CN118986166B - Semi-automatic clothes taking-off and putting-on bath machine - Google Patents
Semi-automatic clothes taking-off and putting-on bath machine Download PDFInfo
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- CN118986166B CN118986166B CN202411130786.9A CN202411130786A CN118986166B CN 118986166 B CN118986166 B CN 118986166B CN 202411130786 A CN202411130786 A CN 202411130786A CN 118986166 B CN118986166 B CN 118986166B
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- bed panel
- clothes
- bathing
- guide rail
- frame
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47K—SANITARY EQUIPMENT NOT OTHERWISE PROVIDED FOR; TOILET ACCESSORIES
- A47K3/00—Baths; Douches; Appurtenances therefor
- A47K3/28—Showers or bathing douches
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47G—HOUSEHOLD OR TABLE EQUIPMENT
- A47G25/00—Household implements used in connection with wearing apparel; Dress, hat or umbrella holders
- A47G25/90—Devices for domestic use for assisting in putting-on or pulling-off clothing, e.g. stockings or trousers
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47K—SANITARY EQUIPMENT NOT OTHERWISE PROVIDED FOR; TOILET ACCESSORIES
- A47K10/00—Body-drying implements; Toilet paper; Holders therefor
- A47K10/48—Drying by means of hot air
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47K—SANITARY EQUIPMENT NOT OTHERWISE PROVIDED FOR; TOILET ACCESSORIES
- A47K3/00—Baths; Douches; Appurtenances therefor
- A47K3/28—Showers or bathing douches
- A47K3/281—Accessories for showers or bathing douches, e.g. cleaning devices for walls or floors of showers
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- E—FIXED CONSTRUCTIONS
- E03—WATER SUPPLY; SEWERAGE
- E03C—DOMESTIC PLUMBING INSTALLATIONS FOR FRESH WATER OR WASTE WATER; SINKS
- E03C1/00—Domestic plumbing installations for fresh water or waste water; Sinks
- E03C1/02—Plumbing installations for fresh water
- E03C1/04—Water-basin installations specially adapted to wash-basins or baths
- E03C1/046—Adding soap, disinfectant, or the like in the supply line or at the water outlet
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- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Epidemiology (AREA)
- General Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Hydrology & Water Resources (AREA)
- Water Supply & Treatment (AREA)
- Invalid Beds And Related Equipment (AREA)
- Devices For Medical Bathing And Washing (AREA)
Abstract
本发明公开了一种半自动脱穿衣物的洗澡机，包括框架、洗浴系统、安装于框架上方的三轴机械手、及自上而下安装于框架下方的躺卧平台和安装平台；躺卧平台包括间隔形成缝隙的第一床面板和第二床面板；第一床面板和第二床面板还设有多个可通断电的磁吸位，且第一床面板和第二床面板可相对转动；安装平台包括位于缝隙下方的衣物板，并可从所述框架内抽出；其中，第一床面板和第二床面板的相对转动以将受浴人侧翻，三轴机械手吸附受浴人身上的衣物以脱下至衣物板上，或者吸附衣物板上的衣物以遮挡受浴人的身体。这样助浴人不仅能保护受浴人的个人隐私和尊严，还能使助浴人不用直接面对受浴人产生在衣物中的排泄物，以提高护理效率和卫生标准。
The invention discloses a semi-automatic bathing machine for putting on and taking off clothes, comprising a frame, a bathing system, a three-axis manipulator installed above the frame, and a lying platform and a mounting platform installed below the frame from top to bottom; the lying platform comprises a first bed panel and a second bed panel which are spaced to form a gap; the first bed panel and the second bed panel are also provided with a plurality of magnetic suction positions which can be turned on and off, and the first bed panel and the second bed panel can rotate relative to each other; the mounting platform comprises a clothing board located below the gap, and can be drawn out from the frame; wherein, the relative rotation of the first bed panel and the second bed panel can turn the bathing person sideways, and the three-axis manipulator absorbs the clothes on the bathing person to take them off onto the clothing board, or absorbs the clothes on the clothing board to cover the body of the bathing person. In this way, the bathing assistant can not only protect the personal privacy and dignity of the bathing person, but also enable the bathing assistant to not directly face the excrement produced by the bathing person in the clothes, so as to improve the nursing efficiency and hygiene standards.
Description
Technical Field
The invention relates to the technical field of furniture, in particular to a bath machine capable of semi-automatically taking off and putting on clothes.
Background
At present, the China has three hundred million old people over 60 years old, one hundred million empty nest old people and four thousand disabled and semi-disabled people. In their daily life, the bathing is a major difficulty, and many disabled and semi-disabled people can be achieved with the help of the bathing aids (such as family members, caregivers, etc.), even by the help of the bathing aids entirely.
The most difficult operation in bathing is to put on and off the clothes, especially the underwear. The action inconvenience is that the personal privacy and the dignity of the bather are difficult to protect, the bather and the bather are embarrassed, and the bather is uncomfortable due to the excrement which is inevitably generated by the bather of the disabled and semi-disabled person.
Disclosure of Invention
In view of the above, the present invention provides a semi-automatic clothes-taking-off bathing machine, which is used for solving the problems that in the prior art, clothes-taking-off is difficult to protect personal privacy and dignity of a bather, and excrement on clothes can cause discomfort to a bather.
