CN209933316U - Automatic nursing system of nurse formula - Google Patents

Abstract

The utility model discloses an automatic nursing system of nurse formula. The existing nursing device for the old has the problems of single function, low automation degree, high cost and the like. The utility model discloses a nursing bed, food delivery mechanism, food cabinet, travelling bogie and food supply cabinet. The nursing bed comprises a bed frame, a bed board assembly, a first overturning driving piece, a second overturning driving piece, an auxiliary defecation mechanism and a bed sheet replacing mechanism. The auxiliary defecation mechanism comprises a lifting plate, a sliding cover plate, a lifting driving piece, a sliding driving piece, a drying fan and a cleaning spray pipe. The bed sheet replacing mechanism comprises a strip-shaped bed sheet, an output roller, an output motor, a recovery roller and a recovery motor. The food supply cabinet comprises a supply frame, a supply side plate, a supply bottom plate, a supply clapboard and a push-out mechanism. The food storage cabinet comprises a storage frame, a first storage partition plate, a second storage partition plate, a heating pipe and a storage lifting mechanism. The utility model discloses can realize the function of food delivery, feed and eat, supplementary defecation.

Description

Automatic nursing system of nurse formula

Technical Field

The utility model belongs to the technical field of nursing machinery, concretely relates to automatic nursing system of nurse formula.

Background

With the pace of modern society life accelerating, many children are busy working and are not occupied to take care of parents who take good years, the children are the daily main caregivers of the old, but the current '4-2-1 type family structure' causes more and more old people to take care of the shortage. At present, the old people in most years are generally handed to a nurse or an old care home for taking care of the old people, but the old people are often not good to take care of due to some reasons, and even the event that the nurse abuses the old people is reported sometimes.

In order to take care of the old people, particularly the old people who cannot take care of themselves, the research of the efficient, effective and professional nursing bed for the old people is a better way for solving the heavy burden of old people brought by the aging society. But the nursing old people bed sold in the society at present can not meet the requirements of old people and children. The main manifestations are as follows:

1) the nursing bed has single function. At present, most nursing bed sheets only have the functions of a hand-operated backrest and the like, the nursing bed is simple in structure, and the functions cannot meet the requirements;

2) the degree of automation is poor, and manpower assistance is required. The nursing bed in the market at present can not realize self-service feeding, the old people who can not take care of themselves need to relieve the bowels and also need to take care of the old people, bed sheets can not be automatically replaced when the old people relieve the bowels, the degree of automation is poor, and the old people can not be helped by people;

3) the price is too high. Many nursing beds in the market have the massage function, and the practicality is relatively poor, but the price is very high again, and many families can't bear.

Disclosure of Invention

An object of the utility model is to provide an automatic nursing system of nurse formula.

The utility model discloses nurse formula automatic nursing system, including nursing bed, food delivery mechanism, food cabinet, travelling bogie and food supply cabinet. The nursing bed comprises a bed frame, a bed board assembly, a first overturning driving piece, a second overturning driving piece, an auxiliary defecation mechanism and a bed sheet replacing mechanism. The bed board assembly comprises a back board, a hip board, a thigh board and a lower leg board. The hip plate is fixed with the middle part of the bed frame. The both ends of the inboard edge of backplate all are articulated with a side edge of buttockss board. The other side edge of the hip plate is hinged with one side edge of the thigh plate. The other side edge of the thigh plate is hinged with one side edge of the shank plate. The middle part of the inner side edge of the back plate is provided with a yielding notch. The side edge of the hip plate close to the back plate is provided with a defecation through groove. The back plate is driven by the first turnover driving piece. The thigh plate is driven by a second flipping drive.

The auxiliary defecation mechanism comprises a lifting plate, a sliding cover plate, a lifting driving piece, a sliding driving piece, a drying fan and a cleaning spray pipe. The lifting plate is U-shaped and hinged with the middle part of the bed frame. The outer edge of the lifting plate is the same as the outline shape of the drainage through groove on the hip plate. The sliding cover plate and the middle part of the bed frame form a sliding pair. The outer contour of the sliding cover plate is the same as the shape of the inner side edge of the lifting plate. The slide cover plate is aligned in the width direction of the frame at the inner edge of the lift plate. The lift plate is driven by a lift drive. The sliding cover plate is driven by a sliding driving piece. The drying fan and the cleaning spray pipe are both fixed with the bed frame and are positioned below the back plate. The air outlet of the drying fan and the water outlet of the cleaning spray pipe are inclined towards the defecation through groove on the hip plate.

The bed sheet replacing mechanism comprises a strip-shaped bed sheet, an output roller, an output motor, a recovery roller and a recovery motor. The output roller and the recovery roller are respectively supported on two sides of the bedstead. The output motor and the recovery motor are both fixed on the bedstead. The output shafts of the output motor and the recovery motor are respectively fixed with the output roller and the recovery roller.

The strip-shaped bed sheet bypasses the top surface of the hip plate, and the two ends of the strip-shaped bed sheet are respectively rolled on the output roller and the recovery roller. A plurality of defecation notches are formed in the edge, close to the backboard, of the strip-shaped bed sheet. The shape of the defecation notch is the same as the cross section shape of the defecation through groove on the hip plate. A plurality of defecation notches are uniformly distributed along the length direction of the strip-shaped bed sheet.

The meal delivery mechanism comprises a transverse sliding frame, a transverse sliding block, a transverse moving driving piece, a longitudinal sliding frame, a longitudinal sliding block, a longitudinal moving driving piece, a turnover rod, a first joint motor, a second joint motor, a connecting plate, a first comb rack and a feeding mechanical arm. The cross sliding frame is fixed with one side of the bed frame. The transverse sliding block and the transverse sliding frame form a sliding pair. The transverse sliding block is driven by a transverse driving piece. The longitudinal sliding frame is fixed with the transverse sliding block. The vertical slide block and the vertical sliding frame form a sliding pair. The longitudinal slide block is driven by a longitudinal movement driving piece. The inner end of the turning rod and the longitudinal slide block form a revolute pair. The turning rod is driven by a first joint motor. The outer end of the turnover rod and the inner end of the connecting plate form a revolute pair. The connecting plate is driven by a second joint motor. N first comb racks which are sequentially arranged at equal intervals are fixed at the outer end of the connecting plate, and n is more than or equal to 3 and less than or equal to 8. The width of the first comb rack is c, and c is more than or equal to 1mm and less than or equal to 5 mm. The distance between two adjacent first comb racks is d, and d is more than or equal to 1mm and less than or equal to 8 mm.

