CN106901948B - Sky rail nursing suspention control system - Google Patents
Sky rail nursing suspention control system Download PDFInfo
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- CN106901948B CN106901948B CN201710110314.0A CN201710110314A CN106901948B CN 106901948 B CN106901948 B CN 106901948B CN 201710110314 A CN201710110314 A CN 201710110314A CN 106901948 B CN106901948 B CN 106901948B
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- 230000000474 nursing effect Effects 0.000 title claims description 9
- 238000001514 detection method Methods 0.000 claims abstract description 17
- 230000008859 change Effects 0.000 claims abstract description 10
- 230000001939 inductive effect Effects 0.000 claims description 8
- 230000005622 photoelectricity Effects 0.000 claims 1
- 238000005452 bending Methods 0.000 description 88
- 239000000203 mixture Substances 0.000 description 9
- 238000010586 diagram Methods 0.000 description 8
- 230000005693 optoelectronics Effects 0.000 description 6
- 238000004891 communication Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 239000000725 suspension Substances 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 208000020442 loss of weight Diseases 0.000 description 2
- 230000013011 mating Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012549 training Methods 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 239000000686 essence Substances 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 210000003141 lower extremity Anatomy 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- GOLXNESZZPUPJE-UHFFFAOYSA-N spiromesifen Chemical compound CC1=CC(C)=CC(C)=C1C(C(O1)=O)=C(OC(=O)CC(C)(C)C)C11CCCC1 GOLXNESZZPUPJE-UHFFFAOYSA-N 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/008—Appliances for aiding patients or disabled persons to walk about using suspension devices for supporting the body in an upright walking or standing position, e.g. harnesses
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5023—Interfaces to the user
- A61H2201/5025—Activation means
- A61H2201/5028—Contact activation, i.e. activated at contact with a surface of the user to be treated
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Toys (AREA)
Abstract
The invention discloses a kind of sky rails to nurse with control system is suspended in midair, may be implemented to switch tracks automatically.Its track element includes x track, at least two y tracks, rail changing device includes bracket, slidable sliding block, sliding block is equipped with the moving rail passed through correspondingly for loop wheel machine with the y track, the sliding block has and the one-to-one position of y track, the suspention control system further include: master controller generates control signal for requesting according to the commutation of user；Become rail motor, for receiving control signal and being rotated forward or backwards according to control signal to drive sliding block mobile；And to rail detection switch, for sense issue behind the contact being set on sliding block indicate x track and the y track in direction selected by user by moving rail connect to rail signal, each y track respectively corresponds one to rail detection switch；The master controller is also used to receive to rail signal and issues stopping signal to the change rail motor according to rail signal.
Description
Technical field
The present invention relates to the suspension system of medical nursing, in particular to a kind of sky rail nursing suspention orbits controlling system
System.
Background technique
When nursing certain patients or weak people or rehabilitation training, need to carry out loss of weight simultaneously by suspension system
Patient is supported.A kind of day rail as disclosed in Chinese patent CN106176146A suspends walking loss of weight holding equipment, master in midair
Machine is equipped with hanger for supporting patient, is suspended in midair patient body part using host, and lower limb is negative when making patient's walking
It reduces again.Then by being installed on the special track of roof or roof ceiling, by transfer target orbiting to target position
It sets, is such as transferred in toilet from bedroom or ward.Single track or double track are generallyd use at present, can only be used for a loop wheel machine.And
More people are used, need to be arranged multiple loop wheel machines, since the movement routine of each patient is different, it may appear that move towards and cause
It is impassable；In addition, for multiple target positions not on the same line, in order to connect multiple target positions can by track
It connects, then track is closed annular or fold-line-shaped, although the movement routine between two adjacent target positions can be set to
It is most short, but the movement routine between non-conterminous two target positions is not the shortest distance for being the two, especially fold-line-shaped
Track can make the movement routine between two target positions at track both ends very long.
Summary of the invention
In view of the above-mentioned problems, the object of the present invention is to provide a kind of sky rails to nurse with control system is suspended in midair, it can
Automatic change rail is realized to be automatically selectively turned on the track of different extending directions.
In order to achieve the above objectives, a kind of technical solution that the present invention uses are as follows:
A kind of sky rail nursing suspention control system, including at least one track element, the track element packet
It includes for being fixedly connected with the x track passed through for loop wheel machine, at least two y tracks on the ceiling, each y track is not respectively along
Same direction extends, and the track element further includes rail changing device, and the rail changing device includes for being fixedly connected on ceiling
On bracket, the sliding block that is slidingly disposed on the bracket, the sliding block is equipped with the y track correspondingly for hanging
The moving rail that machine passes through, each moving rail is respectively provided with and the x track connects first end and with corresponding y track phase
The second end connect, the sliding block have and the one-to-one position of y track, when the sliding block is at first position, the x
Track is connected with one of y track by a moving rail, when the sliding block is at another location, the x track and another
A y track is connected by another moving rail；
The suspention control system further include: master controller generates control letter for requesting according to the commutation of user
Number；
The rail changing device further include:
Become rail motor, for receiving the control signal and being rotated forward or backwards according to the control signal to drive
It is mobile to state sliding block；And
To rail detection switch, indicated selected by x track and user for sensing to issue behind the contact on the sliding block
The y track in direction by moving rail connect to rail signal, each y track respectively correspond one it is described to rail detection open
It closes, it is described that rail detection switch is respectively provided on the bracket or corresponding y track；
The master controller, which is also used to receive, described to be sent out rail signal to the change rail motor to rail signal and according to described
Stopping signal out.
