CN115778701A - Turn over nursing robot - Google Patents

Abstract

The invention relates to a stand-up care robot, which includes a base, a guide outer ring installed on the base, a guide inner ring arranged in the guide outer ring, a bed board module for turning to realize the user's stand-up, and a bed board module for turning over the user The driving device that drives the rotation of the bed board module, the turning nursing robot of the present invention drives the slider to slide in the ring-shaped sliding groove through the push rod, so as to realize the position exchange of the bed board components on the upper and lower sides, that is, the present invention adopts in-situ rotation and turning over In this way, the bed board will not be turned outward, so it will not occupy the space on both sides, which is beneficial to reduce the use space, thereby expanding the scope of application, and can realize the turning over of the patient, and the structure is relatively novel.

Description

Turn over care robot

technical field

The invention relates to the technical field of medical devices, in particular to a turning nursing robot.

Background technique

For the incapacitated patient, the wounded or the elderly, turning over in bed is a big problem. For larger and heavier patients, it is more difficult to turn over with artificial assistance, and it is impossible to ensure that turning over is in place through artificial assistance, and the injured part may be touched or involved, which will lead to aggravation of the condition . Therefore, some stand-up nursing machines have also appeared at present, which can completely turn over this group of people by mechanized equipment, such as the Chinese patent application whose patent publication number is CN110575328A provides a kind of stand-up nursing robot, which adopts two plate-like structures to use The user clamps and then turns over, which can meet the turning needs of users of different sizes. However, the turning care robot first needs to lift a plate-like structure, then lift it up and turn it again to cover and clamp the user, then turn it over, and finally unfold the turned plate-like structure, which turns outward during use. The plate structure requires space outside the bed and cannot be used when multiple units are used side by side, or when the distance between the devices is less than the width of the plate structure.

Contents of the invention

An object of the present invention is to provide a nursing robot for turning over. The nursing robot for turning over can turn over in situ without turning outwards, so it does not occupy the space on both sides, and can turn over the patient.

The invention provides a stand-up nursing robot, comprising:

base;

a guide outer ring mounted on said base;

a guide inner ring, which is arranged in the guide outer ring, and a sliding groove is formed between the guide outer ring;

A bed board module, the bed board module includes two bed board assemblies arranged up and down, each of the bed board assemblies includes a bed board, a slider connected to the bed board, flexible limiting blocks installed on both sides of the bed board and sleeved on the The mattress on the bed board and the flexible limiting block, wherein the mattress is used for the user to lie on, and the slider is configured to be able to slide along the sliding groove, so that the two bed board assemblies arranged up and down can rotate And the position is reversed, so as to complete the turning work of the user; and

A driving device, the driving device includes a driving member, a driving rod linked to the driving member, and two pushing rods respectively arranged at both ends of the driving rod, wherein the two pushing rods are arranged in the sliding groove , which are respectively used to push the corresponding sliders to rotate.

In an embodiment of the present invention, the turning care robot further includes a lifting mechanism, and the bed board assembly further includes a sliding bar detachably connected to the slider, and the lifting mechanism is used to link Drive the bed board assembly on the upper side to move up and down, including a mounting frame supported on the guide outer ring, a telescopic cylinder arranged on the mounting frame, two restricting bars connected to the telescopic cylinder and connected to two The arc-shaped slot block of the restriction bar, wherein the telescopic cylinder is used to drive the arc-shaped slot block to slide up and down through the restriction bar; the arc-shaped slot block is provided with an arc-shaped slot for the sliding The rod slides in; the two limiting bars are used to clamp and fix the sliding rod when the sliding rod slides into the arc-shaped groove; the guide outer ring is provided with a groove consistent with the width of the slider The notch is used for the sliding block to slide into the sliding groove.

In an embodiment of the present invention, a buckle connection is formed between the sliding bar and the slider.

In an embodiment of the present invention, the slider is an arc slider, and the notch is an arc notch.

In an embodiment of the present invention, the sliding rod is a rectangular block structure, and the upper surface and the lower surface of the rectangular block structure are arc surface structures corresponding to the shape of the arc groove of the arc groove block.

