CN115607369A - Shifting robot - Google Patents

Abstract

The invention relates to medical care and health care equipment, in particular to a shifting robot. Guide columns, pedals and universal casters are respectively installed on the chassis frame, the fixed end of the electric push rod is connected with the chassis frame, and the telescopic end is connected with the lifting The fixed end of the electric push rod is equipped with a push rod battery, the swing switch is installed on the fixed end of the electric push rod, and is electrically connected with the electric push rod; one side of the left and right guardrails are respectively connected to the lifting frame, and the other One side is the opening and closing side, and the other side of the left and right guardrails are locked by locks after closing, and half seat plates are respectively installed on the left and right guardrails; the controller is connected with the hub motor, and the control panel inputs control variables to the controller , to control the movement of the hub motor, and then drive the shifting robot to move. The invention can move the patient more easily, reduces the physical strength requirement for the nursing staff, and is more suitable for being widely used in family nursing.

Description

A moving robot

technical field

The invention relates to medical care and health care equipment, in particular to a moving robot.

Background technique

For people with disabilities caused by disasters, accidents or congenital diseases, and elderly people who are incapacitated due to physical weakness, long-term bed rest will not only cause physical diseases such as bedsores, but will also be detrimental to mental health. However, unlike patients with simple loss of lower limb function, patients with overall functional decline, upper limb defects, or high paraplegia cannot move from a bed to a wheelchair or other facilities alone. In the process of daily nursing or moving, the nurses rely on manpower to move the patients out of bed, which not only has high requirements for the quality of the nurses, but more importantly, there is a risk of secondary injury to the patients.

Although general lifting machines can also solve the needs of patients for moving beds, they still have high physical requirements for nursing staff. When the patient is heavy and the caregiver's physical strength is weak, moving the lift is more strenuous; moreover, it may be dangerous due to poor control of the moving lift. Therefore, there is an urgent need for a shifting robot that can additionally provide assistance during travel and protection resistance when the moving speed is too fast, so as to move the patient conveniently and safely.

Contents of the invention

In view of the above-mentioned problems existing in existing lifting machines, the object of the present invention is to provide a moving robot. Compared with the existing lifting machine, this lifting robot has added a power module. When the patient is on the lifting robot, the nursing staff can use the power module to move the patient more easily; this way, the physical requirements for the nursing staff are greatly reduced, and it is more suitable for Widely used in home care. In addition, the moving robot can not only be used indoors, but also can be used outdoors with better road conditions because it is equipped with a power module that can provide power assistance and resistance safety protection.

The purpose of the present invention is achieved through the following technical solutions:

The present invention includes a power module, a moving module, a lifting module and a riding module, wherein the moving module includes a chassis frame and guide columns, pedals and universal casters respectively installed on the chassis frame, and the lifting module includes a lifting frame and a lifting actuator, the lifting actuator includes a rocking switch, an electric push rod and a push rod battery, the fixed end of the electric push rod is connected to the chassis frame, the telescopic end of the electric push rod is sleeved on the The lifting frame on the guide column is connected, the fixed end of the electric push rod is provided with a push rod battery for powering the electric push rod, the rocking switch is installed on the fixed end of the electric push rod, and is electrically connected with the electric push rod , controlling the electric push rod to drive the lifting frame to lift along the guide column; the riding module includes a left guardrail, a right guardrail and a half seat plate, and one side of the left guardrail and the right guardrail are respectively rotatably connected to the lifting frame, The other side is the opening and closing side. The other side of the left guardrail and the right guardrail is locked by a lock after being closed. Half seat plates are respectively installed on the left guardrail and the right guardrail. After the left guardrail and the right guardrail are closed, a seat board for the patient is formed; the power module includes a hub motor and a controller respectively installed on the chassis frame, and the controller is connected to the hub motor; the control panel of the controller is The controller inputs control variables to control the movement of the in-wheel motor, and then drives the moving robot to move through the in-wheel motor.

