CN111419552B - Automatic patient transfer trolley and automatic patient transfer method - Google Patents
Automatic patient transfer trolley and automatic patient transfer method Download PDFInfo
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- CN111419552B CN111419552B CN202010316902.1A CN202010316902A CN111419552B CN 111419552 B CN111419552 B CN 111419552B CN 202010316902 A CN202010316902 A CN 202010316902A CN 111419552 B CN111419552 B CN 111419552B
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- 238000012546 transfer Methods 0.000 title claims abstract description 135
- 238000000034 method Methods 0.000 title claims abstract description 13
- 230000033001 locomotion Effects 0.000 claims abstract description 51
- 238000013519 translation Methods 0.000 claims abstract description 41
- 230000007246 mechanism Effects 0.000 claims description 66
- 230000009471 action Effects 0.000 claims description 18
- 238000013459 approach Methods 0.000 claims description 5
- 208000027418 Wounds and injury Diseases 0.000 abstract description 5
- 230000006378 damage Effects 0.000 abstract description 5
- 208000014674 injury Diseases 0.000 abstract description 5
- 208000035473 Communicable disease Diseases 0.000 description 4
- 230000009193 crawling Effects 0.000 description 4
- 208000015181 infectious disease Diseases 0.000 description 4
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000005545 community transmission Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 208000024891 symptom Diseases 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G1/00—Stretchers
- A61G1/02—Stretchers with wheels
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G1/00—Stretchers
- A61G1/04—Parts, details or accessories, e.g. head-, foot-, or like rests specially adapted for stretchers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
- A61G7/1025—Lateral movement of patients, e.g. horizontal transfer
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
- A61G7/104—Devices carried or supported by
- A61G7/1046—Mobile bases, e.g. having wheels
- A61G7/1048—Mobile bases, e.g. having wheels having auxiliary drive means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
- A61G7/1073—Parts, details or accessories
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/70—General characteristics of devices with special adaptations, e.g. for safety or comfort
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Nursing (AREA)
- Invalid Beds And Related Equipment (AREA)
Abstract
The invention provides an automatic patient transfer trolley, which relates to the technical field of patient transport and is used for being matched with an automatic patient transfer robot to transfer a transported person, and comprises a trolley body, a translation electric push rod, a support arm and a bracket, wherein the bracket is suitable for placing the automatic patient transfer robot, one end of the support arm is hinged with the trolley body, the other end of the support arm is hinged with the bracket, one end of the translation electric push rod is connected with the trolley body, the other end of the translation electric push rod is connected with the support arm, the translation electric push rod is suitable for controlling the movement of the bracket by controlling the rotation of the support arm, and the bracket is suitable for moving the automatic patient transfer robot. The invention also provides a patient automatic transfer method, and the patient automatic transfer vehicle and the patient automatic transfer method can be matched with the patient automatic transfer robot to move up and down the patient automatic transfer vehicle, so that the time of medical workers is saved, the labor intensity of the medical workers and the family members of the patients is reduced, and the secondary injury to the transported person is avoided.
Description
Technical Field
The invention relates to the technical field of patient transport, in particular to an automatic patient transport vehicle and an automatic patient transport method.
Background
In the prior art, patients with severe symptoms or other inconvenient actions are treated by changing beds for examination or operation, medical staff or family members of the patients lift the patients to an operating table or an examination table by using bed sheets, then lift the patients from the operating table and the examination table to the patient table, and sometimes, the patients are carelessly transported and can be secondarily injured. The patient with heavy weight needs a plurality of people to help and move, and more medical staff are needed, so that the labor intensity of the medical staff and the family members of the patient is enhanced.
Disclosure of Invention
The invention solves the problem that secondary injury is easy to be caused to the patient in the process of transferring the patient to the bed, and meanwhile, more medical staff are needed, thereby enhancing the labor intensity of the medical staff and the family members of the patient.
In order to solve the problems, the invention provides an automatic patient transfer trolley which is used for being matched with an automatic patient transfer robot to transfer a transported person, and comprises a trolley body, a translation electric push rod, a support arm and a bracket, wherein the bracket is suitable for placing the automatic patient transfer robot, one end of the support arm is hinged with the trolley body, the other end of the support arm is hinged with the bracket, one end of the translation electric push rod is connected with the trolley body, the other end of the translation electric push rod is connected with the support arm, the translation electric push rod is suitable for being rotated by driving the support arm to drive the bracket to translate, and the bracket is suitable for being used for taking and placing the automatic patient transfer robot through translation.
Preferably, the automatic patient transfer trolley further comprises an inclined electric push rod, one end of the inclined electric push rod is connected with the trolley body, the other end of the inclined electric push rod is connected with the bracket, and the inclined electric push rod is suitable for controlling the inclination degree of the bracket.
Preferably, the bracket comprises a bracket base and a bracket plate, wherein one end, far away from the hinge joint of the bracket and the vehicle body, of the supporting arm is hinged with the bracket base, one end, far away from the hinge joint of the bracket and the vehicle body, of the inclined electric push rod is connected with the bracket base, the bracket plate is suitable for sliding relative to the bracket base, and the bracket plate is suitable for placing the automatic patient transfer robot.
Preferably, the automatic patient transfer trolley comprises two support arms, the bracket base comprises two bracket slide ways and a bracket transverse plate, two bracket slide ways are respectively connected to two ends of the bracket transverse plate, one end, far away from the vehicle body connection, of the inclined electric push rod is connected with the bracket transverse plate, and one end, far away from the vehicle body hinge, of the two support arms is respectively hinged with the two bracket slide ways.
Preferably, the carriage plate comprises two carriage slides, each carriage slide slidably disposed on a carriage slide, the carriage slides being adapted to house the patient automatic transfer robot.