Preferably, the suspention control system further include:
Hand controller, for inputting commutation instruction for user；
Loop wheel machine controller, the commutation for receiving user, which is instructed and instructed according to the commutation, generates commutation request,
Then commutation request is sent to the master controller.
It is highly preferred that the track element further include:
Enter the orbit inductive switch, for issuing request signal of entering the orbit after sensing loop wheel machine on the x track；
The master controller be also used to receive it is described enter the orbit request signal and after receiving the request signal of entering the orbit to
The loop wheel machine controller issues answer signal, and the loop wheel machine controller is used to receive the answer signal sending for reminding
User inputs the alerting signal of commutation instruction.
Further, the suspention control system further include:
Voice module, for receiving the alerting signal and issuing the first voice signal according to the alerting signal；
And/or the loop wheel machine controller is also used to issue after the commutation request for receiving user to the voice module
Feedback signal, the voice module, which is also used to issue after receiving the feedback signal, indicates commutation instruction is received second
Voice signal；
And/or the master controller is also used to be sent to the loop wheel machine controller, the loop wheel machine control to rail signal for described
Device processed is also used to after receiving the signal to rail issue walk signal to the voice module, and the voice module is also used to
The third voice signal for prompting user to walk with loop wheel machine is issued after receiving the walk signal.
Further, the hand controller, loop wheel machine controller and the voice module are located on the loop wheel machine.
Preferably, the track element further include:
Restricted driving head is actively set to the y track on the x track for the only direction selected by x track and user and passes through shifting
Dynamic rail allows the loop wheel machine to enter the rail changing device after connecting.
It is highly preferred that the master controller is also used to issue stop signal after the commutation request for receiving user and only exist
Right of way signal is issued after receiving the signal to rail；The track element further include:
Restricted driving head motor for receiving the stop signal and the right of way signal, and is receiving the stop signal
After drive the restricted driving head to stretch out x track to prevent loop wheel machine from entering rail changing device, institute is driven after receiving the right of way signal
Restricted driving head is stated to retreat in x track to allow loop wheel machine current.
Preferably, described is optoelectronic switch to rail detection switch, and the rail changing device includes determining on the sliding block
Position item, perforation offers the locating slot passed through for light on the positioning strip, and the locating slot forms the contact.
Preferably, the track element includes three y tracks, first sliding block tool there are three respectively with the y track
One-to-one position, when first sliding block is at first position, the x track and first y track pass through first shifting
Dynamic rail is connected, and when the sliding block is at the second position, the x track and second y track are connected by second moving rail, when
The sliding block in the third place, connected with third y track by third moving rail by the x track.
Preferably, which includes multiple track elements and for controlling the multiple track
The master controller of unit.
The present invention by adopting the above technical scheme, has the advantages that compared with prior art
Mobile by becoming rail motor driven sliding block, moving rail moves, since the second end of each moving rail is corresponding different
Track, x track can be connected with different y tracks by different moving rails, by it is corresponding with each y track to rail detect
Whether switch detection target y track, to just connecting, reaches the accurate positioning of sliding rail, realizes handoff path with corresponding moving rail
Purpose is, it can be achieved that mobile with shorter path between target position；And due to having along not Tongfang with more than one track
It, can be to avoid multiple loop wheel machines move toward one another on a track and cause impassable problem, for more to the track of extension
Platform loop wheel machine and more people use, and are suitable for rehabilitation training mechanism, hospital uses.
Detailed description of the invention
It, below will be to attached drawing needed in embodiment description in order to illustrate more clearly of technical solution of the present invention
It is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, general for this field
For logical technical staff, without creative efforts, it is also possible to obtain other drawings based on these drawings.
Attached drawing 1 is the schematic diagram of the suspention control system of embodiment 1；
Attached drawing 2 is the partially exploded diagram of the suspention control system of embodiment 1；
Attached drawing 3 is the partial enlarged view in attached drawing 2 at A；
Attached drawing 4 is the module diagram of the loop wheel machine system of embodiment 1；
Attached drawing 5 is the schematic diagram of the suspention rail system of embodiment 2；
Attached drawing 6 is the schematic diagram of the suspention rail system of embodiment 3；
Attached drawing 7 is the schematic diagram of the suspention rail system of embodiment 4；
Attached drawing 8 is the schematic diagram of the suspention rail system of embodiment 5；
Attached drawing 9 is the schematic diagram of the suspention rail system of embodiment 6.
