CN108381567B - Service robot for patient transfer - Google Patents
Service robot for patient transfer Download PDFInfo
- Publication number
- CN108381567B CN108381567B CN201810472553.5A CN201810472553A CN108381567B CN 108381567 B CN108381567 B CN 108381567B CN 201810472553 A CN201810472553 A CN 201810472553A CN 108381567 B CN108381567 B CN 108381567B
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- driving
- roller
- translation
- motor
- carrying
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- 238000012546 transfer Methods 0.000 title claims abstract description 25
- 238000013519 translation Methods 0.000 claims abstract description 52
- 238000004891 communication Methods 0.000 claims description 32
- 238000003860 storage Methods 0.000 claims description 6
- 230000001105 regulatory effect Effects 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 2
- 230000004630 mental health Effects 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 9
- 238000011065 in-situ storage Methods 0.000 description 8
- 238000001802 infusion Methods 0.000 description 3
- 230000003068 static effect Effects 0.000 description 3
- 230000001276 controlling effect Effects 0.000 description 2
- 230000006378 damage Effects 0.000 description 2
- 230000000284 resting effect Effects 0.000 description 2
- 208000028399 Critical Illness Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000002980 postoperative effect Effects 0.000 description 1
- 230000009323 psychological health Effects 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/009—Nursing, e.g. carrying sick persons, pushing wheelchairs, distributing drugs
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- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Nursing (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Invalid Beds And Related Equipment (AREA)
Abstract
The invention provides a service robot for patient transfer, which comprises a travelling mechanism, an auxiliary bracket, a translation mechanism and a carrying mechanism, wherein the travelling mechanism is connected with the auxiliary bracket; the translation mechanism is arranged below the carrying mechanism and used for horizontally moving the carrying mechanism; the auxiliary bracket is arranged below the translation mechanism and is used for vertically supporting the translation mechanism; the running gear is installed in the below of auxiliary stand for remove the auxiliary stand. The service robot has good maneuverability and flexibility, and utilizes the carrying belt to realize the relative stillness of the carrying mechanism when contacting with the patient, so that the patient can realize safe and comfortable transfer under the condition of lying still, the degree of automation is high, the labor intensity of medical staff and the influence of physical and mental health are reduced, and the operation is simple and convenient.
Description
Technical Field
The invention relates to a medical auxiliary instrument, in particular to a service robot for patient transfer.
Background
The examination of hospital patients, especially hospitalized critically ill patients, the transfer of beds, pre-operative and post-operative delivery is a very dangerous task. The transfer of patients in hospitals between beds mostly adopts a holding and lifting mode, and the secondary injury of the patients can be caused by improper force or fit, and even the life is threatened. The traditional holding and lifting mode is difficult to ensure the safety and the comfort of a patient, and meanwhile, medical staff are required to pay great physical labor to influence the physical and psychological health of the medical staff. In addition, in view of limited medical resources, the phenomenon that a hospital is fully occupied and a hospital corridor is filled with beds is common, and a channel is sometimes narrow, so that the smooth passing of a traditional transport trolley can be affected.
Disclosure of Invention
The invention aims to solve the technical problems that the existing patient transferring method is time-consuming and labor-consuming and can cause secondary damage to patients.
In order to solve the technical problems, the invention provides a service robot for patient transfer, which comprises a travelling mechanism, an auxiliary bracket, a translation mechanism and a carrying mechanism; the translation mechanism is arranged below the carrying mechanism and used for horizontally moving the carrying mechanism; the auxiliary bracket is arranged below the translation mechanism and is used for vertically supporting the translation mechanism; the running gear is installed in the below of auxiliary stand for remove the auxiliary stand.