The technical scheme of the invention relates to a bath machine for semi-automatically taking off and putting on clothes, which comprises a frame, a bath system, a triaxial manipulator, a lying platform and a mounting platform, wherein the triaxial manipulator is arranged above the frame;
The lying platform comprises a first bed panel and a second bed panel which form gaps at intervals, wherein a plurality of magnetic attraction positions which are used for adsorbing clothes and can be powered on and off are also arranged on the first bed panel and the second bed panel, and adjacent side edges of the first bed panel and the second bed panel are rotatably connected;
The mounting platform comprises a clothing plate which is positioned below the gap and can be pulled out from the frame;
When the clothes are taken off, the three-axis mechanical arm adsorbs a magnetic attraction buckle on the clothes to the magnetic attraction position, after the first bed panel or the second bed panel rotates relatively to turn over the bather, the magnetic attraction position is switched from an electrified state to a power-off state so that the adsorbed clothes fall to the clothes panel from the gap, and when the clothes are worn, after the first bed panel or the second bed panel rotates relatively to turn over the bather, the three-axis mechanical arm adsorbs the clothes magnetic attraction buckle on the clothes panel to the magnetic attraction position, and then adsorbs the clothes to shield the body of the bather.
Further, traction mechanisms are respectively arranged at two ends of the frame, corresponding to the other sides of the first bed panel and the second bed panel, far away from the opposite sides, and each traction mechanism comprises a first driving device, a fixed block, a first rotating piece and a traction rope;
the two ends of the other side of the first bed panel and the second bed panel, which are far away from the opposite sides, are respectively extended outwards to form a fixed rod, and the fixed rods are connected with fixed blocks;
The upper part of the frame is provided with a first driving device corresponding to each fixed rod, and the lower part of the frame is provided with a first rolling piece corresponding to each fixed rod; a traction rope is arranged between the output end of the first driving device and the corresponding first rolling piece, and the traction rope is also connected with the corresponding fixed block;
The first driving device positioned on the same side drives one of the bed panels to rotate towards the other bed panel through the traction rope.
Further, two ends of the frame, which correspond to the other sides of the first bed panel and the second bed panel far away from the opposite sides, are respectively provided with a binding mechanism;
the binding mechanism comprises a second driving device, a monitoring ring and a binding rope;
positioning through holes are respectively formed at two ends of the other side, far away from the opposite sides, of the first bed panel and the second bed panel;
the upper part of the frame is provided with a second driving device corresponding to the positioning through holes, the lower part of the frame is provided with a second rolling element corresponding to the positioning through holes, a binding rope is arranged between the output end of the second driving device and the corresponding second rolling element, the binding rope penetrates through the corresponding positioning through holes, the binding ropes positioned above the positioning through holes and facing the upper part of the second driving device are provided with monitoring rings, and the monitoring rings are used for being sleeved on limbs of the bather.
Further, the triaxial manipulator comprises an X-axis guide rail, a Y-axis guide rail, a Z-axis guide rail and an electromagnet;
An X-axis guide rail is arranged above the frame and between two sides along the X-axis direction, a Y-axis guide rail is arranged between one side, which is above the frame and is far away from the X-axis guide rail, and the Y-axis guide rail can move relative to the X-axis guide rail;
The Y-axis guide rail is provided with a Z-axis guide rail along the Z-axis direction of the Y-axis guide rail, the Z-axis guide rail can move relative to the Y-axis guide rail, and the tail end of the Z-axis guide rail, which faces the lying platform, is provided with an electromagnet.
Further, the first bed panel and the second bed panel are respectively provided with a plurality of through holes, and a plurality of magnetic attraction positions are arranged in the middle of the first bed panel and the second bed panel along the X-axis direction.
Further, the mounting platform further comprises a first mounting rod and a second mounting rod which form a mounting space at intervals, and the clothing plate can be inserted into the mounting space in a matching mode.
Further, the clothing plate comprises a clothes receiving plate and a dressing plate;
the first sensor and the second sensor are respectively arranged at two ends of one side of the mounting space along the inserting direction of the clothes receiving board or the dressing board;
and the clothes receiving plate is provided with a first notch corresponding to the second sensor, and the dressing plate is provided with a second notch corresponding to the first sensor.
Further, the clothes receiving plate is provided with a plurality of magnets along the X-axis direction;
the dressing board is sequentially provided with a first placing space and a second placing space along the inserting direction;
The first placing space is rectangular, and four corners of the first placing space are respectively provided with a first clamping column;
The second placing space is triangular, and second clamping columns are arranged at the triangular positions of the second placing space.
Further, the clothing of the bather comprises a coat and underpants;
the upper garment is unfolded to be rectangular, first magnetic attraction buckles are arranged at four corners of the upper garment, and each first magnetic attraction buckle can be matched and placed into the corresponding first clamping column;
the pants are unfolded to be rectangular, second magnetic attraction buckles are arranged at two ends of one side of the pants and in the middle of the other side of the pants, and each second magnetic attraction buckle can be matched with the corresponding second clamping column.
Further, the bathing machine further comprises a bathing system arranged below the mounting platform, and the bathing system comprises water spraying pipes and air spraying pipes which are arranged at intervals along the X-axis direction.
Compared with the prior art, the invention has at least the following beneficial effects:
When the bath machine helps a bather to bath, the bather needs to hold the bather to lie on the middle position of the first bed panel and the second bed panel, then the bather needs to unlock the place where the clothes of the bather are bonded or clamped, then the bath machine is started, the triaxial mechanical arm adsorbs the clothes to the corresponding magnetic attraction positions respectively, then the first bed panel and the second bed panel rotate relatively in sequence to turn over the bather, and the magnetic attraction positions are switched from an electrified state to a power-off state, so that the adsorbed clothes drop onto the clothes plate from the gap; after the bath is completed, the first bed panel and the second bed panel rotate relatively in sequence to turn over the bather, the three-axis mechanical arm penetrates through the gap to enable clothes on the clothes plate to be magnetically attracted to the corresponding magnetic attraction position, then the first bed panel and the second bed panel reset to enable the bather to lie on the back, the magnetic attraction position is switched to a power-off state from an electrified state, the three-axis mechanical arm is used for magnetically attracting the clothes to cover the body of the bather, then the bather is assisted to fix the clothes on the bather, so that the bather does not manually take off the clothes of the bather, personal privacy and dignity of the bather can be protected, embarrassment of the bather and the bather can be prevented, and excrement generated in the clothes due to the body of the bather can be prevented from being directly faced by the bather, so that nursing efficiency and sanitary standard are improved.