In an embodiment of the present invention, the widths of the inner sides of the two limiting bars are equal to the widths of both sides of the sliding bar.

In an embodiment of the present invention, the turning nursing robot further includes a lower bed board fixing mechanism, the lower bed board fixing mechanism includes a chute installed on the base, an electromagnet arranged at the bottom of the chute, a set The elastic piece on the electromagnet, the U-shaped block arranged on the upper end of the elastic piece, wherein the lower bed plate fixing mechanism is used to control the power on and off of the electromagnet so that the electromagnet attracts or releases the The U-shaped block is used to control the U-shaped block to release or lock the sliding bar corresponding to the bed board assembly on the lower side.

In an embodiment of the present invention, the elastic member is a spring, the U-shaped block is a metal block with a U-shaped groove, and the metal block is any one of iron block, nickel block, and cobalt block.

In an embodiment of the present invention, there are two guide outer rings, and the two guide outer rings are respectively arranged on the front and rear sides of the base.

In one embodiment of the present invention, the driving member is arranged at the central position of the guide inner ring, the driving member is a stepping reduction motor, and the arc-shaped groove is an arc whose center is at the axis of the stepping reduction motor trough structure.

The turn-over nursing robot of the present invention realizes the position exchange of the bed board components on the upper and lower sides by pushing the rod to drive the slider to slide in the annular sliding groove, that is, the present invention adopts the way of turning over in situ, and the bed board will not move It is flipped outside, so it does not occupy the space on both sides, and can meet the use requirements when multiple devices are used side by side and the distance between multiple devices is small, and it can realize the patient's flipping, and the structure is relatively novel.

Further objects and advantages of the invention will fully appear from an understanding of the ensuing description and accompanying drawings.

Description of drawings

FIG. 1 is a schematic cross-sectional view of a turn-over nursing robot in a preferred embodiment of the present invention.

FIG. 2 is a schematic cross-sectional view of the turning nursing robot shown in FIG. 1 from another viewing angle.

Explanation of reference numerals: turn over nursing robot 100; base 10; guiding outer ring 11; notch 111; guiding inner ring 12; sliding groove 13; bed board module 20; bed board assembly 21; bed board 211; ; Mattress 214; Sliding rod 215; Driving device 30; Driving member 31; Driving rod 32; Pushing rod 33; Lifting mechanism 40; Mechanism 50; chute 51; electromagnet 52; elastic member 53; U-shaped block 54.

Detailed ways

The following description serves to disclose the present invention to enable those skilled in the art to carry out the present invention. The preferred embodiments described below are only examples, and those skilled in the art can devise other obvious variations. The basic principles of the present invention defined in the following description can be applied to other embodiments, variations, improvements, equivalents and other technical solutions without departing from the spirit and scope of the present invention.

Those skilled in the art should understand that, in the disclosure of the present invention, the terms "vertical", "transverse", "upper", "lower", "front", "rear", "left", "right", The orientations or positional relationships indicated by "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientation or positional relationship shown in the drawings, which are only for the convenience of describing the present invention and simplified description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, so the above terms should not be construed as limiting the present invention.

It can be understood that the term "a" should be understood as "at least one" or "one or more", that is, in one embodiment, the number of an element can be one, while in another embodiment, the number of the element The quantity can be multiple, and the term "a" cannot be understood as a limitation on the quantity.

In the description of the present invention, it should be noted that unless otherwise specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection. Connected, or integrally connected; it can be mechanically connected, or electrically connected, or can communicate with each other; it can be directly connected, or indirectly connected through an intermediary, and it can be the internal communication of two components or the interaction of two components relation. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention according to specific situations.

As shown in Fig. 1 and Fig. 2, the specific structure of a turning care robot 100 according to a preferred embodiment of the present invention is illustrated.

As shown in Fig. 1, described turning over nursing robot 100 comprises base 10, guide outer ring 11 installed on described base 10, guide inner ring 12 that is arranged in described guide outer ring 11, is used for rotating to realize alignment. The bed board module 20 for the user to turn over and the driving device 30 for driving the bed board module 20 to rotate.