Further, the conveying mechanism comprises an upper bottom plate, an L-shaped side plate, a conveying belt, a driving roller, a guide roller, an adjusting roller, two rotary rollers and a conveying driving motor; each L-shaped side plate is vertically arranged on the upper bottom plate at intervals; the two rotary rollers are rotatably arranged at the upper parts of the vertical plates of the L-shaped side plates, the driving roller is rotatably arranged at the middle parts of the vertical plates of the L-shaped side plates, and the guide roller is rotatably arranged at the lower parts of the vertical plates of the L-shaped side plates; the lower parts of the vertical plates of the L-shaped side plates are respectively provided with a strip-shaped adjusting hole, and the adjusting rollers are rotatably arranged on the strip-shaped adjusting holes; the horizontal plates of the L-shaped side plates are transversely provided with carrier rollers at intervals; the rotary roller, the driving roller, the guide roller, the regulating roller and the carrier roller are all parallel; the conveying belt rotates upwards from the lower side of the guide roller, rotates downwards from the upper side of the upper rotating roller, rotates upwards from the lower side of the transmission roller in the middle, rotates downwards from the upper side of the other rotating roller in the upper part, and surrounds each transversely distributed carrier roller after rotating from the lower side of the regulating roller; the conveying driving motor is fixedly arranged on a vertical plate of the L-shaped side plate at the end part, and a pinion is arranged on an output shaft of the conveying driving motor; the shaft head of the driving roller is provided with a large gear meshed with the small gear.
Further, a supporting strip plate is arranged between the horizontal plates of the two adjacent L-shaped side plates; each idler roller is rotatably arranged on the support strip plate.
Further, the translation mechanism comprises a top plate, two rails, two strip-shaped side plates, a driving belt wheel and a translation driving motor; the top plate is horizontally and fixedly arranged at the top of the auxiliary bracket; the two rails are fixedly arranged on the top plate and are parallel to each other; the two strip-shaped side plates are fixedly arranged in the middle of the top plate through mounting plates integrally arranged on the side edges and are parallel to the track; each driving belt wheel is rotatably arranged between the two strip-shaped side plates, and the driving belt is arranged on each driving belt wheel in a surrounding manner; the translation driving motor drives one of the driving pulleys to rotate; the lower side surface of the upper bottom plate is provided with sliding blocks which are respectively and slidably buckled on the two rails; the upper belt of the driving belt is provided with a section fixedly arranged on the lower side surface of the upper bottom plate.
Further, the auxiliary bracket is a cuboid frame formed by bracket rods; the roof level fixed mounting is at the top of auxiliary stand.
Further, the travelling mechanism comprises a supporting bottom plate, four omnidirectional electric drive wheels, four travelling motor drive modules, a control box and a storage battery; a controller, a wireless communication module, a translation motor driving circuit and a carrying motor driving circuit are arranged in the control box; the four omnidirectional electric drive wheels are respectively arranged at the edge of the supporting bottom plate and are distributed in a rectangular shape; the auxiliary bracket is fixedly arranged on the supporting bottom plate; the four motor driving modules are fixedly arranged on the supporting bottom plate and are respectively and electrically connected with driving motors of the four omnidirectional electric driving wheels; the translation motor driving circuit and the carrying motor driving circuit are respectively and electrically connected with the translation driving motor and the carrying driving motor; the controller is electrically connected with the wireless communication module, the four motor driving modules, the translation motor driving circuit and the carrying motor driving circuit respectively; the storage battery is used for supplying power to the controller, the wireless communication module, the four motor driving modules, the translation motor driving circuit and the carrying motor driving circuit respectively.
The invention has the beneficial effects that: the robot can move in any direction in the plane such as in-situ rotation, transverse, longitudinal and oblique movement and the like by utilizing four independently driven omnidirectional electric drive wheels, so that the mobility and the flexibility of the transfer device are greatly improved; the carrying mechanism forms a direct-inserting structure by utilizing the horizontal part of the carrying mechanism, the carrying belt is utilized to realize the relative rest of the carrying mechanism when the carrying mechanism is contacted with a patient, and the patient can realize safe and comfortable transfer under the condition of resting and lying; compared with the existing transfer apparatus mainly operated by pure manual or pure mechanical, the transfer apparatus can reduce the pain of patients in the process of transferring and the number of medical staff, and the medical staff can realize the movement of the patients and the movement of the robots only by controlling the robots through remote controllers; the patient transferring service robot has strong mobility and high automation degree, can greatly reduce the safety and comfort of the patient in the transferring process, reduces the labor intensity of medical staff and the influence of physical and mental health, and is simple and convenient to operate.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is a schematic view of a part of a carrying mechanism according to the present invention;
FIG. 3 is a schematic view of a conveyor belt mounting structure of the present invention;
FIG. 4 is a schematic top view of a translation mechanism according to the present invention;
FIG. 5 is a schematic view of a part of the translation mechanism of the present invention;
Fig. 6 is a schematic view of the structure of the travelling mechanism of the invention.