Drawings
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, the terms used in the description herein are used for the purpose of describing particular embodiments only and are not intended to limit the invention, and the terms "comprising" and "having" and any variations thereof in the description of the invention and the claims and the above description of the drawings are intended to cover non-exclusive inclusions. The terms first, second and the like in the description and in the claims or in the above-described figures, are used for distinguishing between different objects and not necessarily for describing a sequential or chronological order.
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained according to these drawings without inventive effort to a person skilled in the art.
FIG. 1 is a schematic view of a bathing machine according to the present invention;
fig. 2 is an enlarged schematic view of reference symbol a in fig. 1;
FIG. 3 is a top view of the bathing machine of the present invention;
fig. 4 is an enlarged schematic view of reference symbol B in fig. 3;
FIG. 5 is a schematic view of a three-axis manipulator according to the present invention;
FIG. 6 is a top view of a three axis robot of the present invention;
FIG. 7 is a schematic view of a garment panel according to the present invention, wherein a is a dressing panel and b is a receiving panel;
FIG. 8 is a schematic structural view of the garment of the present invention, wherein c is underpants and d is undergarment;
FIG. 9 is a left side view of the bathing machine of the present invention;
Fig. 10 is an enlarged schematic view of reference symbol C in fig. 8;
FIG. 11 is a schematic view of a bathing system of the present invention.
Reference numerals:
1. frame, 11, cross bar, 12, longitudinal bar, 13, water storage tank, 14, water pump
2. The three-axis mechanical arm comprises a three-axis mechanical arm, a 21, an X-axis guide rail, a 22, a Y-axis guide rail, a 221, a limiting piece, a 222, a roller, a 23, a Z-axis guide rail, a 24, an electromagnet, a 25, a first adapter, a 26, an X-axis motor, a 261, an X-axis gear, a 27, a second adapter, a 28, a Y-axis motor, a 281, a Y-axis gear, a 29, a Z-axis motor, a 291 and a Z-axis gear;
3. The lying platform, 31, a first bed panel, 311, a first rotating piece, 32, a second bed panel, 321, a second rotating piece, 33, a through hole, 34, a gap, 35, a fixed rod, 36, a positioning through hole, 37, a magnetic attraction position, 38, a supporting part, 39 and a protective fence;
4. mounting platform, 41, first mounting rod, 42, second mounting rod, 43, mounting space, 44, clothes receiving board, 441, magnet, 442, first notch, 45, first inductor, 46, dressing board, 461, first placing space, 462, second placing space, 463, first clamping column, 463, first bending part, 464, second clamping column, 4641, second bending part, 465, second notch, 47, second inductor;
5. a traction mechanism; 51, a first driving device, 52, a fixed block, 53, a first rolling element, 54 and a traction rope;
6. the device comprises a binding mechanism, a second driving device, a second rolling element, a monitoring ring, a binding rope and a binding mechanism, wherein the binding mechanism comprises a first driving device, a second rolling element, a monitoring ring and a binding rope;
7. 71, a first magnetic attraction buckle;
8. 81, second magnetic attraction buckles;
9. The bath system comprises a bath system, 91, a water spray pipe, 92, an air spray pipe, 93, a water storage tank, 931, a storage space, 932, a bath lotion mixing pump, 933, a water pump, 94, a heating space, 941, a heating device, 942, an air pump, 943 and a blower.
Detailed Description
In order to make the technical problems, technical schemes and beneficial effects to be solved more clear, the invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention. Thus, reference throughout this specification to one feature will be used in order to describe one embodiment of the invention, not to imply that each embodiment of the invention must be in the proper motion. Furthermore, it should be noted that the present specification describes a number of features. Although certain features may be combined together to illustrate a possible system design, such features may be used in other combinations not explicitly described. Thus, unless otherwise indicated, the illustrated combinations are not intended to be limiting.
The principles and structures of the present invention are described in detail below with reference to the drawings and the examples.
In one embodiment, many disabled and semi-disabled persons can complete a bath with the aid of a bath assistant (e.g., family, caregivers, etc.), even entirely by the bath assistant, and the most difficult operation to take a bath is to put on clothing, particularly underwear. The action inconvenience is that the personal privacy and the dignity of the bather are difficult to protect, the bather and the bather are embarrassed, and the excrement which is inevitably produced by disabled and semi-disabled persons is uncomfortable for the bather.
Accordingly, in order to solve the above problems, referring to fig. 1-4, the present invention provides a bath machine for semi-automatically taking off clothes, comprising a frame 1, a bath system 9, a three-axis manipulator 2 installed above the frame 1, a lying platform 3 and a mounting platform 4 installed below the frame 1 from top to bottom;
The lying platform 3 comprises a first bed panel 31 and a second bed panel 32 which form gaps 34 at intervals, wherein a plurality of magnetic attraction positions 37 which are used for adsorbing clothes and are used for magnetically attracting buckles and switching on and off are also arranged on the first bed panel 31 and the second bed panel 32, and adjacent side edges of the first bed panel 31 and the second bed panel 32 are rotatably connected;
the mounting platform 4 comprises a clothing sheet which is located below the gap 34 and can be extracted from the frame 1;
When the clothes are taken off, the triaxial mechanical arm 2 adsorbs the magnetic attraction buckles on the clothes to the magnetic attraction positions 37, after the first bed panel 31 or the second bed panel 32 rotates relatively to turn over the bather, the magnetic attraction positions 37 are switched from the electrified state to the power-off state so that the adsorbed clothes fall to the clothes plate from the gaps 34, when the clothes are worn, after the first bed panel 31 or the second bed panel 32 rotates relatively to turn over the bather, the triaxial mechanical arm 2 adsorbs the magnetic attraction buckles on the clothes plate to the magnetic attraction positions 37, and then adsorbs the clothes to shield the body of the bather.