Specifically, in this specific embodiment, there are two guide outer rings 11, and the two guide outer rings 11 are respectively installed on the front and rear sides of the base 10, and the guide outer rings 11 and the Sliding grooves 13 are formed between the guide inner rings 12 .

Specifically, the bed board module 20 includes two bed board assemblies 21 arranged up and down, and each of the bed board assemblies 21 includes a bed board 211 , a slider 212 connected to the bed board 211 , and flexible restraints installed on both sides of the bed board 211 . block 213 and a mattress 214 sleeved on the bed board 211 and the flexible restriction block 213, wherein the mattress 214 is used for the user to lie down, and the slider 212 is set to be able to slide along the The groove 13 slides, so that the two bed board assemblies 21 arranged up and down rotate and exchange positions, thereby completing the turning work of the user.

It is worth mentioning that, in this specific implementation of the present invention, the mattress 214 is an arc-shaped structure with high sides and a low middle, that is, the middle of the mattress 214 is concave, and the two bed board assemblies 21 are opposite to each other. When mating, a use space for accommodating the user is formed in the middle, and the flexible limiting blocks 213 on both sides restrict the user from sliding left and right.

Specifically, the driving device 30 includes a driving member 31, a driving rod 32 linked to the driving member 31, and two pushing rods 33 respectively arranged at two ends of the driving rod 32, wherein the two pushing rods 33 They are arranged in the sliding groove 13 and are respectively used to push the corresponding sliders 212 to rotate.

More specifically, the driving member 31 is disposed at the center of one of the inner guide rings 12, and the sliding groove 13 is an annular groove.

It is worth mentioning that, in this specific embodiment, the drive member 31 adopts a stepping gear motor, and in some embodiments of the present invention, the drive member 31 can also adopt other types of motors. This is not limited.

It is also worth mentioning that the flexible limiting blocks 213 of the two bed board assemblies 21 arranged up and down are mutually fitted and squeezed when the two bed board assemblies 21 cover and clamp the user, so that The side forms the structure of the guard rail to prevent the user from sliding out from both sides of the bed board assembly 21 when the two bed board assemblies 21 rotate, that is to say, the function of the flexible limiting block 213 is to restrict and fix the user The position plays a protective role.

It can be understood that, when the driving member 31 is activated, the driving rod 32 rotates, and the two push rods 33 at both ends of the driving rod 32 respectively push the corresponding sliding block 212 to slide along the ring. The groove 13 slides, so that the two bed board assemblies 21 arranged up and down rotate, and then the positions are reversed, so that the user clamped between the two bed board assemblies 21 can turn over and turn over at the same time.

That is to say, by adopting the turning care robot 100 of the present invention, through the relative rotation of the upper and lower bed board assemblies 21, the user can be turned over and turned over at one time without moving the user, avoiding the The patient’s wound causes traction and other problems, and the way of turning over in situ does not need to turn the bed board outward, so it will not occupy the space on both sides, that is, the turning nursing robot 100 reduces the use space and can be applied to more applications Scenarios are conducive to expanding the scope of application.

In particular, the turning nursing robot 100 also includes a lifting mechanism 40, and the bed board assembly 21 also includes a sliding bar 215 detachably connected to the slider 212, and the lifting mechanism 40 is used to Drive the bed board assembly 21 on the upper side to move up and down, which is convenient to move the bed board assembly 21 on the upper side to the position where it fits with the bed board assembly 21 on the lower side when turning over is required, so as to facilitate the position exchange of the two bed board assemblies 21; And it is convenient to lift the bed board assembly 21 on the upper side after turning over.

Specifically, the lifting mechanism 40 includes a mounting frame 41 supported on the guide outer ring 11, a telescopic cylinder 42 arranged on the mounting frame 41, two restricting bars 43 connected to the telescopic cylinder 42 and connecting The arc-shaped slots 44 of the two limiting bars 43, wherein the telescopic cylinder 42 is used to drive the arc-shaped slots 44 to slide up and down through the limiting bars 43, and the arc-shaped slots 44 are provided with The arc-shaped groove is used for the sliding rod 215 to slide in, and the two limiting bars 43 are used to clamp and fix the sliding rod 215 when the sliding rod 215 slides into the arc-shaped groove. The guide outer ring 11 is provided with a notch 111 having the same width as the slider 212 , and the notch 111 is used for the slider 212 to slide into the sliding groove 13 .