Wherein: the controller includes a shell and a board and a controller battery in the shell, and the board is provided with a processor chip and a gyroscope sensor; The current moving speed of the robot. When the moving speed does not reach the limited speed of the current gear, the movement of the hub motor is controlled to provide power assistance. When the moving speed exceeds the limited speed of the current gear, resistance is provided. The controller judges through its internal gyroscope sensor The current road surface slope condition, when the ground slope is greater than 5°, the moving robot works in the slope mode, provides continuous power assistance during the uphill process, and provides continuous resistance during the downhill process, and the power assistance or resistance is the input of the control panel current setting value.

The controller is electrically connected with the power-on switch and the control panel. The control panel is provided with a function selection button, a gear adjustment button, a status display screen and several status display lights. The function selection button is used for function selection , the several status display lights correspond to the function selection of speed, power and power respectively, and are used to indicate the working status of the currently selected function, and the status display screen is used to display the intensity value or power remaining value of each function selection.

The status display is a 7-segment digital display.

The chassis frame includes a longitudinal pipe, a transverse connecting pipe, a guide post seat and a pedal installation pipe, the two sides of the transverse connecting pipe are respectively connected with longitudinal pipes, and the bottom surface of each of the longitudinal pipes is equipped with the universal The guide post seats are fixed on the casters, each of the guide post seats is inserted with the guide posts, and the side of the transverse connecting pipe facing the nursing staff is equipped with a pedal installation pipe. The pedal is sheathed on the pedal installation pipe.

A guide post seat rib is connected between the outer surface of the guide post seat and the longitudinal tube, the guide post is inserted into the guide post seat and then positioned by the guide post positioning pin, and the guide post seat is provided with a decorative box , the upper part of the decorative box is sleeved on the guide post seat, the lower part of the decorative box is sleeved on the longitudinal tube, the rib of the guide post seat is located inside the decorative box; there are two pedal mounting tubes, The bottom surface of each said pedal installation tube is provided with a pedal retaining tube; said transverse connecting tube is also provided with an electric push rod connecting plate for connecting with the fixed end of the electric push rod, and the fixed end of the electric push rod It is connected with the connecting plate of the electric push rod through the pin shaft.

The lifting frame includes a lifting frame fixed shaft, a left column, a right column, a beam and an electric push rod cover. The left column and the right column are respectively sleeved on the guide columns of the chassis frame. Between the left column and the right column Connected by a crossbeam, an electric push rod sleeve is installed on the crossbeam, and the telescopic end of the electric push rod is connected with the electric push rod sleeve through a pin shaft; the lower ends of the left column and the right column are equipped with lifting frame fixing shafts One side of the left guardrail and one side of the right guardrail are sleeved on the fixed shafts of the lifting frame of the left column and the right column respectively, and rotate around the fixed shafts of the lifting frame respectively.

An infusion stand cannula is fixedly connected to the left column and/or the right column.

One side of the half seat plate is fixedly connected with the left guardrail or the right guardrail respectively, and the other side is arc-shaped.

Both the left guardrail and the right guardrail are provided with safety belt installation rings for installing safety belts.

Advantage of the present invention and positive effect are:

The invention can solve the difficulty of bedridden patients going to the toilet or transferring to other equipment such as wheelchairs. When the patient is on the moving robot of the present invention, the nursing staff can use the power module to move the patient more easily, which reduces the physical demands on the nursing staff and is more suitable for home care. In addition, the moving robot of the present invention can not only be used indoors, but also can be used outdoors because it is equipped with a power module that can provide power-assisted walking and resistance safety protection. At the same time, the power module is a completely independent module, that is, after the power module is removed separately, the moving robot can be used as a moving device without moving assistance.