The bathing machine further comprises a control unit (not shown in the figure, and the whole text is the same), and the control unit is electrically connected with the three-axis manipulator 2, the magnetic attraction position 37 and the bathing system 9 respectively.
Thus, when a person to be bathed needs to be bathed, the person to be bathed is required to rest on the middle position of the first bed panel 31 and the second bed panel 32, then the person to be bathed needs to be disentangled at the place where the clothes of the person to be bathed are adhered or clamped (at this time, the clothes still can shield the body of the person to be bathed), then the clothes board is inserted into the frame 1 after the person to be bathed exits the bathing machine, then the bathing machine is started, the magnetic attraction position 37 is in an electrified state, the triaxial manipulator 2 firstly adsorbs clothes to the corresponding magnetic attraction position 37, then the first bed panel 31 rotates relative to the second bed panel 32 to laterally adsorb clothes to the second bed panel 32, then the magnetic attraction position 37 of the first bed panel 31 is powered off to enable the clothes adsorbed by the first bed panel 31 to drop onto the clothes board from the gap 34, then the first bed panel 31 is reset to enable the clothes board to be bathed, then the second bed panel 32 is rotated relative to the first bed panel 31 to laterally tilt onto the clothes board, and then the whole clothes board is removed from the second bed panel 32 is reset to enable the clothes board to be bathed, and then the clothes board to be bathed from the clothes board to be bathed, and the clothes board to be bathed is completely washed, and the clothes are required to be bathed. Then the bathing system 9 is started to wash the body of the bather, after washing, the bather is assisted to place new clothes on the clothes plate and insert the clothes into the frame 1 again, then the first bed panel 31 rotates relative to the second bed panel 32 to turn the bather on the second bed panel 32, the magnetic attraction position 37 of the first bed panel 31 is electrified, the triaxial mechanical arm 2 passes through the gap 34 to absorb clothes on the clothes plate on the magnetic attraction position 37 corresponding to the first bed panel 31, and then the first bed panel 31 is reset to enable the bather to lie on the back; the second bed panel 32 rotates relative to the first bed panel 31 to turn over the bather to the first bed panel 31, the magnetic attraction position 37 of the second bed panel 32 is electrified, the three-axis mechanical arm 2 passes through the gap 34 to enable clothes on the clothes plate to be attracted to the magnetic attraction position 37 corresponding to the second bed panel 32, then the second bed panel 32 is reset to enable the bather to lie on the back, then the magnetic attraction positions 37 are powered off, the three-axis mechanical arm 2 sequentially absorbs the magnetic attraction buckles of the clothes to shield the body of the bather so as to complete the whole dressing process, then the bather is fixed on the bather, the bather can be held down from the lying platform 3, and thus the bather does not need to manually take off the clothes of the bather, not only can protect the bather and the bather from feeling embarrassed, but also can enable the bather not to directly face the excrement of the bather in the clothes due to the body factors, so as to improve the nursing efficiency and sanitation standard.
It should be noted that, the clothing in this embodiment is specially made clothing, referring to fig. 8, the specially made clothing includes a jacket 7 and underpants 8, the jacket 7 is rectangular in shape, and the four corners of the jacket 7 are provided with first magnetic buttons 71, and two sides of the jacket 7 along its length direction are provided with adhesive labels, so that the bather can stably fix the jacket 7 on the bather by tearing and adhering the corresponding labels to the corresponding positions, and shield the upper half of the bather.
The underpants 8 are rectangular in shape, the two ends of one side of the underpants 8 and the middle of the other side of the underpants 8 are respectively provided with a second magnetic attraction buckle 81, and the corresponding positions of the underpants 8 are also provided with adhesive labels, so that the bath assisting person can stably fix the underpants 8 on the bath receiving person by tearing the corresponding labels and adhering the labels to the corresponding positions, and the lower half of the bath receiving person is shielded. The underpants 8 of this embodiment can be exemplified by adult diaper in the prior art, and only the second magnetic buttons 81 are installed at the corresponding positions of adult diaper in the prior art.
Wherein, referring to fig. 3, one side of the lying platform 3 along the insertion direction of the clothing board is also extended outwards with a supporting part 38, namely, the supporting part 28 is positioned outside the frame 1, and the supporting part 38 is used for supporting the head of the bather.
And the triaxial manipulator 2 proposed in the present embodiment adsorbs the clothes of the bather in a magnetic attraction manner.
Referring to fig. 5-6, the three-axis manipulator 2 comprises an X-axis guide rail 21, a Y-axis guide rail 22, a Z-axis guide rail 23 and an electromagnet 24, wherein the X-axis guide rail 21, the Y-axis guide rail 22 and the Z-axis guide rail 23 are all preferably racks;
An X-axis guide rail 21 is arranged above the frame 1 and between two sides along the X-axis direction, a Y-axis guide rail 22 is arranged between one side, which is above the frame 1 and is far away from the X-axis guide rail 21, and the Y-axis guide rail 22 can move relative to the X-axis guide rail 21;
The Y-axis guide rail 22 is provided with a Z-axis guide rail 23 along the Z-axis direction, the Z-axis guide rail 23 can move relative to the Y-axis guide rail 22, the tail end of the Z-axis guide rail 23 facing the lying platform 3 is provided with an electromagnet 24, and the electromagnet 24 is electrically connected with the control unit.
