KR102356031B1 - Nursing robot apparatus - Google Patents

Abstract

A nursing robot device having a self-sterilizing function is provided. The nursing robot device comprises: a body; a driving module connected to a lower end of the body to support the body and formed with a plurality of driving wheels in rolling contact with the floor; a display terminal that includes a display module disposed on one side of the body above the driving module and having a touch screen panel that can be operated by a touch method on the front, a first light guide plate of a transparent material overlapping the front surface of the display module and adhering to the touch screen panel, and a first sterilization module including a first UV light source for injecting UV light from the side of the first light guide plate to the first light guide plate; and a medical box that is disposed on the other side of the body above the driving module, and includes a shielding module having a receiving space formed therein and consisting of an openable enclosure.

Description

Nursing robot apparatus

The present invention relates to a nursing robot device, and more particularly, to a nursing robot device having a self-sterilizing function.

Automated robotic systems are being applied across industries, and the medical field is no exception. In the past, robot technology was applied more limitedly to the medical field requiring precise and close interaction, but as the related technology develops, the scope of application is expanding in various fields.

For example, robots can assist in various tasks, such as continuously monitoring a patient, approaching a patient and delivering necessary information, or obtaining simple biometric data from a patient. In other words, in addition to advanced medical procedures, robots can replace various tasks that medical staff must perform repeatedly and on a daily basis. Korean Patent 10-2017-0011395 and the like are disclosed related technologies.

By using such a robot, the burden of the medical staff can be reduced and close communication with the patient can be achieved, but problems may also occur. For example, when an infectious disease is prevalent, there is a risk that the robot will repeatedly contact an unspecified number of people and become a carrier of an infectious disease in a hospital. In addition, even if infectious diseases are not taken into consideration, the problem of securing the hygiene of robots deployed in medical institutions is one of the very important problems related to the development of new medical technology.

Republic of Korea Patent Publication No. 10-2017-0011395, (2017. 02. 02)

The technical problem to be achieved by the present invention is to solve such a problem, and to provide a nursing robot device having a self-sterilizing function.

The technical problems of the present invention are not limited to the above problems, and other technical problems not mentioned will be clearly understood by those skilled in the art through the following description.

A nursing robot according to the present invention includes: a body; a driving module connected to the lower end of the body to support the body and having a plurality of driving wheels in rolling contact with the floor; A display module disposed on one side of the body above the driving module and having a touch screen panel operable by a touch method on its front surface, and a first light guide plate made of a transparent material overlapping the front surface of the display module and being in close contact with the touch screen panel and a display terminal including a first sterilization module including a first ultraviolet light source for irradiating ultraviolet light from a side surface of the first light guide plate to the first light guide plate; and a medical box disposed on the other side of the body above the traveling module, and including a shielding module having an accommodating space therein and an openable and openable enclosure.

The first sterilization module includes a frame that surrounds and fixes the first light guide plate, and at least a part of it is moved in and out of the frame and overlaps the outside of the first light guide plate to shield ultraviolet light emitted to the front of the first light guide plate. It may further include a shielding unit.

The movable shielding unit may include a winding shaft rotatably disposed inside the frame and positioned at one end of the first light guide plate, a shielding curtain connected to the winding shaft to be wound or unwound, and overlapping the first light guide plate, the frame; at least one driving belt extending between one end and the other end of the first light guide plate perpendicular to the winding shaft inside of It may include a motor to control the.

It may further include a torsion spring connected to the take-up shaft to generate a restoring force in the opposite direction in response to the rotation of the take-up shaft.

The motor and the first ultraviolet light source may further include an automatic control module for controlling the unwinding of the shielding curtain before the operation by adjusting the operation time of at least one of the first ultraviolet light source.

The automatic control module monitors at least any one of a generation interval of a touch signal transmitted from the touch screen panel, a measurement value of an optical sensor for detecting external light, and a preset operation time to monitor the shielding curtain and the first UV light source can be activated automatically.

The medical box may further include a second sterilization module disposed inside the shielding module to irradiate ultraviolet light into the accommodation space.

The medical box may further include a bio-signal measuring unit measuring a bio-signal by contacting a human finger on one side of the receiving space of the shielding module.

The second sterilization module includes a second light guide plate disposed to face the accommodation space in close contact with the inner surface of the cover covering the upper portion of the accommodation space of the shielding module, and ultraviolet light from the side of the second light guide plate to the second light guide plate Including a second UV light source to be incident, the UV light may be diffused and emitted to the front surface of the second light guide plate.