The food supply cabinet comprises a supply frame, a supply side plate, a supply bottom plate, a supply clapboard and a push-out mechanism. The supply bottom plate is horizontally arranged and fixed with the middle part of the supply frame. The two supply side plates are respectively fixed on two sides of the supply frame. Two supply baffles arranged at intervals are fixed with the supply frame and are positioned between the two supply side plates. The bottom of the supply clapboard is arranged at a distance a from the supply bottom plate. A plurality of lunch boxes are stacked between two supply clapboards in the food supply cabinet. The height of the lunch box is b, and b is more than 0.5a and less than a. The pushing mechanism comprises a pushing sliding frame, a pushing sliding block, a box pushing block and a pushing driving piece. The push-out sliding frame is fixed on the bottom surface of the supply bottom plate. The push-out slide block and the push-out sliding frame form a slide pair. The supply bottom plate is provided with a sliding groove. The box pushing block is arranged on the top surface of the supply bottom plate. The bottom of the box pushing block penetrates through the sliding groove and is fixed with the pushing sliding block.

The transport trolley comprises a saddle, a traveling driving assembly and a comb rack. The seat is driven by a travel drive assembly. The bottom of the comb rack is fixed with the top of the saddle. The top of the bottom of the comb rack is provided with n-1 second comb racks which are sequentially arranged at equal intervals. The width of the second comb rack is e. The distance between two adjacent second comb racks is f. e + f ═ c + d, and e < d.

The food storage cabinet comprises a storage frame, a first storage partition plate, a second storage partition plate, a heating pipe, a first placing frame, a second placing frame and a storage lifting mechanism. The first storage partition plate and the second storage partition plate are fixed in the storage frame at intervals, and divide the storage frame into a heating area, a normal temperature area and a garbage area. The top of the inlet of the garbage area is provided with a box unloading plate. The heating pipe is fixed with the storage frame and is positioned at the top of the heating area.

The first shelf is fixed with the storage frame and is positioned in the normal temperature zone. N-1 third comb racks which are sequentially arranged at equal intervals are fixed on the first rest stand. The third comb rack has a width e. The distance between two adjacent third comb racks is f.

The second rest racks are all arranged in the heating area and form a sliding pair with the storage frame. The second rest stand is driven by a storage lifting mechanism. The two sides of the second rest rack and the storage frame form a sliding pair which slides along the vertical direction. N-1 fourth comb racks are fixed on the second rest stand and are sequentially arranged at equal intervals. The width of the fourth comb rack is e. The distance between every two adjacent fourth comb racks is f.

Further, in the initial state, the top surfaces of the back plate, the hip plate, the thigh plate and the lower leg plate are all horizontally arranged. The lifting plate is positioned in the defecation through groove. The sliding cover plate is positioned on the inner side of the lifting plate. Two adjacent excretion notches on the strip-shaped bed sheet are respectively positioned at two ends of the hip plate. The part of the strip-shaped bed sheet above the hip plate is contacted with the bottom surface of the lifting plate.

Furthermore, the first overturning driving part, the second overturning driving part, the auxiliary defecation mechanism and the bed sheet replacing mechanism are all positioned below the bed plate assembly.

Further, the length of the output roller and the length of the recovery roller are both equal to the width of the hip plate. The output roller and the recovery roller are detachably connected with the bedstead.

The distance between two adjacent excretion notches on the strip-shaped bed sheet is equal to g. g is the length of the back plate.

Furthermore, the axes of the hinged shafts of the lifting plate and the bed frame coincide with the axes of the hinged shafts of the back plate and the hip plate. And a humidity-sensitive sensor is arranged on the top surface of the sliding cover plate.

Further, a excrement collecting barrel is arranged right below the defecation through groove.

Further, the meal delivery mechanism also comprises a feeding mechanical arm. The feeding mechanical arm comprises a first rotary steering engine, an arm seat, a second rotary steering engine, a joint and a feeding frame. The joint consists of a driving steering engine and a rotating frame; an output shaft of the driving steering engine is fixed with the rotating frame. The total number of joints is m, and m is more than or equal to 2 and less than or equal to 6. The m joints are sequentially connected in an arranging way, and the rotating frame of the upper-stage joint is fixed with the driving steering engine of the lower-stage joint. The driving steering engine of the joint at the head end is fixed with the arm seat. The arm seat is fixed with an output shaft of the rotary steering engine, and the rotary steering engine is fixed on the connecting plate. And a rotating frame of the joint positioned at the tail end is fixed with the second rotary steering engine. The output shaft of the second rotary steering engine is fixed with the feeding frame. A feeding spoon and a drinking pipe are fixed on the feeding frame. The inner end of the drinking water pipe is connected with a drinking water bucket arranged on one side of the bed frame.

Further, the travel drive assembly includes wheels and a travel motor. The four traveling motors are fixed on two sides of the bottom of the saddle in a group of two-by-two centering mode; the output shafts of the four traveling motors are respectively fixed with the four wheels.

Further, the first overturning driving piece comprises a first overturning motor, a first lead screw, a first sliding block and a first connecting rod. The first lead screw is supported on the bed frame. The first turnover motor is fixed on the bed frame. An output shaft of the first overturning motor is fixed with one end of the first lead screw. The first sliding block and the bedstead form a sliding pair, and the first sliding block and the first screw rod form a screw pair. One end of the first connecting rod is hinged with the first sliding block, and the other end of the first connecting rod is hinged with the back plate.

The second overturning driving piece comprises a second overturning motor, a second lead screw, a second sliding block and a second connecting rod. The second lead screw is supported on the bed frame. The second turnover motor is fixed on the bed frame. An output shaft of the second overturning motor is fixed with one end of the second lead screw. The second slide block and the bedstead form a slide pair, and form a screw pair with the second screw rod. One end of the second connecting rod is hinged with the second sliding block, and the other end of the second connecting rod is hinged with the thigh plate.

Further, the lifting driving piece comprises a lifting motor, a lifting lead screw, a lifting sliding block, a lifting connecting rod and a lifting fixing rod. The lifting screw rod is supported on the bed frame. The lifting motor is fixed on the bed frame. An output shaft of the lifting motor is fixed with one end of the lifting screw rod. The lifting slide block and the bedstead form a slide pair and form a screw pair with the lifting screw rod. One end of the lifting connecting rod and the lifting sliding block form a transmission pair, and the other end of the lifting connecting rod is hinged with one end of the lifting fixing rod. The other end of the lifting fixing rod is fixed with the lifting plate.

The sliding driving piece comprises a sliding motor, a sliding gear and a sliding rack. The sliding motor is fixed with the bed frame. The output shaft of the sliding motor is fixed with the sliding gear. And a sliding cover plate of the sliding rack is fixed. The sliding gear is meshed with the sliding rack.

