CN114504443A - A hospital bed system using an automated handling robot - Google Patents

Abstract

The invention discloses a sickbed system adopting an automatic carrying robot, belonging to the technical field of sickbeds and comprising a carrying robot, a lifting mechanism and a lifting mechanism, wherein the carrying robot is used for forking the upper part of a separable sickbed away from a base according to an instruction and transferring the separable sickbed to a target sickbed base to finish automatic carrying; the separable sickbed is used for bearing a patient and is designed into a structure which can be separated up and down, so that the separable sickbed is convenient to separate and carry; the positioning module is used for positioning and navigating the position between the transfer robot and the separable sickbed, so that the transfer robot can transfer the upper part of the sickbed to the sickbed base conveniently, and the sickbed base is positioned, and the transfer accuracy is ensured; the collecting module is used for collecting distance parameters from peripheral objects to the carrying robot in real time by the carrying robot, is used for positioning the carrying robot and the separable sickbed, simultaneously avoids collision with external objects in the sickbed carrying process, and collects human body components of patients on the sickbed. The carrying robot carries the bed board through automatic navigation, and carries the bed board among the sickbed bases, so that labor is saved.

Description

A hospital bed system using an automated handling robot

technical field

The invention relates to the technical field of hospital beds, in particular to a hospital bed system using an automated handling robot.

Background technique

A hospital bed generally refers to a nursing bed, which is a recumbent bed body designed according to the patient's treatment needs and bed-ridden living habits. The current hospital beds are all integrated and have a single function. The movement of the hospital bed requires manual handling, which cannot be automated and is time-consuming. It is laborious, so we propose a hospital bed system using an automated handling robot to solve the above problems.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a hospital bed system using an automatic handling robot, so as to solve the problems raised in the above-mentioned background art.

To achieve the above object, the present invention provides the following technical solutions: a hospital bed system using an automated handling robot, comprising:

a handling robot, which is used to fork the upper part of the separable hospital bed from the base according to the instruction, and transfer it to the base of the target hospital bed to complete the automatic handling;

A separable hospital bed, which is used to carry patients and is designed to be detachable from top to bottom for easy separation and handling;

a positioning module, which is used for positioning and navigating the position between the handling robot and the separable hospital bed, so as to facilitate the handling robot to transport part of the bed to the base of the bed, and to locate the position of the base of the bed to ensure accurate handling;

A collection module, the collection module is used for the handling robot to collect the distance parameters from the surrounding objects to the handling robot in real time, for positioning the handling robot and the separable hospital bed, and at the same time to avoid collision with external objects during the handling of the hospital bed, and the collection module collects the data on the bed. patient body composition;

a warning module, the warning module is used for warning when there are pedestrians around when the transport robot transports the hospital bed, and when the patient's body composition on the hospital bed is out of balance;

a communication module, the communication module is used for communication and transmission of data and instructions between each module of the system;

A central processing unit, which is used for coordinating the work of the above modules, for data calling commands to call corresponding data in each database within its authority, and sending these control commands to the corresponding modules.

In a preferred implementation case, the positioning module includes a GPS navigation unit, a distance positioning unit and a hospital bed positioning unit,

The GPS navigation unit is used for the navigation of the handling robot to walk according to the handling route between each hospital bed by the system, so as to ensure that the handling robot transports the upper part of a hospital bed to the base of the target hospital bed according to the route;

The distance positioning unit is used for positioning between the handling robot and the base of the hospital bed, and is positioned by two sets of corresponding distance sensors set on the base of the handling robot and the base of the hospital bed. When the corresponding distance data between the sensors is the same, the handling robot reaches the designated position of the fork and the lower part of the bed;

The hospital bed positioning unit includes an electronic label fixed on the bed base, and the reader on the handling robot reads the label number of the bed base to determine the bed base to be transported and lowered.

In a preferred implementation case, the collection module includes distance data collection and body composition collection,

The distance data collection collects the distance from the surrounding of the handling robot to the outside object in real time through the distance sensor, and sets the stop moving distance threshold and the alarm distance threshold. When the handling robot moves to a distance less than the alarm distance threshold from the surrounding pedestrians, the The warning module issues a language alarm to remind pedestrians to avoid, so that the handling robot stops moving when the distance between the handling robot and the surrounding pedestrians is less than the threshold of the stop moving distance, and takes the initiative to avoid;

The said body composition collection collects the body composition of the patient on the bed through the body composition analyzer arranged on the bed, and transmits the collected data to the central processing unit through the communication module, so that the central processing unit can compare the collected data with the standard data, and at the same time. The patient's body temperature, heartbeat and respiratory rate, blood pressure, grip strength and metabolic status are detected by the thermometer, pulse sensor, respiration sensor, sphygmomanometer, grip dynamometer and metabolic cart set on the hospital bed, and transmitted to the central processor through the communication module.

