CN2780147Y - Medical cobot electric nursing bed - Google Patents

Abstract

The utility model relates to a medical robot electric nursing bed which comprises a bed body and a medical robot, wherein the lower trunk of the robot is fixedly provided with an upper sliding block and a lower sliding block. Tooth-shaped wheels are arranged on the sliding blocks of the robot; an upper and a lower slide ways for the robot which are positioned on the bed body and the upper and the lower sliding blocks are in slide connection; the tooth-shaped wheels are engaged with tooth-shaped belts which are arranged on the slide ways; the tooth-shaped wheels are driven to walk on the slide ways for the robot by a walking motor. A bed head, a bed tail and fixed bed legs are in the slide connection, and a human body lifting platform is composed of the bed head and the bed tail. The platform is driven to rise and fall by a motor, people can be lifted, rotated and turned over by a power roller and a rotating belt, wherein the power roller is connected to the medical robot electric nursing bed, and the rotating belt is laid on the power roller. A bedpan conveying mechanism which is arranged below the bed is provided with a bedpan taking device and a bedpan lifting platform. A massage mechanism, a pillow plate lifting device, a backrest landing gear and a piss hole slide device are connected to the bed body. The medical robot electric nursing bed can automatically turn over, massage and replace the bedpan for patients; the robot can cover quilts, offer water and medicines, and draw out transfusion needles for the patients, so the utility model has the advantages that the utility model performs multifunction of medical nursing, the work amount of nursing personnel can be lightened, etc.

Description

Medical robot electric nursing bed

(1) technical field

This utility model relates to medical apparatus and instruments, particularly relates to medical robot electric nursing bed.

(2) background technology

Existing ordinary hospital bed can only provide the patient to have a rest, improvement along with medical condition, it is many with the sick bed kind of nursing to have treatment, as special-purpose medical bedsteads such as lifting bed, vibrations bed, extension tables, mostly nursing bed is that the bed body is provided with the bed board of flexible or bending certain angle, sits for sleeping in or change bed posture to adapt to the patient.The nursing bed that has plenty of physiotherapy functions such as the double part massage of nursing, magnetic therapy, traction, its weak point is that machine driving is simpler, by patient or the nursing staff is electronic and manually achieve the goal, paralysed patient is inapplicable to height, can not take care of oneself at walking, and the patient of long-term bed more needs patient is palliated the agonizing sufferings, alleviate nursing staff's workload, automatically control can have total care to patient, can play the novel nursing bed of medical function again.

(3) summary of the invention

The technical problems to be solved in the utility model, be use the Medical Robot to the patient cover quilt, send drinking-water, drug delivery, pull out transfusion needle, folding and unfolding dining table, pound one's back, amusement, sick bed are risen and fallen automatically, stand up automatically for the patient, automatic massage, automatically roll up quilt, automatically change cotton-padded mattress, change the medical robot electric nursing bed of bedpan, defecation flushing, feces processing automatically.

The technical scheme that adopts is:

Medical robot electric nursing bed, comprise a body, Medical Robot, robot slide with elevating mechanism, human body hold up automatic turning over mechanism, massage mechanism, bedpan conveying mechanism, volume by roller, volume cotton-padded mattress mechanism, pillow plate lowering or hoisting gear, backboard take-off and landing device, just the oralia carriage, wash clean device and dining table after an action of the bowels.The bed body comprises lower margin, fixedly footpost, lathe bed, bed surface.Lathe bed is a frame structure, fixedly connected four the fixing footposts of lathe bed, and bed surface is contained on the lathe bed, and four lower margins are contained in fixedly footpost bottom respectively, constitute a bed body.

Described Medical Robot comprises lower trunk, last trunk, shoulder, big arm, forearm, robot arm, warpage driving device, cross axle stretching device, robot arm opening-closing device.Lower trunk is installed with top shoe and sliding block, top shoe and sliding block all are equipped with walking flute profile wheel, the propel driving shaft two ends are fixing with walking flute profile wheel, the robot ambulation motor output shaft is connected the propel driving shaft lower end, lower trunk is provided with rotating shaft, and robot electric rotating machine output shaft is connected the rotating shaft lower end.The fixedly connected rotating shaft of last trunk, shoulder is connected by the warpage driving device with last trunk, and big arm is connected by the cross axle stretching device with shoulder, and forearm is connected by the warpage driving device with big arm, and robot arm is connected by the robot arm opening-closing device with forearm.

Described robot slides and elevating mechanism, comprises slip footpost, robot sliding way, robot glide path.Before and after four slip footposts and the bed body four fixedly footpost be slidingly connected, two cover robot sliding ways and robot glide path are separately fixed on the slip footpost of a body both sides, constitute the robot hoistable platform.The Medical Robot is slidingly connected on robot sliding way and the robot glide path by the top shoe on the lower trunk, sliding block, and the walking flute profile that walking flute profile that top shoe is provided with wheel and sliding block are provided with is taken turns and is engaged on respectively on the flute profile band that robot sliding way and robot glide path set firmly.Four fixedly the top of footpost robot hoistable platform top sheave all is housed, four fixedly the bottom of footpost robot hoistable platform lower sheave all is housed, be equiped with robot hoistable platform driving shaft under the bed body, robot hoistable platform rolling wheel is equipped with at its two ends, the output shaft of robot hoistable platform motor connects the power shaft of robot hoistable platform worm and gear variable-speed motor, and its output shaft connects robot hoistable platform driving shaft.Article two, robot hoistable platform steel wire rope is respectively by both sides pile warp robot hoistable platform top sheave, robot hoistable platform lower sheave and the robot hoistable platform rolling wheel of bed body, on the slip footpost, volume is rotatably connected on two slip footposts top, back of a body by the roller inner electric machine before and after the fixedly connected respectively bed body in two ends.

Described human body holds up automatic turning over mechanism, comprises that the head of a bed, tailstock, unpowered rotation carrying roller, human body hold up rotating band, live roll, live roll motor.Two the unpowered rotation carrying roller two ends and the head of a bed and tailstock rotate assembling, lay respectively at the bed surface both sides, and two live rolls are supported on the lathe bed with bearings at both ends, are positioned at the both sides under the bed surface, and an end of two live rolls respectively connects a live roll motor.The head of a bed and tailstock respectively with the bed body preceding two fixedly footpost and latter two fixedly footpost be slidingly connected, constitute human body and hold up platform.Four fixedly the top of footpost human body all be housed hold up the platform top sheave, four fixedly footpost bottom human body be housed hold up the platform lower sheave, under the bed body human body is housed and holds up the platform driving shaft, its two ends are equipped with human body and are held up the platform rolling wheel, and the output shaft that human body holds up the platform motor connects human body picking-up platform driving shaft.Article two, human body holds up the platform steel wire rope and holds up platform top sheave, human body picking-up platform lower sheave and human body picking-up platform rolling wheel, the fixedly connected head of a bed of an end, the fixedly connected tailstock of the other end by the both sides pile warp human body of bed respectively.Human body holds up rotating band and is laid on two unpowered rotation carrying rollers, and its two ends are separately fixed on two live rolls, and on live roll.