The transverse driving piece comprises a transverse motor and a transverse lead screw. The traverse screw is supported on the traverse carriage. The transverse sliding block and the transverse screw rod form a screw pair. The traversing motor is fixed on the traversing carriage. An output shaft of the transverse moving motor is fixed with one end of the transverse moving screw rod.

The longitudinal movement driving piece comprises a longitudinal movement motor and a longitudinal movement lead screw. The longitudinal movement screw rod is supported on the longitudinal sliding frame. The longitudinal slide block and the longitudinal moving screw rod form a screw pair. The longitudinal movement motor is fixed on the longitudinal sliding frame. An output shaft of the longitudinal movement motor is fixed with one end of the longitudinal movement screw rod.

The first joint motor is fixed on the longitudinal sliding block. An output shaft of the first joint motor is fixed with the turnover rod.

The second joint motor is fixed on the turning rod. And an output shaft of the second joint motor is fixed with the connecting plate.

The push-out driving part comprises a push-out lead screw and a push-out motor. The push-out screw is supported on the push-out carriage. The push-out motor is fixed with the push-out sliding frame. An output shaft of the push-out motor is fixed with one end of the push-out screw rod. The push-out slide block and the push-out lead screw form a screw pair.

The storage lifting mechanism comprises a storage lead screw, a storage sliding block, a synchronous belt wheel, a synchronous belt and a storage motor. Two vertically arranged storage screw rods are respectively supported at two sides of the storage frame. The two storage sliding blocks and the two storage screw rods respectively form a screw pair. The two synchronous belt wheels are respectively fixed with the top ends of the two storage screw rods. The two synchronous pulleys are connected through a synchronous belt. The storage motor is fixed on the storage frame. An output shaft of the storage motor is fixed with one end of one of the storage screw rods. The two storage sliding blocks are both fixed with the second rest stand.

The utility model has the advantages that:

1. the utility model discloses can assist by the nursing person to carry out the defecation and can carry out the washing and the stoving of buttock for the nursing person after the defecation.

2. The utility model discloses can be by automatic bed sheet of changing after the person of nursing defecates. The cleanness and the sanitation of the nursing bed are ensured.

3. The utility model discloses can be automatically for being transported and heating food by the caregiver to can realize automatic feeding and eat.

4. The utility model discloses can last a lot of to being transported food by the caregiver, reduce the frequency that the staff need appear.

Drawings

Fig. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a perspective view of a nursing bed of the present invention;

FIG. 3 is a bottom view of the nursing bed of the present invention;

FIG. 4 is a schematic view of the combination of the auxiliary defecation mechanism and the bed sheet replacing mechanism of the present invention;

FIG. 5 is a perspective view of the feeding mechanism of the present invention with the feeding arm removed;

fig. 6 is a perspective view of the feeding mechanical arm of the present invention;

FIG. 7 is a perspective view of the food-replenishment cabinet of the present invention;

fig. 8 is a perspective view of the push-out mechanism of the present invention;

FIG. 9 is a perspective view of the transportation cart of the present invention;

fig. 10 is a first schematic view of the food storage cabinet of the present invention;

fig. 11 is a second schematic view of the food storage cabinet of the present invention.

Detailed Description

The present invention will be further explained with reference to the accompanying drawings.

As shown in fig. 1, 2 and 3, an automated nursing system of the nurse type includes a nursing bed 1, a dining mechanism 2, a food storage cabinet 3, a transportation cart 4 and a food supply cabinet 5. The nursing bed 1 comprises a bed frame 1-1, a bed board assembly, a first overturning driving piece, a second overturning driving piece, an auxiliary defecation mechanism 1-6 and a bed sheet replacing mechanism. The first overturning driving piece, the second overturning driving piece, the auxiliary defecation mechanisms 1-6 and the bed sheet replacing mechanism are all positioned below the bed plate component. The bed board component comprises a back board 1-2, a hip board 1-3, a thigh board 1-4 and a shank board 1-5. The hip plate 1-3 is fixed with the middle part of the bed frame 1-1. Both ends of the inner side edge of the back plate 1-2 are hinged with one side edge of the hip plate 1-3. The other side edge of the hip plate 1-3 is hinged with one side edge of the thigh plate 1-4. The other side edge of the thigh plate 1-4 is hinged with one side edge of the lower leg plate 1-5. The backboard 1-2, the hip board 1-3, the thigh board 1-4 and the shank board 1-5 form a bed board capable of assisting the old to sit up. The middle part of the inner side edge of the back plate 1-2 is provided with an abdicating notch. The side edge of the hip plate 1-3 close to the backboard 1-2 is provided with a defecation through groove. A defecation collecting barrel is arranged right below the defecation through groove.

The first overturning driving piece comprises a first overturning motor 1-12, a first lead screw 1-13, a first sliding block 1-8 and a first connecting rod. A first screw rod 1-13 arranged along the length direction of the bed frame 1-1 is supported on the bed frame 1-1 and is positioned right below the back plate 1-2. The first turnover motor 1-12 is fixed on the bedstead 1-1. An output shaft of the first overturning motor 1-12 is fixed with one end of a first lead screw 1-13. The first sliding block 1-8 and the bedstead 1-1 form a sliding pair, and form a screw pair with the first screw rod 1-13. One end of the first connecting rod is hinged with the first sliding block 1-8, and the other end of the first connecting rod is hinged with the middle part of the back plate 1-2. The backboard 1-2 can be driven to overturn through the rotation of the first overturning motor 1-12.

The second overturning driving piece comprises a second overturning motor 1-9, a second lead screw 1-10, a second sliding block 1-11 and a second connecting rod. A second screw 1-10 arranged along the length direction of the bedstead 1-1 is supported on the bedstead 1-1 and is positioned right below the thigh plate 1-4. The second turnover motor 1-9 is fixed on the bedstead 1-1. An output shaft of the second overturning motor 1-9 is fixed with one end of a second screw rod 1-10. The second sliding block 1-11 and the bedstead 1-1 form a sliding pair, and form a screw pair with the second screw rod 1-10. One end of the second connecting rod is hinged with the second sliding block 1-11, and the other end of the second connecting rod is hinged with the middle part of the thigh plate 1-4. The thigh plate 1-4 can be driven to turn by the rotation of the second turning motor 1-9, thereby driving the leg plate 1-5 to move (the side edge of the leg plate 1-5 far from the thigh plate 1-4 slides on the bed frame 1-1).