It is worth mentioning that the telescopic cylinder 42 is an electric telescopic cylinder. The electric telescopic cylinder is installed on the top of the mounting frame 41, the arc groove block 44 is installed on the telescopic end of the lower end of the electric telescopic cylinder, and the sliding rod 215 is installed on the arc slider 212. One end of the sliding rod 215 is detachably installed in the arc-shaped groove on the arc-shaped groove block 44, and the arc-shaped groove is an arc-shaped groove structure whose circle center is at the axis of the stepping gear motor.

In this specific embodiment of the present invention, the other end of the sliding rod 215 forms a buckle connection with the sliding block 212. In some embodiments of the present invention, the sliding rod 215 and the sliding The blocks 212 can also be detachably connected by electromagnetic magnetic attraction, that is, one of the sliding rod 215 and the slider 212 uses an electromagnetic part, and the other adopts a metal part that can be magnetically attracted, and the two are magnetically connected when energized. , the two are separated when the power is off, and the present invention does not limit the detachable connection between the sliding bar 215 and the sliding block 212 .

In this specific embodiment of the present invention, the slider 212 is an arc-shaped slider 212, and the notch 111 is an arc-shaped notch.

In particular, in this specific embodiment of the present invention, the sliding bar 215 is a rectangular block structure, and the upper surface and the lower surface of the rectangular block structure are arc-shaped grooves with the arc-shaped groove block 44 The shape corresponds to the arc surface structure.

In particular, the restricting strip 43 corresponds to the position of the outer part of the arc-shaped slot where the sliding bar 215 protrudes from the arc-shaped slot block 44, and the width of the inner side of the two restricting strips 43 is the same as that of the sliding bar. Both sides of 215 have the same width, so that the restricting bar 43 can clamp and fix the sliding bar 215 , so as to drive the sliding block 212 and the corresponding bed board assembly 21 to move up and down through the sliding bar 215 .

Further, the turning care robot 100 also includes a lower bed plate fixing mechanism 50, the lower bed plate fixing mechanism 50 includes a chute 51 installed on the base 10, an electromagnet 52 arranged at the bottom of the chute 51, The elastic piece 53 arranged on the electromagnet 52, the U-shaped block 54 arranged on the upper end of the elastic piece 53, wherein the lower bed board fixing mechanism 50 is used to control the power on and off of the electromagnet 52 so that the The electromagnet 52 attracts or releases the U-shaped block 54 , thereby controlling the U-shaped block 54 to release or lock the sliding bar 215 corresponding to the lower bed board assembly 21 .

In this specific embodiment of the present invention, the elastic member 53 is a spring, the U-shaped block 54 is a metal block with a U-shaped groove, and the metal block is any iron block, nickel block, or cobalt block. A sort of.

It can be understood that, since the two ends of the sliding rod 215 are detachably connected to the arc-shaped groove block 44 and the sliding block 212 respectively, the corresponding sliding rod on the upper side of the bed board assembly 21 215 drives the slider 212 to slide downward until the slider 212 enters the sliding groove 13, the sliding bar 215 can be separated from the slider 212, so that the slider 212 can move along the Sliding groove 13 slides. As for the sliding bar 215 corresponding to the bed board assembly 21 on the lower side, when the bed board assembly 21 on the lower side is about to rotate, the electromagnet 52 is energized to attract the U-shaped block 54 to drive the sliding rod. The rod 215 moves downward, so that the sliding rod 215 is separated from the corresponding sliding block 212 , so that the sliding block 212 of the lower bed board assembly 21 can slide along the sliding groove 13 .

