CN106142096A - Carrying containing variable form mechanical arm and embrace the medical robot lifting the obesity patients - Google Patents
Carrying containing variable form mechanical arm and embrace the medical robot lifting the obesity patients Download PDFInfo
- Publication number
- CN106142096A CN106142096A CN201610395325.3A CN201610395325A CN106142096A CN 106142096 A CN106142096 A CN 106142096A CN 201610395325 A CN201610395325 A CN 201610395325A CN 106142096 A CN106142096 A CN 106142096A
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- patient
- embrace
- medical robot
- variable form
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/009—Nursing, e.g. carrying sick persons, pushing wheelchairs, distributing drugs
Abstract
The present invention relates to medical treatment and service robot field, especially disclose a kind of carrying containing variable form mechanical arm and embrace the medical robot lifting the obesity patients, including embracing supporting surface, driving base and the linkage lifting patient；Described driving base include base body and at least 3 can move up and down the vertical linearity driver being located on base body；Described supporting surface includes the mechanical arm that at least two side is rotatably connected successively；The head end of described mechanical arm is all movably connected in vertical linearity driver by linkage, and then when vertical linearity driver moves up and down, and can drive angle and height that different mechanical arm moves up and down between adjusting mechanical arm.The present invention can replace medical personnel's carrying patient, is particularly suited for being suitable for of adiposis patient, and then alleviates the burden of medical personnel.The present invention is lifted by the mobile adjustment of mechanical arm and embraces and angle during removing patient and height, and then improves patient comfort, alleviates medical personnel's workload.
Description
Technical field
The present invention relates to medical treatment and service robot field, especially relate to a kind of carrying containing variable form mechanical arm and
Embrace the medical robot lifting the obesity patients.
Background technology
Day by day the increasing of overweight and obesity make adiposis patient be admitted to hospital number and operation demand also increases.These patients'
Daily routines and Medicare need medical personnel to pay significant time and muscle power, too increase the muscle of back of medical personnel
Skeleton and the injured risk of spinal nerve system.Now patient embraces and lifts shifting apparatus and take up space greatly the most on the market, and it installs utilization not
Only need to change ward building structure, also easily cause patient and medical personnel fall down, when its operation is complicated and wastes medical personnel
Between.And after surgery, it is painful that artificial carrying patient also can increase patient, causes wound dehiscence.
Summary of the invention
The present invention is in order to overcome the deficiencies in the prior art, it is provided that one can safe carrying patient, improve patient comfort, subtract
Light medical personnel's workload, carrying containing variable form mechanical arm and embrace the medical robot lifting the obesity patients.
To achieve these goals, the present invention is by the following technical solutions: a kind of carrying containing variable form mechanical arm and
Embrace the medical robot lifting the obesity patients, including embracing supporting surface, driving base and the linkage lifting patient；Described driving
Base include base body and at least 3 can move up and down the vertical linearity driver being located on base body；Described supporting surface
The mechanical arm being rotatably connected successively including at least two side；The head end of described mechanical arm is all flexibly connected by linkage
In vertical linearity driver, and then when vertical linearity driver moves up and down, different mechanical arm can be driven to move up and down tune
Angle between joint mechanical arm and height.The present invention can replace medical personnel's carrying patient, is particularly suited for the suitable of adiposis patient
With, and then alleviate the burden of medical personnel.The present invention is moved up and down by vertical linearity driver, and then can drive different machines
Mechanical arm moves, it is achieved to the angular adjustment between mechanical arm；Can be according to sick Man's Demands mobile mechanical arm, it is ensured that patient's is comfortable
Degree, prevents patient's wound dehiscence, beneficially patient health；The present invention is also not limited to the carrying of patient simultaneously, it may also be used for right
The carrying of other article, embraces the weight lifted and is up to 500 pounds.
Further, the end of described mechanical arm is rotatably connected the folding device for fixing patient.Remove at mechanical arm
Fortune patient or during article, can be flipped up folding device, so can safety fix the patient or article being lifted.
