CN101474118B - Medical robot - Google Patents
Medical robot Download PDFInfo
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- CN101474118B CN101474118B CN2009100765267A CN200910076526A CN101474118B CN 101474118 B CN101474118 B CN 101474118B CN 2009100765267 A CN2009100765267 A CN 2009100765267A CN 200910076526 A CN200910076526 A CN 200910076526A CN 101474118 B CN101474118 B CN 101474118B
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- conveyer device
- patient
- medical robot
- upper strata
- conveyer belt
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Abstract
The invention discloses a medical robot, comprising an upper layer conveying device, a lower layer conveying device, and left brackets and right brackets which are arranged at the two sides of the conveying devices; the upper and lower conveying devices are conveyer belt type conveying devices which are composed of back-up rollers and ring-shaped conveyer belts, and the conveyer belts in the upper and lower conveying devices move along the front and back direction of the robot; wherein, the lower layer conveying device forms a crawler-type running mechanism of the whole medical robot, and the upper layer conveying device utilizes the conveyer belt to load the patients and to move the patients positioned at the front of the robot on or off the conveyer belt along with the movement of the conveyer belt automatically. The medical robot greatly reduces the pain of the patients in the moving process and prevents second harms to the patients.
Description
Technical field
The present invention designs a kind of clinical care medical robot, the special-purpose medical robot of particularly a kind of carrying patient.
Background technology
In medical industry, when the transhipment patient, no matter be patient is transferred on the stretcher from sick bed, still patient is transferred on the sick bed from stretcher, carry by hand by the people mostly, this mode of operation not only labor intensity is big, and is difficult to guarantee patient's smooth transfer, easily because of the position that changes patient or make patient body the misery that distortion increases patient occur, also cause the state of an illness to increase the weight of easily and cause secondary to injure patient.
Summary of the invention
Problem at prior art exists the object of the present invention is to provide a kind of medical robot, utilizes this medical robot to finish easily patient's carrying is shifted.
For achieving the above object, a kind of medical robot of the present invention, comprise a two-layer conveyer device up and down and a left side that is positioned at the conveyer device both sides, right support, two-layer conveyer device is the conveyer belt type conveyer device for being made of backing roll and cycloconveyor belt all, conveyer belt in the two-layer conveyer device is all along robot fore-and-aft direction running, wherein, lower floor's conveyer device constitutes the crawler type walking mechanism of whole medical robot, the upper strata conveyer device utilizes its conveyer belt carrying patient, and along with the running of its conveyer belt moves or move down its conveyer belt from the patient who is about to be positioned at robot the place ahead.
Further, the width of described lower floor conveyer device conveyer belt and the length of its backing roll are complementary, and constitute the mono-track walking mechanism thus.
Further, be provided with some backing rolls in the described lower floor conveyer device, these some backing rolls are arranged in a plane, constitute the supporting surface of whole medical robot jointly.
Further, conveyer device both sides, described upper strata carry to be specifically designed to installs the left and right assistant support that supports its backing roll, thereby has a complete supply unit of one's own; The upper strata conveyer device is installed on the described left and right support by its left and right assistant support is movable, the patient's supporting surface that is made of its conveyer belt on the conveyer device of upper strata can be changed between level and heeling condition, wherein level is used for stable carrying patient, and low early and high after heeling condition then is convenient to patient connect and is guided on its conveyer belt.
Further, described left and right assistant support is installed on the described left and right support by bearing pin is rotatable, and be provided with cylinder or oil cylinder or air spring operating means between assistant support and the support, utilize this operating means that described upper strata conveyer device is rotated around described bearing pin, realize its conversion of patient's supporting surface between level and heeling condition.
Further, described upper strata conveyer device is installed on the described left and right support by linkage, wherein linkage is arranged between described left and right assistant support and the left and right support, and the upper strata conveyer device is realized its conversion of patient's supporting surface between level and heeling condition by described linkage.
Further, be arranged with some backing rolls along its throughput direction in the conveyer device of described upper strata, these some backing rolls constitute the support face of its conveyer belt jointly, this support face comprises horizontal segment and tilting section, wherein, tilting section rear end and horizontal segment join, and front end extends to the place ahead of described lower floor conveyer device to the front lower place, horizontal segment is used for stable carrying patient, and tilting section is used to connect and draws patient and move or move down horizontal segment with conveyer belt.