When it is necessary to fix the bed board assembly 21 on the lower side after turning over, the electromagnet 52 loses its magnetism by de-energizing the electromagnet 52, and the elastic force released by the elastic member 53 makes the electromagnet 52 lose its magnetism. The U-shaped block 54 drives the sliding rod 215 to move upwards and return to the original position, so that a snap-fit connection is re-formed between the sliding rod 215 and the sliding block 212. At this time, it is limited by the sliding rod 215. The position of the slider 212 is fixed, so as to realize the fixing of the bed board assembly 21 on the lower side.

It is worth mentioning that, in some embodiments of the present invention, the turning nursing robot 100 also includes a control unit electrically connected to the driving device 30, the lifting mechanism 40 and the lower bed board fixing mechanism 50, so The control unit is used to control the operation of the driving device 30, the lifting mechanism 40 and the lower bed board fixing mechanism 50, so as to realize the control of the user's turning over operation, the lowering and lifting control of the upper bed board assembly 21 And the fixed operation control of the bed board assembly 21 of the lower side.

The working method of the stand-up care robot 100 is as follows:

When working, firstly, the electric telescopic cylinder is retracted, and when the electric telescopic cylinder is retracted, the bed board assembly 21 on the upper side is far away from the bed board assembly 21 on the lower side, so that the user can lie on the bed of the lower bed board 211 on pad 214;

When it is necessary to turn over, the control starts the electric telescopic cylinder, and the action of the electric telescopic cylinder drives the arc-shaped groove block 44 to descend, and the arc-shaped groove block 44 descends to drive the slide rod 215 to descend. The rod 215 descends to drive the corresponding slider 212 and the corresponding bed board 211 to descend, when the slider 212 falls into the sliding groove between the guide outer ring 11 and the guide inner ring 12 At 13 o'clock, the sliding rod 215 is separated from the slider 212, and the electric telescopic cylinder stops moving. At this time, the flexible limiting blocks 213 of the bed board assembly 21 on the upper and lower sides are mutually fitted and squeezed, and the user's At the same time, the electromagnet 52 of the lower bed plate fixing mechanism 50 is energized to attract the U-shaped block 54 to drive the sliding bar 215 to move downward, so that the sliding bar 215 is aligned with the corresponding sliding bar. The block 212 is separated, so that the slider 212 of the bed board assembly 21 on the lower side can slide along the sliding groove 13;

Then control and start the stepping reduction motor, the stepping reduction motor works to drive the driving rod 32 to rotate, and the driving rod 32 drives the pushing rods 33 at both ends to push the corresponding slide block 212 in the sliding groove 13, so that the two bed board assemblies 21 on the upper and lower sides rotate together, and the stepping deceleration motor stops after rotating 180 degrees, completing the position exchange of the two bed board assemblies 21 and completing the turning and turning of the user surface work;

Before this, the upper bed board assembly 21 rotates to the lower position, the electromagnet 52 of the lower bed board fixing mechanism 50 is de-energized so that the electromagnet 52 loses its magnetism, and the elastic force released by the elastic member 53 The U-shaped block 54 drives the sliding rod 215 to move upward, so that a snap connection is re-formed between the sliding rod 215 and the sliding block 212. The position of the block 212 is fixed, so as to realize the fixing of the bed board assembly 21 turned to the lower side;

Before this, the bed board assembly 21 located at the bottom rotates to the top, and its slide block 212 forms a snap connection with the corresponding slide bar 215 again, and the other end of the slide bar 215 is located in the arc-shaped groove block 44 and is held by the The restriction bar 43 is restricted and fixed, and the sliding rod 215 is pulled upward by controlling the action of the electric telescopic cylinder, and the restriction bar 43 guides the sliding rod 215, and then the bed board assembly 21 rotated to the upper side is lifted , so far the work of turning over is completed.

The turn-over care robot 100 of the present invention realizes that the bed board assembly 21 on the upper and lower sides is reversed by pushing the rod 33 to drive the slider 212 to slide in the annular sliding groove 13, that is, the present invention adopts the method of turning and turning in situ , the bed board will not be turned outward, so it will not occupy the space on both sides, which can meet the requirements of using multiple devices side by side and when the distance between multiple devices is small, and can realize the turning over of the patient, and the structure is relatively novel .