Description of drawings

Fig. 1 is the three-dimensional structure schematic diagram of the present invention;

Fig. 2 is a three-dimensional structural schematic diagram of a power module of the present invention;

3 is a schematic diagram of a three-dimensional structure of a mobile module of the present invention;

Fig. 4 is a three-dimensional structural schematic diagram of the chassis frame in Fig. 5;

5 is a schematic diagram of a three-dimensional structure of a lifting module of the present invention;

Fig. 6 is a schematic diagram of the three-dimensional structure of the ride module of the present invention;

Fig. 7 is a schematic diagram of the control panel of the power module of the present invention;

Among them: 1 is the power module, 11 is the hub motor, 12 is the controller, 121 is the power switch, 122 is the control panel, and 13 is the controller installation board;

2 is the mobile module, 21 is the chassis frame, 211 is the longitudinal pipe, 212 is the horizontal connecting pipe, 213 is the guide post seat, 214 is the rib plate of the guide post seat, 215 is the pedal installation pipe, 216 is the pedal gear pipe, 217 22 is a guide post, 23 is a guide post positioning pin, 24 is a pedal, 25 is a universal caster, and 26 is a decorative box;

3 is the lifting module, 31 is the lifting frame, 311 is the fixed shaft of the lifting frame, 312 is the left column, 313 is the right column, 314 is the beam, 315 is the electric push rod cover, 316 is the intubation of the infusion stand, and 32 is the lifting execution mechanism, 321 is a rocker switch, 322 is an electric push rod, and 323 is a push rod battery;

4 is a ride module, 41 is a left guardrail, 411 is a half seat plate, 412 is a safety belt installation ring, 42 is a right guardrail, and 43 is a lockset.

detailed description

The present invention will be described in further detail below in conjunction with the accompanying drawings.

As shown in FIG. 1 , the present invention includes a power module 1 , a moving module 2 , a lifting module 3 and a riding module 4 .

As shown in Fig. 1, Fig. 3 and Fig. 4, the mobile module 2 of the present embodiment comprises a chassis frame 21 and guide posts 22, pedals 24 and swivel casters 25 installed on the chassis frame 21 respectively, and the chassis frame 21 includes Two longitudinal pipes 211, one transverse connecting pipe 212, two guide post seats 213, four guide post seat ribs 214, two pedal mounting pipes 215, two pedal retaining pipes 216 and an electric push rod are connected Plate 217, vertical pipe 211 is respectively welded on the both sides of transverse connecting pipe 212, and the bottom surface of every vertical pipe 211 is all equipped with universal caster 25, and guide post seat 213 is all fixed on above, and present embodiment is on every vertical pipe 211 A universal caster 25 with a brake is respectively installed on the two ends of the bottom surface; a guide post 22 is inserted in each guide post seat 213, and the guide post 22 is inserted in the guide post seat 213 and passes through the guide post positioning pin. 23 positioning. Two guide post seat ribs 214 are symmetrically welded between the outer surface of each guide post seat 213 and the longitudinal pipe 211 to improve the installation strength of the guide post seat 213; The upper part of the guide post is sleeved on the guide post seat 213, the lower part of the decorative box 26 is sleeved on the longitudinal tube 211, and the guide post seat rib 214 is located inside the decorative box 26. On the lateral connection pipe 212, a pedal installation pipe 215 is installed towards the side of the nursing staff. There are two pedal installation pipes 215 in the present embodiment, and the bottom surface of each foot pedal installation pipe 215 is provided with a foot pedal retaining pipe 216. A pedal 24 is sleeved on each pedal mounting pipe 215 . The transverse connecting pipe 212 is also provided with an electric push rod connecting plate 217 for connecting with the fixed end of the electric push rod 322 , and the fixed end of the electric push rod 322 is connected with the electric push rod connecting plate 217 through a pin.