Preferably, the bracket plate comprises a handrail and a locking mechanism, wherein both ends of the handrail are respectively connected with the two bracket sliding plates, the handrail is suitable for pushing the bracket sliding plates to slide relative to the bracket base, and the locking mechanism is suitable for limiting the bracket sliding plates to slide relative to the bracket base.
Preferably, the vehicle body comprises a base, a platform seat and a lifting mechanism, wherein the lower end of the lifting mechanism is connected with the base, the upper end of the lifting mechanism is connected with the platform seat, the lifting mechanism is suitable for driving the platform seat to lift relative to the base, one end of the support arm, which is far away from the support arm and hinged with the bracket, is hinged with the platform seat, one end of the translation electric push rod, which is far away from the support arm and connected with the support arm, is connected with the platform seat, and one end of the inclination electric push rod, which is far away from the support arm and connected with the bracket, is connected with the platform seat.
Preferably, the platform seat comprises a lifting platform and a platform frame, the upper end of the lifting mechanism is connected with the lifting platform, the lifting platform is connected with the top end of the platform frame, the lifting platform and the platform frame are integrally formed, one end of the supporting arm, which is far away from the bracket and is hinged with the platform frame, one end of the translational electric push rod, which is far away from the supporting arm and is connected with the supporting arm, is connected with the platform frame, and one end of the oblique electric push rod, which is far away from the bracket and is connected with the platform frame.
Preferably, the vehicle body further comprises casters, and the casters are arranged at the bottom of the base.
The invention also provides an automatic patient transfer method, the patient automatic transfer trolley provided by the invention is matched with the patient automatic transfer robot to transfer a person to be transferred from a first bed to a second bed, and comprises the following steps: when the automatic patient transfer trolley is close to the first bed, the support arm of the automatic patient transfer trolley is driven to rotate through the translation electric push rod of the automatic patient transfer trolley so as to drive the bracket of the automatic patient transfer trolley to translate to the first bed to fork into the automatic patient transfer robot carrying the transported person; the support arm is driven to rotate by translating the electric push rod so as to drive the bracket to leave the first bed; when the patient automatic transfer trolley is close to the second bed, the support arm is driven to rotate through the translation electric push rod so as to drive the bracket to translate to the second bed, and the patient automatic transfer robot is forked out.
According to the automatic patient transfer trolley and the automatic patient transfer method, the translation of the bracket is controlled by controlling the rotation of the supporting arm through the translation electric push rod, so that the automatic patient transfer trolley can be matched with the automatic patient transfer robot to move up and down, the time of medical workers is saved, the labor intensity of the medical workers and the family members of the patients is reduced, and secondary injury to the transported people is avoided.
Drawings
FIG. 1 is a schematic diagram of a patient automatic transfer system for transferring a person to be transferred according to an embodiment of the present invention;
FIG. 2 is a schematic view of a three-dimensional mechanism of the automated patient transfer cart of FIG. 1;
FIG. 3 is a schematic perspective view of the patient transfer cart of FIG. 1 from another perspective;
FIG. 4 is a schematic view of a three-dimensional mechanism of the platform base of FIG. 3;
FIG. 5 is a left side view of the patient automatic transfer robot of FIG. 1;
FIG. 6 is a schematic view of a three-dimensional mechanism of the patient automatic transfer robot of FIG. 5;
FIG. 7 is an enlarged schematic view of section I of FIG. 6;
FIG. 8 is a top view of the patient automatic transfer robot of FIG. 5;
FIG. 9 is a rear view of the patient automatic transfer robot of FIG. 5;
fig. 10 is an enlarged schematic view of a portion II in fig. 9.
Reference numerals illustrate:
100-patient automated transport system;
300-patient automatic transfer vehicle, 310-vehicle body, 311-base, 313-platform base, 313 a-lifting platform, 313 b-platform frame, 315-lifting mechanism, 317-caster, 331-translational electric push rod, 333-tilting electric push rod, 335-support arm, 350-bracket, 351-bracket base, 351 a-bracket slide, 351 b-bracket cross plate, 353-bracket plate, 353 a-bracket slide, 353 b-armrest;
500-a patient automatic transfer robot, 510-a framework, 511-a cross beam, 511 a-a motion groove, 513-a longitudinal beam, 530-a first motion mechanism, 531-a first push rod, 533-a second push rod, 535-a screw module, 550-a second motion mechanism, 551-a cam shaft, 552-a first cam, 553-a second cam, 555-a second motor, 556-a second screw, 557-a cam linkage rod, 558-a rocker, 570-a first support plate, 571-a first support sub-plate, 573-a first motion hole, 590-a second support plate, 591-a second support sub-plate, 593-a second motion hole;
701-the transferee, 703-the first bed.
Detailed Description
In order that the above objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings.
In the description of the present invention, it should be noted that terms such as "upper", "lower", "front", "rear", and the like in the embodiments indicate directional terms, and are merely used for simplifying the description based on the positional relationship of the drawings in the specification, and do not represent that the elements and devices and the like referred to must be operated according to the specific orientations and the operations and methods, configurations defined in the specification, and such directional terms do not constitute limitations of the present invention.
Furthermore, the terms "first," "second," and the like, as used in embodiments of the present invention, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature.
Referring to fig. 1, an embodiment of the present invention provides a patient automatic transfer system 100 for transferring a person 701 (e.g., a person or animal suffering from a disease, a person or animal that is too fat to move by itself, a person or animal that is too lazy to move by itself, or a cargo that needs to be handled, etc.). The present embodiment is illustrated with the patient automated transfer system 100 being used to transfer a patient from a first bed 703 (e.g., a hospital bed) to a second bed (e.g., an examination bed or an operating bed).