In a preferred implementation case, the handling robot includes a robot base, a plurality of wheels are installed at the bottom of the robot base, and electric push rods are fixedly installed at the top four corners of the robot base, and the electric push rods are far away from the robot base An installation frame is fixedly installed at one end of the installation frame, an insertion mechanism is installed on the top of the installation frame, a power mechanism is installed between the inner walls of the installation frame, and the power mechanism is connected with the insertion mechanism. The separable hospital bed includes a bed base and a bed board. The top four corners of the base are fixedly installed with leg covers, the bottom four corners of the bed board are fixedly installed with movable legs, and the movable legs are clamped in the leg covers, and both sides of the top of the bed board are fixedly installed with armrests. Both ends of the top are fixedly installed with the bed bottom plate.

In a preferred implementation case, a positioning module and a collection module are installed on the robot base and the base of the hospital bed, a body composition analyzer is installed in the base of the hospital bed, and electrode sheets are fixedly installed on the armrest and the base of the bed, so The bottoms of the movable leg and the leg cover are respectively equipped with plugs and sockets, and the plugs and sockets are respectively electrically connected to the electrode sheet and the body composition analyzer, and a weight scale is embedded in the top surface of the bed board.

In a preferred implementation case, the insertion mechanism includes a fixed channel steel and a movable channel steel, fixed channel steels are fixedly welded on both ends of the top of the mounting frame, and the bottom of the support rod is slidably clamped in the fixed channel steel. The top of the support rod is slidably connected to the movable channel steel, and the middle part of the support rod is provided with a rotating groove, and the rotating sleeve is rotated in the rotating groove, and the sleeved gear is fixed on the rotating shaft. The fixed channel steel and the movable channel A fixed rack and a movable rack are respectively fixedly installed on the inner wall of one end of the channel steel close to the support rod. The gear penetrates the rotating slot and engages the fixed rack and the movable rack. The bottom of the support rod is connected to the power mechanism.

In a preferred implementation case, guide grooves are formed on both outer walls of the support rod, and a plurality of U-shaped grooves are formed on both sides of the fixed channel steel and the movable channel steel. Both the fixed channel steel and the movable channel steel are provided with slots, the slots communicate with the U-shaped grooves, and the U-shaped grooves are rotatably sleeved with support shafts, and the support shafts close to the end of the support rods are fixedly installed with rollers. The roller closely fits the inner wall of the guide slot, the slot is sleeved with a limit block through a threaded structure, the diameter of the limit block is greater than or equal to the diameter of the roller, and the limit block closely fits the support shaft.

In a preferred implementation case, the power mechanism includes a fixed plate, the bottom of the inner wall of the installation frame is fixedly installed with the fixed plate, the four corners of the top surface of the fixed plate are fixedly installed with axle seats, and the axle seats are rotatably sleeved. The transmission shaft, the two ends of the transmission shaft are fixedly sleeved with sprockets, the transmission chains are sleeved between the sprockets, the bottom surface of the fixed channel steel is provided with a through groove, and the bottom of the support rod is fixedly installed with a push plate, The push plate slides through the through groove and is fixedly connected to the upper section of the transmission chain.

In a preferred implementation case, the connecting shaft is rotatably sleeved in the bed board, the middle part of the connecting shaft is fixedly sleeved with two turntables, the turntables are rotatably sleeved in the bed board, and an L-shaped groove is opened at the bottom of the bed board. , the lever is rotated in the L-shaped groove, one end of the lever is fixedly connected to the turntable, both ends of the connecting shaft are fixed to sleeve the winding wheel, and the outer walls of the two sides of the winding wheel are fixedly connected to the large pulley A locking mechanism is installed between the movable legs at one end of the rope and the other end of the large pulling rope.