As shown in Figure 1 and Figures 3 to 5, the lifting module 3 of this embodiment includes a lifting frame 31 and a lifting actuator 32, and the lifting frame 31 includes a lifting frame fixed shaft 311, a left column 312, a right column 313, a beam 314, Electric push rod cover 315 and infusion stand cannula 316, lifting actuator 32 includes rocker switch 321, electric push rod 322 and push rod battery 323, left column 312 and right column 313 are respectively sleeved on two guide columns of chassis frame 21 22, the left column 312 is connected with the right column 313 by a crossbeam 314, and an electric push rod cover 315 is installed on the crossbeam 314, and the telescopic end of the electric push rod 322 is connected with the electric push rod cover 315 by a pin; the left column 312 and The lower end of the right column 313 is provided with a lifting frame fixing shaft 311, and one side of the left guardrail 41 and one side of the right guardrail 42 are respectively sleeved on the lifting frame fixing shafts 311 of the left column 312 and the right column 313, and respectively The lifting frame fixed shaft 311 is the axis rotation. The left column 312 and/or the right column 313 are fixedly connected with an infusion stand cannula 316. In this embodiment, an infusion stand cannula 316 is respectively welded on the left column 312 and the right column 313, and the patient can still move the bed during infusion. Free the hands of patients or nursing staff. The fixed end of the electric push rod 322 is provided with a push rod battery 323 for powering the electric push rod 322, the rocker switch 321 is installed on the fixed end of the electric push rod 322, the rocker switch 321 is connected to the push rod battery 323 to obtain power, and the rocker switch 321 is also connected to The electric push rod 322 makes the electric push rod 322 energized, thereby controlling the electric push rod 322 to drive the lifting frame 31 to move up and down along the guide column 22 . The rocker switch 321 of this embodiment is the prior art.

As shown in Figure 1 and Figures 3 to 6, the ride module 4 of the present embodiment comprises a left guardrail 41, a right guardrail 42, a lockset 43, a half seat plate 411 and an installation belt installation ring 412, a part of the left guardrail 41 and the right guardrail 42. Rotate the lifting frame fixed shaft 311 connected to the left column 312 and the right column 313 respectively, the other side is the opening and closing side, the other side of the left guardrail 41 and the right guardrail 42 are locked by the lockset 43 after closing, and the left guardrail 41 and the right guardrail 42 are respectively equipped with a half seat plate 411, one side of the half seat plate 411 of the present embodiment is fixedly connected with the left guardrail 41 or the right guardrail 42 respectively, and the other side is arc-shaped, and the two half seat plates 411 forms a complete seat board after the left guardrail 41 and the right guardrail 42 are closed, which can be used for patients to ride or go to the toilet. Both the left guardrail 41 and the right guardrail 42 of this embodiment are provided with safety belt installation rings 412 for installing safety belts. This structure facilitates the installation, disassembly and replacement of safety belts.

As shown in Figure 1, Figure 2 and Figure 7, the power module 1 of this embodiment includes an in-wheel motor 11, a controller 12 and a controller mounting plate 13, and the controller 12 is fixed on the chassis of the mobile module 2 through the controller mounting plate 13 On the frame 21, there are power-on switches 121 and a control panel 122 on the outside of the controller 12; there are two in-wheel motors 11 in this embodiment, which are installed on two longitudinal tubes 211 respectively. The controller 12 is connected to the hub motor 11, and the control panel 122 of the controller 12 inputs control variables to the controller 12 to control the movement of the hub motor 11, and then drives the moving robot to move through the hub motor 11. The controller includes a shell, a board in the shell and a controller battery, and a processor chip and a gyroscope sensor are arranged on the board. The processor chip of the controller 12 is electrically connected with the power-on switch 121 on the casing and the control panel 122. The control panel 122 is provided with a function selection button, a gear adjustment button, a status display screen and several status display lights. The button is used for function selection, and several status display lights correspond to the function selection of speed, power and power, which are used to indicate the working status of the currently selected function, and the status display is used to display the intensity value of each function selection or the battery power of the controller remaining value. The status display is a 7-segment digital display.

The function of the power module 1 in this embodiment is to power on the power switch 121, operate the control panel 122 to input control variables to the controller 12, control the movement of the hub motor 11, and assist the movement of the moving robot. As shown in Figure 7, the control panel 122 includes a "menu" button, a "+" button, a "-" button, a 7-segment digital display, and four states of "speed", "resistance", "assist", and "power". Indicator. Press the "Menu" button to cycle through the four functional operations of "Speed", "Resistance", "Assist", and "Power", at the same time, the status indicator light displays the corresponding function, and the 7-segment digital tube display shows the specific value corresponding to the current function . Speed, resistance, and power assist support "1-5" gear cycle adjustment, which can be increased or decreased through the "+" button and "-" button. The controller 12 judges the current moving speed through the encoder feedback value set on the hub motor 11, and controls the movement of the hub motor 11 to provide power assistance when the moving speed does not reach the limited speed of the current gear; when the moving speed exceeds the limited speed of the current gear provide resistance.