According to the present invention, not only can various medical tasks be conveniently supported with a drivable nursing robot, but also parts such as the display or touch screen of the robot that are in intensive contact with an unspecified number of people when the robot is supported are sterilized by itself. It is possible to secure the sanitation of a robot and an unspecified number of people together. In addition, it is not limited to the touch screen, and it is possible to ensure hygiene by sterilizing parts such as sensors or medical boxes of robots that patients or medical staff frequently come into contact with. In addition, the robot can perform sterilization at high intensity for a short period of time while automatically shielding the sterilization area, thereby protecting people from sterilization, ensuring high hygiene in a short time, and returning to work quickly. can do.

1 is a perspective view of a nursing robot according to an embodiment of the present invention.
FIG. 2 is a cross-sectional view showing the internal structure and AA′ section of the first sterilization module included in the display terminal of the nursing robot of FIG. 1 together with the display module.
3 is a cross-sectional view illustrating a BB′ section of the first sterilization module of FIG. 2 together with the display module.
4 and 5 are operational diagrams illustrating the operation of the first sterilization module shown in FIGS. 2 and 3 .
6 is a front view illustrating a medical box of the nursing robot of FIG. 1 .
7 is an exploded view showing the internal structure of the medical box of FIG.
8 is a state diagram illustrating an example of use of the nursing robot of FIG. 1 .

Advantages and features of the present invention and methods for achieving them will become apparent with reference to the embodiments described below in detail in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but can be implemented in various different forms, and only these embodiments allow the disclosure of the present invention to be complete and common knowledge in the art to which the present invention pertains. It is provided to fully inform the possessor of the scope of the invention, and the present invention is only defined by the claims. Like reference numerals refer to like elements throughout.

Hereinafter, a nursing robot according to the present invention will be described in detail with reference to FIGS. 1 to 8 .

1 is a perspective view of a nursing robot according to an embodiment of the present invention.

Referring to FIG. 1 , the nursing robot 1 according to the present invention has a traveling module 20 formed therein to move autonomously and move to various positions. The nursing robot 1 may move to a place needed by medical staff or patients to provide appropriate assistance, and may divide or assist the medical staff. For example, the nursing robot 1 can display and output various information required by medical staff or information to be provided to patients in a timely manner through the display terminal 100 disposed on one side, and medical diagnosis or treatment During this process, the medical staff may input and store the information they want to record. In addition, while visiting patients independently of the medical staff, it is possible to communicate with the medical staff and patients from a distance or guide the necessary measures to the patients. In addition, by using the medical box 200 disposed together with the display terminal 100, a medical sample may be transported, a necessary medical device may be supplied to a medical staff or a patient, and the patient's bio-signals may be measured and delivered to the medical staff. . The nursing robot 1 of the present invention basically includes such a display terminal 100 and a medical box 200. can be used

In particular, the nursing robot 1 has a first sterilization module 100b formed in the display terminal 100 to self-sterilize the display terminal 100, which is in frequent contact with an unspecified number of medical staff, patients, or visitors to medical institutions. It can respond to infectious diseases, etc., and through this, high hygiene standards can be secured. In addition, another sterilization facility such as the second sterilization module 200b is overlapped in the medical box 200 disposed together with the display terminal 100 to sterilize itself and secure a high level of hygiene. Sterilization facilities including the first sterilization module 100b of the nursing robot 1 can exhibit a strong sterilization action in a short time using ultraviolet light of short wavelength and high frequency, and in particular, such high energy ultraviolet light is not exposed to the outside. It can be effectively shielded from the inside out, enabling safer sterilization in a short time.

The nursing robot 1 of the present invention is specifically configured as follows. The nursing robot 1 includes a body 10, a traveling module 20 connected to the lower end of the body 10 to support the body 10, and a plurality of traveling wheels 21 formed in rolling contact with the floor, the traveling module 20, and traveling A display module 100a disposed on one side of the body 10 above the module 20 and having a touch screen panel (refer to 101 in FIGS. 2 to 5) that can be operated by a touch method is formed on the front side, and the display module 100a A first light guide plate 105 made of a transparent material overlapping the front surface of the touch screen panel 101 and being in close contact with the touch screen panel 101, and a first ultraviolet light source for injecting ultraviolet light from the side of the first light guide plate 105 to the first light guide plate 105 (See 106 in FIG. 2) is disposed on the other side of the body 10 above the display terminal 100, and the driving module 20, including the first sterilization module 100b including the receiving space 204 therein. ) is formed and includes a medical box 200 including a shielding module 200a made of an openable and openable enclosure.