Detailed Description
As shown in fig. 1 to 6, the service robot for patient transfer according to the present disclosure includes: the device comprises a walking mechanism, an auxiliary bracket, a translation mechanism and a carrying mechanism; the translation mechanism is arranged below the carrying mechanism and used for horizontally moving the carrying mechanism; the auxiliary bracket is arranged below the translation mechanism and is used for vertically supporting the translation mechanism; the running gear is installed in the below of auxiliary stand for remove the auxiliary stand.
The conveying mechanism comprises an upper bottom plate 3, an L-shaped side plate 1, a conveying belt 2, a driving roller 13, a guide roller 11, an adjusting roller 17, two rotary rollers 12 and a conveying driving motor 26; each L-shaped side plate 1 is vertically arranged on the upper bottom plate 3at intervals; two rotary rollers 12 are rotatably arranged at the upper parts of the vertical plates of the L-shaped side plates 1, a driving roller 13 is rotatably arranged at the middle parts of the vertical plates of the L-shaped side plates 1, and a guide roller 11 is rotatably arranged at the lower parts of the vertical plates of the L-shaped side plates 1; a strip-shaped adjusting hole 16 is formed in the lower part of the vertical plate of each L-shaped side plate 1, and an adjusting roller 17 is rotatably arranged on each strip-shaped adjusting hole 16; the horizontal plates of the L-shaped side plates 1 are transversely provided with carrier rollers 18 at intervals; the rotary roller 12, the driving roller 13, the guide roller 11, the adjusting roller 17 and the carrier roller 18 are all parallel; the carrying belt 2 rotates upwards from the lower side of the guide roller 11, rotates downwards from the upper side of the upper rotary roller 12, rotates upwards from the lower side of the middle driving roller 13, rotates downwards from the upper side of the other upper rotary roller 12, and surrounds each transversely distributed carrier roller 18 after rotating from the lower side of the regulating roller 17; the carrying driving motor 26 is fixedly arranged on a vertical plate of the L-shaped side plate 1 at the end part, and a pinion 14 is arranged on an output shaft of the carrying driving motor 26; a large gear 15 meshed with the small gear 14 is arranged on the shaft head of the driving roller 13. The tension of the carrying belt 2 can be conveniently adjusted by adopting the adjusting roller 17.
A supporting strip plate 19 is arranged between the horizontal plates of the two adjacent L-shaped side plates 1; each idler roller 18 is rotatably mounted on a support bar 19. The support strip plate 19 can be used for better middle position support effect.
The translation mechanism comprises a top plate 4, two rails 25, two strip-shaped side plates 20, a driving belt 23, a driving belt wheel 22 and a translation driving motor 21; the top plate 4 is horizontally and fixedly arranged at the top of the auxiliary bracket; the two rails 25 are fixedly arranged on the top plate 4, and the two rails 25 are parallel to each other; the two strip-shaped side plates 20 are fixedly arranged in the middle of the top plate 4 through mounting plates 24 integrally arranged on the side edges and are parallel to the track 25; each driving pulley 22 is rotatably installed between the two bar-shaped side plates 20, and a driving belt 23 is provided around each driving pulley 22; the translation driving motor 21 drives one of the driving pulleys 22 to rotate; the lower side surface of the upper bottom plate 3 is provided with sliding blocks which are respectively and slidably buckled on the two rails 25; the upper belt of the driving belt 23 has a section fixedly mounted on the lower side of the upper plate 3.