In a preferred implementation case, a torsion spring is installed between the connecting shaft and the bed board, the locking mechanism includes a receiving groove, the outer walls of both sides of the movable leg are provided with receiving grooves, and the receiving grooves are slidably latched and locked. The inner wall of the leg cover is provided with pin holes, one end of the locking pin is matched with the pin hole, the other end of the locking pin is installed with a spring between the inner wall of the receiving slot, and the end faces of the locking pin are all fixedly connected One end of the small drawstring, and the other end of the small drawstring penetrates the receiving slot and is fixedly connected to the large drawstring.

The beneficial effects of the present invention are:

1. The bed board is automatically navigated and transported by the handling robot, and the bed board is transported between the bases of the hospital bed, saving manpower;

2. The bed board and the base of the hospital bed can be separated. When the movable leg and the leg cover are plugged stably, the electrode sheet is electrically connected to the body composition analyzer, so that a micro-current is applied. After the patient touches the electrode sheet, the body composition is collected, which is convenient for the patient. Carry out data collection and warning, and at the same time detect the patient's body temperature, heartbeat and respiratory rate, blood pressure, grip strength and metabolic status through the thermometer, pulse sensor, respiration sensor, sphygmomanometer, handgrip dynamometer and metabolic car set on the hospital bed, and communicate with each other. The module is transmitted to the central processor. After the patient lies on the bed, the scale can automatically measure the patient's weight, which is used to visually display the patient's weight information and enrich the functions of the bed;

3. Multiple sprockets rotate synchronously through the transmission chain and the transmission shaft, thereby driving the push plate to slide along the through groove, so that the support rod slides along the fixed channel steel. When the support rod slides, the gear rolls along the fixed rack, thereby pushing the movable rack , then the moving speed of the movable channel steel is twice that of the support rod, realizing two-stage expansion and contraction, then when the movable channel steel extends into the bottom of the bed for support, the support rod is supported between the movable channel steel and the fixed channel steel to improve the support stability. And the movable channel steel slides back to the top of the fixed channel steel to save space;

4. When the movable channel steel extends into the bottom of the bed plate, push the lever, thereby driving the turntable and the connecting shaft to rotate, so that the winding wheel winds up the large pull rope, and the large pull rope pulls the small pull rope at the same time, so that the locking pin is separated from the pin hole. The electric push rod is lifted up to lift and transport the bed board. When the bed board is moved to the base of the fixed hospital bed, the movable leg is inserted into the leg cover, and the movable channel steel leaves the bed board, the torsion spring makes the connecting shaft reverse, and the locking pin is inserted into the pin hole , so that the movable leg and the leg cover are inserted stably.

Description of drawings

FIG. 1 is a schematic diagram of a hospital bed system using an automated handling robot according to an embodiment of the present invention.

FIG. 2 is a schematic diagram of a positioning module of the present invention.

FIG. 3 is a schematic diagram of a collection module of the present invention.

FIG. 4 is a schematic flow chart of the system of the present invention.

FIG. 5 is a schematic structural diagram of the handling robot and the detachable hospital bed during positioning according to the present invention.

FIG. 6 is a schematic diagram of the structure of the insertion mechanism of the present invention.

FIG. 7 is a schematic view of the structure of the roller according to the present invention.

FIG. 8 is a schematic diagram of a partial cross-sectional structure of the bed plate of the present invention.

FIG. 9 is an enlarged schematic view of the structure at A in FIG. 8 of the present invention.

In the figure: 11, robot base; 12, wheel; 13, electric push rod; 14, installation frame; 15, insertion mechanism; 151, fixed channel steel; 152, support rod; 153, movable channel steel; 155, rotating shaft; 156, gear; 157, fixed rack; 158, movable rack; 16, power mechanism; 161, fixed plate; 162, shaft seat; 163, transmission shaft; 164, sprocket; 165, transmission chain; 166, through slot; 167, push plate; 168, motor; 21, bed base; 22, leg cover; 23, movable leg; 24, bed plate; 25, armrest; 26, bed bottom plate; 27, stabilization mechanism; 31, U Slot; 32, slot; 33, support shaft; 34, roller; 35, limit block; 36, guide slot; 41, connecting shaft; 42, L-slot; 43, turntable; 44, lever; 45, Winding wheel; 46, large rope; 47, locking mechanism; 471, receiving slot; 472, locking pin; 473, pin hole; 474, spring; 475, small rope.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

Embodiment: As shown in Figures 1 to 9, the present invention provides a hospital bed system using an automated handling robot, including:

The handling robot is used to fork the upper part of the separable hospital bed from the base according to the instruction, and transfer it to the base of the target hospital bed to complete the automatic handling;

Separable hospital bed, the separable hospital bed is used to carry patients, and is designed as a detachable structure up and down, which is convenient for separation and transportation;

The positioning module is used to locate and navigate the position between the handling robot and the separable hospital bed, which is convenient for the handling robot to transport part of the bed to the base of the bed, and to locate the position of the base of the bed to ensure accurate handling;

Acquisition module, the acquisition module is used for the handling robot to collect the distance parameters from the surrounding objects to the handling robot in real time, which is used for the positioning of the handling robot and the separable hospital bed, and at the same time avoids collision with external objects during the handling of the hospital bed, and the acquisition module collects the patient's body on the bed. Element;

Warning module, the warning module is used to warn when there are pedestrians around when the transport robot transports the hospital bed, and when the patient's body composition on the hospital bed is out of balance;

Communication module, the communication module is used for the communication and transmission of data and instructions between each module of the system;

Central processing unit, the central processing unit is used to coordinate the work of the above-mentioned modules, and is used for data calling commands to call corresponding data in each database within its authority, and send these control commands to the corresponding modules.

The positioning module includes a GPS navigation unit, a distance positioning unit and a hospital bed positioning unit,

The GPS navigation unit is used for the handling robot to navigate according to the handling route between each hospital bed by the system, so as to ensure that the handling robot moves the upper part of a hospital bed to the base of the target hospital bed according to the route;

The distance positioning unit is used for positioning between the handling robot and the base of the hospital bed. Positioning is performed by two sets of corresponding distance sensors set on the base of the handling robot and the base of the hospital bed. When the corresponding distance data is the same, the handling robot reaches the designated position of the fork and the lower part of the bed;

The bed positioning unit includes an electronic label fixed on the bed base, and the reader on the handling robot reads the label number of the bed base to determine the bed base to be transported and lowered.

The acquisition module includes distance data acquisition and body composition acquisition,

The distance data collection collects the distance from the surrounding of the handling robot to the outside object in real time through the distance sensor, and sets the stop moving distance threshold and the alarm distance threshold. When the handling robot moves to a distance less than the alarm distance threshold from the surrounding pedestrians, the warning module A language alarm is issued to remind pedestrians to avoid, so that the handling robot stops moving when the distance between the handling robot and the surrounding pedestrians is less than the threshold of the stop moving distance and takes the initiative to avoid;

Body composition collection The body composition of the patient on the bed is collected by the body composition analyzer set on the bed, and the collected data is transmitted to the central processing unit through the communication module, so that the central processing unit can compare the collected data with the standard data, and at the same time, through the setting Thermometers, pulse sensors, respiration sensors, sphygmomanometers, handgrip dynamometers and metabolic carts on the hospital bed detect the patient's body temperature, heartbeat and respiration rates, blood pressure, grip strength and metabolic status, and transmit them to the central processor through the communication module.

The handling robot includes a robot base 11 , a plurality of wheels 12 are installed at the bottom of the robot base 11 , electric push rods 13 are fixedly installed at the top four corners of the robot base 11 , and an installation frame 14 is fixedly installed at one end of the electric push rod 13 away from the robot base 11 , The insertion mechanism 15 is installed on the top of the installation frame 14, and the power mechanism 16 is installed between the inner walls of the installation frame 14. The power mechanism 16 is connected to the insertion mechanism 15. The separable hospital bed includes a bed base 21 and a bed board 24, and the top four corners of the hospital bed base 21 are fixedly installed The leg cover 22, the bottom four corners of the bed board 24 are fixedly installed with movable legs 23, the movable legs 23 are clamped in the leg cover 22, the top and both sides of the bed board 24 are fixedly installed with handrails 25, and the top ends of the bed board 24 are fixedly installed with the bed bottom plate 26.

Further, the wheel 12 can be designed as a crawler wheel, which is more suitable for the terrain and is convenient to pass through the outdoor terrain during the transportation process.

A positioning module and an acquisition module are installed on the robot base 11 and the hospital bed base 21 , a body composition analyzer is installed in the hospital bed base 21 , electrode sheets are fixedly installed on the armrest 25 and the bed base 26 , and the bottom of the movable leg 23 and the leg cover 22 are fixed. A plug and a jack are respectively installed, and the plug and the jack are respectively electrically connected to the electrode sheet and the body composition analyzer. A weight scale is embedded in the top surface of the bed board 24. After the movable leg 23 is sleeved with the leg cover 22, the electrode sheet is installed. It is electrically connected to the body composition analyzer, so that the micro-current is passed on, and the body composition is collected after the patient touches the electrode sheet. Install a digital display for visual display of patient weight information.