Further, the below of described horizontal segment and described tilting section turning point also is provided with the tensioning carrying roller, when utilizing this tensioning carrying roller that the conveyer belt of described upper strata conveyer device is carried out tensioning and supports, is the slot milling that is provided with of described lower floor conveyer device.
Further, described support and described assistant support constitute by gripper shoe.
Further, described levels conveyer device also has conventional manual or Vidacare corp, and correspondingly, the backing roll that is arranged in levels conveyer device two ends constitutes the drive roll and the driven voller of levels conveyer device respectively.
Further, described drive roll surface is provided with the reticulate pattern that is used to increase frictional force between itself and the conveyer belt.
Medical machine man-hour of the present invention, it is close to patient that lower floor's conveyer device drives robot, upper strata conveyer device front end stretches into patient's side-lower, by the frictional force between conveyer belt and the human body human body is taken on the conveyer belt, the upper strata conveyer device quits work afterwards, lower floor's conveyer device drives robot and turns back on the stretcher, thereby finish patient is moved to process on the stretcher from sick bed, the whole patient's of moving process only needs a medical care personnel operation robot to get final product, patient's position, posture remains unchanged, greatly alleviated patient and moved the misery that process is brought, avoided secondary injury patient.
Description of drawings
Fig. 1 is the embodiment of the invention 1 vertical view;
Fig. 2 is an A-A view among Fig. 1;
Fig. 3 is the embodiment of the invention 2 vertical views;
B-B view when Fig. 4 is embodiment 2 levels among Fig. 3;
View profile when Fig. 5 is embodiment 2 heeling conditions;
Fig. 6 is a supporting plate structure sketch map shown in the sequence number 1 among Fig. 3.
The specific embodiment
Below in conjunction with accompanying drawing the present invention is described in further detail.
Fig. 1, Figure 2 shows that first kind of embodiment of the present invention.
As shown in FIG., medical robot of the present invention comprises a left side, right gripper shoe 1, be provided with two-layer conveyer belt type conveyer device up and down between two gripper shoes 1, the upper strata conveyer device comprises backing roll (3,5,8), cycloconveyor belt 4, lower floor's conveyer device comprises backing roll (9,11,13), cycloconveyor belt 12, backing roll two ends in the two-layer conveyer device are all directly rotatable to be installed on the gripper shoe 1, wherein lower floor's conveyer device supports whole medical robot, and the traveling crawler of formation robot, driving robot moves along fore-and-aft direction, the upper strata conveyer device is used to carry patient, and the running by its conveyer belt moves or move down its conveyer belt from being about to patient.
Two-layer up and down conveyer device all can be provided with conventional electronic or manual driving device (not shown), so comprise drive roll 3, driven voller 8 in the backing roll of upper strata conveyer device, comprises drive roll 9, driven voller 13 in the backing roll of lower floor's conveyer device.
Also be provided with some carrying rollers 5 between the driving and driven roller 3,8 in the conveyer device of upper strata, drive roll 3, driven voller 8, the carrying roller 5 common support faces that constitute conveyer belt 4, and this support face comprises rear horizontal section 6 and anterior tilting section 7, wherein, tilting section 7 extends to the place ahead of lower floor's conveyer device always to the front lower place.Between driving and driven roller 3,8, set up some carrying rollers 5 common supporting belts, can guarantee that the upper strata conveyer device has that enough bearing capacities carry patient and in face of support portion tilting section 7 is set, then can reduce the drop between upper strata conveyer device front end and patient place patient couch top or the operating-table table top to greatest extent, so that patient can be between medical robot and sick bed or operating-table be shifted reposefully, avoid patient body is caused excessive shock and increases that it is painful or it is caused the secondary injury.At support face rear portion horizontal segment 6 is set, can guarantees that then patient can stably be supported on the conveyer belt of upper strata conveyer device.In order to guarantee upper strata conveyer device operate as normal, simultaneously also be that work for fear of 4 pairs of lower floor's conveyer devices of conveyer belt causes interference, conveyer device below, upper strata and horizontal segment 6 and tilting section 7 turning point corresponding sections, also be provided with carrying roller 10, this carrying roller 10 has tension to conveyer belt 4 simultaneously.