In one embodiment of the present invention, the medical box 200 includes a bio-signal measuring unit 205 that measures a bio-signal by contacting a person's finger on one side of the receiving space 204 of the shielding module 200a; It may further include a second sterilization module 200b disposed inside the shielding module 200a and irradiating ultraviolet light to the receiving space 204 , and the first sterilization module 100b includes a first light guide plate 105 . A frame 103 surrounding and fixing the frame 103, at least a part of which is inserted into and out of the frame 103, overlaps the outside of the first light guide plate 105, and a movable shielding unit that shields the ultraviolet light emitted to the front of the first light guide plate 105 may further include. In this embodiment, the movable shielding unit, as a structure including the shielding curtain 107 , will be described by directly referring to the detailed structure including the shielding curtain 107 , while omitting a separate sign. Hereinafter, the arrangement structure of the driving module 20 and the body 10 will be described in detail with reference to FIG. 1 , and then, based on this, the display terminal 100 in which the first sterilization module 100b is formed, and the second The medical box 200 in which the sterilization module 200b is formed will be described in more detail.

The traveling module 20 is connected to the lower end of the body 10 to support the body 10 . The driving module 20 is provided with a plurality of driving wheels 21 so that the body 10 can be moved to various places while driving with the driving wheels 21 . The traveling module 20 and the body 10 may be fixed so as not to move with each other, but if necessary, a joint or the like may be formed between the two to enable relative movement such as rotation. The body 10 may extend up to a predetermined height above the driving module 20 and may be formed in various shapes capable of supporting the display terminal 100 or the medical box 200, which will be described later. The body 10 can be deformed into various shapes without any special restrictions. The body 10 of various shapes that stably supports other components such as the display terminal 100 and is easy to access by patients or medical staff may be formed and disposed above the driving module 20 .

The driving module 20 may be formed, for example, in a form in which the driving wheels 21 and the like are mounted inside the housing. The driving wheel 21 can freely control the rotational operation by a servo motor or the like, and by organically changing the arrangement of different driving wheels 21, the driving module 20 can be advanced in various directions. A sensor unit 22 including various sensors is formed in the driving module 20 and the body 10 to detect obstacles during movement, determine posture, and detect a dynamic location to reflect it in autonomous driving. For example, the sensor unit 22 provides distance information using a 360-degree Lidar (Light Detection and Ranging) sensor that measures and maps obstacles and features from the reflection time of a laser pulse, or a triangulation method using infrared rays. Such as a position sensitive detector (PSD) sensor, a three-axis gyro sensor that detects changes in the alignment and posture of the driving module 20 and the body 10, and a global positioning system (GPS) sensor that provides position coordinates It may be equipped with several sensors. The nursing robot 1 is, for example, an integrated control computer disposed on the body 10 or the driving module 20, etc., and integrates the data obtained from these sensors and the input coordinates, and dynamically changes the route, and the driving module ( 20) can be operated. Through this, the process of autonomously driving, moving to a desired location, and changing the movement path again can be repeated. Since the sensor unit 22 in the drawing is merely an example of the arrangement of these sensors, there is no need to be limited thereto.

The display terminal 100 is disposed on one side of the body 10 supported by the driving module 20 , and the medical box 200 is disposed on the other side of the body 10 . Preferably, the display terminal 100 is coupled to the upper end side of the body 10 with a connection neck 102, etc. to increase visibility, and the medical box 200 is at a height that is easy to access by a human hand or the like. It may be disposed lower than the display terminal 100 . However, there is no need to be limited as such, and the shape of the body 10 may be variously changed as necessary, and the display terminal 100 and the medical box 200 may be disposed at another suitable position. For example, when another medical equipment (for example, it may be a manipulator or various equipment such as various surgical instruments) is additionally disposed in the nursing robot 1 as described above, the structure and combination of the equipment It is possible to change the body 10 to an appropriate shape in consideration of the location and the like, and also change the positions of the display terminal 100 and the medical box 200 . Hereinafter, the display terminal 100 in which the first sterilization module 100b is formed and the medical box 200 in which the second sterilization module 200b is formed will be described in more detail with reference to FIGS. 2 to 7 .

FIG. 2 is a cross-sectional view showing the internal structure and AA′ cross-section of the first sterilization module included in the display terminal of the nursing robot of FIG. 1 together with the display module, and FIG. is a cross-sectional view showing the display module together.