Described massage mechanism comprises massage slideway, Massage roller slide block, Massage roller, flute profile band, flute profile wheel, massage line shaft, massage motor.Massage roller is made up of rubber roll, vibrating roller and magnetic roller, rubber roll is contained in the middle part of Massage roller slide block, and be rotationally connected, vibrating roller is contained in the rubber roll both sides respectively with the magnetic roller and fixedlys connected with the Massage roller slide block, wherein dress eccentric shaft and the power motor that is attached thereto in the vibrating roller.The massage slideway is fixed on the lathe bed, described Massage roller slide block is slidingly connected with the massage slideway, massage line shaft and massage driven shaft are connected on the massage slideway two ends by bearing, the flute profile wheel all is equipped with at the two ends of massage line shaft and massage driven shaft, the flute profile wheel at two ends connects by the flute profile band, Massage roller slide block both sides are connected with the flute profile band, and the massage motor output shaft connects the massage line shaft.

Described bedpan conveying mechanism, comprise get the basin device, push away the basin swing arm, bedpan lifting platform, lifting platform slideway, bedpan output band.Four lifting platform slideways are installed with the flute profile band, its bottom with the fixed distance set on the underframe of lathe bed.Get in the basin device and establish stretching lingual plate, both ends of the surface are provided with guide rail, getting the basin device for two is slidingly connected with two ends guide rail and lifting platform slideway and the set guide groove of lathe bed column respectively, the lathe bed top is provided with gets basin device lifting pulley, the bottom is provided with gets basin device lifting motor, get the basin device and promote motor output shaft and be equipped with and get basin device lifting rolling wheel, two halliard one ends are fixed on gets basin device top, is fixed on and gets on the basin device lifting rolling wheel through getting behind the basin device lifting pulley other end.Two bottoms of getting the basin device respectively connect a spring, and the underframe of spring bottom and lathe bed is fixed.Pushing away the basin swing arm is rotatably connected on the upper frame of lathe bed by arm axle, arm axle one end is equipped with torsion spring, torsion spring one end and lathe bed are fixed, the other end with push away the basin swing arm and fix, push away the basin swing arm and fix a stay cord, movable pulley under stay cord pile warp fixed pulley and the just oralia on the set active lever is on one's body stay cord other end fixed bed.Described active lever bottom connects on the lathe bed with bearing pin, and the active lever bottom is provided with extension spring, under the pulling of extension spring, on active lever upper end and the bed surface just the collision axle of oralia be connected.The bedpan lifting platform comprises sliding frame, lifter plate, bedpan supporting plate, lifting shaft, decelerator, lifting motor, flute profile wheel.The sliding frame left and right sides is provided with axle sleeve, two lifting shafts are contained in sliding frame left side and right side respectively by the left and right sides axle sleeve, one end of each lifting shaft connects transmission output shaft, transmission input shaft connects the lifting motor output shaft, the flute profile wheel is equipped with at each lifting shaft two ends, flute profile band engagement on flute profile wheel and the lifting platform slideway.Dress lifter plate in the sliding frame, outer dress lifter plate pulling motor, its output shaft is equipped with the lifter plate rolling wheel, and sliding frame is equipped with lifter plate top sheave, lifter plate lower sheave and lifter plate rolling wheel, its two ends are all fixed with lifter plate, and lifter plate can slide up and down in sliding frame.The bedpan supporting plate is two, one of them is provided with the resistance wire that the plastic bag packing is sealed, it is suitable for reading that two symmetries are contained in sliding frame, and with sliding frame on oralia be slidingly connected, two bedpan supporting plates are provided with and open stay cord and closed stay cord, open stay cord one end and bedpan supporting plate and fix, lifter plate top sheave and the bed surface of the other end on sliding frame fixed, closed stay cord one end and bedpan supporting plate are fixed, and the lifter plate lower sheave of the other end through being connected on the sliding frame connects extension spring, fixes with lifter plate again.Described bedpan output band is installed on the underframe of lathe bed, is positioned at bedpan lifting platform below.

Described volume cotton-padded mattress roller is established two covers, four rollers altogether, two rollers are for leading cotton-padded mattress roller, two rollers for rolling up the cotton-padded mattress roller, lead cotton-padded mattress roller and all interior dress rotary electric machine of volume cotton-padded mattress roller, the underframe left and right sides of lathe bed sets firmly four pairs of bearings, two are led the cotton-padded mattress roller and all are rotatably connected on the preceding two pairs of bearings of lathe bed with two ends, and two volume cotton-padded mattress rollers all are rotatably connected on behind the lathe bed on two pairs of bearings with two ends.

Above-mentioned Medical Robot's warpage driving device is made up of warpage motor, leading screw, screw, trocar sheath, inner sleeve.Leading screw, screw, inner sleeve are contained in the trocar sheath, the tube head of inner sleeve is connected with the output shaft of warpage motor, the inner sleeve other end and screw are fixed, leading screw screws in screw, stay pipe suit leading screw, spring housing is contained on the leading screw, and its two ends are replaced on stay pipe and screw, leading screw one end is connected with central, transverse axis, and the regulation of mental activities transverse axis is fixedlyed connected with trocar sheath.

Above-mentioned Medical Robot's cross axle stretching device is made up of cross axle, baffle plate, arm-tie, arm-tie axle, stretching leading screw, stretching screw and stretching motor.Cross axle is a hollow-core construction, its lateral shaft two ends are rotationally connected with shoulder and big arm respectively, in shoulder side and big arm side baffle plate is housed, and be fixed on the lateral shaft with nut, arm-tie is equipped with in arm-tie axle both sides, the other end of two arm-ties respectively with dowel fixes on shoulder and big arm, the stretching screw is connected with the arm-tie axle, the end that the stretching leading screw installs the longitudinal axis of cross axle and screws in stretching screw, stretching leading screw is connected with the stretching motor output shaft.

Above-mentioned robot arm opening-closing device is made up of hands opening and closing motor, hands opening and closing leading screw, hands opening and closing screw, hands neck, palm, finger, connecting plate and slide block.Hands opening and closing motor is contained in the steel pipe, its output shaft connects hands opening and closing screw, one end of hands opening and closing leading screw screws in hands opening and closing screw, the other end and the slide block of hands opening and closing leading screw are fixed, slide block is connected with volar glide, two connecting plate one ends are rotatably connected on the palm with bearing pin, and the other end is rotationally connected two with bearing pin and points, and the finger fulcrum sentences bearing pin and palm is rotationally connected.

Above-mentioned pillow plate lowering or hoisting gear is by pillow plate lifting motor, pillow plate, fixedly skewback, slip skewback, swing arm, arm shaft, axle bed and connecting plate are formed.The pillow plate is connected with fixing skewback, and fixedly skewback and axle bed are slidingly connected, and axle bed is fixed on the body, an end of swing arm with rest the head on plate lifting motor output shaft and be connected, the other end is connected with the slip skewback by arm shaft.

Above-mentioned backboard take-off and landing device, by the motor that rises and falls, worm-gear speed reducer, backboard, play doff, rise and fall support arm and rotation carrying roller form.The motor output shaft that rises and falls connects the worm-gear speed reducer power shaft, worm-gear speed reducer is contained in below the massage slideway, play the output shaft that doff connects worm-gear speed reducer, support arm one end that rises and falls has been contained on the doff, the other end is equipped with the rotation carrying roller, the rotation carrying roller contacted with the following of backboard, and backboard one end and bed surface are hinged.