Be provided with some carrying rollers 11 equally between the driving and driven roller 9,13 in lower floor's conveyer device, these some carrying rollers 11 and driving and driven roller 9, the 13 common supporting surfaces that constitute the entire machine people.In lower floor's conveyer device the width of conveyer belt 12 and about spacing between two gripper shoes 1 be complementary, constitute the mono-track walking mechanism of robot thus.Adopt the mono-track walking mechanism, when robot is mobile on one's sick bed, flexible bed surface is all reliably pressed solidly in whole length range, avoid the transfer mobile or patient of robot is caused interference.In addition, the mono-track conveying mechanism also helps to improve adhesive force except improving the bearing capacity, to guarantee the stabilized walking of robot.
Because medical robot of the present invention is to move on the bed surface that couches patient or the operating-table, therefore, make patient body excessive upset occur for fear of on moving, moving down in the patient procedure, simultaneously also in order to guarantee safety, should reduce entire machine people's height as far as possible, for this reason, as shown in FIG., drive roll 3 in the levels conveyer device, 9 can utilize larger-diameter cylinder to make, so just can be with motor, devices such as reducing gear are arranged in the cylinder, thereby save the space, simultaneously, with two drive rolls 3,9 are crisscross arranged, and also help to improve the space utilization rule, make entire machine people's structure compact more.
For easy to operate, about two gripper shoe 1 rear ends also be respectively arranged with handle 2, like this, in the use, the operator can hold handle 2 and control robot and move ahead or retreat.
Medical robot of the present invention is placed on stretcher or the carrier for transferring patient when using, when needs shift patient, at first handle stretcher and abut in sick bed or operating table edge, and with the height adjustment of stretcher to flushing with sick bed or operating-table, handling medical robot then moves ahead near patient, when lower floor's conveyer device drive medical robot moves closer to patient, upper strata conveyer device front end slowly reaches patient body one side-lower on one side, utilize the conveyer belt in the running slowly patient to be moved on its conveyer belt on one side, the speed of travel of control lower floor conveyer device is complementary the running speed of itself and upper strata conveyer device conveyer belt, can make patient on one's sick bed or do not produce on the operating-table under the situation of any slip and transferred to reposefully on the conveyer belt of upper strata conveyer device, treat that patient is moved on to the conveyer belt of upper strata conveyer device fully, lower floor's conveyer device quits work, the upper strata conveyer device remains in operation, until patient being moved on the horizontal segment of upper strata conveyer device, the upper strata conveyer device shuts down, handle lower floor's conveyer device and make robot return to stretcher again, and patient transfer is arrived destination by stretcher.When needs with patient when medical robot is transferred to sick bed or operating-table, the same stretcher of handling abuts in sick bed or operating table edge, the height of adjusting stretcher flushes with sick bed or operating-table, and drive the medical robot carry patient patient on sick bed or the operating-table place that will couch, robot is retreated on one side then, on one side patient is moved down from the upper strata conveyer device, the speed of travel of control lower floor conveyer device and the running speed of upper strata conveyer device, do not produce any slip in the time of can making patient on being moved to sick bed or on the operating-table equally, transferred to fully on sick bed or the operating-table until patient, the people that operates machine returns stretcher, finishes patient's once transfer.
In the process owing to patient on moving or under moving, the people that can operate machine simultaneously moves and cooperates, therefore, the two-layer conveyer device up and down of medical robot can produce the interlock effect, realize patient's smooth transfer, avoid in transfer process, increasing extra misery, avoid it being caused the secondary injury because of mobile improper to patient.
In order to reduce the drop between upper strata conveyer device front end and patient couch top or the operating-table table top as far as possible, guarantee that patient is by smooth transfer, medical robot of the present invention both can be shown in above-mentioned embodiment like that, realize by tilting section being set, also can adopt as Fig. 3-second kind of embodiment shown in Figure 6 and realize at upper strata conveyer device front end.
