CN2685027Y - Remote-control nurse assistant robot - Google Patents

Abstract

The utility model relates to a remote-control nurse assistant robot. A remote control monitoring device is composed of a video frequency wireless receiver, a monitor and a manual remote controller, and is collocated in a medical work chamber of a patients' room. The controlled nurse assistant robot comprises a top loading camera, a tripod head, a video frequency emitter, a pin hole camera and an emitter, wherein, the top loading camera is used for observing the work environment and sending out image signals which are taken. The utility model also comprises a power supply used for self-supplying power, mechanical hands for spray disinfection, a disinfection device, a driving device for realizing a robot walking and a floor climbing functions, and a slope climbing mechanism. All the components are assembled on a vehicle body which is provided with a frame type box body structure. Medical people can conveniently operate a robot by the remote control monitoring device to help nurses convey required objects, remove garbage in a patient's room and enforce disinfection in a patient zone for infection patients in a separation zone. The utility model has the advantages of compact structure, small size, low cost and perfect function, and can be widely applied to infection hospitals and other medical units.

Description

The distance type helpmate robot

Technical field

It is the distance type helpmate robot that the patient serves that the utility model relates to a kind of medical personnel of assistance.

Background technology

At present in the world in a lot of fields, the job task that allows robot replace the people to go to finish under the hazardous environment becomes a reality, and constantly improve people's quality of life with service robot, the target that is also just becoming people and pursued, first service robot product of TRC company that one of famous in the world roboticist Engleberg is created is exactly to be used for hospital to assist the nurse to be the autonomous robot of nursery work for the patient, in case programmed, it can finish medical equipment and the equipment of transporting with the smooth ground of first floor, for patient brings meal, the drug delivery product, send case history, article such as books and newspapers and mail, to can only be multiplied by elevator in different floor work and arrive required floor, therefore this robot does not have the building of climbing function, can not replace medical personnel that the ward is carried out disinfection, and this robot is very expensive from external import price, China hospital does not also see configuration, current this precipitate " SARS (SARS) " very terrible communicate illness that takes place in the world, it mainly is by the air spittle closely and the infectious respiratory disease that contacts closely, therefore China Party and government pay much attention to, for preventing that SARS is at nosocomialtion, require all kinds of hospitals will pay much attention to that the SARS patient isolates for treatment and medical personnel's protected working, accomplish " to specify functional department or special messenger specifically to implement sterilization; to isolate; protection and effect monitoring; guarantee every sterilization conscientiously; to isolate; safeguard procedures are fulfilled, and prevent the cross-infection of hospital in the SARS diagnosis and treatment process ..." and in the fight of this and SARS the easiest infected person be exactly the numerous medical personnel of fight at a line; according to the first tenday period of a month in May, 2003 statistics; medical personnel are in relief SARS patient process; infected case accounts for 19.76%, therefore reducing the time that medical personnel and SARS patient be in contact with one another as far as possible has been the task of top priority.Require scientific and technical personnel to make a kind of robot for this reason and assist the disinfection of medical personnel patient monitoring nursing and ward, to reduce medical personnel and contact patients, reduced the infected probability of medical personnel on the one hand, by the harm of disinfectant generation, also can alleviate medical personnel's labour intensity greatly simultaneously when also having eliminated to human body because of sterilization.

Summary of the invention

The utility model provides a kind of distance type helpmate robot, realizing that medical personnel can observe through this robot in doctor and nurse's operating room monitors in the isolated area reaction of patient's the state of an illness and needs in the ward, and control this robot and replace medical personnel to send water, bring meal, drug delivery, send medical apparatus and sample survey and transport article in the ward and rubbish etc. to patient, also can be as required on time to the work that carries out disinfection of isolated area and ward and robot self.

Composition of the present utility model is: be installed in the robot [2] that doctor and nurse job chamber are used for remote monitor [1] that ward in the isolated area is monitored and assist the nurse that patient is guarded, the ward is carried out disinfection.

Remote monitor [1] is by video wireless receiver [3], monitor [4] and hand-held remote controller [5] are formed, its operation principle is: video wireless receiver [3], it is used for receiving its ward, place of reflection of being launched by robot [2] and the picture signal of patient sends to video wireless receiver [3], and be that vision signal is delivered to monitor [4] with this signal transition, medical personnel can the image by monitor [4] show observe ward and patient and needs, and medical personnel just can need handle hand-held remote controller [5] according to situation and send radio control signal and control robot [2] and go to finish the work.