The patient automatic transfer system 100 provided by the embodiment of the present invention includes a patient automatic transfer cart 300 and a patient automatic transfer robot 500. The patient automatic transfer robot 500 is detachably placed on the patient automatic transfer vehicle 300, the patient automatic transfer vehicle 300 is adapted to place the patient automatic transfer robot 500 on the first bed 703, the patient automatic transfer robot 500 is adapted to move from the patient automatic transfer vehicle 300 under the body of the person to be transferred 701 placed on the first bed 703 by a crawling action, and the patient automatic transfer vehicle 300 is further adapted to transport and place the patient automatic transfer robot 500 on the second bed.
Referring to fig. 2 and 3, in an embodiment of the present invention, the patient automatic transfer cart 300 includes a cart body 310, a translation electric push rod 331, a tilt electric push rod 333, a support arm 335, and a bracket 350.
In the embodiment of the present invention, body 310 comprises base 311, platform base 313 and lifting mechanism 315, wherein the lower end of lifting mechanism 315 is connected to base 311, the upper end of lifting mechanism 315 is connected to platform base 313, and lifting mechanism 315 is adapted to drive platform base 313 to lift relative to base 311. The "upper end" of the lift mechanism 315 refers to the end of the lift mechanism 315 that faces upward when the patient transfer cart 300 is in use. The "lower end" of the lift mechanism 315 refers to the end of the lift mechanism 315 that faces downward when the patient transfer cart 300 is in use.
In the preferred embodiment of the present invention, the base 311 comprises a rectangular frame and two bottom plates, the two bottom plates are respectively disposed at two ends of the rectangular frame, a hollow area is formed in the middle of the rectangular frame, and the two bottom plates and the rectangular frame are integrally formed.
Referring to fig. 4, in a preferred embodiment of the present invention, the platform base 313 includes a lifting platform 313a and a platform frame 313b, the lifting platform 313a is connected to the top end of the platform frame 313b, and the lifting platform 313a and the platform frame 313b are integrally formed. Specifically, the platform base 313 includes two lifting platforms 313a, and the two lifting platforms 313a are respectively disposed on two sides of the platform frame 313 b. The platform frame 313b may pass through a hollowed-out area formed in the middle of the rectangular frame of the base 311. The "top end" of the platform frame 313b refers to the end of the platform frame 313b that faces upward when the patient transfer robot 300 is in use.
In the preferred embodiment of the present invention, body 310 includes two lift mechanisms 315. The lower ends of the two lifting mechanisms 315 are fixedly connected with the two bottom plates of the base 311 respectively, and the upper ends of the two lifting mechanisms 315 are fixedly connected with the two lifting platforms 313a respectively. The lift mechanism 315 is adapted to drive the platform base 313 up and down relative to the base 311 by adjusting the length of the lift mechanism 315.
It is understood that the lift mechanism 315 may be motor-adjustable in length to the lift mechanism 315, and that the lift mechanism 315 may be hydraulic or pneumatic cylinder-adjustable in length to the lift mechanism 315.
Referring to fig. 1 again, in the embodiment of the present invention, the vehicle body 310 further includes casters 317, and the casters 317 are disposed at the bottom of the base 311. Preferably, body 310 includes four casters 317, and four casters 317 are respectively disposed at four corners of the rectangular frame of base 311. The patient transfer cart 300 may be moved by pushing the casters 317.
In an embodiment of the present invention, the cradle 350 is adapted to house a patient automatic transfer robot 500. In particular, the cradle 350 comprises a cradle base 351 and a cradle plate 353, the cradle plate 353 being adapted to slide relative to the cradle base 351, the cradle plate 353 being adapted to house the patient automatic transfer robot 500.
In the preferred embodiment of the present invention, the bracket base 351 includes two bracket rails 351a and a bracket cross plate 351b, both ends of the bracket cross plate 351b are respectively connected to the two bracket rails 351a, and both ends of the bracket cross plate 351b are respectively connected to one ends of the two bracket rails 351 a.
In the preferred embodiment of the present invention, the carriage plate 353 includes two carriage plates 353a, each carriage plate 353a being slidably disposed on a carriage slide 351a, the carriage plates 353a being adapted to house the patient automatic transfer robot 500.
Preferably, the bracket plate 353 further includes an armrest 353b, and both ends of the armrest 353b are respectively connected to the two bracket sliding plates 353 a. The armrest 353b is adapted to push the bracket slide 353a to slide relative to the bracket base 351, in particular, the armrest 353b is adapted to push the bracket slide 353a to slide within the bracket slide 351 a.
Preferably, the carriage plate 353 further includes a locking mechanism (not shown) adapted to limit the sliding movement of the carriage sled 353a relative to the carriage base 351. It will be appreciated that the locking mechanism is in an unlocked state, and the bracket slide 353a is slidable relative to the bracket base 351; the lock mechanism is in a locked state, and the carriage slide 353a is not slidable with respect to the carriage base 351.
In the embodiment of the present invention, one end of the support arm 335 is hinged to the vehicle body 310, and the other end of the support arm 335 is hinged to the bracket 350. The support arm 335 is adapted to rotate relative to the vehicle body 310, and the support arm 335 is also adapted to rotate relative to the bracket 350.
In a preferred embodiment of the present invention, the end of the support arm 335 remote from the hinge to the bracket 350 is hinged to the platform base 313. Specifically, the end of the support arm 335 remote from the hinge with the bracket 350 is hinged with the bottom of the platform frame 313 b.
