism, a pair of feet (not shown in the drawing) are respectively arranged at the front side and the rear side of the chassis, and a pair of universal auxiliary wheel assemblies 14 are respectively arranged at the front side and the rear side of the chassis for improving running smoothness. The lower supporting surface of the foot is slightly higher than the running surface of the auxiliary wheel assembly 14, the driving wheel assembly 13 adopts a suspension structure, and the foot and the auxiliary wheel assembly 14 can effectively climb over a pothole road surface. The lower supporting surface of the foot is used as the lowest line of the chassis which can descend when the driving wheel is elastically contracted, and the applicable pavement pothole degree is artificially limited in the production process. The footing is fixed at the bottom of the chassis through the bolt component and can be freely replaced according to the vibration reduction amplitude of the spring of the driving wheel component, so that the optimal vibration reduction effect is achieved. When one side of the driving wheel assembly is sunk into a pit road surface, the auxiliary wheel assembly 14 is used as a rolling support to reduce running resistance, the foot support is placed on a horizontal plane to further sink, and the driving wheel assembly 13 can easily drive away under the drive of a self-driving machine so as to avoid overturning.
Of course, those skilled in the art can also appropriately increase the number of driving wheel assemblies 13 and adaptively change the positions of the foot and the auxiliary wheel assembly 14 under the design concept of the present utility model, for example, two pairs of driving wheel assemblies are provided, the foot is reduced to be arranged between the two pairs of driving wheel assemblies, and the auxiliary wheel assemblies are still arranged outside the two pairs of driving wheel assemblies respectively, which is not shown in the drawing.
Example 2 Multi-stage drive mechanism
Because of the structural limitation of the electric push rod, the load and the travel distance need to be matched (in general, when the load is large, the travel distance is short). When the travel distance exceeds the maximum travel of the commercially available electric push rods, the multi-stage lifting mechanism with multiple electric push rods linked in an 'inner driving' mode is required to be designed, and if the lifting stage number is N, hollow shells of the first lifting assembly to the N lifting assembly are sequentially arranged from bottom to top from outside to inside. A similar purpose can be achieved by arranging the mechanism from inside to outside, but in general, a multistage mechanism is adopted from outside to inside to ensure the stability of the structure. A driving device (such as an electric push rod) is respectively arranged in the hollow shell of each stage of lifting assembly, and the electric push rods of the adjacent lifting assemblies are arranged in a staggered manner so as to maintain the overall balance of the device. In the step-by-step nesting process, a sliding rail and a sliding block are matched, for example, a sliding rail is arranged in an adjacent lower hollow shell, a sliding block matched with the sliding rail is arranged outside an adjacent upper hollow shell, and the lifting height is set in a manner of matching the length of the sliding rail and the stroke of a push rod. The limitation of the multistage driving mechanism mainly lies in the limitation of the hollow shell of the minimum one-stage lifting assembly on the setting position of the electric push rod.
As shown in fig. 15 to 16, the multi-stage driving mechanism can achieve the stop of the treatment head assembly at any position between two limit positions, so that the application range is effectively improved. When not in use, the whole mechanism is adjusted to the lowest contraction position, so that the occupied space can be saved.
Example 3 lifting drive mechanism
In this embodiment, a specific application example of the multi-stage driving mechanism in the technical solution of embodiment 2 is illustrated by taking a two-stage driving structure (a first stage, a second stage assembly and a first stage driving structure (a third stage assembly) in the + -X direction) in the + -Y direction as an example, as shown in fig. 5-9, the lifting driving mechanism 4 comprises a first stage assembly 41, a second stage assembly 42 and a third stage assembly 43 which are sequentially arranged, wherein a first lifting front shell 411 and a first lifting rear shell 412 are assembled on a first stage slider 415 in a matching manner, a fixed end of a first electric push rod 416 is hinged and limited on a chassis 11, a movable end is limited on the inner side of the top of the first stage slider 415, a stud 418 is arranged between the inner side of the top of the first stage slider 415 and the middle of the first stage slider, a side column 417 is arranged on the chassis 11 through a side column 417 leg 121 thereof, a pair of first stage slider 413 is arranged on the inner side of the side column 417, a plurality of positioning plates 44 are arranged at intervals along the height direction between the side columns 417, so that structural deviation caused when the sliding track or the side column is large in the longitudinal dimension is prevented from affecting the sliding process of the slider in the sliding track, and the overall stability of the lifting driving mechanism 4 is ensured.