In above-mentioned attached drawing,
A, track；B, track；C, track；D, track；
1, rail changing device；1a, rail changing device；1b, rail changing device；1c, rail changing device；1d, rail changing device；
10, bracket；101, sliding slot；20, sliding block；201, mobile left bending track；202, mobile straight rail；203, mobile right bending track；
21, become rail motor；30, enter the orbit inductive switch；40, restricted driving head；41, restricted driving head motor；50, to rail detection switch；51, it positions
Item；510, locating slot；
2, loop wheel machine；220, loop wheel machine controller；221, hand controller；222, voice module；223, wireless communication module.
Specific embodiment
The preferred embodiments of the present invention will be described in detail with reference to the accompanying drawing, so that advantages and features of the invention energy
It is easier to be understood by the person skilled in the art.It should be noted that the explanation for these embodiments is used to help
Understand the present invention, but and does not constitute a limitation of the invention.In addition, involved in the various embodiments of the present invention described below
And to technical characteristic can be combined with each other as long as they do not conflict with each other.
Embodiment 1
Attached drawing 1-4 shows the sky rail nursing representative instance of suspention rail system of the invention, it may be implemented four
To rail is become, which is made of four track elements, a master controller, an at least loop wheel machine system.
Each track element respectively includes being fixedly connected the x track passed through for loop wheel machine 2, three y rails on the ceiling
Road (i.e. y1, y2, y3 track), each y track extend in different directions respectively.Each track element further includes rail changing device
1, rail changing device 1 includes the sliding block 20 for being fixedly connected with bracket 10 on the ceiling, being slidingly disposed on bracket 10, sliding block 20
It is equipped with the moving rail passed through correspondingly for loop wheel machine 2 with y track.Each moving rail is respectively provided with first to connect with x track
End and the second end that connects with corresponding y track, sliding block 20 have with the one-to-one position of y track, when the sliding block 20
At first position, x track is connected with y1 track by a moving rail；When sliding block 20 is at another location, x track and y2 rail
Road is connected by another moving rail；When sliding block 20 is in the third place, x track and y3 track are connect by third moving rail
It is logical.Specifically, it is set on bracket 10 there are two sliding slot 101, the extending direction of two sliding slots 101 is consistent and the slot of two sliding slots 101
Mouth is opposite, and the opposite sides side of sliding block 20 is respectively slidably plugged in two sliding slots 101.Each rail changing device 1 is one
The structure gone out into three, is fixed on an overhead ceiling fixture, guarantees the flatness of installation and the installation dimension precision of intermodule, becomes rail
The fixation bending track of connection between device 1 and fixed straight rail connect after Precision Machining with four rail changing devices 1.
Three moving rails on each sliding block 20 are respectively mobile left bending track 201, mobile straight rail 202 and mobile right bending track
203, mobile straight rail 202 is along linear extension for connecting the x track and y1 track extended in the same direction, mobile left bending track 201
Be with the right bending track 203 of movement it is curved, arc is further defined in the present embodiment.The circle of mobile left 201 cambers of bending track
The center of circle of the heart and mobile right 203 cambers of bending track is located at the opposite left and right sides of mobile straight rail 202.And need to pay attention to
It is: the distance between both the distance between first end of adjacent moving rail is less than second end；And between moving rail first end
Distance should be as small as possible or for 0, that is, institute's moving rail first end is along the glide direction arrangement of sliding block 20 and successively adjacent, this
It can make sliding block 20 behind the lesser path of movement, so that it may which the moving rail to connect with x track is switched to another；This
Outside, the track width of moving rail first end should match with the width of x track, i.e. the width of moving rail first end is equal to or bigger
It is all the state disconnected with other moving rails after guaranteeing that x track and a certain moving rail are connected in the width of x track.
Four track elements of 1 pair of the present embodiment and its connection are described in detail with reference to the accompanying drawing.The present embodiment
Suspending rail system in midair includes the track A extended along the longitudinal direction and track C, the track B and track D that extend in left-right direction, rail
A, B, C, D are not connected in road.Track A, B, C, D are respectively equivalent to the x track of four track elements, and middle orbit A, C are along front and back
Direction extends, and track B, D extend in left-right direction.The nouns of locality such as the front, rear, left and right addressed in the present embodiment are according to ability
It the usual observation visual angle of field technique personnel and is defined to describe convenient, does not limit specific direction.Such as, forward and backward point
Not Dui Yingyu in attached drawing 1 paper left side, right side, the left and right upside, downside for corresponding respectively to paper in attached drawing 1.