In a preferred embodiment of the present invention, the patient transfer robot 300 includes two support arms 335, and the ends of the two support arms 335 remote from the ends hinged to the body 310 are hinged to a bracket base 351. Specifically, ends of the two support arms 335 remote from the hinge with the vehicle body 310 are respectively hinged with the two bracket slide rails 351 a. Preferably, ends of the two support arms 335 remote from the hinge with the vehicle body 310 are respectively hinge-jointed with the middle portions of the two bracket slide rails 351 a.
In the embodiment of the invention, one end of the translation electric push rod 331 is connected with the vehicle body 310, and the other end of the translation electric push rod 331 is connected with the supporting arm 335.
In a preferred embodiment of the present invention, the end of the translation electric push rod 331 remote from the connection with the support arm 335 is connected to the platform base 313. Preferably, the end of the translation electric push rod 331 remote from the connection with the support arm 335 is connected to the bottom of the platform frame 313 b.
Preferably, the end of the translation motor-push rod 331 remote from the connection with the support arm 335 is connected to the platform base 313 by a pin 337. Specifically, the pin shaft 337 is fixedly connected to the platform base 313, and the translational electric push rod 331 is rotatably connected to the pin shaft 337.
In a preferred embodiment of the present invention, the patient automatic transfer cart 300 includes two translational electric pushing rods 331, and ends of the two translational electric pushing rods 331, which are far away from the ends connected to the cart body 310, are respectively connected to two support arms 335.
Preferably, the other end of translating electric pushrod 331 remote from the connection with body 310 is connected to support arm 335 by pin 337. Specifically, the pin shaft 337 is fixedly connected with the support arm 335, and the translational electric push rod 331 is rotatably connected to the pin shaft 337.
It will be appreciated that the translation motor-driven push rod 331 is adapted to drive the support arm 335 to rotate by controlling the extension and retraction of the translation motor-driven push rod 331 to drive the translation of the control carriage 350, and that the carriage 350 is adapted to pick and place the patient automatic transfer robot 500 by translation.
It can be appreciated that the electric translation rod 331 can be adjusted by a motor to extend and retract the electric translation rod 331, and the electric translation rod 331 can also be adjusted by a hydraulic cylinder or an air cylinder to extend and retract the electric translation rod 331.
In the embodiment of the present invention, one end of the inclined electric push rod 333 is connected to the vehicle body 310, the other end of the inclined electric push rod 333 is connected to the bracket 350, and the inclined electric push rod 333 is adapted to drive and control the inclination degree of the bracket 350 by adjusting the extension and retraction of the inclined electric push rod 333. In the embodiment of the present invention, the tilting electric push rod 333 and the translation electric push rod 331 together drive the control bracket 350 to translate in the tilting direction.
In a preferred embodiment of the present invention, the end of the tilt electric pushrod 333 remote from the connection with the bracket 350 is connected to the platform base 313. Specifically, an end of the tilt electric pushrod 333 remote from the connection with the bracket 350 is connected to the bottom of the platform frame 313 b.
In a preferred embodiment of the present invention, the end of the inclined electric push rod 333 remote from the connection with the vehicle body 310 is connected with the bracket base 351. Specifically, an end of the inclined electric push rod 333 remote from the connection with the vehicle body 310 is connected to the bracket cross plate 351 b. Preferably, an end of the inclined electric push rod 333 remote from the connection with the vehicle body 310 is connected with the middle portion of the bracket cross plate 351 b.
It will be appreciated that the tilt electric push rod 333 may be adjusted by a motor to extend and retract the tilt electric push rod 333, and the tilt electric push rod 333 may be adjusted by a hydraulic cylinder or an air cylinder to extend and retract the tilt electric push rod 333.
Referring to fig. 5-10, in an embodiment of the present invention, a patient automatic transfer robot 500 includes a frame 510, a first motion mechanism 530, a second motion mechanism 550, at least one first support plate 570, and at least one second support plate 590.
In the embodiment of the present invention, the skeleton 510 includes a plurality of cross members 511 and a plurality of longitudinal members 513, and the plurality of cross members 511 and the plurality of longitudinal members 513 form a lattice structure. The first moving mechanism 530, the second moving mechanism 550, the first support plate 570, and the second support plate 590 are all disposed on the frame 510.
In the embodiment of the present invention, each first supporting plate 570 includes two first supporting sub-plates 571. The two first support sub-plates 571 are disposed on both sides of the frame 510, respectively. The two first supporting sub-plates 571 of each first supporting plate 570 move toward each other to perform the folding motion of the first supporting plate 570, and the two first supporting sub-plates 571 of each first supporting plate 570 move toward each other to perform the unfolding motion of the first supporting plate 570.
In the embodiment of the present invention, each second support plate 590 includes two second support sub-plates 591. Two second support sub-boards 591 are respectively disposed at two sides of the skeleton 510. The two second support sub-plates 591 of each second support plate 590 move toward each other to perform the folding motion of the second support plate 590, and the two second support sub-plates 591 of each second support plate 590 move toward each other to perform the opening motion of the second support plate 590.
In a preferred embodiment of the present invention, the patient automatic transfer system 100 includes a plurality of first support plates 570 and a plurality of second support plates 590. The plurality of first support plates 570 and the plurality of second support plates 590 are disposed at intervals, a second support plate 590 is disposed between two adjacent first support plates 570, and a first support plate 570 is disposed between two adjacent second support plates 590.
In an embodiment of the present invention, the second movement mechanism 550 is adapted to drive the first support plate 570 and the second support plate 590 to alternately perform the folding and unfolding actions.