In the embodiment of Fig. 3-shown in Figure 6, the upper strata conveyer device is made of drive roll 3, driven voller 8, some carrying rollers 5, conveyer belt 4, two gripper shoes 14, driving and driven roller 3,8 and carrying roller 5 two ends are all installed and are supported on gripper shoe 14, make the upper strata conveyer device independently whole from becoming one thus; Drive roll 9 in lower floor's conveyer device, driven voller 13, some carrying roller 11 two ends are then still installed and are supported on the left and right sides gripper shoe 1; The upper strata conveyer device that has a style of one's own is by being installed on the left and right sides gripper shoe 1 with drive roll 3 concentric bearing pin (not shown)s are rotatable, this bearing pin is installed between gripper shoe 14 and the gripper shoe 1, also be provided with simultaneously the operating mechanism 16 that is made of oil cylinder or cylinder or air spring between gripper shoe 14 and the gripper shoe 1, these operating mechanism 16 two ends are rotatably connected by bearing pin 15,17 and gripper shoe 14 and gripper shoe 1 respectively; Flexible by control operation mechanism 16, can handle the upper strata conveyer device around its with gripper shoe 1 between the bearing pin rotation, thereby make the upper strata conveyer device have level and two kinds of duties of inclination.
Identical with first kind of embodiment is, the width of lower floor's conveyer device conveyer belt and about spacing between two gripper shoes 1 be complementary, thereby constitute the mono-track walking mechanism of medical robot, and by bearing capacity and the stability of strutting system that some carrying rollers 11 improve lower floor's conveyer device is set.
Because the upper strata conveyer device has a style of one's own, and about rotatable being installed on two gripper shoes 1, therefore, the support face of the conveyer belt 4 that the drive roll 3 in the conveyer device of upper strata, driven voller 8, carrying roller 5 are constituted is a plane, by the upper strata conveyer device is changed in level shown in Figure 4 and heeling condition two states shown in Figure 5, can realize the function that horizontal segment 6 in above-mentioned first kind of embodiment and tilting section 7 are had.
As shown in Figure 5, when the upper strata conveyer device is adjusted to heeling condition, its leading portion drops to the leading portion of lower floor's conveyer device, and press close to patient couch top or operating-table table top, can under the very little situation of patient posture change, it be moved on on the conveyer belt 4 reposefully like this, and after patient body all moves on on the conveyer belt 4, the upper strata conveyer device be adjusted to level, can guarantee patient bed stability again, guarantee the safety of patient transfer process.
For the ease of setting operation device 16, about two gripper shoes 1 all make as shown in Figure 6 shape.
In addition, in order to guarantee conveyer belt 4,11 steady operations, all conveyer stretcher can be set in the levels conveyer device, the form that this tensioner promptly can idler roller is provided with, and also can the adjustable mode of driving and driven roller wheelbase be provided with.
When utilizing medical robot of the present invention to move patient, only need a medical care personnel operation robot to get final product, and can keep patient's position, posture constant, be very easy to patient's transfer operation.
Below describe structure of the present invention in conjunction with the accompanying drawings, but be not limited in this, every those of ordinary skills, under the spirit that does not break away from the application, any improvement and/or the distortion made all belong to protection scope of the present invention.
Claims (12)
1. medical robot, it is characterized in that, comprise two-layer conveyer device up and down and the left and right support that is positioned at the conveyer device both sides, two-layer conveyer device is the conveyer belt type conveyer device for being made of backing roll and cycloconveyor belt all, conveyer belt in the two-layer conveyer device is all along robot fore-and-aft direction running, wherein, lower floor's conveyer device constitutes the crawler type walking mechanism of whole medical robot, the upper strata conveyer device utilizes its conveyer belt carrying patient, and along with the running of its conveyer belt moves or move down its conveyer belt from the patient who is about to be positioned at robot the place ahead.
2. medical robot as claimed in claim 1 is characterized in that, the width of described lower floor conveyer device conveyer belt and the length of its backing roll are complementary, and constitute a mono-track walking mechanism thus.
3. medical robot as claimed in claim 1 is characterized in that, is provided with some backing rolls in the described lower floor conveyer device, and these some backing rolls are arranged in a plane, constitute the supporting surface of whole medical robot jointly.
4. medical robot as claimed in claim 1 is characterized in that, conveyer device both sides, described upper strata carry to be specifically designed to installs the left and right assistant support that supports its backing roll, thereby has a complete supply unit of one's own; The upper strata conveyer device is installed on the described left and right support by its left and right assistant support is movable, the patient's supporting surface that is made of its conveyer belt on the conveyer device of upper strata can be changed between level and heeling condition, wherein level is used for stable carrying patient, and low early and high after heeling condition then is convenient to patient connect and is guided on its conveyer belt.
5. medical robot as claimed in claim 4 is characterized in that, is provided with some backing rolls along its throughput direction in the conveyer device of described upper strata, and these some backing rolls are arranged in a plane, constitutes the support face of its conveyer belt jointly.