The suspention rail system further includes four rail changing devices 1a, 1b, 1c, 1d, and each rail changing device, which has, successively arranges
The mobile left bending track 201 of column, mobile straight rail 202 and mobile right bending track 203.It is in-orbit to loop wheel machine 2 below by taking rail changing device 1a as an example
Road A, which turns left to enter fixed bending track ab(, is equivalent to y2 track), straight trip enters fixed straight rail ac(and is equivalent to y1 track) or turn right
Bend into and be equivalent to y3 track into fixed bending track da() commutation become rail be illustrated.First moving rail of rail changing device 1a is to move
Left bending track 201 is moved, mobile left bending track 201 is located at the left side of mobile straight rail 202 and arc-shaped, arc formed by mobile left bending track 201
The center of circle of shape is overlapped and is all located at the left side of track A and mobile straight rail 202 with the center of circle of arc formed by fixed bending track ab；Second
A moving rail is the mobile straight rail 202 extended along the longitudinal direction；Third moving rail is mobile right bending track 203, mobile right bending track
203 are located at the right side of mobile straight rail 202 and arc-shaped, the circle of arc formed by mobile right bending track 203 and fixed bending track da institute
At the center of circle of arc be overlapped and be all located at the left side of track A and mobile straight rail 202.When by the sliding block 20 of rail changing device 1a to the right
When sliding into first position, mobile left bending track 201 and fixed bending track ab connect and are spliced into the arc that one section of central angle is 90 degree
Rail has actually carried out to the left 90 so after loop wheel machine 2 successively passes through from track A, mobile left bending track 201, fixed bending track ab
The turning of degree.When sliding block 20 is slid into the second position to the left, track A, mobile straight rail 202, fixed straight rail ac successively splice
And a straight rail connected along the longitudinal direction is constituted, loop wheel machine 2 successively passes through from track A, mobile left bending track 201, fixed straight rail a
When, practical for straight trip, the direction run has not been changed.It is mobile right curved when the continuation of sliding block 20 is slid into the third place to the left
Rail 203 and fixed bending track da connect and are spliced into the curved track that one section of central angle is 90 degree, so work as loop wheel machine 2 successively from track A,
After mobile right bending track 203, fixed bending track da pass through, 90 degree to the right of turning has actually been carried out.
In the following description, in order to describe conveniently, mobile left bending track 201 is not limited to such as the position in rail changing device 1a
In the left side of mobile straight rail 202, mobile right bending track 203 is also not limited to the mobile straight rail 202 that is located in rail changing device 1a
Right side.After even if rail changing device 1 is rotated at any angle in the plane where paper, as long as being located at along x track to y1 track
Traffic direction on the left of can be realized left-hand bend and be just referred to as mobile left bending track 201, positioned at the operation along x track to y1 track
It can be realized right-hand bend on the right side of direction and be just referred to as mobile right bending track 203.
Track A and B pass through the mobile left bending track 201 of rail changing device 1a, the shifting of fixation the bending track ab, rail changing device 1b of arc
It moves right bending track 203 to connect, fixed bending track ab is the equal of by the y2 track and second track element of first track element
The integrally formed composition of y3 track；Track B and C by the mobile right bending track 203 of rail changing device 1b, arc fixation bending track bc,
The mobile left bending track 201 of rail changing device 1c is connected, and fixed bending track bc is the equal of by the y2 track of second track element and the
The integrally formed composition of y3 track of three track elements；Track C and D pass through the mobile left bending track 201 of rail changing device 1c, arc
Fixation bending track cd, rail changing device 1d mobile right bending track 203 connect, fixed bending track cd is the equal of by third track element
Y2 track and the 4th track element the integrally formed composition of y3 track；Track D and A pass through a mobile left side of rail changing device 1d
Bending track 201, the fixation bending track da of arc, rail changing device 1a mobile right bending track 203 connect, fixed bending track da is the equal of by the
The integrally formed composition of y3 track of the y2 track and first track element of four track elements；Track A and C are by becoming rail dress
Set the mobile straight rail 202 of 1a, the mobile straight rail 202 of the fixation straight rail ac that extends along the longitudinal direction, rail changing device 1c are connected, along a left side
The fixation straight rail ac that right direction extends is the equal of the y1 rail of the y1 track and third track element by first track element
The integrally formed composition in road；Track B and D pass through the mobile straight rail 202 of rail changing device 1b, fixed straight rail bd, rail changing device 1d
Mobile straight rail 202 is connected, and fixed straight rail bd is the equal of by the y1 track and the 4th track element of second track element
The integrally formed composition of y1 track.
Suspention control system provided in this embodiment can realize track A-B, track B-C, rail C- road D, track D-A,
The turn on automatically and switching of track A-C and track B-D.Referring to shown in attached drawing 2-4, loop wheel machine system includes loop wheel machine 2, is set to loop wheel machine
Loop wheel machine controller 220, hand controller 221 and voice module 222 on 2；
Each track element further include: inductive switch 30 of entering the orbit, for being issued after sensing loop wheel machine 2 on x track
Enter the orbit request signal；
Suspend control system in midair further include: master controller, and the electrical connection of inductive switch 30 of entering the orbit, for receive it is described enter
Rail request signal simultaneously issues answer signal to the loop wheel machine controller 220 after receiving the request signal of entering the orbit, described to hang
Machine controller 220 is used to receive the answer signal sending for reminding user to input the alerting signal of commutation instruction；It is main
Controller and suspention controller pass through a pair of wireless communication module 223(such as wifi receiver and transmitter) realize wireless communication thus into
Row information interaction；
Voice module 222 and loop wheel machine controller 220 are electrically connected, for receiving the alerting signal and according to the prompting
Signal issues the first voice signal；
Hand controller 221, for inputting commutation instruction after hearing the first voice signal for user, hand controller 221 is equipped with
Corresponding to the key of left-hand rotation, straight trip and right-hand rotation, presses the button and complete the commutation instruction input；
Loop wheel machine controller 220 and hand controller 221 are electrically connected, and the commutation for receiving user instructs and according to described
Commutation instruction generates commutation request, and commutation request is then sent to the master controller by way of wireless transmission；
Master controller is also used to generate the control letter for corresponding to and rotating forward or backwards according to the commutation request received
Number；
Each rail changing device further include:
Become rail motor 21, which is that the intelligent electric machine and master controller of included control module and function are electrically connected
It connects, for receiving the control signal and being rotated forward or backwards according to the control signal to drive the sliding block 20 mobile；
And
To rail detection switch 50, x track and user are indicated for sensing to issue behind the contact on the sliding block 20
The y track in selected direction by moving rail connect to rail signal, each y track respectively correspond one it is described to rail detect
Switch 50, it is described that rail detection switch 50 is respectively provided on the bracket 10 or corresponding y track；
Master controller, is also used to receive and described issues to rail signal to the change rail motor 21 to rail signal and according to described
Stopping signal becomes rail motor 21 and stops operating after receiving stopping signal, and sliding block 20 stops at current location.Master controller and
Loop wheel machine controller 220 all selects MCU chip.