The auxiliary bracket is a cuboid frame formed by bracket rods 5; the top plate 4 is horizontally and fixedly arranged at the top of the auxiliary bracket.
The travelling mechanism comprises a supporting bottom plate 6, four omnidirectional electric drive wheels 7, four travelling motor drive modules 10, a control box 8 and a storage battery 9; a controller, a wireless communication module, a translation motor driving circuit and a carrying motor driving circuit are arranged in the control box 8; four omnidirectional electric drive wheels 7 are respectively arranged at the edge of the supporting bottom plate 6 and are distributed in a rectangular shape; the auxiliary bracket is fixedly arranged on the supporting bottom plate 6; the four motor driving modules 10 are fixedly arranged on the supporting bottom plate 6 and are respectively and electrically connected with driving motors of the four omnidirectional electric driving wheels 7; the translation motor drive circuit and the conveyance motor drive circuit are electrically connected with the translation drive motor 21 and the conveyance drive motor 26, respectively; the controller is electrically connected with the wireless communication module, the four motor driving modules 10, the translation motor driving circuit and the carrying motor driving circuit respectively; the storage battery 9 supplies power to the controller, the wireless communication module, the four motor driving modules 10, the translation motor driving circuit and the carrying motor driving circuit respectively. The controller, the wireless communication module, the four motor driving modules 10, the translation motor driving circuit and the carrying motor driving circuit all adopt the prior art; the controller and the remote controller of the robot are both composed of a singlechip and peripheral circuits thereof, and can send and receive control commands.
When the service robot for patient transfer disclosed by the invention is used, a corresponding remote controller is required to be matched, and the remote controller comprises a remote control wireless module, a remote controller, an advancing key, a retreating key, a left-moving key, a right-moving key, an in-situ rotating key, a taking key, a returning key, an emergency stop button, a sending key and a removing key; the remote controller is electrically connected with the remote control wireless module, the forward key, the backward key, the left shift key, the right shift key, the in-situ rotation key, the key taking key, the key returning with the emergency stop button, the key sending with the key removing. The circuit structure related to the remote controller is the prior art, and the remote control wireless module is used for carrying out wireless communication connection with the wireless communication module of the robot, and can be an infrared communication module or Zigbee wireless communication.
The invention discloses a patient transferring service robot, which needs a doctor to hold a remote controller to operate the robot, and controls the movement of the robot through keys in the remote controller, wherein the direction takes one end of an infusion support as a forward direction, and the vertical plate of an L-shaped side plate 1 as a left side.
When an operator presses the forward button, the infrared communication module of the remote controller sends the control instruction to the infrared communication module of the robot, and the controller of the robot drives the corresponding omnidirectional electric drive wheel 7 to rotate anticlockwise through the two-position and four-position walking motor drive module 10, so that the robot can move forwards along the length direction towards one end of the infusion support; when an operator presses the backward button, the infrared communication module of the remote controller sends the control instruction to the infrared communication module of the robot, and the controller of the robot drives the corresponding omnidirectional electric drive wheel 7 to rotate clockwise through the two-position and four-position walking motor drive module 10, so that the robot moves backward along the length direction away from the infusion support.
When an operator presses the left shift key, the infrared communication module of the remote controller sends the control instruction to the infrared communication module of the robot, and the controller of the robot drives the corresponding omnidirectional electric drive wheel 7 to rotate anticlockwise through the one-position and three-position walking motor drive module 10 so as to realize the transverse movement of the robot towards the left along the width direction; when an operator presses the right shift key, the infrared communication module of the remote controller sends the control instruction to the infrared communication module of the robot, and the controller of the robot drives the corresponding omnidirectional electric drive wheel 7 to rotate clockwise through the one-position and three-position walking motor drive module 10, so that the robot moves transversely along the width direction towards the far left side.