Above-mentioned just oralia carriage is by just oralia, swing arm and balance staff are formed.Balance staff divide to be gone up balance staff and following balance staff, goes up balance staff for two and is contained in just on the oralia, and two following balance staffs are contained on the lathe bed, and two swing arms are rotatably connected on two respectively upward on balance staff and two the following balance staffs.The power that slides is from the support arm that rises and falls on the backboard take-off and landing device, the support arm that rises and falls is equipped with running block, the fixed pulley group is located at before the bed and is contained on the lathe bed, fixed pulley is located at just below the oralia and is contained on the lathe bed, just an end of mouthful stay cord is fixed on just on the oralia, pile warp fixed pulley, fixed pulley group, running block are fixed on the other end on the lathe bed.

Above-mentionedly wash clean device after an action of the bowels, form by water tank, water pump, warm-air drier, Flushing nozzle and flushing motor.Water tank is located at bed down, water pump is located on the water tank, Flushing nozzle is contained on the frame plate that lathe bed sets firmly, flushing motor and fast pulley all are contained on the frame plate, rubber friction wheel is contained on the output shaft of flushing motor, the Flushing nozzle outer wall is connected with rubber friction wheel and a plurality of fast pulley, and Flushing nozzle is connected with water pump by flexible pipe, and warm-air drier is contained on the frame plate.

Above-mentioned dining table is contained on robot sliding way and the robot glide path.

But this medical robot electric nursing bed system program control, also can freely handle, applied for machines people is for the patient is covered quilt, sent drinking-water, drug delivery, pull out transfusion needle, folding and unfolding dining table, amusement, sick bed rises and falls automatically, for the patient stands up automatically, automatic massage, automatically change cotton-padded mattress, change bedpan, defecation flushing, feces processing etc. automatically, it is multi-functional to patient's total care to have the collection medical treatment and nursing, alleviates advantages such as nursing staff's workload and patient's misery.

(4) description of drawings

Fig. 1 is this utility model structural representation.

Fig. 2 is the vertical view of Fig. 1.

Fig. 3 is the left view of Fig. 1.

Fig. 4 is the lifting actuator sketch map that robot hoistable platform and human body hold up platform.

Fig. 5 is Medical Robot's structural representation.

Fig. 6 is Medical Robot's a warpage driving device sketch map.

Fig. 7 is Medical Robot's a cross axle stretching device.

Fig. 8 is Medical Robot's a robot arm opening-closing device sketch map.

Fig. 9 is pillow plate lowering or hoisting gear sketch map.

Figure 10 is the massage mechanism sketch map.

Figure 11 is a backboard lowering or hoisting gear sketch map.

Figure 12 is just oralia carriage sketch map.

Figure 13 is a bedpan conveying mechanism layout drawing.

Figure 14 is for getting basin device sketch map.

Figure 15 is for pushing away basin actuating device sketch map.

Figure 16 is a bedpan lifting platform sketch map.

Figure 17 is a bedpan lifting actuator sketch map.

Figure 18 is the packing of plastic bag after an action of the bowels closing device sketch map.

Figure 19 is a Flushing nozzle actuating device sketch map.

(5) specific embodiment

Medical robot electric nursing bed, comprise a body, Medical Robot 9, robot slides with elevating mechanism, human body hold up automatic turning over mechanism, massage mechanism 8, bedpan conveying mechanism, volume by roller 5, volume cotton-padded mattress mechanism, pillow plate lowering or hoisting gear 10, backboard take-off and landing device 26, just oralia carriage 104, wash clean device and dining table 3 after an action of the bowels.

Described bed body comprises fixedly footpost 2, lathe bed 20, bed surface 24, lower margin 15.Lathe bed 20 is a frame structure, fixedly connected four the fixing footposts 2 of lathe bed 20, and bed surface 24 is mated formation on lathe bed 20, and four lower margins 15 are contained in four fixedly footpost 2 bottoms respectively, constitute a bed body.

Described Medical Robot 9 comprises lower trunk 43, last trunk 45, shoulder 47, big arm 48, forearm 49, robot arm 50, warpage driving device 51, cross axle stretching device 52, robot arm opening-closing device 53.Lower trunk 43 is installed with top shoe 41 and sliding block 39, top shoe 41 and sliding block 39 all are equipped with walking flute profile wheel 38, propel driving shaft 40 two ends are fixing with walking flute profile wheel 38, robot ambulation motor 37 output shafts are connected propel driving shaft 40 lower ends, lower trunk 43 is provided with rotating shaft 44, and robot electric rotating machine 42 output shafts are connected rotating shaft 44 lower ends.Last trunk 45 is provided with the hinge 46 of takeing on 47 flexibles with robot, and last trunk 45 is fixing with rotating shaft 44.Described warpage driving device 51 is made up of warpage motor 54, leading screw 62, screw 61, trocar sheath 56, inner sleeve 58.Leading screw 62, screw 61, inner sleeve 58 are contained in the trocar sheath 56, the tube head of inner sleeve 58 is connected with the output shaft of warpage motor 54, inner sleeve 58 other ends and screw 61 are fixing, screw mandrel 62 screws in screw 61, stay pipe 57 suit leading screws 62, spring housing 59 is contained on the leading screw 62, and its two ends are low to withstand on stay pipe 57 and the screw 61, leading screw 62 1 ends are connected with central, transverse axis 60, and regulation of mental activities transverse axis 55 is fixedlyed connected with trocar sheath 56.Warpage driving device 51 is installed on shoulder 47, goes up on trunk 45 and the lower trunk 43, and wherein regulation of mental activities transverse axis 55 is contained on the shoulder 47, and central, transverse axis 60 is rotatably connected on the lower trunk 43.Warpage motor 54 rotates and drives inner sleeve 58 and screw 61 rotations, leading screw 62 screwed in the inner sleeves 58, and be that break makes shoulder 47 to lower swing with regulation of mental activities transverse axis 55, the robot warpage hinge 46 that above trunk 45 is provided with is bent downwardly, and reaches the purpose that robot bends over.Equally, the regulation of mental activities transverse axis 55 of warpage driving device 51 is adorned on the big arm 48, and its central, transverse axis 60 is rotatably connected on the forearm 49, and warpage motor 54 rotates, and is that break makes forearm 49 swings with regulation of mental activities transverse axis 55, reaches crooked and stretches purpose.Cross axle stretching device 52 is made up of cross axle 65, baffle plate 66, arm-tie 64, arm-tie axle 63, stretching leading screw 69, stretching screw 68 and stretching motor 67.Cross axle 65 is a hollow-core construction, its lateral shaft two ends are rotationally connected with the shoulder 47 and the big arm 48 of robot respectively, in shoulder 47 sides and big arm 48 sides plate washer 66 is housed all, and be fixed on the lateral shaft two ends with nut, arm-tie 64 is equipped with in arm-tie axle 63 both sides, the other end of two arm-ties 64 respectively with dowel fixes on shoulder 47 and big arm 48, stretching screw 68 is connected with arm-tie axle 63, stretching leading screw 69 installs the longitudinal axis of cross axle 65 and screws in stretching screw 68, and an end of stretching leading screw 69 is connected with stretching motor 67 output shafts.When stretching motor 67 rotates, drive 69 rotations of stretching leading screw, stretching screw 68 moves upward, and arm-tie axle 63 moves upward at this moment, and arm-tie 64 motions fixed with it promote big arm 48 and rise, and cross axle 65 stressed rotations simultaneously realize that big arm 48 is around shoulder 47 rotations.Be provided with steel pipe 70 in the forearm 49, dress robot arm rotary electric machine 71 in the steel pipe 70, robot arm rotary electric machine 71 output shafts are fixing by fixed block and steel pipe 70, and steel pipe 70 two ends and forearm 49 are rotationally connected, and are fixed on the robot arm 50 to robot arm 50 extensions.When 71 rotations of robot arm motor, the moving robot arm 50 of steel pipe 70 rotating bands rotates.Robot arm opening-closing device 53 is made up of hands opening and closing motor 79, hands opening and closing leading screw 77, hands opening and closing screw 78, hands neck 72, palm 73, finger 74, connecting plate 75 and slide block 76.Hands opening and closing motor 79 is contained in the steel pipe 70, its output shaft connects hands opening and closing screw 78, one end of hands opening and closing leading screw 77 screws in hands opening and closing screw 78, the other end of hands opening and closing leading screw 77 and slide block 76 are fixing, slide block 76 is slidingly connected with palm 73, two connecting plate 75 1 ends are rotatably connected on the palm 73 with bearing pin, and the other end is rotationally connected two with bearing pin and points 74, point that 74 fulcrums are sentenced bearing pin and palm 73 is rotationally connected.When hands opening and closing motor 79 starts, hands opening and closing screw 78 rotating bands are started 77 spinning in and out of opening and closing leading screw, 76 motions of pulling slide block, and the connecting plate 75 that is connected with slide block 76 is made push pull maneuver, realizes opening and clutching action of robot arm 50.