The display terminal 100 may be formed in a form in which the display module 100a and the first sterilization module 100b are closely attached as shown in FIG. 2B . The display module 100a may be a kind of computer device including the touch screen panel 101, in which the touch screen panel 101 is disposed on the front side. The aforementioned connection neck (refer to 102 of FIG. 1 ) may be supported by being connected to the back surface of the display module 100a. Specifically, the first sterilization module 100b includes a first light guide plate 105 made of a transparent material that overlaps the front surface of the display module 100a and is in close contact with the touch screen panel 101 as shown in FIG. As shown in (a) of 2, a first ultraviolet light source 106 for injecting ultraviolet light to the first light guide plate 105 from the side surface of the first light guide plate 105 is included. In addition, as shown in (a) of FIG. 2 , the frame 103 surrounding and fixing the first light guide plate 105 and at least a part of the frame 103 enter and exit from the frame 103 and overlap the outside of the first light guide plate 105 to overlap the first light guide plate. It may include a movable shielding unit for shielding the ultraviolet light emitted to the front of (105).

That is, the first light guide plate 105 of the first sterilization module 100b is in close contact with the touch screen panel 101 of the display module 100a to protect the front surface of the touch screen panel 101 . The front surface of the touch screen panel 101 is a surface that is normally touched by the user, but since the first light guide plate 105 is overlapped with the front surface of the touch screen panel 101 , the user contacts the first light guide plate 105 to transmit a touch signal. can The first light guide plate 105 may be made of a transparent resin or the like, and thus all images displayed on the touch screen panel 101 may be projected to the outside. The thickness or material of the first light guide plate 105 may be appropriately adjusted so that the touch signal can be clearly transmitted. The frame 103 surrounding the first light guide plate 105 has a hollow opening 104 in the center. A user approaches the inside of the frame 103 through the opening 104 to contact the first light guide plate 105 . and a touch signal can be input to the touch screen panel 101 in close contact with the first light guide plate 105 (for example, in FIG. 2 (b), through the opening 104 of the frame 103 from the left 1 by contacting the light guide plate 105 to operate the touch screen panel 101 in close contact with the first light guide plate].

The first light guide plate 105 is in close contact with the touch screen panel 101 to protect it, and at the same time transmits the UV light incident from the first UV light source 106 disposed on the side surface as shown in FIG. 2A to the inside. The first ultraviolet light source 106 may be formed of, for example, an LED element capable of emitting ultraviolet light, but is not limited thereto, and may be composed of various light sources capable of generating ultraviolet light. That is, as shown in the enlarged view of FIG. 3 , the ultraviolet light A incident on the side surface of the first light guide plate 105 is reflected at the boundary surface of the front and rear surfaces of the first light guide plate 105 and travels inside, and at least a part is transmitted through the boundary surface to the outside. is emitted with In particular, since the rear surface of the first light guide plate 105 is in close contact with the touch screen panel 101, transmission to the corresponding surface is limited, and most of the ultraviolet light A is emitted from the first light guide plate 105 as shown in FIG. ) is emitted to the front (upper surface in FIG. 3). Since the front surface of the first light guide plate 105 from which the ultraviolet light A is emitted is the surface that is touched as described above, pathogens, various bacteria, or various foreign substances including them, which are buried on the front surface, are treated with the ultraviolet light A. It can sterilize and remove pathogens and bacteria very effectively.

In this case, the wavelength of the ultraviolet light may be, for example, within the range of 100 to 320 nm, preferably, within the range of 100 to 280 nm, more preferably, 265 nm. Ultraviolet light of the corresponding wavelength is in a harmful high-frequency region when exposed to the human body, but the present invention effectively blocks external exposure of such ultraviolet light using the structure of a movable shielding unit to be described later, and provides a faster time (for example, 1 minute). within), the robot can be operated normally by completing the sterilization action. However, if necessary, it is possible to use ultraviolet light of a relatively harmless long wavelength region, and in such a case, it is possible to proceed with sterilization for a longer period of time.

The movable shielding unit may be configured in the following form. As shown in FIGS. 2 and 3 , the movable shielding unit is rotatably disposed inside the frame 103 and has a winding shaft positioned at one end of the first light guide plate 105 (see 108 in FIG. 2 (b)). , connected to the winding shaft 108 to be wound or unwinded, and formed perpendicular to the winding shaft 108 from the inside of the shielding curtain 107 overlapping the first light guide plate 105 and the frame 103 . At least one driving belt 109 extending between one end and the other end of the light guide plate 105 and one end connected to the end of the shielding curtain 107 to pull the shielding curtain 107, and the driving belt 109 It may include a motor 115 for controlling the rotation. In addition, a torsion spring (refer to 108a in FIG. 2 (b)) that is connected to the take-up shaft 108 and generates a restoring force in the opposite direction in response to the rotation of the take-up shaft 108 may be formed on the take-up shaft 108. By implementing such a structure in the frame 103, it is possible to enable touch by opening or closing the shielding curtain 107, or it is possible to perform sterilization very quickly while blocking the touch and preventing exposure to ultraviolet light. Hereinafter, the structure and operation of the movable shielding unit will be described in more detail.