When an operator presses the in-situ rotary key, the infrared communication module of the remote controller sends the control instruction to the infrared communication module of the robot, and the controller of the robot drives the corresponding omnidirectional electric drive wheel 7 to rotate anticlockwise through the one, two, three and four-bit walking motor driving module 10, so that the robot rotates in-situ by taking the center of the chassis of the walking mechanism as the center of a circle. Through the combination of the movements, an operator moves the patient transfer robot to the bed side where the patient needs to be transferred, one side of the horizontal plate of the L-shaped side plate 1 is required to be close to the bed side, meanwhile, the alignment precision requirements of the patient transfer robot and the bed where the patient is located are different, the gap between the transfer robot and the bed side is within 10mm, and the patient transfer robot does not need to be abutted against the bed side.
When the robot is aligned with the sickbed, the patient is in a static lying state, an operator observes whether the horizontal part of the carrying mechanism of the patient transferring robot can be inserted under the patient body, after observation and verification, the operator presses the taking button, the infrared communication module of the remote controller sends the control command to the infrared communication module of the robot, the controller of the robot drives the translation driving motor 21 to rotate clockwise through the translation motor driving circuit, the horizontal part of the carrying mechanism starts to move and insert towards the patient under the action of the driving belt 23 and the two rails 25, meanwhile, the controller of the robot controls the carrying driving motor 26 to operate through the carrying motor driving circuit to drive the carrying belt 2 to move in the direction opposite to the inserting direction, the inserting speed is consistent with the speed of the carrying belt 2, so that the contact point between the carrying belt 2 and the patient is not changed in the inserting process of the horizontal part of the carrying mechanism, the relative static state is maintained, and pain of the patient is reduced.
When the patient moves above the horizontal part of the carrying mechanism, the operator releases the pick-up button, and at this time, the carrying drive motor 26 and the translation drive motor 21 stop running, and the patient has been lying on the horizontal part of the carrying mechanism; at this time, the push button with the return is pressed again, the infrared communication module of the remote controller sends the control instruction to the infrared communication module of the robot, the controller of the robot drives the translation driving motor 21 to rotate anticlockwise through the translation motor driving circuit, the patient lying still is close to the direction of the robot under the action of the driving belt 23 and the two rails 25, after the carrying mechanism is restored to the original position, the push button with the return is loosened, the operator checks and checks, and then the robot is remotely controlled to move again to send the patient to the required destination.
After a process of taking the patient is completed, after the patient arrives at the purpose, an operator finishes the alignment of the patient transfer robot and the bed by advancing, retreating, lefting, righting and rotating the keys in situ according to the site condition.
When a patient is transported to a bed from a robot, an operator presses a push button, an infrared communication module of a remote controller sends a control instruction to an infrared communication module of the robot, a controller of the robot drives a translation driving motor 21 to rotate clockwise through a translation motor driving circuit, a patient lying down is close to the sickbed under the action of a driving belt 23 and two rails 25, when the distance between the horizontal part of the carrying mechanism and the other side of the sickbed is about 40mm, the operator releases the push button, then presses the push button, the infrared communication module of the remote controller sends the control instruction to the infrared communication module of the robot, the controller of the robot drives the translation driving motor 21 to rotate anticlockwise through a translation motor driving circuit, the carrying mechanism moves towards the robot, meanwhile, the controller of the robot controls the carrying driving motor 26 to drive a carrying belt 2 to move in the direction opposite to the moving direction of the carrying mechanism, the speed of the carrying belt 2 is consistent with the horizontal moving speed of the carrying mechanism, so that the contact point of the carrying belt 2 and the patient is not changed in the withdrawal process of the assembly, the contact point of the patient is kept in a state of the sickbed, the patient is kept stationary, the patient is contacted with the sickbed, and the patient is transported to the patient from the sickbed, and the patient is released from the position, and the patient is transported to the sickbed is in situ after the patient is released.
In the carrying process, an operator needs to pay attention to observe the contact condition of the horizontal part of the carrying mechanism and a patient, if an emergency is met, the current key is released, the scram button on the remote controller is pressed, the patient transfer robot keeps the state in the emergency, and is static and motionless, and the next instruction of the operator is waited.