Further, described folding device and/mechanical arm are provided with and can prevent machine from folding device and/mechanical arm and patient's skin
The conveyor-belt apparatus skidded between skin.It is more prone to embrace and lifts patient.
Further, described conveyor-belt apparatus surface is provided with skin-friendly layer.Improve the comfortableness of patient.
Further, described supporting surface both sides are provided with sustainable patient's leg and the extension plate of cervical region.Improve relaxing of patient
Adaptive.
Further, described base body includes that quantity is more than or equal to the montant of vertical linearity driver, each vertical line
Property driver can be located on a montant up or down.
Further, described base body be provided with can horizontal development base drive rail, base drive rail connect Mike
La Mu takes turns.
Further, also include that a connection drives the controller of base.Medical robot can be controlled by controller to move
Patient is lifted with embracing, easy to use.
Further, described mechanical arm two ends are removably connected with the seat belt for fixing patient.Can prevent patient from falling
Fall.
In sum, the present invention is lifted by the mobile adjustment of mechanical arm and embraces and angle during removing patient and height, and then
Improve patient comfort, alleviate medical personnel's workload.
Accompanying drawing explanation
Fig. 1 is the structural representation one of the present invention；
Fig. 2 is the use state diagram one of the present invention；
Fig. 3 a is supporting surface and the vertical linearity driver connection diagram of the present invention；
Fig. 3 b is the supporting surface structural representation one of the present invention；
Fig. 3 c is the supporting surface structural representation two of the present invention；
Fig. 3 d is mechanical arm and the folding apparatus structure schematic diagram one of the present invention；
Fig. 3 e is mechanical arm and the folding apparatus structure schematic diagram two of the present invention；
Fig. 4 a is linkage and the driving base connection diagram one of the present invention；
Fig. 4 b is linkage and the driving base connection diagram two of the present invention；
Fig. 5 a is the use state diagram two of the present invention；
Fig. 5 b-1,5b-2,5b-3 and 5b-4 are the mechanical arm of present invention front view under different folded states；
Fig. 5 c-1,5c-2,5c-3 and 5c-4 are the mechanical arm of present invention rearview under different folded states；
Fig. 6 is that the present invention uses state diagram three；
Fig. 7 a is the structural representation two of the present invention；
Fig. 7 b is the use state diagram four of the present invention；
Fig. 8 is the part-structure schematic diagram of the present invention；
Fig. 9 is the block diagram that the present invention is connected with background system；
Figure 10 is the operating system configuration schematic diagram of the present invention.
Detailed description of the invention
In order to make those skilled in the art be better understood from the present invention program, below in conjunction with in the embodiment of the present invention
Accompanying drawing, carries out clear, complete description to the technical scheme in the embodiment of the present invention.
A kind of carrying containing variable form mechanical arm of the present invention and embrace the medical robot lifting the obesity patients, belongs to doctor
Treat and service robot, be a kind of to there is autonomous driver element, the dexterous robot handling mechanical arm, it is possible under suitably manipulation
Patient is taken in one's arms from sick bed the portable medical robot with transfer.This medical robot contains the mechanical arm of variable form with suitable
Answer the needs of environment and nursing procedure.
Robot of the present invention is severing patients in medical institutions.This medical robot can be the behaviour of healthcare givers
Make or assist lower severing patients and the delivery article that shuttle back and forth within the hospital.This robot is also equipped with being applicable to the omnidirectional of hospital space and moves
The dynamic mechanical arm driving base, good human-computer interaction interface and being enough to embrace the flexibility lifting the 500 pounds of patients that weigh.
As Figure 1-10 shows, a kind of carrying containing variable form mechanical arm and embrace and lift the medical robot of the obesity patients,
Its core includes: supporting surface, driving base 200, linkage 350 and controller 600.Controller 600 connects the driving end
Seat 200.Described supporting surface can be embraced and lift patient 500, and described supporting surface includes the machinery that at least two side is rotatably connected successively
Arm 300.