Described robot slides and elevating mechanism, comprises slip footpost 23, robot sliding way 4, robot glide path 1.Before and after four slip footposts 23 and the bed body four fixedly footpost 2 be slidingly connected, two cover robot sliding ways 4 and robot glide path 1 are separately fixed on the slip footpost 23 of a body both sides, constitute the robot hoistable platform.Medical Robot 9 is slidingly connected on robot sliding way 4 and the robot glide path 1 by the top shoe on the lower trunk 41, sliding block 39, and the walking flute profile that walking flute profile that top shoe 41 is provided with wheel and sliding block 39 are provided with is taken turns 38 and is engaged on respectively on the flute profile band that robot sliding way 4 and robot glide path 1 set firmly.Drive walking flute profile wheel 38 rotations on two by the propel driving shaft 40 that is connected with movable motor 37, along rolling on the flute profile band of robot sliding way 4 and robot glide path 1, robot electric rotating machine 42 rotates rotating shaft 44, realizes Medical Robot's 9 walkings and rotates purpose.Four fixedly the top of footpost 2 robot hoistable platform top sheave 34 all is housed, four fixedly the bottom of footpost robot hoistable platform lower sheave 36 all is housed, be equiped with robot hoistable platform driving shaft 27 under the bed body, robot hoistable platform rolling wheel 13 is equipped with at its two ends, the output shaft of robot hoistable platform motor 28 connects the power shaft of robot hoistable platform worm and gear variable-speed motor 16, and its output shaft connects robot hoistable platform driving shaft 27.Article two, robot hoistable platform steel wire rope 17 is respectively by both sides pile warp robot hoistable platform top sheave 34, robot hoistable platform lower sheave 36 and the robot hoistable platform rolling wheel 13 of bed body, on the two ends fixedly connected respectively bed body front and back slip footpost 23, robot hoistable platform motor 28 rotates, the robot hoistable platform rolling wheel 13 that drives the two ends of robot hoistable platform driving shaft 27 rotates, 9 liters in pulling robot with fall.

Described human body holds up automatic turning over mechanism, comprises that the head of a bed 21, tailstock 22, unpowered rotation carrying roller 7, human body hold up rotating band 6, live roll 11, live roll motor 12.Two unpowered rotation carrying roller 7 two ends and the head of a bed 21 and tailstock 22 rotate assembling, lay respectively at bed surface 24 both sides, two live rolls 11 are supported on the lathe bed 20 with bearings at both ends, are positioned at the both sides under the bed surface 24, and an end of two live rolls 11 respectively connects a live roll motor 12.The head of a bed 21 and tailstock 22 by the I-shaped slide block respectively with four fixedly footpost 2 be slidingly connected, constitute human body and hold up platform.Four fixedly the top of footpost 2 human body all be housed hold up platform top sheave 33, four fixedly footpost bottom human body be housed hold up platform lower sheave 35, under the bed body human body is housed and holds up platform driving shaft 29, its two ends are equipped with human body and are held up platform rolling wheel 14, the output shaft that human body holds up platform motor 30 connects human body picking-up platform worm-gear speed reducer 18 power shafts, and its output shaft connects human body and holds up platform driving shaft 29.Article two, human body holds up platform steel wire rope 19 and holds up platform top sheave 33, human body picking-up platform lower sheave 35 and the fixedly connected head of a bed 21 of human body picking-up platform rolling wheel 14, one ends, the fixedly connected tailstock 22 of the other end by two pile warp human bodies of bed respectively.Human body holds up rotating band 6 and is laid on two unpowered rotation carrying rollers 7, and its two ends are separately fixed on two live rolls 11, and on live roll 11.Start human body and hold up platform motor 30, the head of a bed 21, tailstock 22 and unpowered rotation carrying roller 7 promote, under the bed surface 20 two cover live roll 11 discharges human body picking-up rotating band 6 to changeing simultaneously, two live roll motors 12 stop when being discharged into preseting length, when human body holds up the height of setting, human body holds up platform motor 30 to be stopped, and live roll motor 12 can rotate again in the same way, and human body can stand up automatically in any rotation of 360 degree.If human body picking-up rotating band 6 falls and is transferred to just mouthful place during defecation, to entering the defecation control sequence on time.

Described pillow plate lowering or hoisting gear is by pillow plate lifting motor 84, pillow plate 80, fixedly skewback 81, slip skewback 87, swing arm 82, arm shaft 83, axle bed 85 and connecting plate 86 are formed.Pillow plate 80 is connected with fixing skewback 81, and fixedly skewback 81 and axle bed 85 are slidingly connected, and axle bed 85 is fixed on the body, an end of swing arm 82 with rest the head on plate lifting motor 84 output shafts and be connected, the other end passes through arm shaft 83 and is connected with slip skewback 87.When 84 rotations of pillow plate lifting motor, swing arm 82, arm shaft 83 rotate, and pulling connecting plate 86 drives 87 motions of slip skewbacks, rests the head on plate 80 rise and fall.