After user completes the input of commutation instruction, the loop wheel machine controller 220 is also used to ask in the commutation for receiving user
Feedback signal is issued to the voice module 222 after asking, the voice module 222 is also used to after receiving the feedback signal
Issue the second voice signal for indicating that commutation instruction is received；The master controller is also used to be sent to institute to rail signal for described
Loop wheel machine controller 220 is stated, the loop wheel machine controller 220 is also used to after receiving the signal to rail to the voice module
222 issue walk signals, the voice module 222 be also used to after receiving the walk signal issue for prompt user with
The third voice signal that loop wheel machine 2 is walked.
In order to avoid loop wheel machine 2 is strayed into during switching tracks, track element further include: restricted driving head 40 is actively set to x track
It is upper to be used to that the loop wheel machine 2 only to be allowed to enter the change rail after the y track in x track with direction selected by user is connected by moving rail
Device.Specifically, restricted driving head 40, which can slide up and down to, is plugged in x track, is housed in x track when sliding on restricted driving head 40
Afterwards, that is to say, that slide to track on restricted driving head 40 and what loop wheel machine 2 was in contact slides above mating surface to avoid loop wheel machine 2, allow to hang
Machine 2 is current, when x track is stretched out in the downslide of restricted driving head 40, until can interfere, hang with motor when sliding below mating surface positioned at this
Machine 2 is impassable.Restricted driving head 40 drives automatic sliding by restricted driving head motor 41, restricted driving head motor 41 also for included control module and
The intelligent electric machine of function.Master controller is also used to issue stop signal after the commutation request for receiving user and only receive
Right of way signal is issued after the signal to rail；Restricted driving head motor 41 and master controller electrical connection, for receiving the stop signal
With the right of way signal, and drive after receiving the stop signal restricted driving head 40 to stretch out x track with prevent loop wheel machine 2 into
Enter rail changing device；The restricted driving head 40 is driven to retreat in x track to allow loop wheel machine 2 current after receiving the right of way signal.
It is optoelectronic switch to rail detection switch 50, rail changing device includes the positioning strip 51 on the sliding block 20, described
Perforation offers the locating slot 510 passed through for light on positioning strip 51, and the locating slot 510 forms the contact.
Positioning strip 51 be located at optoelectronic switch to penetrating in window.
The course of work for the suspention control system that embodiment 1 provides are as follows:
Turn have enter the orbit inductive switch 30 and a restricted driving head in the approach section peace that each direction enters rail changing device
40, when loop wheel machine 2 run to four-way it is any to straight rail (track A, B, C, D) approach section when can trigger and be mounted on entering the orbit for the straight rail section
Inductive switch 30, the master controller for becoming rail system to four-way issue request signal of entering the orbit, and master controller receives request signal of entering the orbit
After can feed back to 220 1 answer signals of loop wheel machine controller, Chinese speech reminds user to input direction of advance with hand controller 221,
After user is with 221 key-press input direction of advance of hand controller (turn left, turn right, straight trip), loop wheel machine controller 220 can pass through voice mould
Block 222 issues Chinese speech and feeds back to one confirming operation of user；
After master controller feeds back to user's confirmation, master controller can become rail motor 21 according to the requirement control for becoming rail and transport
It is dynamic, become rail motor 21 with movable slider 20 to prescribed direction movement, master controller passes through the detection output of corresponding positioning optoelectronic switch
Come judge sliding block 20 whether positive stop；
The positioning strip 51 being fixed on sliding block 20 is moved together with sliding block 20, there is a locating slot 510 on positioning strip 51
As electric shock, when locating slot 510 is moved to as the optoelectronic switch to rail detection switch 50 to window is penetrated, optoelectronic switch is defeated
One to rail signal out, and master controller receives this and moves to stopping becoming rail motor 21 after rail signal, the change of corresponding rail changing device
Rail is completed, if the operation of loop wheel machine 2 in a direction may involve two rail changing devices and could complete with time-varying rail, main control
Device can issue corresponding control signal to the change rail motor 21 of two rail changing devices according to the direction of advance of user and complete two changes
Control requirement of the rail device with time-varying rail；
The major function of restricted driving head 40 is to forbid loop wheel machine 2 to enter before no completion becomes rail movement to become rail module, guarantee to become
The safe operation of rail module and loop wheel machine 2；
After rail changing device completes to become rail can voice reminder user colleague, while restricting driving and first 40 packing up, when loop wheel machine 2 passes through change
Triggered when rail device row go out module inductive switch after, voice reminder user go out orbital transfer area domain, while restrict driving it is first 40 stretching.