The second-stage lifting front shell 421 and the second-stage lifting rear shell 422 are assembled on the lower half section 425 of the second-stage sliding body in a matched mode, the fixed end of the second-stage electric push rod 426 is hinged to the bottom of the inner side of the first-stage sliding body 415, the movable end of the second-stage electric push rod is limited to the inner side of the top of the lower half section 425 of the second-stage sliding body, a second-stage sliding rail 423 is arranged on the inner side of the first-stage sliding body 415, and a plurality of second-stage sliding blocks 424 in linear sliding fit with the second-stage sliding rail 423 are arranged on the outer side of the lower half section 425 of the second-stage sliding body. The second weld is generally "L-shaped" with a chamfer, and the lower half 425 of the second weld is slidably retained within the first weld 415 by the second slide rail 423 and the second slider 424.
The tertiary subassembly 43 is fixed in second grade slide body first half section 435 through the tertiary upper casing 431 and the tertiary lower casing 432 of mutually supporting, second grade slide body first half section 435 internal fixation has a pair of tertiary slide rail 433, the spacing tertiary electric putter 436 that has in tertiary upper casing 431 or the tertiary lower casing 432, the stiff end of tertiary electric putter 436 articulates in tertiary upper casing 431 or tertiary lower casing 432, the loose end articulates on treatment head subassembly backup pad 439 (in fig. 9, this stiff end has been sheltered from by stepper motor 4381, its loose end still is visible), treatment head subassembly backup pad 439 bottom is equipped with a plurality of tertiary sliders 434 with tertiary slide rail 433 complex, set up treatment head angle adjustment subassembly 438 on the treatment head subassembly backup pad 439. In order to match the movement of the therapeutic head assembly 2 along the + -X direction, a strip-shaped movable groove (not shown in the figure) is arranged on the third-stage lower shell 432 and the upper half 435 of the second-stage sliding body, and a loudspeaker 437 is arranged in the upper half 435 of the second-stage sliding body for facilitating the real-time feedback control result.
The treatment head angle adjustment assembly 438 includes a stepper motor 4381 limited by a stepper motor support 4391, a drive bevel gear 4382 disposed at an output end of the stepper motor 4381, a drive bearing assembly 4385 disposed on a treatment head assembly support plate 439, a drive shaft 4384 limited in the drive bearing assembly 4385 (e.g., consisting essentially of a bearing housing having a T-shaped cross section, a drive bearing limited in the bearing housing), a driven bevel gear 4383 disposed on the drive shaft 4384 in engagement with the drive bevel gear 4382, a paddle 4386 disposed on the drive shaft 4384, a plurality of micro-switches 4387 disposed on the treatment head assembly support plate 435 in cooperation with the paddle 4386, and a notch photo-switch 4388. Therefore, when the stepping motor 4381 acts, the corresponding control mechanism switch is generated by matching with the poking piece 4386, and intelligent control with different functions is realized.
The number and placement of the notch optoelectronic switches 4388 and the micro switches 4387 in the above examples are merely examples, and when multi-dimensional control is desired, more control switches may be provided along the drive shaft 4384 to achieve the corresponding functions.
Example 3 treatment head Assembly
As shown in fig. 10 to 12, the treatment head assembly 2 includes a central treatment head 21 and a plurality of side treatment heads 22, and this embodiment is illustrated by taking three side treatment heads 22 as an example.
The central treatment head 21 comprises a central top shell 211 and a central bottom shell 212 which are matched with each other, a central supporting plate 213 is fixed in the central top shell 211, the central treatment head 21 is fixed with a transmission shaft 4384 by arranging the central supporting plate 213, a central connection shell 214 is arranged at the bottom of the central bottom shell 212, and a central radiation component 215 is arranged on the central connection shell 214.
The side treatment head 22 includes a side outer cover 225 and a side inner cover 226 which are engaged with each other, a side telescopic rod 224 fixed to the side outer cover 225 and the side inner cover 226, a plurality of side sliders 223 fixed to the bottom of the side telescopic rod 224, a side slide rail 222 engaged with the side sliders 223 and fixed to the inside of the center bottom case 212, a side electric push rod 221 fixed to the side electric push rod 221 for driving the side telescopic rod 224, and a side radiation unit 227 provided inside the side inner cover 226.