The shielding curtain 107 is disposed around the winding shaft 108 as shown in FIG. 2 (a). As described above, a torsion spring 108a is formed inside the winding shaft 108, so that the shielding curtain 107 can maintain a state wound with the elasticity of the torsion spring 108a. The torsion spring 108a is compressed when the driving belt 109 operates and the shielding curtain 107 is unwound, stores elastic energy, and generates a restoring force in the opposite direction corresponding to the rotation of the winding shaft 108 . Therefore, when the driving force for unwinding the shielding curtain 107 is removed, the shielding curtain 107 can be wound naturally in a winding direction. In Fig. 2 (a), the shielding curtain 107 is wound around the winding shaft 108, so the extension direction of the winding shaft 108 may be understood as the same as the extension direction of the shielding curtain 107. free

Both ends of the drive belt 109 are connected to the belt pulley 110 inside the frame 103 to rotate. The belt pulleys 110 at both ends of the driving belt 109 may include one located at one end of the first light guide plate 105 and one located at the other end of the first light guide plate 105 . Since the winding shaft 108 is disposed at one end of the first light guide plate 105 (the upper end of FIG. 2A ), one end of the first light guide plate 105 among the belt pulleys 110 at both ends of the drive belt 109 . The belt pulley 110 located at may be located adjacent to the winding shaft 108 . However, the belt pulley 110 may be formed to rotate independently of the winding shaft 108 even though it is located adjacent to the winding shaft 108 . On the other hand, the belt pulley 110 located on the other end of the first light guide plate 105 (the lower end of FIG. When the motor 115 is driven, the driving belt 109 may receive rotational force from the driving shaft 112 . That is, when the motor 115 rotates, the drive shaft 112 rotates, the drive belt 109 connected to the drive shaft 112 rotates in synchronization, and it may be formed in a structure that transmits traction to the shielding curtain 107 .

As shown in FIGS. 2A and 2B , the winding shaft 108 and the winding shaft 108 using the inner space of the horizontal and vertical portions of the frame 103 surrounding the first light guide plate 105 are used. ), the shielding curtain 107 wound around, the driving belt 109 for pulling the shielding curtain 107, the driving shaft 112 for transmitting the driving force, the motor 115, and the like can be smoothly arranged. The winding shaft 108 and the driving shaft 112 may be arranged parallel to each other, and the driving belt 109 may extend perpendicularly thereto and be connected to the driving shaft 112 . A pair of driving belts 109 are symmetrically arranged as shown in FIG. 2A to stably pull the shielding curtain 107 . The end of the shielding curtain 107 and one side of the driving belt 109 may be connected using, for example, the curtain-belt connection 111, and through this, the end of the shielding curtain 107 is connected to the driving belt 109. direction can be towed. The curtain-belt connection part 111 is formed of, for example, a member having a shape such as a bar or a pin having a binding structure formed at both ends, and binds both ends thereof to the shielding curtain 107 and the driving belt 109, respectively. (see FIG. 3), or by forming a connecting bar (not shown) with an outer periphery connected to the shielding curtain 107 at the end of the shielding curtain 107 to connect both ends of the connecting bar to different driving belts ( 109) and may be formed in a manner such as binding. The curtain-belt connection part 111 connects one side of the driving belt 109 and the end of the shielding curtain 107 to transmit a traction force to the shielding curtain 107 It is possible to transform into a variety of structures within the limit. .

The drive belt 109 can also be changed to another shape capable of traction between one end and the other end of the first light guide plate 105 , and for example, a structure such as a chain or a wire may be applied. . Therefore, the configuration of the drive belt 109 need not be limited by name. As described above, the drive shaft 112 connected through the drive belt 109 and the belt pulley 110 may be meshed with the motor 115 again, and the drive gear 113 meshed with the drive shaft 112 and the motor 115 with each other. , 114) is formed to transmit the rotational force. With this structure, the motor 115 may be formed to smoothly control the rotation of the drive belt 109 through the drive shaft 112 .