Embodiment 2
In conjunction with shown in attached drawing 5, a kind of sky rail nursing suspention rail system, including first track element.First
Track element includes for being fixedly connected with the track A passed through for loop wheel machine 2, track B and track C on the ceiling, respectively quite
In x track defined above, y2 track and y1 track.Its middle orbit A, track C and track B are not connected, and track C and rail
Road B extends in different directions respectively.Specific in the present embodiment, track A and track C are the fixations extended along the longitudinal direction
Straight rail, track B are located at the left side of track C and are arc-shaped fixation bending track, and the center of circle of arc formed by track B is located at track B
Front side and be located at track C left side.
First track element further includes the rail changing device for switching tracks.Rail changing device includes for being fixedly connected on ceiling
On bracket 10, the sliding block 20 that is slidingly disposed on bracket 10.Movement there are two being set on sliding block 20 for passing through for loop wheel machine 2
Rail, the first end that each moving rail is respectively provided with and track A connects and the second end to connect with corresponding track C or B.First is sliding
Block 20 has first position and the second position, and when the first sliding block 20 is at first position, track A and track C pass through a movement
Rail is connected；When sliding block 20 is at the second position, track A is connected with track B by another moving rail.
Wherein first moving rail is the mobile straight rail 202 extended along the longitudinal direction, and second moving rail is mobile left curved
Rail 201, mobile left bending track 201 also are located at the left side of mobile straight rail 202 and also arc-shaped, arc formed by mobile left bending track 201
The center of circle be overlapped with the center of circle of arc formed by track B.When sliding block 20 is slid into the second position to the right, mobile left bending track
The central angle of arc that 201 and track B connects and constitutes is 90 degree, so when loop wheel machine 2 successively from track A, move left bending track
201, after track B passes through, 90 degree to the left of turning has actually been carried out.When sliding block 20 is slid into first position to the left,
Track A, mobile straight rail 202, track B successively splice and constitute the straight rail communicated along the longitudinal direction, and loop wheel machine 2 is successively from track
A, when mobile left bending track 201, track B pass through, practical for straight trip, the direction run is had not been changed.Suspention provided in this embodiment
Rail system can realize the connection and switching of track A-B and track A-C.
Embodiment 3
Referring to shown in attached drawing 6, the suspension type rail system of the present embodiment also includes first track element, with embodiment
The difference of 2 the first track element is only that:
Track B is located at the right side of track C, and second moving rail is mobile right bending track 203.That is, arc formed by track B
The center of circle is located at the front side of track B and is located at the right side of track C, and mobile right bending track 203 is located at the right side of mobile straight rail 202, mobile
The center of circle of arc formed by right bending track 203 is overlapped with the center of circle of arc formed by track B.When sliding block 20 is slid into second to the left
When position, the central angle of arc that mobile right bending track 203 and track B connect and constitute is 90 degree, so work as loop wheel machine 2 successively from rail
After road A, mobile right bending track 203, track B pass through, 90 degree to the right of turning has actually been carried out.
Embodiment 4
In conjunction with shown in attached drawing 7, the present embodiment is the combination of the first track element of embodiment 2 and embodiment 3.The present embodiment
Suspention rail system include the track A extended along the longitudinal direction and track C, the track B and track D that extend in left-right direction,
Track A, B, C, D are not connected, and track A and B intersect.The suspention rail system further includes two rail changing devices, one of them
Arc of the rail changing device with the mobile straight rail 202 extended along the longitudinal direction and on the right side of the movement straight rail 202 moves left
Bending track, another rail changing device have the mobile straight rail 202 extended in left-right direction and the arc positioned at 202 rear side of movement straight rail
Shape moves right bending track.Track A, C can be connected by the mobile straight rail 202 extended along the longitudinal direction, and track B, D can be by along a left sides
The mobile straight rail 202 that right direction extends is connected, and track B, D are by moving left fixation bending track bd and the right side of bending track, one section of arc
Mobile bending track is connected, and the fixation bending track of the arc is equivalent to be the integrally formed composition of y2 track there are two the first track element
's.
Suspention rail system provided in this embodiment can realize the connection and switching of track A-C, track B-D and track C-D.
Embodiment 5
In conjunction with shown in attached drawing 8, the suspention rail system of the present embodiment includes second track element, the second track element
Practical is the single track element of embodiment 1, and the difference with the first track element of embodiment 2 is:
It further include track D, the center of track D and track B relative orbit C in addition to track A, B, C as described in Example 2
Line is axisymmetricly.It that is, track D is located at the right side of track C, and is arc-shaped fixation bending track, arc formed by track D
The center of circle be located at track B front side and be located at track C right side.Track A, B, C, D be respectively equivalent to x ' defined above, y2 ',
Y1 ', y3 ' track.