As shown in fig. 13 to 14, the central radiation component 215 and the side radiation components 228 may have the same composition structure, for example, the radiation component 23 may include a disc fastener 234 fixed on a corresponding support plate, a bowl-shaped fastener 233 rotationally fastened with the disc fastener 234, a radiation cover 235 containing sleep-aiding materials and limited in the bowl-shaped fastener 233, a reflecting cover 237 limited by a bracket 236, a bracket mounting plate 238 for limiting the bracket 236, a rubber head 231 limited at the front end of the bowl-shaped fastener 233, and an infrared photoelectric sensor 232 limited in the rubber head 231. By arranging the bowl-shaped fastener 233 and the disc fastener 234 in a 'turnbuckle' structure, the medicinal materials in the radiation shield 235 can be replaced conveniently and quickly. Meanwhile, a keel structure is arranged in the bowl-shaped fastener 233, so that structural rigidity is effectively improved.
Example 4 principle of actuation
Taking four treatment heads as an example for explanation, the sleep monitoring therapeutic apparatus is used together with the bed frame, and the height of the treatment head assembly 2 is adjusted by the lifting driving mechanism 4, so that the face of the user just faces the central treatment head 21 and keeps a certain distance when the user lies on the bed frame. The drug composition is slowly dispersed around the user's head by the radiation assembly 215 within the treatment head. When the user sleeps, the head may deviate slightly, and the distance between each treatment head and the head of the user is monitored in real time by matching with the infrared photoelectric sensor 232 in each treatment head, and the relative distance between the treatment head and the head of the user is adjusted in real time by matching with the corresponding side electric push rod 221, the side sliding rail 222, the side sliding block 223 and the side telescopic rod 224. Human body data are identified through the sleep monitoring system, and if a user falls asleep, the AGV mechanism 1 drives the whole sleep monitoring therapeutic instrument to automatically drive away. Meanwhile, in order to avoid touching people or other objects in the driving-away process, an obstacle avoidance assembly 34, such as a sonar obstacle avoidance sensor, is further arranged on the back of the vehicle.
Example 5
As shown in fig. 15-16, the whole device can be used with a bed or a seat, the position signal of a human body is obtained in real time through the infrared photoelectric sensor 232, the therapeutic head assembly 4 is driven by the lifting driving device 4 to realize rhythmic fluctuation along with the vibrating bed, and the aim of relaxing people is achieved by simulating soft white noise from nature by matching with sleep-aiding music such as 'sea wave'.
For the convenience of explanation of the operation principle of the present utility model, a virtual XYZ coordinate system is established in the drawings, and each coordinate axis is only used for representing the relative position of the corresponding component during operation, and is not limited thereto.
The reference herein to a fixed end of a linear drive mechanism or an electric putter is not intended to mean a complete immobility, but is generally assembled in a hinged arrangement with the corresponding parts, and under the effect of the fit error between the parts, there may be a small range of oscillations, the immobility being named only with respect to the large amplitude of movement of the movable end.
The term "the stepper motor drives the other support plate to rotate through the direction changing assembly with the output end meshed with the stepper motor" as used herein mainly refers to the "direction changing" that the drive bevel gear 4382 arranged at the output end of the stepper motor 4381 drives the driven bevel gear 4383 meshed with the drive bevel gear 4382 to change the horizontal shaft torque into the vertical shaft torque.
For the whole machine shell with the modification function, the adaptation adjustment is required according to actual production, and the fractal mode is not unique, so long as the purposes of protecting the internal structure and being convenient for assembly can be achieved. The arrangement mode has little influence on the internal structure of the whole machine, so the arrangement mode is not described.
For convenience of explanation, the main structure is omitted to omit the connection or support structures such as bolts, nuts, angle irons and the like in the drawings, and those skilled in the art should know that the above parts are necessarily adopted in actual production to realize connection and fixation of the parts. The connection mode of the bolt and the nut is only one conventional technical means used for matching parts in the field.