Described massage mechanism 8 comprises massage slideway 88, massage motor 91, Massage roller slide block 96, Massage roller, flute profile band 89, flute profile wheel 92, massage line shaft 90.Massage roller is made up of rubber roll 94, vibrating roller 95 and magnetic roller 93, rubber roll 94 is contained in the middle part of Massage roller slide block 96, and be rotationally connected, vibrating roller 95 and magnetic roller 93 are contained in rubber roll 94 both sides respectively, and fixedly connected wherein dress eccentric shafts and the power motors that are attached thereto in the vibrating roller 95 with Massage roller slide block 96.Massage slideway 88 is fixed on the lathe bed 20, described Massage roller slide block 96 is slidingly connected with massage slideway 88, massage line shaft 90 and massage driven shaft 97 are connected on massage slideway 88 two ends by bearing, flute profile wheel 92 all is equipped with at the two ends of massage line shaft 90 and massage driven shaft 97, the flute profile wheel 92 at two ends connects by flute profile band 89, Massage roller slide block 96 both sides are connected with flute profile band 89, and massage motor 91 output shafts connect massage line shaft 90.Rotate 89 motions of drive flute profile band when massage motor 91, flute profile band 89 drives Massage roller slide blocks 96 back and forth movements, holds up under the automatic turning over mechanism cooperation at human body, and Massage roller carries out magnetic therapy, vibration to a plurality of positions of human body and massages.When stopping to massage, Massage roller slide block 96 is delivered to pillow park below the plate 80.

Described backboard take-off and landing device 26, by the motor 101 that rises and falls, worm-gear speed reducer 99, backboard 98, play doff 100, rise and fall support arm 102 and rotation carrying roller 103 form.Motor 101 output shafts that rise and fall connect worm-gear speed reducer 99 power shafts, worm-gear speed reducer 99 is contained in below the massage slideway 88, play the output shaft that doff 100 connects worm-gear speed reducer 99, support arm 102 1 ends that rise and fall have been contained on the doff 100, the other end is equipped with carrying roller 103, rotation carrying roller 103 contacted with the following of backboard 98, and backboard 98 1 ends and bed surface 24 are hinged.When the motor 101 that rises and falls starts, drive doff 100 and rotated the support arm 102 that rises and falls, rotation carrying roller 103 promotes backboards 98 and rises.

Described just oralia carriage 104 is by just oralia 105, swing arm 106 and balance staff are formed.Balance staff divide to be gone up balance staff 107 and 108, two of following balance staffs and is gone up balance staff 107 and be contained in just on the oralia 105, and two following balance staffs 108 are contained on the lathe bed 20, and two swing arms 106 are rotatably connected on two respectively upward on balance staff 107 and two the following balance staffs 108.The power that slides is from the support arm 102 that rises and falls on the backboard take-off and landing device 26, the support arm 102 that rises and falls is equipped with running block 110, fixed pulley group 111 is located at before the bed and is contained on the lathe bed 20, fixed pulley 109 is located at just below the oralia 105 and is contained on the lathe bed 20, just an end of mouthful stay cord 112 is fixed on just on the oralia 105, pile warp fixed pulley 109, fixed pulley group 111, running block 110 are fixed on the other end on the lathe bed 20.When support arm 102 action of rising and falling, when promoting backboard 98 and rising,, oralia 105 is opened by just mouthful stay cord 112 pulling swing arms 106.

Described bedpan conveying mechanism, comprise get basin device 113, push away basin swing arm 114, bedpan lifting platform 115, lifting platform slideway 116, bedpan output be with 25.Four lifting platform slideways 116 are installed with flute profile band 118, its bottom with the fixed distance set on the underframe of lathe bed 20.Get and establish stretching lingual plate 121 in the basin device 113, both ends of the surface are provided with guide rail 122, getting basin device 113 for two is slidingly connected with two ends guide rail 122 and lifting platform slideway 116 and the set guide groove of lathe bed 20 columns respectively, lathe bed 20 tops are provided with gets basin device lifting pulley 123, the bottom is provided with gets basin device lifting motor 124, getting the basin device promotes motor 124 output shafts and is equipped with and gets basin device lifting rolling wheel 125, two halliard 126 1 ends are fixed on gets basin device 113 tops, respectively hangs oneself to get the basin device lifting pulley 123 back other ends and be fixed on and get on the basin device lifting rolling wheel 125.Two bottoms of getting basin device 113 respectively connect a spring 127, and spring 127 is fixed with the underframe of lathe bed 20.Pushing away basin swing arm 114 is rotatably connected on the upper frame of lathe bed 20 by swing arm shaft 117, swing arm shaft 117 1 ends are equipped with torsion spring 128, torsion spring 128 1 ends and lathe bed 20 are fixing, the other end is with to push away basin swing arm 114 fixing, push away basin swing arm 114 and fix a stay cord 129, stay cord 129 pile warp fixed pulleys 130 and the just movable pulley 132 on 105 times set active levers 133 of oralia are with stay cord 129 other ends fixedly on the lathe bed 20.Described movable thick stick 133 bars bottom connects on the lathe bed 20 with bearing pin, and active lever 133 bottoms are provided with extension spring 134, and under the pulling of extension spring 134, active lever 133 upper ends are connected with the just collision axle 131 of oralia 105.Bedpan lifting platform 115 comprises sliding frame 119, lifter plate 135, bedpan supporting plate 137, lifting shaft 136, worm type of reduction gearing 138, lifting motor 139, flute profile wheel 120.Sliding frame 119 left and right sides are equipped with axle sleeve 140, two lifting shafts 136 are contained in sliding frame 119 left sides and right side respectively by the axle sleeve 140 of left and right sides, one end of each lifting shaft 136 connects worm gear and endless screw speed changer 138 output shafts, worm gear and endless screw speed changer 138 power shafts connect lifting motor 139 output shafts, flute profile wheel 120 is equipped with at each lifting shaft 136 two ends, flute profile band 118 engagements on flute profile wheel 120 and the lifting platform slideway 116.Dress lifter plate 135 in the sliding frame 119, outer dress lifter plate pulling motor 141, its output shaft is equipped with lifter plate rolling wheel 142, sliding frame 119 is equipped with lifter plate top sheave 144, lifter plate lower sheave 143, lifter plate stay cord 145 pile warp lifter plate top sheaves 144, lifter plate lower sheave 143 and lifter plate rolling wheel 142, its two ends are all fixing with lifter plate 135, and lifter plate 135 can slide up and down in sliding frame 119.Bedpan supporting plate 137 is two, one of them is provided with the resistance wire 149 that the plastic bag packing is sealed, it is suitable for reading that two symmetries are contained in sliding frame 119, and with sliding frame 119 on oralia be slidingly connected, two bedpan supporting plates 137 are provided with and open stay cord 146 and closed stay cord 147, it is fixing to open stay cord 146 1 ends and bedpan supporting plate 137, the lifter plate top sheave 144 of the other end on sliding frame 119 is fixing with bed surface 24, closed stay cord 147 1 ends and bedpan supporting plate 137 are fixing, the lifter plate lower sheave 143 of the other end on sliding frame 119 connects extension spring 148, and be fixing with lifter plate 135 again.Described bedpan output is installed on the underframe of lathe bed 20 with 25, is positioned at bedpan lifting platform 115 belows, and bedpan output drive roll 31 connects bedpan output motor 32.When the patient needs defecation, the lifting motor 139 of bedpan lifting platform 115 starts, driving lifting shaft 136 rotates, the gear type band 118 that the flute profile wheel 120 of lifting shaft 136 prolongs on the lifting platform slideway 116 rises, bedpan lifting platform 115 is risen, lifter plate pulling motor 141 starts, driving lifter plate 135 rises, get the basin device and promote motor 124 startups, it is downward to get basin device 113, its both sides stretching lingual plate 121 is clamped bedpan, getting the basin device promotes motor 124 and drives again and get basin device 113 and move upward to put in place and stop, just oralia 105 is opened simultaneously, just the collision axle on the oralia 105 131 promotes active lever 133 motions, stay cord 129 pullings push away basin swing arm 114 and bedpan are pushed on the lifter plate 135 of bedpan lifting platform 115, lifter plate 135 moves downward again, bedpan drops to bedpan supporting plate 137 positions, bedpan lifting platform 115 rises overally just below the oralia 105, and after an action of the bowels, bedpan lifting platform 115 descends, drive bedpan supporting plate 137 and open the disengaging bedpan, the closed stay cord 147 pulling bedpan supporting plates of bedpan supporting plate this moment 137 closures, the plastic bag packing is sealed in resistance wire 149 energisings on the bedpan supporting plate 137, be with 25 when bedpan lifting platform 115 drops to bedpan output, bedpan is transported to the outer processing of bed.