It should be noted that, the upper part of the frame 1 is composed of a plurality of cross bars 11 and a plurality of longitudinal bars 12, and the specific structure of the triaxial manipulator 2 in this embodiment is as follows:
The cross bars 11 above the frame 1 and at two sides along the X-axis direction are respectively and fixedly connected with two ends of the X-axis guide rail 21, a first adapter 25 is arranged on the X-axis guide rail 21, an X-axis motor 26 is arranged on the first adapter 25, an X-axis gear 261 is arranged at the output end of the X-axis motor 26, and the X-axis gear 261 is in matched engagement with the X-axis guide rail 21; one end of the Y-axis guide rail 22 is fixedly connected with the first adapter 25, the other end of the Y-axis guide rail 22 is provided with a limiting piece 221, the limiting piece 221 is arranged on the longitudinal rod 12 on the side, far away from the X-axis guide rail 21, of the frame 1, the limiting piece 221 is also provided with a roller 222 corresponding to the longitudinal rod 12 on the side, far away from the X-axis guide rail 21, the roller 222 can slide on the longitudinal rod 12 on the side, far away from the X-axis guide rail 21, the Y-axis guide rail 22 is provided with a second adapter 27, the second adapter 27 is provided with a Y-axis motor 28 corresponding to the Y-axis guide rail 22, the output end of the Y-axis motor 28 is provided with a Y-axis gear 281, the Y-axis gear 281 is in matched engagement with the Y-axis guide rail 22, the second adapter 27 is also provided with a Z-axis guide rail 23, the output end of the Z-axis motor 29 is provided with a Z-axis gear 291, the Z-axis gear 291 is in matched engagement with the Z-axis guide rail 23, and the X-axis motor 26, the Y-axis motor 28 and the Z-axis motor 29 are respectively electrically connected with the control unit.
In this way, when the control unit can drive the first adapter 25 to slide on the X-axis guide rail 21 through the X-axis motor 26, the first adapter 25 synchronously drives the Y-axis guide rail 22 to slide along the X-axis direction, the control unit can drive the second adapter 27 to slide on the Y-axis guide rail 22 through the Y-axis motor 28, the second adapter 27 synchronously drives the Z-axis guide rail 23 to slide along the Y-axis direction, and the control unit can drive the Z-axis guide rail 23 to slide along the Z-axis direction through the Z-axis motor 29.
Referring to fig. 3-4, the first and second bed panels 31, 32 are each provided with a plurality of through holes 33, which holes 33 allow warm water and warm air of the bathing system 9 to pass therethrough for washing the bathed person.
Referring to fig. 3, a plurality of magnetic attraction positions 37 are provided at the middle parts of the first and second bed panels 31 and 32 along the X-axis direction.
Referring to fig. 1,7 and 10, the mounting platform 4 further includes a first mounting bar 41 and a second mounting bar 42 spaced apart to form a mounting space 43, and the laundry plate can be matingly inserted into the mounting space 43. The clothes board comprises a clothes receiving board 44 and a dressing board 46, wherein the clothes receiving board 44 is provided with a plurality of magnets 441 along the X-axis direction;
the dressing plate 46 is sequentially provided with a first placing space 461 and a second placing space 462 along the inserting direction thereof;
The first placing space 461 is rectangular, and four corners of the first placing space 461 are respectively provided with a first clamping column 463, and each first clamping column 463 can be matched and inserted with a corresponding first magnetic attraction buckle 71;
the second placing space 462 is triangular, and second clamping columns 464 are respectively arranged at the triangular positions of the second placing space 462, and each second clamping column 464 can be matched and inserted with a corresponding second magnetic attraction buckle 81;
In order to prevent the triaxial manipulator 2 from absorbing the clothes placed on the dressing plate 46, the whole clothes are driven to separate from the dressing plate 46, the upper parts of all the first clamping columns 463 are outwards bent to form a first bending part 4631, the outwards fingers of the first clamping columns 463 are outwards bent along the direction opposite to the central axis of the first placing space 461, the upper parts of all the second clamping columns 464 are outwards bent to form a second bending part 4641, and the outwards fingers of the second clamping columns 464 are outwards bent along the direction opposite to the gravity center of the second placing space 462.
In this way, when the electromagnet 24 of the triaxial manipulator 2 attracts the first magnetic attraction buckle 71 on the first clamping post 463 on one side of the first placing space 461 or attracts the second magnetic attraction buckle 81 on the second clamping post 464 on one side of the second placing space 462, the first magnetic attraction buckle 71 on the first clamping post 463 on the other side is blocked by the first bending portion 4631 to prevent the first clamping post 463 from being separated, and similarly, the first magnetic attraction buckle 71 on the second clamping post 464 on the other side is blocked by the second bending portion 4641 to prevent the second clamping post 464 from being separated.
In order to ensure that the first bed panel 31 and the second bed panel 32 rotate relatively stably, referring to fig. 1 and 9, traction mechanisms 5 are respectively mounted at two ends of the frame 1 corresponding to the other sides of the first bed panel 31 and the second bed panel 32 away from opposite sides, wherein the traction mechanisms 5 comprise a first driving device 51, a fixed block 52, a first rotating member and a traction rope 54, the first driving device 51 is electrically connected with a control unit, and the first driving device 51 is preferably a gear motor;
the two ends of the other side of the first bed panel 31 and the second bed panel 32 far from the opposite sides are respectively extended outwards to form a fixed rod 35, and the fixed rod 35 is connected with a fixed block 52;
A first driving device 51 is respectively arranged above the frame 1 corresponding to each fixing rod 35, and a first rolling element 53 is respectively arranged below the frame 1 corresponding to each fixing rod 35, wherein a traction rope 54 is arranged between the output end of the first driving device 51 and the corresponding first rolling element 53, and the traction rope 54 is also connected with the corresponding fixing block 52;
the first driving device 51 located on the same side drives one of the bed panels to rotate towards the other bed panel through the traction rope 54, so that the bather turns over or lies on one side on the non-rotating bed panel.