Claims (1)
1. The utility model provides a sleep monitoring therapeutic instrument, includes AGV mechanism, multistage actuating mechanism, treatment head subassembly assembly, its characterized in that:
the AGV mechanism comprises a chassis, a driving wheel assembly, a plurality of auxiliary wheel assemblies, a driver for controlling the driving wheel assembly and a power supply limited on the chassis through a battery baffle, wherein the driver is attached to the side part of the power supply; the bracket component is fixed on the chassis through supporting legs, and supporting leg reinforcing ribs are arranged on the supporting legs; the middle part of the chassis is of a 'lower embedded part' structure, and the lower embedded part is matched with a limiting driving wheel assembly to realize a hanging function; the driving wheel assembly comprises a hub motor with a driving wheel, a hub connecting plate and a hub supporting plate which are mutually matched and used for limiting the hub motor, a guide piece limited on the hub supporting plate, a guide column guided by the guide piece, a hub connecting plate limited in the suspension supporting plate, a spring limited between the hub connecting plate and the hub supporting plate and a shock pad limited between the hub connecting plate and the guide piece; the two sides of the lower embedded part are inwards recessed, the outer sides of the lower embedded part are respectively and correspondingly provided with a suspension supporting plate, and the driving wheel assembly is suspended on the suspension supporting plates through the hub connecting plates;
the multistage driving mechanism comprises a first-stage assembly, a second-stage assembly and a third-stage assembly which are sequentially arranged, wherein in the first-stage assembly, a first-stage lifting front shell and a first-stage lifting rear shell are assembled on a first-stage sliding body in a matched manner, the fixed end of a first-stage electric push rod is hinged and limited on a chassis, the movable end of the first-stage electric push rod is limited on the inner side of the top of the first-stage sliding body, a stud is arranged between the inner side of the top of the first-stage sliding body and the middle of the first-stage sliding body, a side column is arranged on the chassis through side column supporting legs of the side column, a pair of first-stage sliding rails are arranged on the inner side of the side column, and a plurality of first-stage sliding blocks in linear sliding fit with the first-stage sliding rails are arranged on the outer side of the first-stage sliding body; a plurality of positioning plates are arranged between the side columns at intervals along the height direction;
in the secondary assembly, a secondary lifting front shell and a secondary lifting rear shell are assembled on the lower half section of a secondary sliding body in a matched manner, the fixed end of a secondary electric push rod is hinged and limited at the bottom of the inner side of a primary sliding body, the movable end of the secondary electric push rod is limited at the inner side of the top of the lower half section of the secondary sliding body, a secondary sliding rail is arranged on the inner side of the primary sliding body, and a plurality of secondary sliding blocks in linear sliding fit with the secondary sliding rail are arranged on the outer side of the lower half section of the secondary sliding body; the whole second-stage sliding body is of an L-shaped structure with a chamfer angle, and the lower half section of the second-stage sliding body is limited in the first-stage sliding body through a second-stage sliding rail and a second-stage sliding block in a sliding way;
the three-level assembly is fixed in the upper half section of the second-level sliding body through a three-level upper shell and a three-level lower shell which are matched with each other, a pair of three-level sliding rails in the three-level assembly are fixed in the upper half section of the second-level sliding body, a three-level electric push rod is limited in the three-level upper shell or the three-level lower shell, the fixed end of the three-level electric push rod is hinged in the three-level upper shell or the three-level lower shell, the movable end is hinged on a treatment head assembly supporting plate, a plurality of three-level sliding blocks matched with the three-level sliding rails are arranged at the bottom of the treatment head assembly supporting plate, and a treatment head angle adjusting assembly is arranged on the treatment head assembly supporting plate; the upper half section of the second-stage sliding body is also internally provided with a loudspeaker;
the treatment head angle adjusting assembly comprises a stepping motor limited by a stepping motor supporting part, a driving bevel gear arranged at the output end of the stepping motor, a transmission bearing assembly arranged on a treatment head assembly supporting plate, a transmission shaft limited in the transmission bearing assembly, a driven bevel gear arranged on the transmission shaft and meshed with the driving bevel gear, a shifting piece arranged on the transmission shaft, a plurality of micro switches and notch photoelectric switches which are arranged on the treatment head assembly supporting plate and matched with the shifting piece;
the treatment head assembly comprises a central treatment head and a plurality of side treatment heads, wherein the central treatment head comprises a central top shell and a central bottom shell which are mutually matched, a central supporting plate is fixed in the central top shell, the central treatment head is fixed with a transmission shaft by arranging the central supporting plate, a central connection shell is arranged at the bottom of the central bottom shell, and a central radiation assembly is arranged on the central connection shell;
the side treatment head comprises a side outer cover and a side inner cover which are matched with each other, a side telescopic rod fixed on the side outer cover and the side inner cover, a plurality of side sliding blocks fixed at the bottom of the side telescopic rod, a side sliding rail matched with the side sliding blocks and fixed in a central bottom shell, a side electric push rod used for driving the side telescopic rod, and a side radiation assembly arranged at the inner side of the side inner cover;
the central part radiation assembly and the side part radiation assembly adopt the same composition structure, and the radiation assembly comprises a disc fastener fixed on a corresponding supporting plate, a bowl-shaped fastener rotationally buckled with the disc fastener, a radiation cover which is limited in the bowl-shaped fastener and contains sleep-aiding medicinal materials, a reflecting cover which is limited by a bracket, a bracket mounting plate for limiting the bracket, a rubber head which is limited at the front end of the bowl-shaped fastener, and an infrared photoelectric sensor which is limited in the rubber head.
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