On the other hand, the nursing robot controls the operation time of at least one of the motor 115 and the first ultraviolet light source 106 to unwind the shielding curtain 107 before the first ultraviolet light source 106 operation. module 116 . That is, the operation of shielding the peripheral area including the first light guide plate 105 and the touch screen panel 101 with the shielding curtain 107 before the sterilization action is started using the automatic control module 116 proceeds. can be forced This action, for example, may be performed automatically even when the sterilization operation is in progress, or manually (eg, it may be possible to directly operate the first sterilization module by inputting an operation signal to a display terminal, etc.). It can also be performed when attempting to sterilize. The automatic control module 116 may be formed as an arithmetic device in the form of a miniaturized chip in the first sterilization module 100b as shown, but it is not necessary to be limited as such, and the motor 115 and the first UV light source It is also possible to form 106 by utilizing other control units having an arithmetic function capable of controlling it. For example, it is possible to configure the automatic control module 116 by utilizing another control computer or the like disposed in the nursing robot. Therefore, there is no need to limit the automatic control module 116 as shown.

The automatic control module 116 may operate by sending an operation signal to the motor 115 and the first ultraviolet light source 106 , and in particular, monitor an external signal and then automatically operate them. For example, the automatic control module 116 may include at least one of a generation interval of a touch signal transmitted from the touch screen panel 101, a measurement value of an optical sensor (not shown) that detects external light, and a preset operating time. By monitoring the shielding curtain 107 and the first ultraviolet light source 106 can be automatically operated. That is, when the touch signal generation interval of the touch screen panel 101 is longer than a certain interval and a considerable time has passed since the generation of the last touch signal, it is considered that there is no user and can be controlled to quickly perform a sterilization action, or Even if the external light source is not detected from the sensor (for example, it may be disposed on the upper part of the body, etc. described above) or the amount of external light decreases below a certain level, it is judged as the end of the working time, etc. and sterilization is performed quickly can do. Alternatively, the sterilization time may be input in advance (a user may input it through a display terminal, and in such a case, a specific operating time may be set in the automatic control module) and control to repeatedly perform sterilization at the corresponding time. In addition, it is possible to automatically control the sterilization action in a timely manner by using various various control methods.

4 and 5 are operational diagrams illustrating the operation of the first sterilization module shown in FIGS. 2 and 3 .

The operation of the first sterilization module 100b will be described in more detail with reference to FIGS. 4 and 5 as follows. Before the sterilization operation starts, the shielding curtain 107 is closed as shown in FIG. 4 first. That is, the motor 115 operates to operate the drive belt 109 through the drive shaft 112 , and the end of the shielding curtain 107 connected to the drive belt 109 moves in the traveling direction (in FIG. 4 ) of the drive belt 109 . downward) and unwound. Such an operation may be compulsorily performed in any case in which the sterilization operation is attempted manually as described above, or the sterilization operation is performed automatically. 4 shows an intermediate point in time at which the shielding curtain 107 is unwound, but the shielding curtain 107 is unwound to the lower end of the frame 103 at the end of the operation and completely overlaps the outside of the first light guide plate 105 to the first The entire light guide plate 105 is covered. Therefore, as shown in the enlarged view of FIG. 5 , the ultraviolet light A is captured without being exposed to the outside of the first sterilization module 100b, so that the touch surface (the upper surface of FIG. 5 ) of the first light guide plate 105 is covered with a shielding curtain ( 107) is sterilized from the inside. Inside the shielding curtain 107, as the ultraviolet light A is diffused, a strong sterilization effect can appear to other parts such as the inside of the frame 103 adjacent to the first light guide plate 105, and the generation time of the ultraviolet light A is increased. It is also possible to further enhance the sterilization effect. That is, before the operation of the first ultraviolet light source 106, as described above, by controlling the unwinding of the shielding curtain 107, it is possible to safely proceed with the sterilization operation.

The sterilization operation can be quickly completed using the above-described high-frequency ultraviolet light (A), and when the sterilization is completed, the operation of the first ultraviolet light source 106 is stopped and the ultraviolet light (A) can be removed. The shielding curtain 107 may be safely wound after the ultraviolet light A is completely removed in this way to open the front surface of the first light guide plate 105 . When the shielding curtain 107 is wound, the motor 115 and the drive shaft 112 may be rotated in the opposite direction to the time of unwinding, respectively, and as described above, the restoring force is increased due to the elastic energy stored in the torsion spring 108a during unwinding. generated so that the shielding curtain 107 can be wound up more easily. When the sterilization operation is completed in this way, it is switched back to the state shown in FIG. 2 , so that the user can easily touch the touch screen panel 101 in close contact with the first light guide plate 105 by contacting the front of the opened first light guide plate 105 . can be manipulated.

6 is a front view illustrating the medical box of the nursing robot of FIG. 1 , and FIG. 7 is an exploded view showing the internal structure of the medical box of FIG. 6 .