The insertion mechanism 15 includes a fixed channel steel 151 and a movable channel steel 153. The top and both ends of the mounting frame 14 are fixedly welded with the fixed channel steel 151. The fixed channel steel 151 slides and snaps to the bottom of the support rod 152, and the top of the support rod 152 slides. The movable channel steel 153 is clamped, and a rotating groove 154 is opened in the middle of the support rod 152. The rotating groove 154 is rotated and sleeved with the rotating shaft 155. A fixed rack 157 and a movable rack 158 are respectively fixedly installed on the inner wall of one end of the rack. The gear 156 penetrates the groove 154 and engages the fixed rack 157 and the movable rack 158. The bottom of the support rod 152 is connected to the power mechanism 16.

There are guide grooves 36 on both outer walls of the support rod 152, and a plurality of U-shaped grooves 31 are opened on both sides of the fixed channel steel 151 and the movable channel steel 153. The fixed channel steel 151 and the movable groove on one side of the U-shaped groove 31 The steel 153 is provided with a slot 32, the slot 32 is connected to the U-shaped groove 31, the U-shaped groove 31 is rotated and sleeved with the support shaft 33, and the end of the support shaft 33 close to the support rod 152 is fixedly installed with the roller 34, and the roller 34 closely fits The inner wall of the guide slot 36 and the slot 32 are sleeved with the limit block 35 through a threaded structure. The diameter of the limit block 35 is greater than or equal to the diameter of the roller 34 , and the limit block 35 is in close contact with the support shaft 33 , then the support rod 152 After being placed between the inner cavity of the fixed channel steel 151 and the movable channel steel 153, insert the roller 34 into the guide groove 36 along the slot 32, then slide the support shaft 33 into the U-shaped groove 31, and then screw the limit block 35 into the thread. into the slot 32 to fix the support shaft 33 and the roller 34 , the fixed channel steel 151 , the support rod 152 and the movable channel steel 153 are clamped and limited, and the roller 34 and the guide groove 36 are used for sliding guidance.

The power mechanism 16 includes a fixed plate 161 , the bottom of the inner wall of the mounting frame 14 is fixedly installed with the fixed plate 161 , and the four corners of the top surface of the fixed plate 161 are fixedly installed with shaft seats 162 . Both ends are fixedly connected to the sprocket 164, the sprocket 164 is connected to the transmission chain 165, the bottom surface of the fixed channel steel 151 is provided with a through groove 166, the bottom of the support rod 152 is fixedly installed with a push plate 167, and the push plate 167 slides through the through groove 166 and fixedly connect the upper section of the transmission chain 165.

The motor 168 is fixedly installed on the inner wall of one side of the mounting frame 14 , and the output shaft of the motor 168 is fixedly connected to a sprocket 164 , then the plurality of sprockets 164 rotate synchronously through the transmission chain 165 and the transmission shaft 163 , thereby driving the push plate 167 along the through slot 166 Sliding, the support rod 152 slides along the fixed channel steel 151, when the support rod 152 slides, the gear 156 rolls along the fixed rack 157, thereby pushing the movable rack 158, the moving speed of the movable channel steel 153 is twice that of the support rod 152 , to achieve two-stage expansion and contraction, when the movable channel 153 extends into the bottom of the bed plate 24 for support, the support rod 152 is supported between the movable channel 153 and the fixed channel 151 to improve the support stability, and the movable channel 153 slides back to the fixed slot The steel 151 is directly above the rear to save space.