Robot [2] comprising: top dress camera [6] is used for observing picked-up ward patient image signal, the The Cloud Terrace [7] that can carry out two directions rotations of horizontal hunting and vertical pitching is used for installing top dress camera [6], its effect of video transmitter [8] is to convert the picture signal that top dress camera [6] is absorbed to video wireless receiver [3] that radio signal is transmitted to remote monitor [1], its effect of pinhole cameras and transmitter [9] be will picked-up spraying disinfection state and local environment picture signal convert radio signal to and be transmitted to remote monitor [1], top dress camera [6] is helped out, enlarged range of observation, control signal receiver [10] is used for reception and from the radio control signal of hand-held remote controller [5] transmission of remote monitor [1] robot [2] is controlled, power supply [11] is used for powering to robot [2], sterilizer [12] is used for infectious disease isolated area and ward are carried out spraying disinfection, robot body [13] is used for carrying and is installed in the various device in the robot [2] and realizes its motor function.

Sterilizer [12] is made up of liquid reserve tank [14], the pump housing [15], woven hose [16], flow control valve [17] and shower nozzle [18].

Robot body [13] comprising: the car body of passive frame structure [19], be used for to the lesion environment realize comprehensive disinfection manipulator [20], realize robot [2] walking function drive unit [21], when robot [2] motion runs into barrier, send the collision avoidance sensor [22] of collision alarm for control signal receiver [10], control robot [2] then and avoid obstacle.

Car body [19] is by being used to deposit article dish [23], article rack [24] that article use, being used to install the chassis [25] of drive unit [21] and the framework that play fixed supporting role and constituting box-like body and form.Manipulator [20] is the joint type structure, it comprise make manipulator [20] but the revolute joint [26] of left rotation and right rotation and swinging joint [27], pitching joint [28], tubulose arm [30] can be realized expanding-contracting action by linear joint [29] on the one hand, in addition the aspect its link to each other with the woven hose [16] of sterilizer [12] and finish conveying thimerosal function, paw and press from both sides [31] and be installed in tubulose arm [30] but last clamping shower nozzle [18] spray disinfectant soup.

Drive unit [21] is installed on the chassis [25] of car body [19], it comprises that the left motor [32] that makes robot [2] produce motion also links to each other by axle with right driving wheel [35] with left driving wheel [34] respectively with right motor [33], its left side, right driving wheel [34], [35] be assemblied on the framework of chassis [25] by bearing respectively again, and a left side, right motor [32], [33], the control signal of accepting control signal recipient [10] drives a left side, right driving wheel [33], [35] rotate, and promotion is installed in two directive wheels [36] motion of front lower place, chassis [25], realize the motion of robot [2], it comprises that also being installed in having on the framework of car body [19] by movable axis goes upstairs, the climbing mechanism [37] of climbing and leap door hurdle function.(seeing accompanying drawing 4)

Climbing mechanism [37] comprising: the motor [38] that drives climbing mechanism [37] motion drives drive connecting rod [39], one end of follower link [40] links to each other by pin with drive connecting rod [39], the other end is then fixedlyed connected with couple axle [41], and follower link [40] links to each other by the framework of movable axis with car body [19], and the two ends of couple axle [41] fixedly mount the three-wheel climber [42] (seeing accompanying drawing 4) with three runners on the concentric circles respectively, the operation principle of this mechanism is, when robot [2] when needing stair climbing, medical personnel handle drive unit [21] command signal of walking forward that hand-held remote controller [5] sends control robot [2] on the one hand, and send simultaneously and make the command signal that is synchronized with the movement of climbing mechanism [37], after control signal receiver [10] in the robot [2] receives above-mentioned two signals, left side by the program one side accessory drive of setting in advance [21], right motor [32], [33], drive a left side respectively, right driving wheel [34], [35], rotate forward, control signal receiver [10] control motor [38] drive drive connecting rod [39] motion simultaneously and drive follower link [40] pulling couple axle [41] lift the three-wheel climber [42] at two ends and take on the step that is put into stair, meanwhile the framework of follower link [40] drive car body [19] makes two directive wheels [36] built on stilts, at this moment on a left side, right driving wheel [34], [35] make robot [2] climb up a stairway step under the promotion, perseveration can be finished stair climbing and cross the task of a hurdle or climbing according to this.This mechanism does not work and maybe need not install when not needing to climb the building.