The operation process is as follows: After starting up, the default "battery" status display light is on, and the number on the 7-segment digital display indicates the power; press the "menu" button, the "speed" status display light is on, indicating that the current limit speed can be adjusted The size can be increased or decreased by the "+" button and "-" button, and the 7-segment digital tube display shows the speed gear. The speed corresponding to the limited speed "1~5" gear is about 0.6, 0.8, 1.0, 1.2, 1.4m/s.

Press the "Menu" button again, the "Resistance" status display light is on, indicating the current adjustable resistance, increase or decrease through the "+" button and "-" button, and the 7-segment digital tube display shows the resistance gear.

Press the "Menu" button again, the "Assist" status display light is on, indicating that the current adjustable assist size can be increased or decreased by the "+" button and "-" button, and the 7-segment digital tube display shows the assist position.

Press the "Menu" button again, or do not operate for a long time, the "battery" status display light will light up again, and the battery power will be displayed on the control panel 122 in "0-9" ranges. When the battery power of the controller is higher than 90 % is displayed as "9" and displayed as "0" when the battery level is below "10%".

And the controller 12 can judge the current road slope condition by its internal gyroscope sensor. When the ground slope is greater than 5°, the moving robot works in the slope mode, which provides continuous assistance during the uphill process and continuous resistance during the downhill process. The magnitude of the assist or resistance is the current set value input by the control panel 122 .

The power module 1 of this embodiment is a completely independent module, that is, after the power module 1 is removed separately, the moving robot can be used as a moving device without moving assistance.

Claims (10)

1. A displacement robot, characterized in that: the lifting device comprises a power module (1), a mobile module (2), a lifting module (3) and a riding module (4), wherein the mobile module (2) comprises a chassis frame (21) and guide posts (22), a pedal (24) and universal casters (25) which are respectively installed on the chassis frame (21), the lifting module (3) comprises a lifting frame (31) and a lifting execution mechanism (32), the lifting execution mechanism (32) comprises a swing switch (321), an electric push rod (322) and a push rod battery (323), the fixed end of the electric push rod (322) is connected with the chassis frame (21), the telescopic end of the electric push rod (322) is connected with the lifting frame (31) which is sleeved on the guide posts (22), the fixed end of the electric push rod (322) is provided with the push rod battery (323) which supplies power to the electric push rod (322), the swing switch (321) is installed at the fixed end of the electric push rod (322) and is electrically connected with the electric push rod (322), and the electric push rod (322) is controlled to drive the lifting frame (31) to lift along the guide posts (22); the sitting module (4) comprises a left guardrail (41), a right guardrail (42) and half seat plates (411), one sides of the left guardrail (41) and the right guardrail (42) are respectively and rotatably connected to the lifting frame (31), the other sides of the left guardrail (41) and the right guardrail (42) are opening and closing sides, the other sides of the left guardrail (41) and the right guardrail (42) are locked through a lockset (43) after being closed, the half seat plates (411) are respectively installed on the left guardrail (41) and the right guardrail (42), and the two half seat plates (411) form seat plates for a patient to sit after the left guardrail (41) and the right guardrail (42) are closed; the power module (1) comprises a hub motor (11) and a controller (12) which are respectively arranged on a chassis frame (21), and the controller (12) is connected with the hub motor (11); and a control panel (122) of the controller (12) inputs control variables to the controller (12) to control the motion of the in-wheel motor (11), and then the in-wheel motor (11) drives the shifting robot to move.