In addition to mobile straight rail 202 as described in Example 3 and mobile left bending track 201, third use is additionally provided on sliding block 20
In the moving rail passed through for loop wheel machine 2, third moving rail have with track A the first end to connect and connect with track D second
End.First sliding block 20 also has the third place, and when the first sliding block 20 is in the third place, track A and track D are moved by third
Dynamic rail is connected.Specifically, third moving rail and mobile left bending track 201 relatively move the center line of straight rail 202 axisymmetricly, the
Practical three moving rails are mobile right bending track 203(similar to the mobile right bending track 203 in embodiment 2).Movement is located at by bending track
The right side of straight rail 202 is moved, the center of circle of arc formed by mobile right bending track 203 is overlapped with the center of circle of arc formed by track D.When
When sliding block 20 is slid into the third place to the left, the central angle of arc that mobile right bending track 203 and track D connect and constitute is 90
Degree, so when loop wheel machine 2 successively from track A, move right bending track 203, track D passes through after, actually carried out 90 degree to the right
Turning.
Suspention rail system provided in this embodiment can realize the connection and switching of track A-B, track A-C and track A-D.
Embodiment 6
In conjunction with shown in attached drawing 9, practical the present embodiment is described in the first track element described in embodiment 2,3 and embodiment 5
The second track element combination.The suspention rail system of the present embodiment include the track A extended along the longitudinal direction and track C,
The track B and track D extended in left-right direction, track A, B, C, D are not connected.Track A, C are respectively equivalent to two the first rails
The x track of road unit, track B, D are respectively equivalent to the x1 ' of the second track element, y1 ' track.
The suspention rail system further includes three rail changing devices 1a, 1b, 1c, rail changing device 1a have mobile left bending track 201,
Mobile straight rail 202, rail changing device 1b have mobile left bending track 201, mobile straight rail 202 and mobile right bending track 203, rail changing device 1c
With the left bending track 201 of movement, mobile straight rail 202 and mobile right bending track 203.
Track A and B pass through the mobile left bending track 201 of rail changing device 1a, the shifting of fixation the bending track ab, rail changing device 1b of arc
It moves right bending track 203 to connect, fixed bending track ab is the equal of by the y2 track and the second track element of first the first track element
Y3 ' track integrally formed composition；Track B and C pass through mobile right bending track 203, the fixation bending track of arc of rail changing device 1b
Bc, rail changing device 1c mobile left bending track 201 connect, fixed bending track bc be the equal of by the second track element y2 ' track and
The integrally formed composition of y2 track of second the first track element；Track A and C by the mobile straight rail 202 of rail changing device 1a,
The mobile straight rail 202 of the fixation straight rail ac, rail changing device 1c that extend along the longitudinal direction are connected, and the fixation extended in left-right direction is straight
Rail ac is the equal of by the integrally formed track constituted of the y1 track of two the first track elements；B and D passes through rail changing device 1b's
Mobile straight rail 202 is connected.
Suspention rail system provided in this embodiment can realize track A-B, track B-C, track A-C and track B-D
It connects and switches.
First track element and the second track element of the invention can be arbitrarily freely combined, and a variety of suspentions are converted out
Rail system, to meet the needs of various occasions, it is not limited to embodiment 1-6.
The above embodiments merely illustrate the technical concept and features of the present invention, is a kind of preferred embodiment, and purpose exists
In those skilled in the art can understand the contents of the present invention and implements accordingly, guarantor of the invention can not be limited with this
Protect range.Equivalent change or modification made by all Spirit Essences according to the present invention, should all cover in protection scope of the present invention
Within.
Claims (10)
1. a kind of sky rail nursing suspention control system, including at least one track element, which is characterized in that the rail
Road unit includes for being fixedly connected with the x track passed through for loop wheel machine, at least two y tracks on the ceiling, each y track
Extend in different directions respectively, the track element further includes rail changing device, and the rail changing device includes for being fixedly connected
Bracket on the ceiling, the sliding block being slidingly disposed on the bracket, the sliding block is equipped with and the y track one is a pair of
The moving rail passed through for loop wheel machine answered, each moving rail is respectively provided with the first end that the x track connects and with it is corresponding
The second end that connects of y track, the sliding block have with the one-to-one position of y track, when the sliding block is at first
When setting, the x track is connected with one of y track by a moving rail, when the sliding block is at another location, the x
Track is connected with another y track by another moving rail；
The suspention control system further include: master controller generates control signal for requesting according to the commutation of user；
The rail changing device further include:
Become rail motor, for receiving the control signal and being rotated forward or backwards according to the control signal to drive the cunning
Block is mobile；And
To rail detection switch, direction selected by x track and user is indicated for sensing to issue behind the contact on the sliding block
Y track by moving rail connect to rail signal, each y track respectively correspond one it is described to rail detection switch, institute
It states and rail detection switch is respectively provided on the bracket or corresponding y track；
The master controller be also used to receive it is described to rail signal and according to it is described to rail signal to the change rail motor sending stop
Machine signal.