Described driving base 200 includes base body 400 and at least 3 vertical linearity drivers 210, and vertical linearity drives
Device 210 can move up and down to be located on base body 400.Described base body 400 includes that quantity is more than or equal to vertical linearity and drives
The montant 220 of device 210, each vertical linearity driver 210 can be located on a montant 220 up or down.Vertical linearity drives
Device 210 has special mechanism, can serve overweight patients 500, such as patient 500 be moved to wheelchair 650 from sick bed, such as figure
Shown in 7b.
Concrete, described mechanical arm 300 can be positioned over the position parallel with the patient 500 on sick bed and be stretched over patient
500 bodies get off to embrace lifts patient 500.The head end of described mechanical arm 300 is all by linkage 350 and vertical linearity driver 210
It is flexibly connected.When vertical linearity driver 210 moves up and down, different mechanical arms 300 can be driven also by linkage 350
Move up and down, and then the angle between adjusting mechanical arm 300 and the height of mechanical arm 300.By vertical linearity driver 210 phase
Change to position realizes height and the angle adjustment of mechanical arm 300.The end of described mechanical arm 300 is rotatably connected and folds dress
Putting 310, described folding device 310 removably connects described mechanical arm 300, and then the convenient replacing folding device.Fold device
310 when opening, and can facilitate and along folding device 310, patient is moved into mechanical arm 300, is then rotated further by folding device 310 to vertically
Mechanical arm 300 surface, and then patient 500 can be fixed, prevent patient 500 landing.Furthermore, in order to improve patient further at machinery
Stability on arm 300, the most described mechanical arm 300 two ends are removably connected with seat belt 550, and this seat belt 550 can be used for
Fixing patient 500, prevents patient 500 from dropping from medical robot further, and this seat belt 550 is sufficiently wide and solid.
Preferably, described folding device 310 and mechanical arm 300 are provided with conveyor-belt apparatus 320, and conveyor-belt apparatus 320 can
Prevent machine from folding device 310, skidding between mechanical arm 300 and patient 500 skin, and contribute to patient 500 and move into mechanical arm
300.The most in other embodiments, described conveyor-belt apparatus 320 can be only located on folding device 310 or mechanical arm 300.For
Improving the comfortableness of patient 500, described conveyor-belt apparatus 320 surface is provided with skin-friendly layer, this skin-friendly layer is made up of skin compatible material.
Furthermore, described supporting surface both sides are provided with extension plate 330, and this extension plate 330 can make supporting surface stretch out bigger area to support
The leg of patient 500 and cervical region.And this extension plate 330 is connected to be positioned on the mechanical arm 300 of supporting surface both sides.
In order to improve the stability of robot, the most described base body 400 is provided with base and drives rail, and base drives rail
Can horizontal development, base drive rail connect McCrum wheel 410, Omni-mobile can be realized.Base drives that rail is deployable makes occupation of land
Area is bigger thus improves the stability of robot when performing and embracing and lift transfer task.
And control to drive base 200 for a controller 600, by promoting left and right before and after action bars 622, it is achieved doctor
Treat the equidirectional movement of robot 100.Rotation process bar 610 realizes turning to of robot, is more intuitively selected by position-sensing switch 621
Taking mechanical arm 300 position, the vertical linearity controlling this position drives driver 210 to realize height and the angle of mechanical arm 300
Regulation.This mechanical arm 300 be also designed to can deformation structure, and this mechanical arm 300 can also realize according to specific tasks knot
Configuration shape is adjustable so as to adapt to the requirement of varying environment manipulation, and its mechanical arm 300 can broaden and accept and do not disturb it
His systemic-function.