2. The shift robot of claim 1, wherein: the controller comprises a shell, a board card and a controller battery, wherein the board card and the controller battery are arranged in the shell, and a processor chip and a gyroscope sensor are arranged on the board card; the current moving speed of aversion robot is judged through the encoder feedback value of establishing on in-wheel motor (11) to controller (12), and control when moving speed does not reach current gear limiting speed the motion of in-wheel motor (11) provides the helping hand, provides the resistance when moving speed surpasss current gear limiting speed, current road surface slope situation is judged through its inside gyroscope sensor to controller (12), and when ground surface slope is greater than 5, the work of aversion robot is at the slope mode, provides continuous helping hand at the upslope in-process, provides continuous resistance at the downhill path in-process, helping hand or resistance size do the current set value of control panel (122) input.

3. The shift robot of claim 1, wherein: the controller (12) is electrically connected with the power-on switch (121) and the control panel (122), a function selection button, a gear adjustment button, a state display screen and a plurality of state display lamps are arranged on the control panel (122), the function selection button is used for function selection, the plurality of state display lamps respectively correspond to function selection of speed, strength and electric quantity and are used for indicating the working state of the current selection function, and the state display screen is used for displaying the intensity value or the residual value of the electric quantity selected by each function.

4. The shift robot of claim 3, wherein: the state display screen is a 7-segment digital tube display screen.

5. The shift robot of claim 1, wherein: the chassis frame (21) comprises a longitudinal pipe (211), a transverse connecting pipe (212), a guide post seat (213) and pedal installation pipes (215), the two sides of the transverse connecting pipe (212) are respectively connected with the longitudinal pipe (211), the universal casters (25) are installed on the bottom surface of each longitudinal pipe (211), the guide post seats (213) are fixed on the upper surfaces of the transverse connecting pipes, the guide posts (22) are inserted into the guide post seats (213), the pedal installation pipes (215) are installed on one side, facing nursing staff, of the transverse connecting pipe (212), and the pedal installation pipes (215) are sleeved with the pedals (24).

6. The shift robot of claim 5, wherein: a guide post seat rib plate (214) is connected between the outer surface of the guide post seat (213) and the longitudinal pipe (211), the guide post (22) is inserted into the guide post seat (213) and then positioned by a guide post positioning pin (23), a decoration box (26) is arranged outside the guide post seat (213), the upper part of the decoration box (26) is sleeved on the guide post seat (213), the lower part of the decoration box (26) is sleeved on the longitudinal pipe (211), and the guide post seat rib plate (214) is positioned inside the decoration box (26); the number of the pedal installation pipes (215) is two, and the bottom surface of each pedal installation pipe (215) is provided with a pedal blocking pipe (216); still be equipped with on transverse connection pipe (212) and be used for electric putter connecting plate (217) be connected with electric putter (322) stiff end, the stiff end of electric putter (322) is connected with electric putter connecting plate (217) through the round pin axle.

7. The shift robot of claim 1, wherein: the lifting frame (31) comprises a lifting frame fixing shaft (311), a left upright post (312), a right upright post (313), a cross beam (314) and an electric push rod sleeve (315), the left upright post (312) and the right upright post (313) are respectively sleeved on a guide post (22) of the chassis frame (21), the left upright post (312) and the right upright post (313) are connected through the cross beam (314), the electric push rod sleeve (315) is installed on the cross beam (314), and the telescopic end of the electric push rod (322) is connected with the electric push rod sleeve (315) through a pin shaft; the lower ends of the left upright post (312) and the right upright post (313) are respectively provided with a lifting frame fixing shaft (311), one side of the left guardrail (41) and one side of the right guardrail (42) are respectively sleeved on the lifting frame fixing shafts (311) of the left upright post (312) and the right upright post (313), and the left upright post and the right upright post respectively rotate by taking the respective lifting frame fixing shafts (311) as axes.

8. The shift robot of claim 7, wherein: an infusion support cannula (316) is fixedly connected to the left upright post (312) and/or the right upright post (313).

9. The shift robot of claim 1, wherein: one side of the half seat plate (411) is fixedly connected with the left guardrail (41) or the right guardrail (42) respectively, and the other side is in an arc shape.

10. The shift robot of claim 1, wherein: and safety belt mounting rings (412) for mounting safety belts are arranged on the left guardrail (41) and the right guardrail (42).

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