The invention provides a patient transferring service robot, which can realize the movement of the robot in any direction in the plane such as in-situ rotation, transverse, longitudinal and oblique movement and the like by utilizing four independently driven omnidirectional electric drive wheels 7, thereby greatly improving the maneuverability and flexibility of a transferring device; the carrying mechanism forms a direct-inserting structure by utilizing the horizontal part of the carrying mechanism, the carrying belt 2 is utilized to realize the relative rest of the carrying mechanism when the carrying mechanism is contacted with a patient, and the patient can realize safe and comfortable transfer under the condition of resting and lying; compared with the existing transfer apparatus mainly operated by pure manual or pure mechanical, the transfer apparatus can reduce the pain of patients in the process of transferring and the number of medical staff, and the medical staff can realize the movement of the patients and the movement of the robots only by controlling the robots through remote controllers; the patient transferring service robot has strong mobility and high automation degree, can greatly reduce the safety and comfort of the patient in the transferring process, reduces the labor intensity of medical staff and the influence of physical and mental health, and is simple and convenient to operate.
Claims (2)
1. A service robot for patient transfer, characterized by: comprises a travelling mechanism, an auxiliary bracket, a translation mechanism and a carrying mechanism; the translation mechanism is arranged below the carrying mechanism and used for horizontally moving the carrying mechanism; the auxiliary bracket is arranged below the translation mechanism and is used for vertically supporting the translation mechanism; the walking mechanism is arranged below the auxiliary bracket and used for moving the auxiliary bracket;
The conveying mechanism comprises an upper bottom plate (3), an L-shaped side plate (1), a conveying belt (2), a transmission roller (13), a guide roller (11), an adjusting roller (17), two rotary rollers (12) and a conveying driving motor (26); each L-shaped side plate (1) is vertically arranged on the upper bottom plate (3) at intervals; the two rotary rollers (12) are rotatably arranged at the upper parts of the vertical plates of the L-shaped side plates (1), the driving roller (13) is rotatably arranged at the middle parts of the vertical plates of the L-shaped side plates (1), and the guide roller (11) is rotatably arranged at the lower parts of the vertical plates of the L-shaped side plates (1); the lower parts of the vertical plates of the L-shaped side plates (1) are respectively provided with a strip-shaped adjusting hole (16), and an adjusting roller (17) is rotatably arranged on each strip-shaped adjusting hole (16); the horizontal plates of the L-shaped side plates (1) are transversely provided with carrier rollers (18) at intervals; the rotary roller (12), the driving roller (13), the guide roller (11), the adjusting roller (17) and the carrier roller (18) are all parallel; the conveying belt (2) rotates upwards from the lower side of the guide roller (11), rotates downwards from the upper side of the upper rotating roller (12), rotates upwards from the lower side of the middle driving roller (13), rotates downwards from the upper side of the other rotating roller (12), and surrounds all the transversely distributed carrier rollers (18) after rotating from the lower side of the regulating roller (17); the conveying driving motor (26) is fixedly arranged on a vertical plate of the L-shaped side plate (1) at the end part, and a pinion (14) is arranged on an output shaft of the conveying driving motor (26); a large gear (15) meshed with the small gear (14) is arranged on the shaft head of the driving roller (13);
A support bar plate (19) is arranged between the horizontal plates of the two adjacent L-shaped side plates (1); each carrier roller (18) is rotatably arranged on the support strip plate (19);
The translation mechanism comprises a top plate (4), two rails (25), two strip-shaped side plates (20), a driving belt (23), a driving belt wheel (22) and a translation driving motor (21); the top plate (4) is horizontally and fixedly arranged at the top of the auxiliary bracket; the two rails (25) are fixedly arranged on the top plate (4), and the two rails (25) are parallel to each other; the two strip-shaped side plates (20) are fixedly arranged in the middle of the top plate (4) through mounting plates (24) with side edges integrally arranged, and are parallel to the track (25); each driving belt wheel (22) is rotatably arranged between the two strip-shaped side plates (20), and a driving belt (23) is arranged on each driving belt wheel (22) in a surrounding manner; the translation driving motor (21) drives one of the driving pulleys (22) to rotate; the lower side surface of the upper bottom plate (3) is provided with sliding blocks which are respectively and slidably buckled on the two rails (25); the upper side belt of the driving belt (23) is provided with a section of belt fixedly arranged on the lower side surface of the upper bottom plate (3);
The auxiliary bracket is a cuboid frame formed by bracket rods (5).