The utility model operation principle is to use this robot when infectious disease isolated area and ward carry out disinfection when needs, medical personnel can power and start working remote control monitoring system [1] doctor and nurse job chamber startup 220V urban distribution network, start the power supply [11] that is installed in the robot [2] and respectively camera [6] is adorned on the top, The Cloud Terrace [7], video transmitter [8], pinhole cameras and transmitter [9] and control signal receiver [10] are powered and are made each equipment enter duty, position and surrounding environment picture signal that medical personnel can constantly launch robot [2] from video transmitter [8] and pinhole cameras and transmitter [9] by monitor [4], handle the control signal receiver [10] of hand-held remote controller [5] in robot [2] and send radio control signal, the left side of accessory drive [21], right motor [32], [33] drive a left side, right driving wheel [34], [35] rotate and promote two directive wheels [36] motions, make isolated area or ward that robot [2] enters needs sterilization; Robot [2] climbs or goes upstairs if desired, same medical personnel can handle climbing mechanism [37] by the hand-held remote controller [5] of remote monitor [1] and finish the work, when arriving, robot [2] specifies in the sterile zones, medical personnel are same according to the picture signal in the sterile zones of constantly sending by video transmitter [8] and pinhole cameras and transmitter [9] from top dress camera [6] continuously at monitor [4], handle hand-held remote controller [5] and send radio control signal, starting the sterilizer [12] and the manipulator [20] that are installed in the robot [2] chassis [25] through control signal receiver [10] starts working, pump housing this moment [15] is extracted thimerosal in the liquid reserve tank [14] out and is pressed into size that woven hose [16] controls the thimerosal flow by flow control valve [17] and passes through the tubulose arm [30] of manipulator [20] again and by shower nozzle [18] thimerosal is become vaporific ejection, therewith synchronous working be manipulator [20] according to the program of setting in advance by [31] clamping of pawl folder shower nozzle [18] medical personnel by hand-held remote controller [5] control manipulator [20] through revolute joint [26], pitching joint [28] and linear joint [29] make shower nozzle [18] can do lifting, swing, pitching or rotatablely move, spray disinfectant equably in the sector space that with car body [19] is the center can also be realized the sterilization certainly of car body [19] simultaneously.When this space disinfection finishes, the automatic stop motion of manipulator [20] meeting get back to original state, and sterilizer [12] cuts out automatically also.Medical personnel manipulation robot [2] continues to repeat said process to next assigned address then, finishes until the sterilization task.Sterilizer [12] also can carry out spraying disinfection in limit random device people [2] walking limit.

This utility model can assist medical personnel to epidemic victim monitoring with to the work that carries out disinfection of isolated area and ward fully in sum, has promptly reduced the infected probability of medical personnel, has also alleviated medical personnel's labour intensity; This utility model is simple in structure, and cost is low, and operation goes for various infectious hospitals easily.

Description of drawings

Fig. 1 distance type helpmate robot image transmission schematic diagram

The robot architecture of Fig. 2 distance type helpmate robot forms schematic diagram

Fig. 3 distance type helpmate robot theory of constitution block diagram

The drive unit of Fig. 4 distance type helpmate robot and climbing mechanism structure are formed schematic diagram

The specific embodiment

Video radio receiver [3] in the remote monitor of the present utility model [1] is selected twin-channel image signal radio receiver for use, its model is Kang Run WS-603BN, monitor [4] adopts the T2168K of the Konka colour television set of three I/O, be mainly used in display device people's [2] the surrounding environment and the picture signal of duty, it is PTR2000 that hand-held remote controller [5] is selected model for use, its remote control distance 500m.

Top dress camera [6] in the robot [2] adopts colour imagery shot, its model is Kang Run SP-930, be integrated on the The Cloud Terrace [7], and be installed on the robot body [13], can adjust camera lens, avoid image inversion, The Cloud Terrace [7] is used for a support dress camera [6], and can realize horizontal reciprocally swinging, and hard-over can reach 355 °, and it swings and can control separately, has automatic function again, and can realize pitching action, pitching scope be+10 °～-60 °, having the outage limit function to select model for use is V3038APT; It is Kang Run WS-609/700mw that video transmitter [8] is selected model for use, it is Kang Run WS-CCD-B that pinhole cameras and transmitter [9] are selected model respectively for use, it is PTR2000 that control signal receiver [10] is selected model for use, power supply [11] adopts the 12V17Ah battery to top dress camera [6], video transmitter [8], pinhole cameras and transmitter [9], control signal receiver [10] directly provides the 12V direct current, and the needed 24V alternating current of The Cloud Terrace [7] is provided by inverter by power supply [11]; Be divided into two processes during the work of sterilizer [12], first is the flow set process, first-selection is handled hand-held remote controller [5] by medical personnel and is sent the order of thimerosal Flow-rate adjustment by control signal receiver [10] to sterilizer [12], and control flow control valve [17], select suitable spray amount, hand-held remote controller [5] sends to cease and desist order and closes sterilizer [12] Flow-rate adjustment setting after setting completed; Second process is exactly normal operating conditions, medical personnel handle hand-held remote controller [5] control robot [2] and arrive appointment sterilization place, use hand-held remote controller [5] to start sterilizer [12] and manipulator [20] simultaneously then, manipulator [20] can carry out disinfection by pawl folder [31] clamping fog-spray nozzle [18] according to predefined program, hand-held remote controller [5] sends and closes the sterilization order when this space disinfection finishes, manipulator [20] can be got back to the original state stop motion automatically, sterilizer [12] cuts out automatically, then medical personnel's remote-controlled robot [2] is to next assigned address, continue to repeat said process, finish until the sterilization task.The design work parameter of sterilizer [12] is: operating voltage is 12V; Power 70W; Operating pressure is 0.4MPa; Medicinal liquid flow in the woven hose [16] of sterilizer [12] is 1.8～2L/min; The capacity of liquid reserve tank [14] is 10L; The working space 50m of sterilization ³