In order to ensure that the bather cannot fall off the first bed panel 31 or the second bed panel 32 when the first bed panel 31 and the second bed panel 32 rotate relatively, referring to fig. 1 and 9, two ends of the frame 1, which correspond to the other sides of the first bed panel 31 and the second bed panel 32 far away from the opposite sides, are respectively provided with a restraint mechanism 6;
The restraint mechanism 6 comprises a second driving device 61, a monitoring ring 63 and a restraint rope 64, wherein the second driving device 61 and the monitoring ring 63 are electrically connected with a control unit, the second driving device 61 is preferably a gear motor, and the restraint rope 64 is preferably made of flexible materials so as to prevent damage to a human body;
the two ends of the other side of the first bed panel 31 and the second bed panel 32, which are far away from the opposite sides, are respectively provided with a positioning through hole 36;
the upper part of the frame 1 is respectively provided with a second driving device 61 corresponding to the positioning through holes 36, the lower part of the frame 1 is respectively provided with a second rolling element 62 corresponding to the positioning through holes 36, a binding rope 64 is arranged between the output end of the second driving device 61 and the corresponding second rolling element 62, the binding rope 64 penetrates through the corresponding positioning through holes 36, the binding ropes 64 positioned above the positioning through holes 36 and facing the second driving device 61 are respectively provided with a monitoring ring 63, and the monitoring rings 63 are used for being sleeved on limbs of the bather.
Referring to fig. 3, two ends of one side of the first bed panel 31 facing the second bed panel 32 extend outwards to form a first rotating member 311, one side of the second bed panel 32 facing the first bed panel 31 extends outwards to form a second rotating member 321 corresponding to the first rotating member 311, a rotating shaft is installed between the first rotating member 311 and the adjacent second rotating member 321, and the rotating shaft is connected with an output shaft of a corresponding driving motor, so that the driving motor can control the first bed panel 31 to rotate towards the second bed panel 32 or the second bed panel 32 to rotate towards the first bed panel 31.
In other embodiments, referring to fig. 1, a plurality of guard rails 39 are further disposed on the other side of the first and second bed panels 31 and 32 away from the opposite side, so that when the first or second bed panels 31 and 32 rotate relatively, the guard rails 39 can be used in combination with the restraint mechanism 6, further ensuring that the bather will not fall off the first or second bed panels 31 and 32, and ensuring the safety of the bather.
Wherein, referring to fig. 7 and 9-10, the mounting space 43 is provided with a first sensor 45 and a second sensor 47 along two ends of one side of the insertion direction of the clothes receiving board 44 or the dressing 46, respectively, and the first sensor 45 and the second sensor 47 are electrically connected with the control unit;
And the clothes receiving board 44 is provided with a first notch 442 corresponding to the second sensor 47, and the clothes receiving board 46 is provided with a second notch 465 corresponding to the first sensor 45.
Because the clothes of the bather are uniformly tailored, and the new clothes placed on the dressing plate 46 are folded in a designated manner, the control unit can write in a dressing program and a dressing program in advance, and then operate the triaxial manipulator 2 and enable the first bed panel 31 and the second bed panel 32 to rotate relatively, so that the dressing and the dressing of the bather are realized.
Thus, when the clothes receiving board 44 is inserted, the clothes receiving board 44 will touch the first sensor 45, the second sensor 47 will not touch the clothes receiving board due to the existence of the first notch 442, similarly, when the clothes receiving board 46 is inserted, the clothes receiving board 46 will touch the second sensor 47, the first sensor 45 will not touch the clothes receiving board due to the existence of the second notch 465, then the first sensor 45 will send out a first electric signal to the control unit after being touched, then the control unit will receive and then execute a clothes removing program, if the second sensor 47 will send out a second electric signal to the control unit after being touched, then the control unit will receive and then execute a clothes removing program.
Referring to fig. 11, the bathing machine further comprises a bathing system 9 installed below the mounting platform 4, and the bathing system 9 comprises a water spray pipe 91 and an air spray pipe 92 which are arranged at intervals along the X-axis direction.
It should be noted that, each spray pipe 91 is connected to an external water supply system through a pipeline, the water supply system includes a water storage tank 93, two storage spaces 931 are provided in the water storage tank 93, one storage space 931 is used for storing warm water mixed with bath foam, a bath foam doping pump 932 is provided in the water storage space 931, the bath foam doping pump 932 is used for mixing bath foam (such as bath foam, shampoo, etc.) and water and then delivering the mixture to the spray pipe 91, the other storage space 931 is used for storing warm water, a water pump 933 is provided in the other storage space 931, and the water pump 933 is used for delivering warm water to the spray pipe 91. Each air jet tube 92 is connected with the heating space 94 through a pipeline, a heating device 941, an air pump 942 and a blower 943 are arranged in the heating space 94, wherein the air pump 942 is used for pumping outside air into the heating space 94, the heating device 941 heats the pumped air to a proper temperature, then the blower 943 blows the heated air into the pipeline to be ejected from the air jet tubes 92, and the bath lotion doping pump 932, the water pump 933, the heating device 941, the air pump 942 and the blower 943 are all electrically connected with the control unit.
According to the instruction of the control unit, the bathing system 9 firstly sprays warm water mixed with the bath foam upwards through the water spray pipe 91, then sprays warm water upwards to flush the bath foam, then sprays warm air through the air spray pipe 92 to blow the body of the bather, and then wears clothes.