2. The patient transfer service robot of claim 1, wherein: the travelling mechanism comprises a supporting bottom plate (6), four omnidirectional electric drive wheels (7), four travelling motor drive modules (10), a control box (8) and a storage battery (9); a controller, a wireless communication module, a translation motor driving circuit and a carrying motor driving circuit are arranged in the control box (8); four omnidirectional electric drive wheels (7) are respectively arranged at the edge of the supporting bottom plate (6) and are distributed in a rectangular shape; the auxiliary bracket is fixedly arranged on the supporting bottom plate (6); the four walking motor driving modules (10) are fixedly arranged on the supporting bottom plate (6) and are respectively and electrically connected with driving motors of the four omnidirectional electric driving wheels (7); the translation motor driving circuit and the carrying motor driving circuit are respectively and electrically connected with the translation driving motor (21) and the carrying driving motor (26); the controller is electrically connected with the wireless communication module, the four walking motor driving modules (10), the translation motor driving circuit and the carrying motor driving circuit respectively; the storage battery (9) is respectively used for supplying power to the controller, the wireless communication module, the four walking motor driving modules (10), the translation motor driving circuit and the carrying motor driving circuit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810472553.5A CN108381567B (en) | 2018-05-17 | 2018-05-17 | Service robot for patient transfer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810472553.5A CN108381567B (en) | 2018-05-17 | 2018-05-17 | Service robot for patient transfer |
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| Publication Number | Publication Date |
|---|---|
| CN108381567A CN108381567A (en) | 2018-08-10 |
| CN108381567B true CN108381567B (en) | 2024-05-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810472553.5A Active CN108381567B (en) | 2018-05-17 | 2018-05-17 | Service robot for patient transfer |
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| Country | Link |
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| CN (1) | CN108381567B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111390931B (en) * | 2020-04-21 | 2023-03-28 | 哈尔滨思哲睿智能医疗设备股份有限公司 | Automatic patient transfer robot and automatic patient transfer method |
| US12032377B2 (en) * | 2021-05-25 | 2024-07-09 | Ubkang (Qingdao) Technology Co., Ltd. | Mobility aid robot navigating method and mobility aid robot using the same |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5937456A (en) * | 1997-08-29 | 1999-08-17 | Norris; John F. | Device for transferring a patient to and from a hospital bed |
| CN101653396A (en) * | 2009-09-15 | 2010-02-24 | 中国人民解放军军事医学科学院卫生装备研究所 | robot for transferring and transporting patients |
| CN106580602A (en) * | 2016-12-26 | 2017-04-26 | 燕山大学 | Two-way transfer care robot |
| CN206482769U (en) * | 2016-08-09 | 2017-09-12 | 北京动力京工科技有限公司 | A kind of medical transfer robot |
| CN208323403U (en) * | 2018-05-17 | 2019-01-04 | 南京信息职业技术学院 | Service robot for patient transfer |
-
2018
- 2018-05-17 CN CN201810472553.5A patent/CN108381567B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5937456A (en) * | 1997-08-29 | 1999-08-17 | Norris; John F. | Device for transferring a patient to and from a hospital bed |
| CN101653396A (en) * | 2009-09-15 | 2010-02-24 | 中国人民解放军军事医学科学院卫生装备研究所 | robot for transferring and transporting patients |
| CN206482769U (en) * | 2016-08-09 | 2017-09-12 | 北京动力京工科技有限公司 | A kind of medical transfer robot |
| CN106580602A (en) * | 2016-12-26 | 2017-04-26 | 燕山大学 | Two-way transfer care robot |
| CN208323403U (en) * | 2018-05-17 | 2019-01-04 | 南京信息职业技术学院 | Service robot for patient transfer |
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| Publication number | Publication date |
|---|---|
| CN108381567A (en) | 2018-08-10 |
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