Described volume is by dress electric rotating machines in the roller 5, is located on two slip footposts 23 behind the bed, and volume is rotatably connected on two slip footpost 23 tops by roller 5 two ends.Volume is fixed two straps by roller 5 two ends, the strap lower end be connected with buckle by the angle, volume is rotated rolled-up by roller 5, the robot hoistable platform rises to make and is left bed surface 24, if lid by time volume by roller 5 playback, on one's body the patient, two straps can connect projection screen to Medical Robot 9, can supply patient's amusement by the robot manipulation with tegmentum.

Described volume cotton-padded mattress roller is established two covers, four rollers altogether, two rollers for lead cotton-padded mattress roller 150, two rollers are volume cotton-padded mattress roller 151, lead cotton-padded mattress roller 150 and volume cotton-padded mattress roller 151 all interior dress rotary electric machines, the underframe left and right sides of lathe bed 20 sets firmly four pairs of bearings 152, two are led cotton-padded mattress roller 150 and all are rotatably connected on lathe bed 20 preceding two pairs of bearings 152 with two ends, and two volume cotton-padded mattress 151 rollers all are rotatably connected on lathe bed 20 back two pairs of bearings 152 with two ends.Cotton-padded mattress connects and to lead the cotton-padded mattress strap, and cotton-padded mattress is wound on the cotton-padded mattress roller 151, and lead the cotton-padded mattress strap and be wound on through bed surface 24 and the forward and backward volume cotton-padded mattress carrying roller 153 of bed and lead on the cotton-padded mattress roller 150, after human body holds up platform and rises, rollable cotton-padded mattress or replacing cotton-padded mattress.

Describedly wash clean device after an action of the bowels, form by water tank 154, water pump 155, warm-air drier 156, Flushing nozzle 157 and flushing motor 158.Water tank 154 is located at bed down, water pump 155 is located on the water tank 154, Flushing nozzle 157 is contained on the frame plate 161 that lathe bed 20 sets firmly, flushing motor 158 and fast pulley 160 all are contained on the frame plate 161, rubber friction wheel 159 is contained on the output shaft of flushing motor 158, Flushing nozzle 157 outer arms are connected with rubber friction wheel 159 and three fast pulleys 160, and Flushing nozzle 157 is connected with water pump 155 by flexible pipe, and warm-air drier 156 is contained on the frame plate 161.The 158 positive and negative rotations of flushing motor drive rubber friction wheel 159 positive and negative rotations and make Flushing nozzle 158 along fast pulley 160 back and forth movements, and the nozzle 162 on the Flushing nozzle 157 is with the water ejection simultaneously, and realization is washed clean after an action of the bowels, again by warm-air drier 156 oven dry.

Described dining table 3 is contained on robot sliding way 4 and the robot glide path 1.The lifting of dining table 3 random device people hoistable platforms, the height of adjustable dining table 3.

Electric control cabinet 163 is located on the lathe bed 20.Medical robot electric nursing bed control mode is divided into system program control and freely handles two kinds, system program is controlled to be a key operation formula, as several human body rotations and the massaging way of setting, Massage roller and human body hold up cooperatively interacting of platform, and the volume bedding that defecation is prepared, backrest rise, open the plate that slides just, promote bedpan, flushing oven dry after an action of the bowels, feces is packed automatically and be delivered to that bed is outer all to need system program action.The exercises that but free operant button free adjustment is finished, and robot raises, backrest rises, the people stops the picking-up rotation, massage reaches desirable degree of freedom.Also can pass through finite control, connect computer control, monitoring arrangement Long-distance Control, utilize the photographic head on indoor, the head of a bed, the robot to do Long-distance Control by computer, if connecing the Internet can see ill relatives and friend in the strang country, by artificial patient care of computer operating machine and care relatives' purpose.

Claims (9)

1, medical robot electric nursing bed, comprise a body, Medical Robot (9), robot slides and elevating mechanism, human body holds up automatic turning over mechanism, massage mechanism (8), the bedpan conveying mechanism, volume is by roller (5), volume cotton-padded mattress mechanism, pillow plate lowering or hoisting gear (10), backboard take-off and landing device (26), just oralia carriage (104), wash after an action of the bowels and buy device and dining table (3), the bed body is by fixing footpost (2), lathe bed (20), bed surface (24), lower margin (15) is formed, lathe bed (20) is a frame structure, fixedly connected four the fixing footposts (2) of lathe bed (20), bed surface (24) is mated formation on lathe bed (20), four lower margins (15) are contained in four fixedly footpost (2) bottoms respectively, it is characterized in that:

A; Described Medical Robot (9); Comprise lower trunk (43); Upper trunk (45); Shoulder (47); Big arm (48); Forearm (49); Mechanical hand (50); Warpage drive unit (51); Cross axle stretching device (52); Mechanical hand opening-closing device (53); Lower trunk (43) is installed with top shoe (41) and sliding block (39); Top shoe (41) and sliding block (39) all are equipped with walking flute profile wheel (38); Propel driving shaft (40) two ends are fixing with walking flute profile wheel (38); Robot ambulation motor (37) output shaft is connected propel driving shaft (40) lower end; Lower trunk (43) is provided with rotating shaft (44); Robot electric rotating machine (42) output shaft is connected rotating shaft (44) lower end; Upper trunk (45) is fixedly connected with rotating shaft (44); Shoulder (47) is connected by warpage drive unit (51) with upper trunk (45); Big arm (48) is connected by cross axle stretching device (52) with shoulder (47); Forearm (49) is connected by warpage drive unit (51) with big arm (48), and mechanical hand (50) is connected by mechanical hand opening-closing device (53) with forearm (49);