Referring to fig. 1, the bottom of the frame 1 is further enclosed to form a water storage tank 13, the water storage tank 13 is used for collecting warm water after washing a bather, the washed warm water is prevented from flowing to the outside, cleaning is inconvenient, and a water suction pump 14 is further arranged in the water storage tank 13 and is used for pumping water in the water storage tank 13, so that excessive water in the water storage tank 13 is prevented from overflowing.
The outer surface of the frame 1 is also provided with an opaque curtain (not shown in the figure, the whole text is the same) in a surrounding manner so as to protect personal privacy and dignity of a bather, the curtain is provided with an opening corresponding to the supporting part 28 so that the bather extends out of the head, the middle part of the curtain at one side along the Y-axis direction is provided with an openable opening so that the bather and the auxiliary bather can enter, and the curtain is also provided with an opening corresponding to the mounting space 43 so that the clothes receiving plate 44 or the dressing plate 46 can be inserted into or pulled out of the mounting space 43.
The use flow of the bath machine for semi-automatically taking off and putting on clothes provided by the invention is as follows:
First, with the help of the support of the bather, the bather lies on his/her back in the middle of the first and second bed panels 31 and 32, and his/her head protrudes from the curtain and rests on the support 28. The limbs of the bather are then separated and respectively placed on the corresponding positioning through holes 36 at the wrist and ankle joint positions, then the bather wears the monitoring ring 63 connected with the binding rope 64 for the wrist and ankle joint positions of the bather, and then the bather untwists the place where the upper garment 7 and the underpants 8 of the bather are adhered or clamped. The sensors in the monitoring ring 63 monitor the health information of the bather, and upload the monitored health information to the control unit, so that the control unit sends and displays the health information of the bather on electronic devices such as a mobile phone, a tablet and the like, so that the bather can monitor the health information of the bather in real time, and the hands and the limbs of the bather are not bathed when the monitoring ring 63 is prevented from being damaged, and the bather can wash the bather manually.
Then insert the board 44 into the installation space 43, the board 44 will contact with the first sensor 45 at this time, and the first sensor 45 sends a first electrical signal to the control unit, and after the control unit receives the first electrical signal, the control unit will execute a preset clothes-removing program, specifically:
The control unit makes the electromagnet 24 and the magnetic attraction position 37 electrified to generate magnetism, then the control unit controls the three-axis mechanical arm 2 to sequentially adsorb the magnetic attraction buckles of the upper garment 7 and the underpants 8 and pull downwards to sequentially adsorb the magnetic attraction buckles and the corresponding magnetic attraction positions 37 to finish the first step of the clothes-taking-off of the bather, then the control unit starts the first driving device 51 connected with the fixing rod 35 of the first bed panel 31, the first driving device 51 corresponding to the first bed panel 31 is caused to drive the first bed panel 31 to rotate towards the second bed panel 32 through the traction rope 54, the bather is caused to lie on the second bed panel 32 by the guard rail 39 and the monitoring ring 63 connected with the constraint rope 64, the bather is prevented from dropping from the second bed panel 32 by the guard rail 39, then the magnetic attraction position 37 of the first bed panel 31 is powered off to lose magnetism, the upper garment 7 and underpants 8 positioned on the first bed panel 21 are both dropped from the gap 34 to the clothes-receiving panel 44, the magnetic attraction buckles 44 corresponding to the underpants 35 on the first bed panel 31 are caused to drive the first bed panel 31 through the traction rope 54, the first bed panel 31 is prevented from dropping from the first bed panel 31 to the second bed panel 31 by the second guard rail 31, the first bed panel 31 is prevented from being driven by the traction ring 39 and the other parts are prevented from dropping from the first bed panel 31 to normally, the first bed panel is prevented from being contacted with the first bed panel 31, the first bed panel is prevented from being normally, the first bed panel is prevented from dropping down by the other bed panel is prevented from being contacted with the first bed panel 31 is contacted with the control device is prevented from being normally by the human body 31 is prevented from being normally to be normally lying on the clothes is prevented from being dropped, then the magnetic attraction position 37 of the second bed panel 32 is powered off to lose magnetism, so that the upper garment 7 and the underpants 8 on the second bed panel 32 drop from the gap 34 to the clothes receiving plate 44, and the magnetic attraction buckles of the upper garment 7 and the underpants 8 are attracted to the corresponding magnets 441 on the clothes receiving plate 44, then the control unit resets the second bed panel 32 through the corresponding first driving device 51, and then the bather is enabled to lie on the back surface of the bather in the middle of the first bed panel 31 and the second bed panel 32, so that all the steps of the clothes removing of the bather are completed.
The bather then withdraws the clothes receiving panel 44 from the mounting space 43 and washes the clothes on the clothes receiving panel 44. The control unit then starts the bath system 9, i.e. starts the bath lotion mixing pump 932 to spray the warm water mixed with the bath lotion through the water spray pipe 91, and then sprays the warm water mixed with the bath lotion onto the body of the person to be washed after passing through the installation space 43 and the through hole 33 in sequence, and then starts the water pump 933 to spray the warm water through the water spray pipe 91, and then sprays the warm water onto the body of the person to be washed after passing through the installation space 43 and the through hole 33 in sequence, so as to wash the bath lotion on the person to be washed, and during the washing process, the control unit controls the first bed panel 31 to rotate towards the second bed panel 32 and controls the second bed panel 32 to rotate towards the first bed panel 31 through the first driving device 51, and the control unit stretches and spreads the limbs of the person to be washed through the second driving device 61 so as to wash the body of the person to be washed completely. In the washing process, the control unit starts the water suction pump 14 to pump out the bath water in the water storage tank 13 to the outside, meanwhile, the control unit starts the heating device 941 and the air suction pump 942 so that warm air heated to a proper temperature is stored in the heating space, after the bath is washed, the control unit starts the blower 943 again to blow out the warm air towards the bath through the air jet pipe 92 to blow the body of the bath, in the blow-drying process, the control unit also controls the first bed panel 31 to rotate towards the second bed panel 32 and controls the second bed panel 32 to rotate towards the first bed panel 31 through the first driving device 51, and the control unit also stretches and spreads the limbs of the bath through the second driving device 61 so as to blow the body of the bath dry completely without dead angles.