Meanwhile, the structure and operation of the medical box 200 in which the second sterilization module 200b is formed will be described with reference to FIGS. 6 and 7 . The medical box 200 includes a shielding module 200a made of an openable and openable enclosure and a second sterilizing module 200b disposed inside the shielding module 200a. The shielding module 200a has an accommodating space 204 formed therein, as shown in FIGS. 6 and 7 , so that various medical articles can be loaded in the accommodating space 204 . The size of the accommodating space 204 may be adjusted by changing the shape and size of the shielding module 200a as necessary. The shielding module 200a may include a receiving portion 202 having an accommodation space 204 formed thereon and a cover 201 covering the upper portion of the accommodation space 204 , which may be opened and closed by being coupled by a hinge 203 . In particular, on one side of the receiving space 204 of the shielding module 200a, a bio-signal measurement unit 205 for measuring a bio-signal in contact with a person's finger is formed, so that the medical staff can collect or receive necessary information without directly meeting the patient or the like. can The bio-signal measuring unit 205 may be formed to measure various bio-information such as body temperature, pulse, blood pressure, etc. can be configured to measure. However, there is no need to be limited thereto, and the biosignal measuring unit 205 may be configured by variously utilizing other sensors or measuring devices capable of measuring biometric information in another method by contact with a finger. Accordingly, the patient or the like can easily input biometric information to the nursing robot simply by opening the cover 201 of the medical box 200 and touching the hand B as shown in FIG. 7A . Alternatively, as described above, the medical box 200 may be utilized in various ways, such as using the accommodation space 204 to store medical samples or various medical devices and to have the nursing robot transport them to the right place.

As such, the highly utilized medical box 200 also comes in contact with various articles and people, so it can be easily exposed to various bacteria, infectious agents, or other pathogens. Therefore, by disposing the second sterilization module 200b in the shielding module 200a of the medical box 200, it is possible to very effectively remove them. The second sterilization module 200b is disposed inside the shielding module 200a and formed to irradiate ultraviolet light into the receiving space 204, for example, a cover covering the upper portion of the receiving space 204 of the shielding module 200a. The second light guide plate 206 is closely attached to the inner surface of the 201 and is disposed to face the accommodation space 204 , and a second UV light for injecting ultraviolet light from the side of the second light guide plate 206 to the second light guide plate 206 . A light source 207 may be included. The arrangement structure of the second sterilization module 200b is illustrated in FIG. 7B , and a hinge shaft 203a coupled to the hinge 203 may be formed on the cover 201 . When the shape or structure of the cover 201 is changed, the arrangement structure of the second sterilization module 200b may also be changed accordingly, so the arrangement structure of the second sterilization module 200b does not need to be limitedly understood. The second light guide plate 206 may be formed of a material such as a transparent resin similar to the first light guide plate 105 , and the second UV light source 207 also emits UV light similarly to the first UV light source 106 . It may be formed of a possible LED device or the like.

By using the second sterilization module 200b, the ultraviolet light A can be diffused and emitted to the front surface of the second light guide plate 206 as shown in FIG. 7B. In particular, since the second sterilization module 200b is formed inside the shielding module 200a, it emits ultraviolet light A to the front surface of the second light guide plate 206 in a state in which it is completely blocked from the outside, so that the shielding module 200a is located inside the shielding module 200a. It is possible to perform a sterilization operation for the entire accommodation space (204). The second sterilization module 200b may be configured to operate in conjunction with the movement of the cover 201. In particular, when the cover 201 is even a little open, the operation is performed so that the operation of the second sterilization module 200b is immediately stopped. can be controlled For example, by using a sensor or a contact switch that detects whether the cover 201 is opened or closed, the open/closed state of the cover 201 can be detected sensitively, and when the cover 201 is slightly opened, the second UV light source The operation of the second sterilization module 200b may be controlled by configuring a power cut-off circuit or the like so that the power supply to the 207 is immediately stopped. In this way, while smoothly using the multi-purpose medical box 200, the internal space can be sterilized quickly to continuously maintain a high sanitary level.

8 is a state diagram illustrating an example of use of the nursing robot of FIG. 1 .