B, described robot slides and elevating mechanism, comprise slip footpost (23), robot sliding way (4), robot glide path (1), four slip footposts (23) and bed before and after the body four fixedly footpost (2) are slidingly connected, two cover robot sliding ways (4) and robot glide path (1) are separately fixed on the slip footpost (23) of a body both sides, constitute the robot hoistable platform, Medical Robot (9) is by robot top shoe (41), sliding block (39) is slidingly connected on robot sliding way (4) and the robot glide path (1), the walking flute profile that walking flute profile that top shoe (41) is provided with wheel and sliding block (39) are provided with is taken turns (38) and is engaged on respectively on the flute profile band that robot sliding way (4) and robot glide path (1) set firmly, four fixedly the top of footpost (2) robot hoistable platform top sheave (34) all is housed, four fixedly the bottom of footpost robot hoistable platform lower sheave (36) all is housed, be equiped with robot hoistable platform driving shaft (27) under the bed body, robot hoistable platform rolling wheel (13) is equipped with at its two ends, the output shaft of robot hoistable platform motor (28) connects the power shaft of robot hoistable platform worm and gear variable-speed motor (16), the output shaft of robot hoistable platform worm and gear variable-speed motor (16) connects robot hoistable platform driving shaft (27), article two, robot hoistable platform steel wire rope (17) is respectively by the both sides pile warp robot hoistable platform top sheave (34) of bed body, robot hoistable platform lower sheave (36) and robot hoistable platform rolling wheel (13), on the slip footpost (23), volume is rotatably connected on two the slip footposts in back (23) top of a body by roller (5) inner electric machine before and after the fixedly connected respectively bed body in two ends;

C, described human body holds up automatic turning over mechanism, comprise the head of a bed (21), tailstock (22), unpowered rotation carrying roller (7), human body holds up rotating band (6), live roll (11), live roll motor (12), two unpowered rotation carrying roller (7) two ends and the head of a bed (21) and tailstock (22) rotate assembling, lay respectively at bed surface (24) both sides, two live rolls (11) are supported on the lathe bed (20) with bearings at both ends, be positioned at the both sides under the bed surface (24), one end of two live rolls (11) respectively connects a live roll motor (12), the head of a bed (21) and tailstock (22) respectively with four fixedly footpost (2) be slidingly connected, constitute human body and hold up platform, four fixedly the top of footpost (2) human body all be housed hold up platform top sheave (33), four fixedly footpost (2) bottom human body be housed hold up platform lower sheave (35), under the bed body human body is housed and holds up platform driving shaft (29), its two ends are equipped with human body and are held up platform rolling wheel (14), the output shaft that human body holds up platform motor (30) connects human body picking-up platform worm-gear speed reducer (18) power shaft, its output shaft connects human body and holds up platform driving shaft (29), article two, human body holds up platform steel wire rope (19) and holds up platform top sheave (33) by two pile warp human bodies of bed respectively, human body holds up platform lower sheave (35) and human body holds up platform rolling wheel (14), the fixedly connected head of a bed of one end (21), the fixedly connected tailstock of the other end (22), human body holds up rotating band (6) and is laid on two unpowered rotation carrying rollers (7), its two ends are separately fixed on two live rolls (11), and on live roll (11);

D, described massage mechanism (8), comprise massage slideway (88), massage motor (91), Massage roller slide block (96), Massage roller, flute profile band (89), flute profile wheel (92), massage line shaft (90), Massage roller is by rubber roll (94), vibrating roller (95) and magnetic roller (93) are formed, rubber roll (94) is contained in the middle part of Massage roller slide block (96), and be rotationally connected, vibrating roller (95) and magnetic roller (93) are contained in rubber roll (94) both sides respectively, and fixedly connected with Massage roller slide block (96), wherein adorn eccentric shaft and the power motor that is attached thereto in the vibrating roller (95), massage slideway (88) is fixed on the lathe bed, described Massage roller slide block (96) is slidingly connected with massage slideway (88), massage line shaft (90) and massage driven shaft (97) are connected on massage slideway (88) two ends by bearing, flute profile wheel (92) all is equipped with at the two ends of massage line shaft (90) and massage driven shaft (97), the flute profile wheel (92) at two ends connects by flute profile band (89), Massage roller slide block (96) both sides are connected with flute profile band (89), and massage motor (91) output shaft connects massage line shaft (90);

E, described bedpan conveying mechanism, comprise and get basin device (113), push away basin swing arm (114), bedpan lifting platform (115), lifting platform slideway (116), bedpan output band (25), four lifting platform slideways (116) are installed with flute profile band (118), its bottom with the fixed distance set on the underframe of lathe bed (20), get and establish stretching lingual plate (121) in the basin device (113), both ends of the surface are provided with guide rail (122), getting basin device (113) for two is slidingly connected with two ends guide rail (122) and lifting platform slideway (116) and the set guide groove of lathe bed (20) column respectively, lathe bed (20) top is provided with gets basin device lifting pulley (123), the bottom is provided with gets basin device lifting motor (124), getting basin device lifting motor (124) output shaft is equipped with and gets basin device lifting rolling wheel (125), two halliard (126) one ends are fixed on gets basin device (113) top, respectively hang oneself and get basin device lifting pulley (123) the back other end and be fixed on and get on the basin device lifting rolling wheel (125), two bottoms of getting basin device (113) respectively connect a spring (127), the underframe of spring (127) bottom and lathe bed (20) is fixed, pushing away basin swing arm (114) is rotatably connected on the upper frame of lathe bed (20) by arm axle (117), arm axle (117) one ends are equipped with torsion spring (128), torsion spring (128) one ends and lathe bed (20) are fixing, the other end is with to push away basin swing arm (114) fixing, push away basin swing arm (114) and fix a stay cord (129), stay cord (129) pile warp fixed pulley (130) and the just following movable pulley (132) on the set active lever (133) of oralia (105), with stay cord (129) other end fixedly on the lathe bed (20), described active lever (133) bottom connects on the lathe bed (20) with bearing pin, active lever (133) bottom is provided with extension spring (134), under the pulling of extension spring (134), active lever (133) end is connected with the just collision axle (131) of oralia (105), bedpan lifting platform (115), comprise sliding frame (119), lifter plate (135), bedpan supporting plate (137), lifting shaft (136), worm type of reduction gearing (138), lifting motor (139), flute profile wheel (120), sliding frame (119) left and right sides is equipped with axle sleeve (140), two lifting shafts (136) are contained in sliding frame (119) left side and right side respectively by the axle sleeve (140) of left and right sides, one end of each lifting shaft (136) connects worm gear and endless screw speed changer (138) output shaft, worm gear and endless screw speed changer (138) power shaft connects lifting motor (139) output shaft, flute profile wheel (120) is equipped with at each lifting shaft (136) two ends, flute profile wheel (120) is gone up flute profile band (118) engagement with lifting platform slideway (116), dress lifter plate (135) in the sliding frame (119), outer dress lifter plate pulling motor (141), its output shaft is equipped with lifter plate rolling wheel (142), sliding frame (119) is equipped with lifter plate top sheave (144), lifter plate lower sheave (143), lifter plate stay cord (145) pile warp lifter plate top sheave (144), lifter plate lower sheave (143) and lifter plate rolling wheel (142), its two ends are all fixing with lifter plate (135), lifter plate (135) can slide up and down in sliding frame (119), bedpan supporting plate (137) is two, one of them is provided with the resistance wire (149) that the plastic bag packing is sealed, it is suitable for reading that two symmetries are contained in sliding frame (119), and go up oralia with sliding frame (119) and be slidingly connected, two bedpan supporting plates (137) are provided with and open stay cord (146) and closed stay cord (147), it is fixing to open stay cord (146) one ends and bedpan supporting plate (137), the other end is fixing through lifter plate top sheave (144) and bed surface (24), closed stay cord (147) one ends and bedpan supporting plate (137) are fixing, the other end connects extension spring (148) through lifter plate lower sheave (143), fixing with lifter plate (135) again, described bedpan output band (25) is installed on the underframe of lathe bed (20), is positioned at bedpan lifting platform (115) below;