As shown in fig. 2, 3 and 4, the auxiliary defecation mechanism 1-6 comprises a lifting plate 1-6-1, a sliding cover plate 1-6-2, a lifting driving piece, a sliding driving piece, a drying fan 1-6-3 and a cleaning water spray pipe 1-6-4. The lifting plate 1-6-1 is U-shaped and hinged with the middle part of the bedstead 1-1. The hinge axis of the lifting plate 1-6-1 and the bedstead 1-1 is superposed with the hinge axis of the back plate 1-2 and the hip plate 1-3. The outer edge of the lifting plate 1-6-1 is the same as the outline shape of the drainage groove on the hip plate 1-3. The sliding cover plate 1-6-2 and the middle part of the bedstead 1-1 form a sliding pair which slides along the length direction of the bedstead 1-1. The outer contour of the sliding cover plate 1-6-2 is the same as the shape of the inner side edge of the lifting plate 1-6-1. The sliding cover 1-6-2 is aligned with the width direction of the frame 1-1 of the inner edge of the lifting plate 1-6-1. The top surface of the sliding cover plate 1-6-2 is provided with a humidity sensor.

The lifting driving piece comprises a lifting motor, a lifting lead screw 1-6-5, a lifting sliding block 1-6-6, a lifting connecting rod 1-6-7 and a lifting fixing rod 1-6-8. The lifting screw 1-6-5 is supported on the frame 1-1. The lifting motor is fixed on the bedstead 1-1. An output shaft of the lifting motor is fixed with one end of a lifting screw rod 1-6-5. The lifting slide block 1-6-6 and the bed frame 1-1 form a sliding pair, and form a screw pair with the lifting screw rod 1-6-5. One end of the lifting connecting rod 1-6-7 and the lifting sliding block 1-6-6 form a transmission pair, and the other end of the lifting connecting rod is hinged with one end of the lifting fixing rod 1-6-8. The other end of the lifting fixing rod 1-6-8 is fixed with the lifting plate 1-6-1.

The slippage driving piece comprises a slippage motor, a slippage gear and a slippage rack. The sliding motor is fixed with the bedstead 1-1. The output shaft of the sliding motor is fixed with the sliding gear. The first sliding cover plate 1-6-2 of the sliding rack is fixed. The sliding gear is meshed with the sliding rack. The drying fan 1-6-3 and the cleaning water spray pipe 1-6-4 are fixed with the bedstead 1-1 and are positioned below the back plate 1-2. The air outlet of the drying fan 1-6-3 and the water outlet of the cleaning spray pipe 1-6-4 are inclined towards the defecation through groove on the hip plate 1-3.

The bed sheet replacing mechanism positioned right below the backboard 1-2 comprises a strip-shaped bed sheet, output rollers 1-7, output motors 1-15, recovery rollers 1-14 and recovery motors 1-16. The output rollers 1-7 and the recovery rollers 1-14 are respectively supported on both sides of the frame 1-1. The length of the output roller 1-7 and the length of the recovery roller 1-14 are both equal to the width of the hip plate 1-3. The output motors 1-15 and the recovery motors 1-16 are fixed on the bed frame 1-1. Output shafts of the output motors 1-15 and the recovery motors 1-16 are respectively fixed with the output rollers 1-7 and the recovery rollers 1-14. The output roller 1-7, the recovery roller 1-14 and the bedstead 1-1 are all detachably connected.

The strip-shaped bed sheet bypasses the top surface of the hip plate 1-3, and the two ends of the strip-shaped bed sheet are respectively rolled on the output roller 1-7 and the recovery roller 1-14. The edge of the strip-shaped bed sheet close to the backboard 1-2 is provided with a plurality of defecation notches. The shape of the defecation gap is the same as the cross section shape of the defecation through groove on the hip plate 1-3. A plurality of defecation notches are uniformly distributed along the length direction of the strip-shaped bed sheet. The distance between two adjacent defecation notches is equal to g. g is the length of the back sheet 1-2.

In the initial state, the top surfaces of the backboard 1-2, the hip board 1-3, the thigh board 1-4 and the lower leg board 1-5 are all horizontally arranged. The lifting plate 1-6-1 is positioned in the defecation through groove. The sliding cover plate 1-6-2 is positioned at the inner side of the lifting plate 1-6-1. Two adjacent defecation gaps on the strip-shaped bed sheet are respectively positioned at two ends of the hip plates 1-3. The part of the strip-shaped bed sheet above the hip plate 1-3 is pressed by the lifting plate 1-6-1. Because the lifting plate 1-6-1 presses the strip-shaped bed sheet, the strip-shaped bed sheet cannot be propped up when the lifting plate is turned upwards. Under the state that the back plate 1-2 is turned up, the sliding cover plate 1-6-2 can slide out of the range surrounded by the lifting plate 1-6-1 through the abdicating notch on the back plate 1-2.

As shown in figures 1 and 5, the meal delivery mechanism 2 comprises a transverse sliding frame 2-1, a transverse sliding block 2-2, a transverse sliding driving piece, a longitudinal sliding frame 2-3, a longitudinal sliding block 2-4, a longitudinal moving driving piece, a turnover rod 2-5, a first joint motor 2-6, a second joint motor 2-7, a connecting plate 2-8 and a first comb rack 2-9. The cross carriage 2-1 is fixed to one side of the frame 1-1. The transverse slide block 2-2 and the transverse slide frame 2-1 form a slide pair. The transverse driving piece comprises a transverse motor 2-10 and a transverse lead screw 2-11. The transverse lead screw 2-11 is supported on the transverse sliding frame 2-1. The transverse sliding block 2-2 and the transverse screw rod form a screw pair. The traversing motor 2-10 is fixed on the traversing carriage 2-1. An output shaft of the traversing motor 2-10 is fixed with one end of the traversing screw rod. The longitudinal sliding frame 2-3 is fixed with the transverse sliding block 2-2. The longitudinal slide block 2-4 and the longitudinal slide frame 2-3 form a slide pair. The longitudinal movement driving piece comprises a longitudinal movement motor 2-12 and a longitudinal movement screw rod 2-13. The longitudinal moving lead screw 2-13 is supported on the longitudinal carriage 2-3. The longitudinal slide blocks 2-4 and the longitudinal moving screw rod form a screw pair. The longitudinal movement motor 2-12 is fixed on the longitudinal carriage 2-3. An output shaft of the longitudinal movement motor 2-12 is fixed with one end of the longitudinal movement screw rod. The inner end of the turning rod 2-5 and the longitudinal slide block 2-4 form a revolute pair. The first joint motor 2-6 is fixed on the longitudinal slide block 2-4. An output shaft of the first joint motor 2-6 is fixed with the turning rod 2-5. The outer end of the turnover rod 2-5 and the inner end of the connecting plate 2-8 form a revolute pair. The second joint motor 2-7 is fixed on the turning rod 2-5. An output shaft of the second joint motor 2-7 is fixed with the connecting plate 2-8. Four first comb racks 2-9 which are sequentially arranged at equal intervals are fixed at the outer ends of the connecting plates 2-8. The first comb teeth 2-9 have a width c, which is 3 mm. The distance between two adjacent first comb tooth strips 2-9 is d, and d is 5 mm.