Specifically, in the embodiment of the present invention, the second movement mechanism 550 includes a cam shaft 551, a first cam 552, and a second cam 553. The cam shaft 551 is rotatably provided on the cross member 511, and the first cam 552 and the second cam 553 are provided on the cam shaft 551, and preferably, the first cam 552 and the second cam 553 are fixedly provided on the cam shaft 551. The cam shaft 551 is adapted to rotate the first cam 552 and the second cam 553. Each first cam 552 is disposed between two first support sub-plates 571 of a first support plate 570, and each second cam 553 is disposed between two second support sub-plates 591 of a second support plate 590. The first cam 552 and the second cam 553 are elliptical, and the cam shaft 551 drives the first cam 552 and the second cam 553 to rotate, thereby driving the first support plate 570 and the second support plate 590 to alternately perform a folding action and an opening action.
Preferably, the long axis of the first cam 552 is disposed perpendicular to the long axis of the second cam 553. By setting the long axis of the first cam 552 to be always perpendicular to the long axis of the second cam 553 during rotation, the second support plate 590 performs an opening motion when the first support plate 570 performs a closing motion; the first support plate 570 performs an opening operation, and the second support plate 590 performs a closing operation. Thereby ensuring that the time for which the distance between the two first support sub-plates 571 of the first support plate 570 is smaller than the distance between the two second support sub-plates 591 of the second support plate 590 is equal to the time for which the distance between the two first support sub-plates 571 of the first support plate 570 is greater than the distance between the two second support sub-plates 591 of the second support plate 590.
In a preferred embodiment of the present invention, the second movement mechanism 550 includes a plurality of cam shafts 551, and the plurality of cam shafts 551 are rotatably disposed on the cross beam 511 at equal intervals.
In an embodiment of the present invention, the second motion mechanism 550 further includes a second motor 555, a second screw 556, a cam linkage 557, and a plurality of rockers 558. The second motor 555 is fixedly arranged on the framework 510, one end of the second lead screw 556 is arranged on the second motor 555, the other end of the second lead screw 556 is connected with the cam linkage rod 557, one end of each rocker 558 is rotatably connected on the cam linkage rod 557, and the other end of each rocker 558 is fixedly connected with a cam shaft 551. The second motor 555 is adapted to drive the second screw rod 556 to reciprocate, the second screw rod 556 is adapted to drive the cam linkage rod 557 to reciprocate by the reciprocation, the cam linkage rod 557 is adapted to drive the rocker 558 to rotate around the cam shaft 551 by the reciprocation, and the rocker 558 is adapted to drive the cam shaft 551 to rotate by rotating around the cam shaft 551.
In other embodiments of the present invention, the cam shaft 551 may be driven to rotate by other mechanisms. For example, the second movement mechanism 550 includes a motor and a pulley, and the motor drives the pulley to rotate, thereby driving the cam shaft 551 to rotate.
In the embodiment of the present invention, the first movement mechanism 530 is adapted to drive the first support plate 570 and the second support plate 590 to alternately move forward when the second movement mechanism 550 drives the first support plate 570 and the second support plate 590 to alternately perform the folding motion and the unfolding motion.
In the preferred embodiment of the present invention, the first moving mechanism 530 is adapted to drive the first supporting plate 570 to move forward when the distance between the two first supporting sub-plates 571 of the first supporting plate 570 is smaller than the distance between the two second supporting sub-plates 591 of the second supporting plate 590.
In a preferred embodiment of the present invention, the first moving mechanism 530 is further adapted to drive the second support plate 590 to move forward when the distance between the two second support sub-plates 591 of the second support plate 590 is smaller than the distance between the two first support sub-plates 571 of the first support plate 570. The "forward" movement of the first support plate 570 and the second support plate 590 refers to a direction approaching the callee 701 when the patient automatic transfer robot 500 moves toward the callee 701; as the patient automatic transfer robot 500 moves away from the callee 701, it moves away from the direction of the callee 701.
In the embodiment of the present invention, the first moving mechanism 530 includes a first push rod 531, a second push rod 533, and a screw module 535. The first push rod 531 and the second push rod 533 are disposed on the cross beam 511, and the screw module 535 is connected to the first push rod 531 and the second push rod 533, and the screw module 535 is adapted to drive the first push rod 531 to reciprocate relative to the second push rod 533. Preferably, the first motion mechanism 530 includes two lead screw modules 535.
Specifically, in the preferred embodiment of the present invention, the cross member 511 is provided with a movement groove 511a, and the first push rod 531 and the second push rod 533 are disposed in the movement groove 511a, and the first push rod 531 is adapted to reciprocate linearly in the movement groove 511a with respect to the second push rod 533.
In the embodiment of the present invention, the first push rod 531 is connected to the plurality of first support plates 570, and the first push rod 531 is adapted to drive the plurality of first support plates 570 to move. Specifically, in the preferred embodiment of the present invention, a plurality of first posts (not shown) are fixedly disposed on the first push rod 531, and two first moving holes 573 are disposed on each first supporting sub-plate 571, and each first post cooperates with one first moving hole 573. Specifically, the first upright is cylindrical, the first movement hole 573 is a cylindrical hole, the radius of the first movement hole 573 is larger than that of the first upright, the first support sub-plate 571 can move relative to the first push rod 531, and the first upright cooperates with the first movement hole 573 to limit the movement of the first support sub-plate 571 relative to the first push rod 531 to the folding and unfolding actions of the first support plate 570, and each first support sub-plate 571 is limited by two adjacent first uprights to move.