F, described volume cotton-padded mattress roller are established two covers, four rollers altogether, two rollers are for leading cotton-padded mattress roller (150), two rollers for rolling up cotton-padded mattress roller (151), lead all interior dress rotary electric machine of cotton-padded mattress roller (150) and volume cotton-padded mattress roller (151), the underframe left and right sides of lathe bed (20) sets firmly four pairs of bearings (152), two are led cotton-padded mattress roller (150) and all are rotatably connected on the preceding two pairs of bearings of lathe bed (20) (152) with two ends, and two volume cotton-padded mattress rollers (151) all are rotatably connected on the back two pairs of bearings of lathe bed (20) (152) with two ends.

2, according to claim 1 medical robot electric nursing bed, it is characterized in that described robot warpage driving device (51), by warpage motor (54), leading screw (62), screw (61), trocar sheath (56), inner sleeve (58) is formed, leading screw (62), screw (61), inner sleeve (58) is contained in the trocar sheath (56), the tube head of inner sleeve (58) is connected with the output shaft of warpage motor (54), inner sleeve (58) other end and screw (61) are fixing, screw mandrel (62) screws in screw (61), stay pipe (57) suit leading screw (62), spring housing (59) is sleeved on the leading screw (62), its two ends are replaced on stay pipe (57) and screw (61), leading screw (62) one ends are connected with central, transverse axis (60), and regulation of mental activities transverse axis (55) is fixedlyed connected with trocar sheath (56).

3, according to claim 1 medical robot electric nursing bed, it is characterized in that described cross axle stretching device (52), by cross axle (65), baffle plate (66), arm-tie (64), arm-tie axle (63), stretching leading screw (69), stretching screw (68) and stretching motor (67) are formed, cross axle (65) is a hollow-core construction, its lateral shaft two ends are rotationally connected with the shoulder (47) of robot and big arm (48) respectively, in shoulder (47) side and big arm (48) side plate washer (66) is housed all, and be fixed on the lateral shaft two ends with nut, arm-tie (64) is equipped with in arm-tie axle (63) both sides, the other end of two arm-ties (64) is being takeed on (47) and the big arm (48) with dowel fixes respectively, stretching screw (68) is connected with arm-tie axle (63), stretching leading screw (69) installs the longitudinal axis of cross axle (65) and screws in stretching screw (68), and an end of stretching leading screw (69) is connected with stretching motor (67) output shaft.

4, according to claim 1 medical robot electric nursing bed, it is characterized in that described robot arm opening-closing device (53), by hands opening and closing motor (79), hands opening and closing leading screw (77), hands opening and closing screw (78), hands neck (72), palm (73), finger (74), connecting plate (75) and slide block (76) are formed, hands opening and closing motor (79) is contained in the steel pipe (70), its output shaft connects hands opening and closing screws (78), one end of hands opening and closing leading screw (77) screws in hands opening and closing screws (78), the other end of hands opening and closing leading screw (77) and slide block (76) are fixing, slide block (76) is slidingly connected with palm (73), two connecting plate (75) one ends are rotatably connected on the palm (73) with bearing pin, the other end is rotationally connected two with bearing pin and points (74), and finger (74) fulcrum sentences bearing pin and palm (73) is rotationally connected.

5, according to claim 1 medical robot electric nursing bed, it is characterized in that described pillow plate lowering or hoisting gear (10), by pillow plate lifting motor (84), pillow plate (80), fixing skewback (81), slip skewback (87), swing arm (82), arm shaft (83), axle bed (85) and connecting plate (86) are formed, pillow plate (80) is connected with fixing skewback (81), fixedly skewback (81) is slidingly connected with axle bed (85), axle bed (85) is fixed on the body, one end of swing arm (82) is connected with pillow plate lifting motor (84) output shaft, and the other end is connected with slip skewback (87) by arm shaft (83).

6, according to claim 1 medical robot electric nursing bed, it is characterized in that described backboard take-off and landing device (26), by the motor that rises and falls (101), worm-gear speed reducer (99), backboard (98), play doff (100), support arm (102) and rotation carrying roller (103) composition rise and fall, motor (101) output shaft that rises and falls connects worm-gear speed reducer (99) power shaft, worm-gear speed reducer (99) is contained in below the massage slideway (88), support arm (102) one ends that rise and fall have been contained on the doff (100), the other end is equipped with rotation carrying roller (103), the rotation carrying roller (103) and following contact of backboard (98), backboard (98) one ends and bed surface (24) are hinged.

7, according to claim 1 medical robot electric nursing bed, it is characterized in that described just oralia carriage (104), by just oralia (105), swing arm (106) and balance staff are formed, balance staff divides goes up balance staff (107) and following balance staff (108), going up balance staff (107) for two is contained in just on the oralia (105), two following balance staffs (108) are contained on the lathe bed (20), two swing arms (106) are rotatably connected on two respectively and go up on balance staff (107) and two the following balance staffs (108), the power that slides is from the support arm that rises and falls (102) on the backboard take-off and landing device (26), the support arm (102) that rises and falls is equipped with running block (110), fixed pulley group (111) is located at before the bed and is contained on the lathe bed (20), fixed pulley (109) is located at just below the oralia (105) and is contained on the lathe bed (20), just an end of mouthful stay cord (112) is fixed on just on the oralia (105), pile warp fixed pulley (109), fixed pulley group (111), running block (110) is fixed on the other end on the lathe bed (20).

8, according to claim 1 medical robot electric nursing bed, it is characterized in that the described clean device of washing after an action of the bowels, by water tank (154), water pump (155), warm-air drier (156), Flushing nozzle (157) and flushing motor (158) are formed, water tank (154) is located at bed down, water pump (155) is located on the water tank (154), Flushing nozzle (157) is contained on the frame plate (161) that lathe bed (20) sets firmly, flushing motor (158) and fast pulley (160) all are contained on the frame plate (161), flushing motor (158) and fast pulley (160) all are contained on the frame plate (161), rubber friction wheel (159) is contained on the output shaft of flushing motor (158), Flushing nozzle (157) outer wall is connected with rubber friction wheel (159) and three fast pulleys (160), Flushing nozzle (157) is connected with water pump (155) by flexible pipe, and warm-air drier (156) is contained on the frame plate (161).

9, according to claim 1 medical robot electric nursing bed, it is characterized in that described dining table (3) is contained on robot sliding way (4) and the robot glide path (1).

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