The connecting shaft 41 is rotatably sleeved in the bed board 24, the middle of the connecting shaft 41 is fixedly socketed with two turntables 43, the turntables 43 are rotatably sleeved in the bed board 24, and the bottom of the bed board 24 is provided with an L-shaped groove 42, and the L-shaped groove 42 rotates inside The toggle lever 44 is clamped, one end of the toggle lever 44 is fixedly connected to the turntable 43, both ends of the connecting shaft 41 are fixedly sleeved with the winding wheel 45, and both outer walls of the winding wheel 45 are fixedly connected to one end of the large pull rope 46, the large pull rope A locking mechanism 47 is installed between the movable leg 23 at the other end of the 46, and a torsion spring is installed between the connecting shaft 41 and the bed board 24. The locking mechanism 47 includes a receiving slot 471, and the outer walls of both sides of the movable leg 23 are provided with a receiving groove 471. The receiving groove 471 The inner wall of the leg cover 22 is provided with pin holes 473, one end of the locking pin 472 is matched with the pin hole 473, and the other end of the locking pin 472 is installed between the inner wall of the receiving groove 471 and the inner wall of the receiving slot 471. The spring 474 is locked. The end face of the pin 472 is fixedly connected to one end of the small pull rope 475, and the other end of the small pull rope 475 penetrates through the receiving slot 471 and is fixedly connected to the large pull rope 46, then the movable channel steel 153 extends into the bottom of the bed plate 24 and pushes the lever 44, thereby driving the The turntable 43 and the connecting shaft 41 rotate, so that the winding wheel 45 rewinds the large pull rope 46, and the large pull rope 46 pulls the small pull rope 475 at the same time, so that the locking pin 472 is separated from the pin hole 473. At this time, the electric push rod 13 is lifted up, thereby When the bed board 24 is lifted and transported, when the bed board 24 is moved to the fixed bed base 21, the movable leg 23 is inserted into the leg cover 22, the movable channel steel 153 leaves the bed board 24, the torsion spring makes the connecting shaft 41 reverse, and the locking pin 472 is locked into the pin inside the hole 473, so that the movable leg 23 and the leg cover 22 are inserted stably.

When in use, the distance positioning unit is used for positioning between the handling robot and the base of the hospital bed. The positioning is performed by two sets of corresponding distance sensors arranged on the base of the handling robot and the base of the hospital bed. The plurality of sprockets 164 pass through the transmission chain 165 and the transmission shaft 163. Synchronous rotation, so as to drive the push plate 167 to slide along the through groove 166, so that the support rod 152 slides along the fixed channel steel 151, when the support rod 152 slides, the gear 156 rolls along the fixed rack 157, thereby pushing the movable rack 158, the movable groove The moving speed of the steel 153 is twice as fast as that of the support rod 152 to realize two-stage expansion and contraction. When the movable channel steel 153 extends into the bottom of the bed plate 24 for support, the support rod 152 is supported between the movable channel steel 153 and the fixed channel steel 151 to improve the support. For stability, when the movable channel steel 153 extends into the bottom of the bed plate 24, the lever 44 is pushed, thereby driving the turntable 43 and the connecting shaft 41 to rotate, so that the winding wheel 45 rewinds the large pull rope 46, and the large pull rope 46 pulls the small pull rope 475 at the same time. , so that the locking pin 472 is separated from the pin hole 473. At this time, the electric push rod 13 is lifted up, so that the bed board 24 is lifted and transported. The robot navigates according to the transport route between each hospital bed through the GPS navigation system to ensure that the transport robot will carry one The upper part of the hospital bed is transported to the base of the target bed according to the route. During the walking process, the distance data collection collects the distance from the surrounding of the transport robot to the outside object in real time through the distance sensor, and sets the stop moving distance threshold and the alarm distance threshold. When the distance between the handling robot and the surrounding pedestrians is less than the alarm distance threshold, the warning module will issue a language alarm to remind the pedestrians to avoid, so that the handling robot will stop moving when the distance from the surrounding pedestrians is less than the threshold of the stop moving distance and take the initiative to avoid When reaching the destination bed base 21, the electric push rod 13 contracts, the movable leg 23 is inserted into the leg cover 22, the movable channel steel 153 leaves the bed board 24, the torsion spring makes the connecting shaft 41 reverse, and the locking pin 472 is inserted into the pin hole 473 inside, so that the movable leg 23 and the leg cover 22 are inserted stably, the electrode sheet is electrically connected with the body composition analyzer, so that the micro-current is connected, the body composition is collected after the patient touches the electrode sheet, and at the same time, the patient lies on the bed board 24 , The weight scale can automatically measure the patient's weight, and a digital display can be installed on the side wall of the bed board 24 to visually display the patient's weight information and enrich the functions of the bed.

Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, and substitutions can be made in these embodiments without departing from the principle and spirit of the invention and modifications, the scope of the present invention is defined by the appended claims and their equivalents.