The use state of the nursing robot 1 according to this will be exemplified and described as follows. The nursing robot 1 may be in continuous contact with an unspecified number of people while going back and forth to various locations before performing the sterilization operation. The medical staff and the like manipulate the touch screen (refer to 101 in FIGS. 2 and 3) of the display module 100a by contacting the first light guide plate 105 through the display terminal 100 of the nursing robot 1, and receive a desired command. can lower Accordingly, the nursing robot 1 may perform the sterilization operation, or may automatically perform the sterilization operation under the control of the automatic control module (see 116 in FIG. 2 ) as described above. In any case, the shielding curtain 107 is forcibly unwound before the sterilization operation is carried out, and the first light guide plate 105 and its periphery, which is the sterilization point, are completely covered by the shielding curtain 107 and the frame 103. . Therefore, even if strong high-frequency ultraviolet light is emitted from the inside of the shielding curtain 107, a person can be safely protected, and it is also possible to prevent touching the sterilization point with a hand (B) or the like. The medical box 200 also performs the sterilization operation only when the cover 201 is completely closed as shown, and when the cover 201 is slightly opened as described above, the operation of the second sterilization module (see 200b in FIG. 7 ) is stopped, so that the sterilization operation can be performed very quickly and safely from the inside of the shielding module 200a that does not reach the user's hand (B). As the nursing robot 1 repeatedly and very safely sterilizes itself, it is possible to greatly improve the hygiene level of the nursing robot 1 even in a space where an unspecified number of people enter and exit such as a medical institution, and to provide more convenient nursing care. A robot 1 can be used.

Although the embodiments of the present invention have been described above with reference to the accompanying drawings, those of ordinary skill in the art to which the present invention pertains can realize that the present invention can be embodied in other specific forms without changing its technical spirit or essential features. you will be able to understand Therefore, it should be understood that the embodiments described above are illustrative in all respects and not restrictive.

1: Nursing Robot
10: body 20: driving module
21: driving wheel 22: sensor unit
100: display terminal 100a: display module
100b: first sterilization module 101: touch screen panel
102: connection neck 103: frame
104: opening 105: first light guide plate
106: first ultraviolet light source 107: shielding curtain
108: winding shaft 108a: torsion spring
109: drive belt 110: belt pulley
111: curtain-belt connection 1 12: drive shaft
113, 114: drive gear 115: motor
116: automatic control module 200: medical box
200a: shielding module 200b: second sterilization module
201: cover 202: receiving part
203: hinge 203a: hinge shaft
204: accommodation space 205: bio-signal measurement unit
206: second light guide plate 207: second ultraviolet light source
A: UV light B: hand

Claims (9)

body;
a driving module connected to the lower end of the body to support the body and having a plurality of driving wheels in rolling contact with the floor;
A display module disposed on one side of the body above the driving module and having a touch screen panel operable by a touch method on its front surface, and a first light guide plate made of a transparent material overlapping the front surface of the display module and being in close contact with the touch screen panel and a display terminal including a first sterilization module including a first ultraviolet light source for irradiating ultraviolet light from a side surface of the first light guide plate to the first light guide plate; and
It is disposed on the other side of the body above the traveling module, and includes a medical box including a shielding module having an accommodating space therein and an openable and openable enclosure,
The first sterilization module includes a frame that surrounds and fixes the first light guide plate, and at least a part of it is moved in and out of the frame and overlaps the outside of the first light guide plate to shield ultraviolet light emitted to the front of the first light guide plate. It further includes a shielding unit,
The movable shielding unit may include a winding shaft rotatably disposed inside the frame and positioned at one end of the first light guide plate, a shielding curtain connected to the winding shaft to be wound or unwound, and overlapping the first light guide plate, the frame; at least one driving belt extending between one end and the other end of the first light guide plate perpendicular to the winding shaft inside of It includes a motor to control the
Further comprising an automatic control module for controlling the unwinding of the shielding curtain before the operation of the first UV light source by adjusting the operating time of at least one of the motor and the first UV light source,
The automatic control module is a nursing robot device for automatically operating the shielding curtain and the first UV light source by monitoring the interval between the generation of the touch signal transmitted from the touch screen panel. delete delete According to claim 1,
Nursing robot device connected to the take-up shaft further comprising a torsion spring for generating a restoring force in the opposite direction in response to the rotation of the take-up shaft. delete delete According to claim 1,
The medical box, the nursing robot device further comprising a second sterilization module disposed inside the shielding module to irradiate ultraviolet light to the receiving space. According to claim 1,
The medical box, Nursing robot device further comprising a bio-signal measuring unit for measuring a bio-signal in contact with a human finger on one side of the receiving space of the shielding module. 8. The method of claim 7,
The second sterilization module includes a second light guide plate disposed to face the accommodation space in close contact with the inner surface of the cover covering the upper portion of the accommodation space of the shielding module, and ultraviolet light from the side of the second light guide plate to the second light guide plate A nursing robot device that diffuses and emits ultraviolet light to the front surface of the second light guide plate, including a second ultraviolet light source to be incident.

Images