The technical features of the above embodiments can be combined arbitrarily. To make the description concise, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, they should be It is considered to be within the range described in this specification.

The above examples only express the preferred implementation of the present invention, and the descriptions thereof are relatively specific and detailed, but should not be construed as limiting the scope of the patent for the invention. It should be pointed out that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent for the present invention should be based on the appended claims.

Claims (10)

1. Turn over nursing robot, its characterized in that includes:

a base;

a guide outer ring mounted on the base;

the guide inner ring is arranged in the guide outer ring, and a sliding groove is formed between the guide inner ring and the guide outer ring;

the bed board module comprises two bed board assemblies which are arranged up and down, each bed board assembly comprises a bed board, a sliding block connected to the bed board, flexible limiting blocks arranged on two sides of the bed board and a mattress sleeved on the bed board and the flexible limiting blocks, the mattress is used for a user to lie, and the sliding block can slide along the sliding groove, so that the two bed board assemblies which are arranged up and down rotate to exchange positions, and the user can turn over; and

the driving device comprises a driving part, a driving rod and two pushing rods, wherein the driving part is linked with the driving rod of the driving part, and the two pushing rods are arranged at two ends of the driving rod respectively and are arranged in the sliding grooves and are used for pushing the corresponding sliding blocks to rotate respectively.

2. The robot for nursing patients with turning over of a body of claim 1, further comprising a lifting mechanism, wherein the bed board assembly further comprises a sliding rod detachably connected to the sliding block, the lifting mechanism is used for driving the bed board assembly located at the upper side to move up and down through the sliding rod in a linkage manner, and comprises a mounting frame supported on the outer guide ring, a telescopic cylinder arranged on the mounting frame, two limiting strips connected to the telescopic cylinder, and arc-shaped groove blocks connected to the two limiting strips, wherein the telescopic cylinder is used for driving the arc-shaped groove blocks to slide up and down through the limiting strips; the arc-shaped groove block is provided with an arc-shaped groove for the sliding rod to slide in; the two limiting strips are used for clamping and fixing the sliding rod when the sliding rod slides into the arc-shaped groove; the guide outer ring is provided with a notch with the width consistent with that of the sliding block, and the notch is used for enabling the sliding block to slide into the sliding groove.

3. The turn-over care robot of claim 2, wherein a snap connection is formed between the sliding rod and the sliding block.

4. The body turning care robot according to claim 2, wherein said slide block is an arc-shaped slide block and said notch is an arc-shaped notch.

5. The turn-over nursing robot of claim 2, wherein the sliding rod is a rectangular block structure, and the upper surface and the lower surface of the rectangular block structure are arc structures corresponding to the arc groove shape of the arc groove block.

6. The turn-over nursing robot according to claim 2, wherein the width of the inner side of the two restricting bars is equal to the width of both sides of the sliding bar.

7. The turn-over nursing robot of any one of claims 1 to 6, further comprising a lower bed board fixing mechanism, wherein the lower bed board fixing mechanism comprises a chute mounted on the base, an electromagnet arranged at the bottom of the chute, an elastic member arranged on the electromagnet, and a U-shaped block arranged at the upper end of the elastic member, wherein the lower bed board fixing mechanism is used for controlling the on-off of the electromagnet to enable the electromagnet to attract or release the U-shaped block, so as to control the U-shaped block to release or lock a corresponding sliding rod of a bed board component at the lower side.

8. The turn-over nursing robot of claim 7, wherein the elastic member is a spring, the U-shaped block is a metal block with a U-shaped groove, and the metal block is any one of an iron block, a nickel block and a cobalt block.

9. The turn-over nursing robot according to any one of the claim 1 to 6, characterized in that the number of the guiding outer rings is two, and the two guiding outer rings are respectively arranged at the front and the rear sides of the base.

10. The turn-over nursing robot as claimed in any one of the claims 2 to 6, wherein the driving member is arranged at the center of the guiding inner ring, the driving member is a stepping speed-reducing motor, and the arc-shaped groove is in an arc-shaped groove structure with the center at the axis of the stepping speed-reducing motor.

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