Claims (10)

1. a sickbed system adopting an automated handling robot, is characterized in that, comprising: a handling robot, which is used to fork the upper part of the separable hospital bed from the base according to the instruction, and transfer it to the base of the target hospital bed to complete the automatic handling; A separable hospital bed, which is used to carry patients and is designed to be detachable from top to bottom for easy separation and handling; a positioning module, which is used for positioning and navigating the position between the handling robot and the separable hospital bed, so as to facilitate the handling robot to transport part of the bed to the base of the bed, and to locate the position of the base of the bed to ensure accurate handling; A collection module, the collection module is used for the handling robot to collect the distance parameters from the surrounding objects to the handling robot in real time, for positioning the handling robot and the separable hospital bed, and at the same time to avoid collision with external objects during the handling of the hospital bed, and the collection module collects the data on the bed. patient body composition; a warning module, the warning module is used for warning when there are pedestrians around when the transport robot transports the hospital bed, and when the patient's body composition on the hospital bed is out of balance; a communication module, the communication module is used for communication and transmission of data and instructions between each module of the system; A central processing unit, which is used for coordinating the work of the above modules, for data calling commands to call corresponding data in each database within its authority, and sending these control commands to the corresponding modules. 2. A hospital bed system using an automated handling robot as claimed in claim 1, wherein the positioning module comprises a GPS navigation unit, a distance positioning unit and a hospital bed positioning unit, The GPS navigation unit is used for the navigation of the handling robot to walk according to the handling route between each hospital bed by the system, so as to ensure that the handling robot transports the upper part of a hospital bed to the base of the target hospital bed according to the route; The distance positioning unit is used for positioning between the handling robot and the base of the hospital bed, and is positioned by two sets of corresponding distance sensors set on the base of the handling robot and the base of the hospital bed. When the corresponding distance data between the sensors is the same, the handling robot reaches the designated position of the fork and the lower part of the bed; The hospital bed positioning unit includes an electronic label fixed on the bed base, and the reader on the handling robot reads the label number of the bed base to determine the bed base to be transported and lowered. 3. A hospital bed system using an automated handling robot as claimed in claim 1, wherein the acquisition module comprises distance data acquisition and human body composition acquisition, The distance data collection collects the distance from the surrounding of the handling robot to the outside object in real time through the distance sensor, and sets the stop moving distance threshold and the alarm distance threshold. When the handling robot moves to a distance less than the alarm distance threshold from the surrounding pedestrians, the The warning module issues a language alarm to remind pedestrians to avoid, so that the handling robot stops moving when the distance between the handling robot and the surrounding pedestrians is less than the threshold of the stop moving distance, and takes the initiative to avoid; The said body composition collection collects the body composition of the patient on the bed through the body composition analyzer arranged on the bed, and transmits the collected data to the central processing unit through the communication module, so that the central processing unit can compare the collected data with the standard data, and at the same time. The patient's body temperature, heartbeat and respiratory rate, blood pressure, grip strength and metabolic status are detected by the thermometer, pulse sensor, respiration sensor, sphygmomanometer, grip dynamometer and metabolic cart set on the hospital bed, and transmitted to the central processor through the communication module. 4. A hospital bed system using an automated handling robot according to claim 1, wherein the handling robot comprises a robot base (11), and a plurality of wheels (12) are installed at the bottom of the robot base (11). ), the top four corners of the robot base (11) are fixedly installed with an electric push rod (13), and the electric push rod (13) is fixedly installed with an installation frame (14) at one end of the electric push rod (13) away from the robot base (11). An insertion mechanism (15) is installed on the top of the frame (14), a power mechanism (16) is installed between the inner walls of the installation frame (14), the power mechanism (16) is connected with the insertion mechanism (15), and the separable hospital bed includes The bed base (21) and the bed board (24), the top four corners of the bed base (21) are fixedly installed with leg covers (22), and the bottom four corners of the bed board (24) are fixedly installed with movable legs (23), so The movable leg (23) is clamped in the leg cover (22), the armrests (25) are fixedly installed on both sides of the top of the bed board (24), and the bed bottom plate ( 26). 