6. medical robot as claimed in claim 5, it is characterized in that, described left and right assistant support is installed on the described left and right support by bearing pin is rotatable, and be provided with cylinder or operation of oil cylinde device between assistant support and the support, utilize this operating means that described upper strata conveyer device is rotated around described bearing pin, realize its conversion of patient's supporting surface between level and heeling condition.
7. medical robot as claimed in claim 5, it is characterized in that, described upper strata conveyer device is installed on the described left and right support by linkage, wherein linkage is arranged between described left and right assistant support and the left and right support, and the upper strata conveyer device is realized its conversion of patient's supporting surface between level and heeling condition by described linkage.
8. medical robot as claimed in claim 1, it is characterized in that, be arranged with some backing rolls along its throughput direction in the conveyer device of described upper strata, these some backing rolls constitute the support face of its conveyer belt jointly, and this support face comprises horizontal segment and tilting section, wherein, tilting section rear end and horizontal segment join, front end extends to the place ahead of described lower floor conveyer device to the front lower place, and horizontal segment is used for stable carrying patient, and tilting section is used to connect and draws patient and move or move down horizontal segment with conveyer belt.
9. medical robot as claimed in claim 8, it is characterized in that, the below of described horizontal segment and described tilting section turning point also is provided with the tensioning carrying roller, when utilizing this tensioning carrying roller that the conveyer belt of described upper strata conveyer device is carried out tensioning and supports, be the slot milling that is provided with of described lower floor conveyer device.
10. as the arbitrary described medical robot of claim 4-7, it is characterized in that described support and described assistant support constitute by gripper shoe.
11. medical robot as claimed in claim 10, it is characterized in that, described levels conveyer device also has conventional manual or Vidacare corp, and correspondingly, the backing roll that is arranged in levels conveyer device two ends constitutes the drive roll and the driven voller of levels conveyer device respectively.
12. medical robot as claimed in claim 11 is characterized in that, described drive roll surface is provided with the reticulate pattern of frictional force between the cycloconveyor belt that is used to increase on itself and its.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100765267A CN101474118B (en) | 2009-01-06 | 2009-01-06 | Medical robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100765267A CN101474118B (en) | 2009-01-06 | 2009-01-06 | Medical robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101474118A CN101474118A (en) | 2009-07-08 |
| CN101474118B true CN101474118B (en) | 2011-05-04 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009100765267A Expired - Fee Related CN101474118B (en) | 2009-01-06 | 2009-01-06 | Medical robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101474118B (en) |
Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102579212B (en) * | 2012-03-14 | 2013-09-04 | 李长杰 | Medical electric patient-transferring bed |
| CN105232271A (en) * | 2015-09-19 | 2016-01-13 | 梁博 | Novel medical transfer vehicle |
| CN106510714A (en) * | 2016-12-12 | 2017-03-22 | 成都迅德科技有限公司 | Conveying platform and nuclear magnetic resonance machine provided with conveying platform |
| CN110269765B (en) * | 2018-03-18 | 2021-08-03 | 王振牛 | Multifunctional sickbed suitable for long-term lying patients who cannot self-care defecation and incontinence and convenient to bath |
| CN109259944B (en) * | 2018-09-14 | 2020-08-04 | 河南科技大学第一附属医院 | Medical patient carrying bed |
| CN109259945B (en) * | 2018-09-14 | 2020-05-12 | 河南科技大学第一附属医院 | Bidirectional shifting-out multifunctional operation carrying bed |
| CN109730865A (en) * | 2019-03-06 | 2019-05-10 | 无锡市第三人民医院 | It raises and moves patient bed-changing machine |
| CN114939025B (en) * | 2020-08-31 | 2023-08-08 | 浙江佑欣智能医疗科技有限公司 | Patient transfer mechanism convenient to clean |
| CN115040341A (en) * | 2022-06-08 | 2022-09-13 | 山东交通学院 | Semi-automatic transfer bed that multi-scene used |
| CN115154070A (en) * | 2022-08-04 | 2022-10-11 | 河北工业大学 | Transfer robot on bed |
-
2009
- 2009-01-06 CN CN2009100765267A patent/CN101474118B/en not_active Expired - Fee Related
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| Publication number | Publication date |
|---|---|
| CN101474118A (en) | 2009-07-08 |
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