Car body [19] adopts cube shaped frame structure, and the material selection aluminium alloy utilizes the design size of its framework of principle of ergonomics to be (600 * 500 * 800) mm.

Manipulator [20] adopts the joint type structural shape, its revolute joint [26], swinging joint [27], contact successively between pitching joint [28] and the linear joint [29], realize revolution, swing, pitching and flexible omnibearing movable, make manipulator [20] flexible movements, working space is big, compact conformation, its each joint type selecting is: the portable joint of swinging hinge joint and rack-and-pinion, its tubulose arm [30] had both played the arm effect of manipulator [20], can pass through linear joint [29] again and realize lifting, link to each other with the woven hose [16] of sterilizer [12] again and play the effect of carrying soup.

The left side of drive unit [21], right motor [32], [33] and the motor [38] that drives climbing mechanism [37] all to adopt its type selecting of composite stepper motor be 86BYG-250F, its left side, right driving wheel [34], [35] design radial is 90mm, the design radial of two directive wheels [36] is 30mm, the overall dimensions of climbing mechanism [37] can design by a certain percentage according to the overall dimensions of car body [19], the design size of this utility model is the long 270mm of being of drive connecting rod [39], the length of follower link [40] is 620mm, couple axle [41] is long to be 640mm, three concentrically ringed radiuses of three-wheel climber [42] are 50mm, and this drive unit can be realized that robot [2] has and advance, retreat, turn left, turn right and climbing function upstairs.It is 0.4～0.8m/s that its design objective can make robot [2] speed of travel, and radius of turn is 0.4m.

The utility model robot [2] makes its deadweight of back is installed is 60kg, and load-carrying is 40kg, has compact conformation, perfect in shape and function, cost is low, and advantages such as easy operation can be widely used in various hospitals for infectious diseases and other medical institutions' assist personnel is made certain nursing and disinfection.

Claims (6)

1. distance type helpmate robot, it is made up of remote monitor [1] and robot [2], it comprises video wireless receiver [3] and monitor [4] to it is characterized in that remote monitor [1], and both are continuous through lead, also has hand-held remote controller [5] to be handled by the people; And robot [2] it comprise top dress camera [6], The Cloud Terrace [7], video transmitter [8], pinhole cameras and transmitter [9], control signal receiver [10], power supply [11], sterilizer [12] and robot body [13], wherein top dress camera [6] is assemblied in The Cloud Terrace [7] and goes up and link to each other with video transmitter [8] through lead, and same power supply [11] and sterilizer [12] all are assemblied on the robot body [13].

2. distance type helpmate robot as claimed in claim 1 is characterized in that robot body [13] comprises car body [19], manipulator [20], drive unit [21] and collision avoidance sensor [22], and back three [20], [21] and [22] all are assemblied on the car body [19].

3. distance type helpmate robot as claimed in claim 2, it is characterized in that manipulator [20] comprises revolute joint [26], swinging joint [27], pitching joint [28], linear joint [29] and tubulose arm [30] and paw folder [31], and be rigidly connected successively.

4. distance type helpmate robot as claimed in claim 2, it comprises to it is characterized in that drive unit [21]: left and right motor [32] and [33], and link to each other with [35] with left and right driving wheel [34] through its axle respectively, also have two directive wheels [36] and climbing machinery [37], all be assemblied in respectively on the car body [19] again.

5. remote control helpmate robot as claimed in claim 4, it is characterized in that climbing mechanism [37] it comprise motor [38], drive connecting rod [39], follower link [40], couple axle [41] and two three-wheel climbers [42], and successively mutually machinery be connected.

6. distance type helpmate robot as claimed in claim 1 is characterized in that sterilizer [12] comprises liquid reserve tank [14], the pump housing [15], woven hose [16], control valve [17] and shower nozzle [18], and it is rigidly connected each other successively.

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