As shown in figures 1 and 6, the feeding mechanical arm comprises a first rotary steering engine, an arm seat 2-14, a second rotary steering engine 2-15, a joint and a feeding frame. The joint consists of a driving steering engine 2-16 and a rotating frame 2-17; an output shaft of the driving steering engine 2-16 is fixed with the rotating frame 2-17. The three joints are sequentially connected in an arrayed mode, and the rotating frames 2-17 of the joints at the upper stage are fixed with the driving steering engines 2-16 of the joints at the lower stage. The driving steering engine 2-16 of the head end joint is fixed with the arm seat 2-14. The arm seats 2-14 are fixed with output shafts of rotary steering gears, and the rotary steering gears are fixed on the connecting plates 2-8. And the rotating frames 2-17 of the tail end joints are fixed with the second rotary steering engines 2-15. The axes of the output shafts of the three driving steering engines 2-16 are parallel. The output shafts of the second rotary steering engines 2-15 are fixed with the feeding frame. The feeding frame is fixed with a feeding spoon 2-18 and a drinking pipe 2-19. The inner ends of the drinking water pipes 2-19 are connected with a drinking water bucket arranged on one side of the bed frame 1-1.

As shown in FIGS. 1, 7 and 8, the food replenishing cabinet 5 includes a replenishing rack 5-1, a replenishing side plate 5-2, a replenishing bottom plate 5-3, a replenishing partition plate 5-4 and a pushing mechanism. The supply bottom plate 5-3 is horizontally arranged and fixed with the middle part of the supply frame 5-1. Two parallel and spaced supply side plates 5-2 are respectively fixed on two sides of the supply frame 5-1. Two parallel and spaced supply partition plates 5-4 are fixed with the supply frame 5-1. The two supply partition plates 5-4 are positioned between the two supply side plates 5-2 and are arranged at a distance a from the supply bottom plate 5-3, and a is 12 mm. A plurality of lunch boxes are stacked between two supply clapboards 5-4 in the food supply cabinet 5. The height of the lunch box is b, and b is more than 0.5a and less than a. The pushing mechanism comprises a pushing sliding frame 5-5, a box pushing block 5-6, a pushing lead screw, a pushing sliding block 5-7 and a pushing motor. The push-out carriage 5-5 is fixed on the bottom surface of the supply bottom plate 5-3. The push-out screw is supported on the push-out carriage 5-5. The push-out motor is fixed with the push-out sliding frame 5-5. An output shaft of the push-out motor is fixed with one end of the push-out screw rod. The push-out slide block 5-7 and the push-out sliding frame 5-5 form a slide pair, and form a screw pair with the push-out lead screw. The supply bottom plate 5-3 is provided with a chute. The box pushing blocks 5-6 are arranged on the top surface of the supply bottom plate. The bottom of the box pushing block 5-6 passes through the sliding groove and is fixed with the pushing slide block 5-7. The distance between the top surface of the box pushing block 5-6 and the top surface of the supply bottom plate 5-3 is equal to b. The lunch boxes in the push-out mechanism can be pushed out one by one through the reciprocating motion of the box pushing blocks 5-6. One of the supply partition plates 5-4 is flush with the edge of the supply side plate 5-2, so that the lunch box can be completely pushed out conveniently, and the lower part of the supply partition plate 5-4 is the outlet of the food supply cabinet 5.

As shown in fig. 1 and 9, the transporting carriage 4 includes a saddle 4-1, wheels 4-2, a traveling motor, and a comb-tooth frame 4-3. The four traveling motors are fixed on two sides of the bottom of the saddle 4-1 in a group in pairs; the output shafts of the four traveling motors are respectively fixed with the four wheels 4-2. The bottom of the comb-tooth rack 4-3 is fixed with the top of the saddle 4-1. The top of the bottom of the comb-tooth frame 4-3 is provided with three second comb-tooth bars 4-4 which are sequentially arranged at equal intervals. The second comb rack 4-4 has a width e. The distance between two adjacent second comb racks 4-4 is f. e + f ═ c + d, and e < d. The top of the second comb rack 4-4 is arranged at the same height with the top surface of the supply bottom plate 5-3.

As shown in fig. 1, 10 and 11, the food storage cabinet 3 includes a storage frame 3-1, a first storage partition 3-2, a second storage partition 3-3, a heating pipe, a first shelf 3-5, a second shelf 3-6 and a storage lifting mechanism. The first storage partition plate 3-2 and the second storage partition plate 3-3 which are horizontally arranged are fixed in the storage frame 3-1 at intervals, so that the storage frame 3-1 is divided into a heating area, a normal temperature area and a garbage area. The top of the inlet of the garbage area is provided with a box unloading plate 3-7.

The first shelf 3-5 is fixed with the storage frame 3-1 and is positioned in the normal temperature zone. Three third comb racks 3-8 which are sequentially arranged at equal intervals are fixed on the first rest stand 3-5. The third comb rack 3-8 has a width e. The distance between two adjacent third comb racks 3-8 is f. All the third comb racks 3-8 are arranged at intervals with the first storage clapboard 3-2. The heating tube is fixed with the storage frame 3-1 and is positioned at the top of the heating zone.

The second rest stands 3-6 and the storage lifting mechanism are arranged in the heating area. The storage lifting mechanism comprises a storage screw rod 3-4, a storage sliding block, a synchronous belt wheel, a synchronous belt and a storage motor. Two vertically arranged storage screw rods are respectively supported on two sides of the storage frame 3-1. The two storage sliding blocks and the two storage screw rods respectively form a screw pair. The two synchronous belt wheels are respectively fixed with the top ends of the two storage screw rods. The two synchronous pulleys are connected through a synchronous belt. The storage motor is fixed to the storage frame 3-1. An output shaft of the storage motor is fixed with one end of one of the storage screw rods. The two storage sliders are fixed with the second rest stand 3-6. The two sides of the second rest stand 3-6 and the storage frame 3-1 form a sliding pair which slides along the vertical direction. Three fourth comb racks 3-9 which are sequentially arranged at equal intervals are fixed on the second rest stand 3-6. The fourth comb rack 3-9 has a width e. The distance between every two adjacent fourth comb racks 3-9 is f. The storage lifting mechanism can lift the lunch box with the fourth comb racks 3-9 to a position close to the heating pipe for heating.

The working principle of the utility model comprises an auxiliary defecation principle and a meal delivery principle.