In the embodiment of the present invention, the second push rod 533 is connected to the plurality of second support plates 590, and the second push rod 533 is adapted to move the plurality of second support plates 590. Specifically, in the preferred embodiment of the present invention, a plurality of second posts (not shown) are fixedly disposed on the second push rod 533, and two second moving holes 593 are disposed on each second supporting sub-plate 591, and each second post cooperates with one second moving hole 593. The second upright post is cylindrical, the second motion hole 593 is a cylindrical hole, and the radius of the second motion hole 593 is larger than that of the second upright post. The second support sub-plate 591 is movable with respect to the second push rod 533, and the second upright cooperates with the second movement hole 593 to define the movement of the second support sub-plate 591 with respect to the second push rod 533 as a closing movement and an opening movement of the second support plate 590.
In a preferred embodiment of the present invention, the screw module 535 includes a first motor and a screw, the screw is mounted on the first motor, and the first motor is adapted to drive the screw to stretch and retract through rotation. One end of the screw rod is arranged on the first motor, the other end of the screw rod is rotatably connected to the first push rod 531, the second push rod 533 is fixedly connected with the first motor, and the first motor is suitable for driving the screw rod to stretch out and draw back through rotation so as to realize reciprocating motion of the first push rod 531 relative to the second push rod 533.
Specifically, in the preferred embodiment of the present invention, when the distance between the two first support sub-plates 571 of the first support plate 570 is smaller than the distance between the two second support sub-plates 591 of the second support plate 590, the screw module 535 drives the first push rod 531 away from the second push rod 533. Since the distance between the two first support sub-plates 571 of the first support plate 570 is smaller than the distance between the two second support sub-plates 591 of the second support plate 590, the plurality of second support plates 590 are in contact with the first bed 703 or the second bed or the transferee 701, and the plurality of first support plates 570 are in a suspended state. Under the action of friction force, the plurality of second support plates 590 are in a static state, and the first push rods 531 drive the plurality of first support plates 570 and the frame 510 to move forward under the action of the screw rod module 535.
In the preferred embodiment of the present invention, when the distance between the two second support sub-plates 591 of the second support plate 590 is smaller than the distance between the two first support sub-plates 571 of the first support plate 570, the screw module 535 drives the first push rod 531 to approach the second push rod 533. Since the distance between the two second support sub-plates 591 of the second support plate 590 is smaller than the distance between the two first support sub-plates 571 of the first support plate 570, the plurality of first support plates 570 are in contact with the first bed 703 or the second bed or the transferee 701, and the plurality of second support plates 590 are in a suspended state. Under the action of friction force, the first support plates 570 are in a static state, and the second push rods 533 drive the second support plates 590 and the screw modules 535 to move forward under the action of the screw modules 535.
The embodiment of the present invention also provides a method for automatically transferring a patient, wherein the method for automatically transferring a patient 701 from a first bed 703 to a second bed by using the patient automatic transfer system 100 includes:
When the patient automatic transfer robot 500 of the patient automatic transfer system 100 is placed on the pallet 350 of the patient automatic transfer cart 300 of the patient automatic transfer system 100, the patient automatic transfer cart 300 is pushed to approach the first bed 703;
The support arm 335 of the patient automatic transfer cart 300 is driven to rotate by the translation electric push rod 331 of the patient automatic transfer cart 300 to drive the control bracket 350 to translate to the first bed 703;
The first support plate 570 of the patient automatic transfer robot 500 and the second support plate 590 of the patient automatic transfer robot 500 are controlled to alternately perform the folding and unfolding actions by the second movement mechanism 550 of the patient automatic transfer robot 500, and simultaneously the first support plate 570 and the second support plate 590 are controlled to alternately move in the direction approaching the person 701 by the first movement mechanism 530 of the patient automatic transfer robot 500 until the patient automatic transfer robot 500 moves under the person 701;
Controlling rotation of the support arm 335 by translating the electric pushrod 331 to control the pallet 350 to fork under the patient automatic transfer robot 500;
Controlling rotation of the support arm 335 by translating the electric pushrod 331 to control the carriage 350 to carry the patient automatic transfer robot 500 and the callee 701 out of the first bed 703;
when the patient transfer cart 300 approaches the second bed, the cradle 350 is controlled to move to the second bed by translating the electric push rod 331 to control the rotation of the support arm 335;
Controlling the rotation of the support arm 335 by translating the electric pushrod 331 to control the downward fork of the carriage 350 from the patient automatic transfer robot 500;
controlling the patient automatic transfer robot 500 to move away from under the callee 701 and back to the cradle 350;
The carriage 350 is controlled to exit the second bed by translating the electric push rod 331 to control the rotation of the support arm 335.
According to the automatic patient transfer system and the automatic patient transfer method provided by the embodiment of the invention, the automatic patient transfer robot moves to the position below the person to be transported through the crawling action, the automatic patient transfer vehicle forks the automatic patient transfer robot back to the person to be transported, and the automatic patient transfer vehicle carries the person to be transported. Not only saves the time of medical workers and reduces the labor intensity of the medical workers and the family members of patients, but also avoids secondary injury to the transported person. Meanwhile, under the condition that the carried person has infectious diseases, the infection of medical staff can be avoided, the risk of infection of the medical staff is reduced, and the risk of further causing the transmission of infectious diseases in communities is eliminated.
According to the automatic patient transfer trolley provided by the embodiment of the invention, the translation of the bracket is controlled by controlling the rotation of the supporting arm through the translation electric push rod, so that the automatic patient transfer trolley can be matched with the automatic patient transfer robot to move up and down, the time of medical workers is saved, the labor intensity of the medical workers and the family members of patients is reduced, and the secondary injury to the transported person is avoided.