5. A hospital bed system using an automated handling robot as claimed in claim 4, characterized in that: a positioning module and a collection module are installed on the robot base (11) and the hospital bed base (21), and the hospital bed base ( 21) A body composition analyzer is installed inside, electrode sheets are fixedly installed on the armrest (25) and the bed bottom plate (26), and plugs and a jack, and the plug and the jack are respectively electrically connected to the electrode sheet and the body composition analyzer, and a weight scale is embedded in the top surface of the bed board (24). 6. A hospital bed system using an automated handling robot according to claim 4, characterized in that: the insertion mechanism (15) comprises a fixed channel steel (151) and a movable channel steel (153), and the mounting frame (153) 14) Both ends of the top of the top are fixedly welded with a fixed channel steel (151), the bottom of the support rod (152) is slidably snapped into the fixed channel steel (151), and the top of the support rod (152) is slidably snapped to move A channel steel (153), a rotating groove (154) is opened in the middle of the support rod (152), a rotating shaft (155) is rotatably sleeved in the rotating groove (154), and a sleeved gear is fixed on the rotating shaft (155). (156), a fixed rack (157) and a movable rack (158) are respectively fixedly installed on the inner wall of one end of the fixed channel steel (151) and the movable channel steel (153) close to the support rod (152). 156) penetrates through the rotating groove (154) and engages with the fixed rack (157) and the movable rack (158), and the bottom of the support rod (152) is connected with the power mechanism (16). 7. A hospital bed system using an automated handling robot according to claim 6, characterized in that: both outer walls of the support rod (152) are provided with guide grooves (36), and the fixed channel steel (151) is provided with guide grooves (36). ) and both sides of the movable channel steel (153) are provided with a plurality of U-shaped grooves (31), and the fixed channel steel (151) and the movable channel steel (153) on one side of the U-shaped groove (31) are both opened There is a slot (32), the slot (32) communicates with the U-shaped groove (31), the U-shaped groove (31) is rotatably sleeved with a support shaft (33), and the support shaft (33) is close to the support rod One end of (152) is fixedly installed with a roller (34), the roller (34) closely fits the inner wall of the guide slot (36), and the limit block (35) is sleeved in the slot (32) through a threaded structure, so The diameter of the limiting block (35) is greater than or equal to the diameter of the roller (34), and the limiting block (35) closely fits the support shaft (33). 8. A hospital bed system using an automated handling robot according to claim 6, wherein the power mechanism (16) comprises a fixing plate (161), and the bottom of the inner wall of the mounting frame (14) is fixedly installed and fixed A plate (161), the four corners of the top surface of the fixing plate (161) are fixedly installed with shaft seats (162), and the shaft seats (162) are rotatably sleeved with a transmission shaft (163), and the transmission shaft (163) The two ends of the fixed channel steel (151) are fixedly connected to the sprocket (164), the transmission chain (165) is sleeved between the sprockets (164), and the bottom surface of the fixed channel steel (151) A push plate (167) is fixedly installed at the bottom of the rod (152), and the push plate (167) slides through the through groove (166) and is fixedly connected to the upper section of the transmission chain (165). 9. A hospital bed system using an automated handling robot according to claim 4, characterized in that: the connecting shaft (41) is rotatably sleeved in the bed board (24), and the middle part of the connecting shaft (41) is fixedly sleeved Two turntables (43) are connected, the turntables (43) are rotatably sleeved in the bed board (24), and an L-shaped groove (42) is opened at the bottom of the bed board (24), and the L-shaped groove (42) Rotate the clamping lever (44), one end of the lever (44) is fixedly connected to the turntable (43), and both ends of the connecting shaft (41) are fixedly sleeved with a winding wheel (45), and the winding wheel ( Both outer walls of 45) are fixedly connected to one end of a large pull rope (46), and a locking mechanism (47) is installed between the movable legs (23) at the other end of the large pull rope (46). 10. A hospital bed system using an automated handling robot according to claim 9, characterized in that: a torsion spring is installed between the connecting shaft (41) and the bed board (24), and the locking mechanism (47) comprises a storage A groove (471), the two outer walls of the movable leg (23) are provided with receiving grooves (471), and the locking pin (472) is slidably snapped into the receiving groove (471), and the leg cover (22) Pin holes (473) are opened on the inner walls of both sides, one end of the locking pin (472) is matched with the pin hole (473), and a spring (473) is installed between the other end of the locking pin (472) and the inner wall of the receiving groove (471). 474), the end faces of the locking pins (472) are all fixedly connected to one end of the small drawstring (475), and the other end of the small drawstring (475) penetrates the receiving slot (471) and is fixedly connected to the large drawstring (46).

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