The auxiliary defecation principle is as follows:

step one, when a nursed needs to defecate or a moisture sensor detects that a strip-shaped bed sheet is soaked, the first turnover motor 1-12 and the second turnover motor 1-9 rotate forwards, so that the back plate 1-2 and the thigh plate 1-4 are turned upwards. The lower leg plate 1-5 is driven by the upper leg plate 1-4 to slide and turn. So that the nursed person sits up and the joint of the lower leg plate 1-5 and the upper leg plate 1-4 can support the knee joint of the nursed person.

And step two, the lifting motor rotates forwards, and the lifting plate 1-6-1 is turned upwards, so that the hip of the nursed is lifted, and the nursed does not extrude the strip-shaped bed sheet any more.

And step three, synchronously rotating the output motors 1-15 and the recovery motors 1-16 forwards to roll out the strip bed sheet on the output rollers 1-7 until a defecation notch on the strip bed sheet is aligned with the defecation through groove on the hip plate 1-3.

Meanwhile, the sliding motor rotates forwards, so that the sliding cover plate 1-6-2 slides to the lower part of the back plate 1-2, and the part between the buttocks of the nursing person and the excrement collecting barrel is not shielded by objects any more.

And fourthly, reversing the lifting motor, and turning the lifting plate 1-6-1 downwards to be in a horizontal state. The care-receiver begins to defecate.

Step five, after the defecation of the nursed person is finished, the cleaning water spray pipes 1-6-4 spray cleaning water flow to clean the buttocks of the nursed person.

And step six, after the buttocks of the nursed are cleaned, the cleaning water spray pipes 1-6-4 stop spraying water. And starting the drying fan 1-6-3 to blow dry the buttocks of the nursed.

And seventhly, the lifting motor rotates forwards, and the lifting plate 1-6-1 is turned upwards, so that the hip of the nursed person is lifted, and the nursed person does not squeeze the strip-shaped bed sheet any more.

And step eight, reversing the sliding motor to reset the sliding cover plate 1-6-2. Meanwhile, the output motors 1-15 and the recovery motors 1-16 synchronously rotate forwards, so that the strip-shaped bed sheet on the output rollers 1-7 is rolled out until the defecation notch aligned with the defecation through groove on the hip plate 1-3 is separated from the top surface of the hip plate 1-3.

And step nine, reversely rotating the lifting motor, and downwards turning the lifting plate 1-6-1 to be in a horizontal state.

Step ten, the first overturning motors 1-12 and the second overturning motors 1-9 are reversely rotated, so that the back plate 1-2, the thigh plates 1-4 and the shank plates 1-5 are all restored to be in a horizontal state.

The food delivery principle is as follows:

step one, the transport trolley 4 moves to an outlet of the food supply cabinet 5. The push-out motor rotates forwards, so that one lunch box is pushed onto the transport trolley 4.

And step two, the transport trolley 4 moves to the meal delivery mechanism 2. The transverse moving motor 2-10, the longitudinal moving motor 2-12, the first joint motor 2-6 and the second joint motor 2-7 rotate, so that the four first comb racks 2-9 reach the positions below the three second comb racks 4-4, and the projections of the four first comb racks 2-9 and the three second comb racks 4-4 on the same horizontal plane do not intersect.

And step three, the longitudinal movement motor 2-12 rotates positively, so that the four first comb racks 2-9 are raised to be higher than the three second comb racks 4-4. The lunch boxes on the three second comb racks 4-4 are transferred to the four first comb racks 2-9.

And step four, rotating the transverse moving motor 2-10, the longitudinal moving motor 2-12, the first joint motor 2-6 and the second joint motor 2-7 to enable the four first comb racks 2-9 to reach the positions above the three third comb racks 3-8, wherein the projections of the four first comb racks 2-9 and the three third comb racks 3-8 on the same horizontal plane do not intersect.

And step five, the longitudinal moving motor 2-12 rotates reversely, so that the four first comb tooth bars 2-9 are lowered to be lower than the three third comb tooth bars 3-8. The lunch boxes on the four first comb racks 2-9 are transferred to the three third comb racks 3-8.

And step six, when the nursed needs to have a meal, the transverse moving motor 2-10, the longitudinal moving motor 2-12, the first joint motor 2-6 and the second joint motor 2-7 rotate, so that the four first comb racks 2-9 reach the positions below the three third comb racks 3-8, and the projections of the four first comb racks 2-9 and the three third comb racks 3-8 on the same horizontal plane do not intersect.

And seventhly, the longitudinal movement motor 2-12 rotates forwards, so that the four first comb racks 2-9 are raised to be higher than the three third comb racks 3-8. The lunch boxes on the three third comb racks 3-8 are transferred to the four first comb racks 2-9.

Step eight, rotating the transverse moving motor 2-10, the longitudinal moving motor 2-12, the first joint motor 2-6 and the second joint motor 2-7 to enable the four first comb racks 2-9 to reach the positions above the three fourth comb racks 3-9, wherein the projections of the four first comb racks 2-9 and the three fourth comb racks 3-9 on the same horizontal plane do not intersect.

And step nine, synchronously rotating the two storage motors forwards to enable the three fourth comb racks 3-9 to be lifted to be higher than the four first comb racks 2-9. The lunch boxes on the four first comb racks 2-9 are transferred to the three fourth comb racks 3-9. And the lunch box is close to the heating pipe. The heating pipe is electrified to heat the food in the lunch box.

Step ten, after the food in the lunch box is heated, the two storage motors synchronously rotate reversely, so that the three fourth comb racks 3-9 are lowered to be lower than the four first comb racks 2-9. The lunch boxes on the three fourth comb racks 3-9 are transferred to the four first comb racks 2-9.

And step eleven, enabling the first overturning motor 1-12 and the second overturning motor 1-9 to rotate forwards respectively, and enabling the back plate 1-2 and the thigh plate 1-4 to overturn upwards respectively. The lower leg plate 1-5 is driven by the upper leg plate 1-4 to slide and turn. So that the nursed person sits up and the joint of the lower leg plate 1-5 and the upper leg plate 1-4 can support the knee joint of the nursed person.

Step twelve, rotating the transverse moving motor 2-10, the longitudinal moving motor 2-12, the first joint motor 2-6 and the second joint motor 2-7 to enable the four first comb racks 2-9 to reach the chest of the nursed person. The feeding mechanical arm feeds food to the caretaker.

And step thirteen, after the diner is finished, the transverse moving motor 2-10, the longitudinal moving motor 2-12, the first joint motor 2-6 and the second joint motor 2-7 rotate, so that the lunch boxes on the four first comb racks 2-9 extend into the garbage area of the food storage cabinet 3.