According to the automatic patient transfer robot provided by the embodiment of the invention, when the second movement mechanism controls the first support plate and the second support plate to alternately perform folding movement and unfolding movement, the first movement mechanism controls the first support plate and the second support plate to alternately move forwards, so that the crawling movement of the automatic patient transfer robot is realized, the crawling robot can crawl under a person to be transported, the mechanized transportation of the person to be transported can be realized, the infection of medical staff can be avoided under the condition that the person to be transported has infectious diseases, the infection risk of the medical staff is reduced, and the community transmission risk of the infectious diseases is further eliminated.
Although the present disclosure is described above, the scope of protection of the present disclosure is not limited thereto. Various changes and modifications may be made by one skilled in the art without departing from the spirit and scope of the disclosure, and these changes and modifications will fall within the scope of the invention.
Claims (10)
1. A patient automatic transfer vehicle for transferring a person (701) to be transferred in cooperation with a patient automatic transfer robot (500), characterized in that the patient automatic transfer robot (500) is detachably placed on the patient automatic transfer vehicle, the patient automatic transfer vehicle comprises a vehicle body (310), a translation electric push rod (331), a support arm (335) and a bracket (350), the bracket (350) is suitable for placing the patient automatic transfer robot (500), one end of the support arm (335) is hinged with the vehicle body (310), the other end of the support arm (335) is hinged with the bracket (350), One end of the translation electric push rod (331) is connected with the vehicle body (310), the other end of the translation electric push rod (331) is connected with the supporting arm (335), the translation electric push rod (331) is suitable for driving the supporting arm (335) to rotate so as to drive and control the bracket (350) to translate, the bracket (350) is suitable for being forked into and out of the patient automatic transfer robot (500) through translation so as to take and put the patient automatic transfer robot (500), the patient automatic transfer robot (500) comprises a framework (510), a first movement mechanism (530), a second movement mechanism (530) and a third movement mechanism (350), The framework (510) comprises a plurality of cross beams (511) and a plurality of longitudinal beams (513), the cross beams (511) and the longitudinal beams (513) form a grid structure, the first moving mechanism (530), the second moving mechanism (550), the first supporting plate (570) and the second supporting plate (590) are all arranged on the framework (510), each first supporting plate (570) comprises two first supporting sub-plates (571), the two first supporting sub-plates (571) are respectively arranged on two sides of the framework (510), the two first support sub-plates (571) of each first support plate (570) move oppositely to realize the folding action of the first support plate (570), the two first support sub-plates (571) of each first support plate (570) move oppositely to realize the opening action of the first support plate (570), each second support plate (590) comprises two second support sub-plates (591), the two second support sub-plates (591) are respectively arranged at the two sides of the framework (510), the two second support sub-plates (591) of each second support plate (590) move oppositely to realize the folding action of the second support plate (590), The two second support sub-plates (591) of each second support plate (590) move reversely to realize opening action of the second support plates (590), a plurality of first support plates (570) and a plurality of second support plates (590) are arranged at intervals, one second support plate (590) is arranged between two adjacent first support plates (570), one first support plate (570) is arranged between two adjacent second support plates (590), and the second movement mechanism (550) is suitable for driving the first support plates (570) and the second support plates (590) to alternately perform closing action and opening action.
2. The automated patient transfer cart of claim 1, further comprising a tilt motor (333), wherein one end of the tilt motor (333) is connected to the cart body (310), and wherein the other end of the tilt motor (333) is connected to the bracket (350), and wherein the tilt motor (333) is adapted to control the degree of tilt of the bracket (350).
3. The patient automatic transfer vehicle according to claim 2, characterized in that the carrier (350) comprises a carrier base (351) and a carrier plate (353), an end of the support arm (335) remote from the articulation with the vehicle body (310) being articulated with the carrier base (351), an end of the tilting electric push rod (333) remote from the connection with the vehicle body (310) being connected with the carrier base (351), the carrier plate (353) being adapted to slide relative to the carrier base (351), the carrier plate (353) being adapted to house the patient automatic transfer robot (500).
4. A patient automatic transfer vehicle according to claim 3, comprising two said support arms (335), said carriage base (351) comprising two carriage tracks (351 a) and a carriage cross plate (351 b), two said carriage tracks (351 a) being connected to respective ends of said carriage cross plate (351 b), one end of said inclined electric push rod (333) remote from connection with said vehicle body (310) being connected to said carriage cross plate (351 b), one end of two said support arms (335) remote from articulation with said vehicle body (310) being articulated to respective ones of said carriage tracks (351 a).
5. The automated patient transfer cart of claim 4, wherein the carriage plate (353) comprises two carriage slides (353 a), each carriage slide (353 a) slidably disposed on one of the carriage slides (351 a), the carriage slide (353 a) being adapted to house the automated patient transfer robot (500).
6. The automated patient transfer cart according to claim 5, wherein the carriage plate (353) comprises a handrail (353 b) and a locking mechanism, both ends of the handrail (353 b) are respectively connected to two of the carriage plates (353 a), the handrail (353 b) is adapted to push the carriage plates (353 a) to slide relative to the carriage base (351), and the locking mechanism is adapted to restrict the carriage plates (353 a) to slide relative to the carriage base (351).
7. The automated patient transfer cart according to claim 2, wherein the cart body (310) comprises a base (311), a platform base (313) and a lifting mechanism (315), wherein a lower end of the lifting mechanism (315) is connected to the base (311), an upper end of the lifting mechanism (315) is connected to the platform base (313), the lifting mechanism (315) is adapted to drive the platform base (313) to lift relative to the base (311), an end of the support arm (335) remote from the hinge with the bracket (350) is hinged to the platform base (313), an end of the translating electric push rod (331) remote from the connection with the support arm (335) is connected to the platform base (313), and an end of the tilting electric push rod (333) remote from the connection with the bracket (350) is connected to the platform base (313).