And in the process of washing the body of the bather, the bather can also help the bather to wash the hair and massage the head on the supporting part 28, meanwhile, the facial expression of the bather can be concerned, if abnormal conditions exist, the bather can be turned off in time, the bather is firstly lifted out of the bathing machine, and then safety measures are taken to protect the health and safety of the bather and prevent accidents.
Meanwhile, the bathing machine does not clean the neck, wrist and ankle parts of the bather, prevents the monitoring ring 63 from being damaged, ensures the safety monitoring of the bather during bathing, and is easy to clean manually, thus being completed by the bathing assisting hand.
Before the body of the bather is dried, the bather folds the upper garment 7 and correspondingly places the upper garment 7 on the first placing space 461, namely, the first magnetic buttons 71 of the upper garment 7 are correspondingly inserted into the first clamping posts 463 one by one, and similarly, the bather folds the underpants 8 and correspondingly places the underpants 8 on the second placing space 462, namely, the second magnetic buttons 81 of the underpants 8 are correspondingly inserted into the second clamping posts 464 one by one, and then the dressing plate 46 with the upper garment 7 and the underpants 8 is correspondingly inserted into the mounting space 43, at this time, the dressing plate 46 is contacted with the second sensor 47, so that the second sensor 47 sends a second electric signal to the control unit, and after receiving the second electric signal, the control unit executes a preset dressing program, specifically:
The control unit electrifies the electromagnet 24 and the magnetic attraction position 37 to generate magnetism, then the control unit starts the first driving device 51 connected with the fixed rod 35 of the first bed panel 31, so that the first driving device 51 corresponding to the first bed panel 31 drives the first bed panel 31 to rotate towards the second bed panel 32 through the traction rope 54, the bather is caused to lie on the side of the bather on the second bed panel 32, then the control unit controls the electromagnet 24 of the three-axis manipulator 2 to sequentially adsorb the magnetic attraction buckles towards the upper garment 7 and the underpants 8 of the first bed panel 31 through the gap 34 and then move upwards to magnetically connect the adsorbed magnetic attraction buckles with the magnetic attraction position 37 corresponding to the first bed panel 31, and then the control unit resets the first bed panel 31 through the corresponding first driving device 51, so that the bather lies on the back of the bather; after the first bed panel 31 is reset, the control unit restarts the first driving device 51 connected with the fixing rod 35 of the second bed panel 32, so that the first driving device 51 corresponding to the second bed panel 32 drives the second bed panel 32 to rotate towards the first bed panel 31 through the traction rope 54, the bather reclines on the first bed panel 31 sideways, then the control unit controls the electromagnet 24 of the three-axis manipulator 2 to sequentially adsorb the magnetic attraction buckles of the upper garment 7 and the underpants 8 towards the second bed panel 32 through the gap 34, then moves upwards, so as to magnetically connect the adsorbed magnetic attraction buckles with the magnetic attraction positions 37 corresponding to the second bed panel 32, then the control unit resets the second bed panel 32 through the corresponding first driving device 51, and the bather reclines in the middle of the first bed panel 31 and the second bed panel 32, thus completing the first step of dressing of the bather.
Then the control unit then shields the privacy part of the bather through the triaxial mechanical arm 2 in turn by the upper garment 7 and the underpants 8, after the completion, the bather is assisted to stably bond the upper garment 7 and the underpants 8 together, so that the upper garment 7 and the underpants 8 are prevented from falling off from the bather, and all the steps of dressing the bather are completed, and the dressing can protect the privacy and the dignity of the bather, and the embarrassment of both the bather and the bather is prevented. The bather then removes the monitoring ring 63 and then holds the bather away from the machine to complete the entire bath process.
Thus, the bather can semi-automatically take off the upper garment 7 and the underpants 8 by the triaxial manipulator 2, and the bather can not take off the clothes of the bather manually, so that the personal privacy and the dignity of the bather can be protected, the embarrassment of the bather and the bather can be prevented, and the bather can not directly face the excrement of the bather in the clothes due to physical reasons, thereby improving the nursing efficiency and the sanitary standard.
It is apparent that the above-described embodiments are only some embodiments of the present invention, but not all embodiments, and the preferred embodiments of the present invention are shown in the drawings, which do not limit the scope of the patent claims. This invention may be embodied in many different forms, but rather, embodiments are provided in order to provide a thorough and complete understanding of the present disclosure. Although the invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing description, or equivalents may be substituted for elements thereof. All equivalent structures made by the content of the specification and the drawings of the invention are directly or indirectly applied to other related technical fields, and are also within the scope of the invention.
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105213084A (en) * | 2015-09-09 | 2016-01-06 | 顾晓烨 | Intelligence connects slacks |
| CN106618826A (en) * | 2016-12-23 | 2017-05-10 | 北京益康生活智能科技有限公司 | Intelligent nursing system |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10234788A (en) * | 1997-02-24 | 1998-09-08 | Haruhiko Iizuka | Bed for care |
| CN110859721B (en) * | 2020-01-03 | 2024-07-02 | 南京工程学院 | Can assist and put on and take off trousers device |
| CN114795732B (en) * | 2022-04-29 | 2024-05-28 | 常州大学 | Fully automatic cleaning of nursing beds |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105213084A (en) * | 2015-09-09 | 2016-01-06 | 顾晓烨 | Intelligence connects slacks |
| CN106618826A (en) * | 2016-12-23 | 2017-05-10 | 北京益康生活智能科技有限公司 | Intelligent nursing system |
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