Fourteen, the longitudinal moving motor 2-12 rotates forwards to make the top of the lunch box higher than the lower edge of the box unloading plate 3-7. Thereafter, the traverse motor 2-10 is rotated so that the four first rack bars 2-9 are separated from the trash area of the food storage 3. The lunch boxes are retained in the garbage area of the storage cabinet under the blockage of the box unloading plates 3-7 and fall to the bottom of the garbage area.

And fifteen, repeatedly executing the steps from one to fourteen.

Claims (10)

1. A nurse type automatic nursing system comprises a nursing bed, a food delivery mechanism, a food storage cabinet, a transport trolley and a food supply cabinet; the method is characterized in that: the nursing bed comprises a bed frame, a bed board assembly, a first overturning driving piece, a second overturning driving piece, an auxiliary defecation mechanism and a bed sheet replacing mechanism; the bed board assembly comprises a back board, a hip board, a thigh board and a shank board; the hip plate is fixed with the middle part of the bed frame; both ends of the inner side edge of the back plate are hinged with one side edge of the hip plate; the other side edge of the hip plate is hinged with one side edge of the thigh plate; the other side edge of the thigh plate is hinged with one side edge of the shank plate; the middle part of the inner side edge of the back plate is provided with an abdicating notch; the side edge of the hip plate close to the back plate is provided with a defecation through groove; the back plate is driven by a first overturning driving piece; the thigh plate is driven by a second overturning driving piece;

the auxiliary defecation mechanism comprises a lifting plate, a sliding cover plate, a lifting driving piece, a sliding driving piece, a drying fan and a cleaning water spray pipe; the lifting plate is U-shaped and is hinged with the middle part of the bed frame; the outer edge of the lifting plate has the same contour shape with the defecation through groove on the hip plate; the sliding cover plate and the middle part of the bedstead form a sliding pair; the outer contour of the sliding cover plate is the same as the shape of the inner side edge of the lifting plate; the sliding cover plate is aligned with the width direction of the bedstead at the inner edge of the lifting plate; the lifting plate is driven by a lifting driving piece; the sliding cover plate is driven by a sliding driving piece; the drying fan and the cleaning water spray pipe are both fixed with the bedstead and are positioned below the back plate; the air outlet of the drying fan and the water outlet of the cleaning spray pipe are inclined towards the defecation through groove on the hip plate;

the bed sheet replacing mechanism comprises a strip-shaped bed sheet, an output roller, an output motor, a recovery roller and a recovery motor; the output roller and the recovery roller are respectively supported on two sides of the bedstead; the output motor and the recovery motor are both fixed on the bedstead; the output shafts of the output motor and the recovery motor are respectively fixed with the output roller and the recovery roller;

the strip-shaped bed sheet bypasses the top surface of the hip plate, and two ends of the strip-shaped bed sheet are respectively rolled on the output roller and the recovery roller; a plurality of defecation notches are formed in the edge, close to the backboard, of the strip-shaped bed sheet; the shape of the defecation notch is the same as the shape of the cross section of the defecation through groove on the hip plate; a plurality of defecation notches are uniformly distributed along the length direction of the strip-shaped bed sheet;

the meal delivery mechanism comprises a transverse sliding frame, a transverse sliding block, a transverse moving driving piece, a longitudinal sliding frame, a longitudinal sliding block, a longitudinal moving driving piece, a turnover rod, a first joint motor, a second joint motor, a connecting plate, a first comb rack and a feeding mechanical arm; the cross sliding frame is fixed with one side of the bed frame; the transverse sliding block and the transverse sliding frame form a sliding pair; the transverse sliding block is driven by a transverse driving piece; the longitudinal sliding frame is fixed with the transverse sliding block; the longitudinal slide block and the longitudinal sliding frame form a sliding pair; the longitudinal slide block is driven by a longitudinal movement driving piece; the inner end of the turnover rod and the longitudinal slide block form a revolute pair; the turnover rod is driven by a first joint motor; the outer end of the turnover rod and the inner end of the connecting plate form a revolute pair; the connecting plate is driven by a second joint motor; n first comb racks are fixed at the outer end of the connecting plate and are sequentially arranged at equal intervals, and n is more than or equal to 3 and less than or equal to 8; the width of the first comb rack is c, and c is more than or equal to 1mm and less than or equal to 5 mm; the distance between two adjacent first comb racks is d, and d is more than or equal to 1mm and less than or equal to 8 mm;

the food supply cabinet comprises a supply rack, a supply side plate, a supply bottom plate, a supply clapboard and a push-out mechanism; the supply bottom plate is horizontally arranged and fixed with the middle part of the supply frame; the two supply side plates are respectively fixed on two sides of the supply frame; the two supply partition plates which are arranged at intervals are fixed with the supply frame and are positioned between the two supply side plates; the bottom of the supply clapboard is arranged at a distance a from the supply bottom plate; a plurality of lunch boxes are stacked between two supply partition plates in the food supply cabinet; the height of the lunch box is b, and b is more than 0.5a and less than a; the pushing mechanism comprises a pushing sliding frame, a pushing sliding block, a box pushing block and a pushing driving piece; the push-out sliding frame is fixed on the bottom surface of the supply bottom plate; the push-out slide block and the push-out sliding frame form a slide pair; the supply bottom plate is provided with a chute; the box pushing block is arranged on the top surface of the supply bottom plate; the bottom of the box pushing block penetrates through the sliding groove and is fixed with the pushing sliding block;

the transport trolley comprises a saddle, a traveling driving assembly and a comb rack; the saddle is driven by a travel driving assembly; the bottom of the comb rack is fixed with the top of the saddle; n-1 second comb racks are sequentially arranged at equal intervals at the top of the bottom of the comb rack; the width of the second comb rack is e; the distance between every two adjacent second comb racks is f; e + f ═ c + d, and e < d;

the food storage cabinet comprises a storage frame, a first storage partition plate, a second storage partition plate, a heating pipe, a first shelf, a second shelf and a storage lifting mechanism; the first storage partition plate and the second storage partition plate are fixed in the storage frame at intervals, and divide the storage frame into a heating area, a normal temperature area and a garbage area; the top of the inlet of the garbage area is provided with a box unloading plate; the heating pipe is fixed with the storage frame and is positioned at the top of the heating area;

the first shelf is fixed with the storage frame and is positioned in the normal temperature zone; n-1 third comb racks are fixed on the first rest stand and are sequentially arranged at equal intervals; the width of the third comb rack is e; the distance between every two adjacent third comb racks is f;

the second rest racks are all arranged in the heating area and form a sliding pair with the storage frame; the second rest stand is driven by the storage lifting mechanism; two sides of the second rest rack and the storage frame form a sliding pair which slides along the vertical direction; n-1 fourth comb racks are fixed on the second rest stand and are sequentially arranged at equal intervals; the width of the fourth comb rack is e; the distance between every two adjacent fourth comb racks is f.