2. suspention control system according to claim 1, which is characterized in that the suspention control system is also wrapped
It includes:
Hand controller, for inputting commutation instruction for user；
Loop wheel machine controller, the commutation for receiving user, which is instructed and instructed according to the commutation, generates commutation request, then
Commutation request is sent to the master controller.
3. suspention control system according to claim 2, which is characterized in that the track element further include:
Enter the orbit inductive switch, for issuing request signal of entering the orbit after sensing loop wheel machine on the x track；
The master controller is also used to receive enter the orbit request signal and the Xiang Suoshu after receiving the request signal of entering the orbit
Loop wheel machine controller issues answer signal, and the loop wheel machine controller is used to receive the answer signal sending for reminding user
The alerting signal of input commutation instruction.
4. suspention control system according to claim 3, which is characterized in that the suspention control system is also wrapped
It includes:
Voice module, for receiving the alerting signal and issuing the first voice signal according to the alerting signal；
And/or the loop wheel machine controller is also used to issue after the commutation request for receiving user to the voice module and feed back
Signal, the voice module are also used to issue the second voice for indicating that commutation instruction is received after receiving the feedback signal
Signal；
And/or the master controller is also used to be sent to the loop wheel machine controller, the loop wheel machine controller to rail signal for described
It is also used to after receiving the signal to rail issue walk signal to the voice module, the voice module is also used to connecing
Receive the third voice signal issued after the walk signal for prompting user to walk with loop wheel machine.
5. suspention control system according to claim 4, which is characterized in that the hand controller, loop wheel machine controller with
And the voice module is located on the loop wheel machine.
6. suspention control system according to claim 1, which is characterized in that the track element further include:
Restricted driving head is actively set to the y track on the x track for the only direction selected by x track and user and passes through moving rail
The loop wheel machine is allowed to enter the rail changing device after connection.
7. suspention control system according to claim 6, which is characterized in that the master controller is also used to receiving
Stop signal is issued after to the commutation request of user and only issues right of way signal after receiving the signal to rail；The track
Unit further include:
Restricted driving head motor for receiving the stop signal and the right of way signal, and is receiving the stop signal rear-guard
It moves the restricted driving head and stretches out x track to prevent loop wheel machine from entering rail changing device, the limit is driven after receiving the right of way signal
Wardrobe retreat in x track to allow loop wheel machine current.
8. suspention control system according to claim 1, which is characterized in that described to be opened for photoelectricity rail detection switch
It closes, the rail changing device includes the positioning strip on the sliding block, and perforation offers one for light on the positioning strip
By locating slot, the locating slot forms the contact.
9. suspention control system according to claim 1, which is characterized in that the track element includes three y rails
Road, sliding block tool there are three respectively with the one-to-one position of y track, when the sliding block is at first position, the x
Track and first y track are connected by first moving rail, when the sliding block is at the second position, the x track and second
A y track is connected by second moving rail, and when the sliding block is in the third place, the x track and third y track pass through
Third moving rail is connected.
10. according to claim 1 or suspention control system described in 9, which is characterized in that the suspention control system packet
Include multiple track elements and the master controller for controlling multiple track elements.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710110314.0A CN106901948B (en) | 2017-02-28 | 2017-02-28 | Sky rail nursing suspention control system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710110314.0A CN106901948B (en) | 2017-02-28 | 2017-02-28 | Sky rail nursing suspention control system |
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| CN106901948B true CN106901948B (en) | 2019-04-02 |
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| CN107224390A (en) * | 2017-07-18 | 2017-10-03 | 梁琪 | A kind of mobile reconditioning equipment of limb function sexual dysfunction patient indoors |
| CN108420635B (en) * | 2018-04-04 | 2024-02-02 | 美德远健领动（北京）医疗器械有限公司 | Top rail type intelligent transfer system and intelligent transfer control system |
| CN110146749A (en) * | 2018-07-18 | 2019-08-20 | 南京洛普科技有限公司 | A kind of antenna far-field transmitter automatic test device and automatic test method thereof |
| CN110803473A (en) * | 2019-11-15 | 2020-02-18 | 广东智源机器人科技有限公司 | Translation switching track device |
| CN111728826A (en) * | 2020-05-07 | 2020-10-02 | 曼纽科健康产业(广州)有限公司 | Control method and system for track path planning |
| CN114129400A (en) * | 2021-12-21 | 2022-03-04 | 常州市钱璟康复股份有限公司 | Y-shaped rail replacing structure and control method thereof |
| CN114132705B (en) * | 2021-12-21 | 2024-03-26 | 常州市钱璟康复股份有限公司 | Top rail reversing turntable and control method thereof |
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Address after: 215425 Guizhuang, Shaxi Town, Taicang City, Suzhou City, Jiangsu Province Patentee after: Kanghui Medical Technology (Suzhou) Co., Ltd. Address before: 215425 Guizhuang, Shaxi Town, Taicang City, Suzhou City, Jiangsu Province Patentee before: Comfort Technology Development Co., Ltd. Taicang City |