8. The automated patient transfer cart according to claim 7, wherein the platform base (313) includes a lifting platform (313 a) and a platform frame (313 b), an upper end of the lifting mechanism (315) is connected to the lifting platform (313 a), the lifting platform (313 a) is connected to a top end of the platform frame (313 b), the lifting platform (313 a) is integrally formed with the platform frame (313 b), an end of the support arm (335) remote from the hinge with the bracket (350) is hinged to the platform frame (313 b), an end of the translation electric push rod (331) remote from the connection with the support arm (335) is connected to the platform frame (313 b), and an end of the tilt electric push rod (333) remote from the connection with the bracket (350) is connected to the platform frame (313 b).
9. The automated patient transfer cart of claim 7, wherein the cart body (310) further comprises casters (317), the casters (317) being disposed at a bottom of the base (311).
10. A method of patient automatic transfer employing a patient automatic transfer cart (300) according to any one of claims 1-9 in conjunction with a patient automatic transfer robot (500) to transfer a subject (701) from a first bed (703) to a second bed, comprising:
When the patient automatic transfer vehicle (300) approaches the first bed (703), a support arm (335) of the patient automatic transfer vehicle (300) is driven to rotate by a translation electric push rod (331) of the patient automatic transfer vehicle (300) so as to drive a bracket (350) of the patient automatic transfer vehicle (300) to translate to the first bed (703) to fork under the patient automatic transfer robot (500) carrying the carried person (701);
-driving the support arm (335) in rotation by means of the translation electric push rod (331) to drive the carriage (350) away from the first bed (703);
When the patient automatic transfer vehicle (300) approaches the second bed, the support arm (335) is driven to rotate through the translation electric push rod (331) so as to drive the bracket (350) to translate to the second bed, and the patient automatic transfer robot (500) is forked out.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010316902.1A CN111419552B (en) | 2020-04-21 | 2020-04-21 | Automatic patient transfer trolley and automatic patient transfer method |
| PCT/CN2021/088499 WO2021213406A1 (en) | 2020-04-21 | 2021-04-20 | Automatic patient transfer vehicle and automatic patient transfer method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010316902.1A CN111419552B (en) | 2020-04-21 | 2020-04-21 | Automatic patient transfer trolley and automatic patient transfer method |
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| Publication Number | Publication Date |
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| CN111419552A CN111419552A (en) | 2020-07-17 |
| CN111419552B true CN111419552B (en) | 2024-08-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010316902.1A Active CN111419552B (en) | 2020-04-21 | 2020-04-21 | Automatic patient transfer trolley and automatic patient transfer method |
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| CN (1) | CN111419552B (en) |
| WO (1) | WO2021213406A1 (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111419552B (en) * | 2020-04-21 | 2024-08-30 | 哈尔滨思哲睿智能医疗设备股份有限公司 | Automatic patient transfer trolley and automatic patient transfer method |
| 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 |
| CN111419553B (en) * | 2020-04-21 | 2024-12-24 | 哈尔滨思哲睿智能医疗设备股份有限公司 | A patient automatic transport system and method |
| CN112402141B (en) * | 2020-12-29 | 2021-07-30 | 黑龙江省医院 | A kind of emergency nursing device for cardiology department |
| CN114259342A (en) * | 2021-12-31 | 2022-04-01 | 昆明优楚商贸有限公司 | Medical transfer bed |
| CN118370661B (en) * | 2024-06-20 | 2024-10-25 | 中国人民解放军海军第九七一医院 | Nursing transfer device |
| CN119074404B (en) * | 2024-10-09 | 2025-06-13 | 连云港市中医院 | Rescue vehicle for oncology department |
| CN120694818B (en) * | 2025-08-15 | 2025-11-28 | 温州市人民医院 | First aid is with severe patient transfer device |
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| US9579243B2 (en) * | 2014-10-03 | 2017-02-28 | Ilift2Assist, Llc | Patient transfer device |
| CN204306986U (en) * | 2014-10-28 | 2015-05-06 | 刘秀丽 | A kind of convenient transport bed patient makees medical imaging utensil |
| CN204655308U (en) * | 2015-05-12 | 2015-09-23 | 田雪 | Medical electric transfer car(buggy) |
| CN105012099A (en) * | 2015-08-06 | 2015-11-04 | 遂宁市长丰机械科技有限公司 | Arm type transferring bed |
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| CN111419552B (en) * | 2020-04-21 | 2024-08-30 | 哈尔滨思哲睿智能医疗设备股份有限公司 | Automatic patient transfer trolley and automatic patient transfer method |
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2020
- 2020-04-21 CN CN202010316902.1A patent/CN111419552B/en active Active
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2021
- 2021-04-20 WO PCT/CN2021/088499 patent/WO2021213406A1/en not_active Ceased
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108324438A (en) * | 2018-01-29 | 2018-07-27 | 常州工学院 | Lift-on/lift-off type transfer car(buggy) and its application method for illness people again |
| CN212326761U (en) * | 2020-04-21 | 2021-01-12 | 哈尔滨思哲睿智能医疗设备有限公司 | Automatic transfer car (buggy) of patient |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2021213406A1 (en) | 2021-10-28 |
| CN111419552A (en) | 2020-07-17 |
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Address after: No. 8, Dalian North Road, Haping Road Concentration Zone, Economic Development Zone, Harbin City, Heilongjiang Province, 150040 Applicant after: Harbin sizherui intelligent medical equipment Co.,Ltd. Address before: Room 08, 15 / F, No.368, Changjiang Road, Nangang District, economic development zone, Harbin City, Heilongjiang Province Applicant before: HARBIN SIZHERUI INTELLIGENT MEDICAL EQUIPMENT Co.,Ltd. |
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