2. A caregiver-style automated care system according to claim 1, wherein: in an initial state, the top surfaces of the back plate, the hip plate, the thigh plate and the lower leg plate are all horizontally arranged; the lifting plate is positioned in the defecation through groove; the sliding cover plate is positioned on the inner side of the lifting plate; two adjacent excretion notches on the strip-shaped bed sheet are respectively positioned at two ends of the hip plate; the part of the strip-shaped bed sheet above the hip plate is contacted with the bottom surface of the lifting plate.

3. A caregiver-style automated care system according to claim 1, wherein: the first overturning driving part, the second overturning driving part, the auxiliary defecation mechanism and the bed sheet replacing mechanism are all positioned below the bed plate assembly.

4. A caregiver-style automated care system according to claim 1, wherein: the lengths of the output roller and the recovery roller are equal to the width of the hip plate; the output roller and the recovery roller are detachably connected with the bedstead;

the distance between two adjacent excretion notches on the strip-shaped bed sheet is equal to g; g is the length of the back plate.

5. A caregiver-style automated care system according to claim 1, wherein: the axes of the hinged shafts of the lifting plate and the bedstead are superposed with the axes of the hinged shafts of the back plate and the hip plate; and a humidity-sensitive sensor is arranged on the top surface of the sliding cover plate.

6. A caregiver-style automated care system according to claim 1, wherein: an excrement collecting barrel is arranged right below the defecation through groove.

7. A caregiver-style automated care system according to claim 1, wherein: the food delivery mechanism also comprises a feeding mechanical arm; the feeding mechanical arm comprises a first rotary steering engine, an arm seat, a second rotary steering engine, a joint and a feeding frame; the joint consists of a driving steering engine and a rotating frame; an output shaft of the driving steering engine is fixed with the rotating frame; m joints, m is more than or equal to 2 and less than or equal to 6; the m joints are sequentially connected in an arranging way, and the rotating frame of the upper-stage joint is fixed with the driving steering engine of the lower-stage joint; the driving steering engine of the joint at the head end is fixed with the arm seat; the arm seat is fixed with an output shaft of the rotary steering engine, and the rotary steering engine is fixed on the connecting plate; a rotating frame of a joint positioned at the tail end is fixed with a second rotary steering engine; an output shaft of the second rotary steering engine is fixed with the feeding frame; a feeding spoon and a drinking pipe are fixed on the feeding frame; the inner end of the drinking water pipe is connected with a drinking water bucket arranged on one side of the bed frame.

8. A caregiver-style automated care system according to claim 1, wherein: the traveling driving assembly comprises wheels and a traveling motor; the four traveling motors are fixed on two sides of the bottom of the saddle in a group of two-by-two centering mode; the output shafts of the four traveling motors are respectively fixed with the four wheels.

9. A caregiver-style automated care system according to claim 1, wherein: the first overturning driving piece comprises a first overturning motor, a first lead screw, a first sliding block and a first connecting rod; the first lead screw is supported on the bed frame; the first turnover motor is fixed on the bed frame; an output shaft of the first turnover motor is fixed with one end of a first lead screw; the first sliding block and the bedstead form a sliding pair, and the first sliding block and the first screw rod form a screw pair; one end of the first connecting rod is hinged with the first sliding block, and the other end of the first connecting rod is hinged with the back plate;

the second overturning driving piece comprises a second overturning motor, a second lead screw, a second sliding block and a second connecting rod; the second lead screw is supported on the bed frame; the second turnover motor is fixed on the bed frame; an output shaft of the second overturning motor is fixed with one end of a second screw rod; the second sliding block and the bedstead form a sliding pair and form a screw pair together with the second screw rod; one end of the second connecting rod is hinged with the second sliding block, and the other end of the second connecting rod is hinged with the thigh plate.

10. A caregiver-style automated care system according to claim 1, wherein: the lifting driving piece comprises a lifting motor, a lifting lead screw, a lifting sliding block, a lifting connecting rod and a lifting fixing rod; the lifting screw rod is supported on the bed frame; the lifting motor is fixed on the bed frame; an output shaft of the lifting motor is fixed with one end of the lifting screw rod; the lifting slide block and the bedstead form a slide pair, and form a screw pair with the lifting screw rod; one end of the lifting connecting rod and the lifting sliding block form a transmission pair, and the other end of the lifting connecting rod is hinged with one end of the lifting fixing rod; the other end of the lifting fixing rod is fixed with the lifting plate;

the sliding driving piece comprises a sliding motor, a sliding gear and a sliding rack; the sliding motor is fixed with the bedstead; an output shaft of the sliding motor is fixed with the sliding gear; a sliding cover plate of the sliding rack is fixed; the sliding gear is meshed with the sliding rack;

the transverse driving piece comprises a transverse motor and a transverse lead screw; the transverse lead screw is supported on the transverse carriage; the transverse sliding block and the transverse screw rod form a screw pair; the transverse moving motor is fixed on the transverse sliding frame; an output shaft of the transverse moving motor is fixed with one end of the transverse moving screw rod;

the longitudinal movement driving piece comprises a longitudinal movement motor and a longitudinal movement screw rod; the longitudinal moving lead screw is supported on the longitudinal sliding frame; the longitudinal slide block and the longitudinal moving screw rod form a screw pair; the longitudinal movement motor is fixed on the longitudinal sliding frame; an output shaft of the longitudinal movement motor is fixed with one end of the longitudinal movement screw rod;

the first joint motor is fixed on the longitudinal sliding block; an output shaft of the first joint motor is fixed with the turnover rod;

the second joint motor is fixed on the turnover rod; an output shaft of the second joint motor is fixed with the connecting plate;

the push-out driving part comprises a push-out lead screw and a push-out motor; the push-out lead screw is supported on the push-out sliding frame; the push-out motor is fixed with the push-out sliding frame; an output shaft of the push-out motor is fixed with one end of the push-out screw rod; the push-out sliding block and the push-out lead screw form a screw pair;

the storage lifting mechanism comprises a storage screw rod, a storage sliding block, a synchronous belt wheel, a synchronous belt and a storage motor; two vertically arranged storage screw rods are respectively supported on two sides of the storage frame; the two storage sliding blocks and the two storage screw rods respectively form a screw pair; the two synchronous belt wheels are respectively fixed with the top ends of the two storage screw rods; the two synchronous belt wheels are connected through a synchronous belt; the storage motor is fixed on the storage frame; an output shaft of the storage motor is fixed with one end of one of the storage screw rods; the two storage sliding blocks are both fixed with the second rest stand.

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