Additionally, also include personal-machine interactive interface, i.e. a display, this display connects controller.Except being grasped by promotion
Make bar 622 and outside rotation process bar 610 is controlled, in other cases, identify use also by Voice command software
The phonetic order of person.Also having another kind of control method, i.e. being fed back by interpolation sense of touch is that operator is directly by contact guidance machine
Device human arm arrives the position needed.Realize the function of voice, vision and Tactile control to robot.
Mobile and armful medical robot lifting the obesity patients application can efficiently reduce the workload of medical personnel,
Improve work efficiency.Especially with greater need for help during adiposis patient is performed an operation, and monitoring process after surgery is also required to
The support of this type of medical robot.Medical robot 100 is by imitating the mankind, and profile true to nature and action, by electronics and machinery
That has combined is controlled by computer or electron program and realizes, medical robot user can be allowed to feel he has the dignity of oneself, meaning
Know and strength.And the medical robot 500 being intended to work together with medical personnel and patient 500 possesses and high cooperates with people
Ability and processing safety, this has not only ensured 500 armfuls of safeties lifted and move of patient but also has been greatly saved medical personnel
The operating time of 900 and energy.
Medical robot 100 helps medical personnel 900 armfuls to lift and hospital's carrying cargo moving heavy object, thus reduces medical care people
Member's backache or the risk of back injuries.This medical robot 100 also has following feature and function: overweight patients is narrow in hospital
Safety moving in little space, replaces electric wheelchair；Interactive for patient and doctor；Be not required to too many time the most convenient to operately with
Nurse safety ground is interactive；Logistics delivery in hospital can be completed.
Described medical robot 100 manipulates close to sick bed by speech control or controller 600, the most slowly extends machinery
Under arm 300 to patient 500 body.The speed that mechanical arm 300 moves forward depends on the speed that conveyor-belt apparatus 320 repercussion is moved,
So can eliminate and slide between mechanical arm 300 and patient 500 so that mechanical arm 300 is easier to be placed under patient 500 body and make disease
People 500 is more comfortable.
Vertical linearity driver 210 can be that mechanical arm 300 lifting weight provides enough power.Mechanical arm 300 is wedge
Shape, the first half is completely coated with the conveyor-belt apparatus 320 of softness.When mechanical arm 300 is completely disposed under patient 500 body, machinery
Smooth extension plate 330 can be extended in 300 liang of outsides of arm, thus preferably supports more than the cervical region of patient 500 and leg.Machinery
The head end of arm 300 has a folding device 310 as joint；Fig. 3 d shows when folding device 310 is set level and mechanical arm
State during 300 keeping parallelism.Fig. 3 e shows to fold and fixing of safety can be embraced the patient lifted when device 310 is packed up
The state of 500.This folding device the most also can make mechanical arm 300 be more easy to be placed under patient 500 body: mechanical arm 300 to
During front propelling, this vertical linearity driver 210 preferably sounds out patient 500 by twisting up and down as nurse, it is easier to
Push ahead.
Linkage 350 can provide strong, safe, lifting and position neatly by minimum vertical linearity driver 210
Put conversion.Vertical linearity driver 210 provides enough power lifting weights, and has enough sensitivity to avoid hurting disease
People 500.This medical robot 100 uses the vertical linearity driver 210 of flexibility to control power output in real time thus provides high
Safety, the use of vertical linearity driver 210 also can improve battery efficiency.Multiple Linear actuators 210 move up and down and draw
Play the relative change of position, thus control position and the angle of mechanical arm 300.
Drive that base 200 floor space is little, can omnirange move.Base body is provided with four independent Mikes driven and draws
Nurse wheel 410 so that drive base 200 can in small space Omni-mobile freely.Base drives rail to launch, thus
Make driving base area bigger and improve stability, and be more easy to the destination gone close to wheelchair or other client need, drive the end
Seat have employed point of zero moment and controls to promote.
Controller 600 is made up of two parts: the part of operation base body 400 and the part of operating robotic arm 300.Control
Device 600 integral installation is on base body 400.For the ease of operation, the position selector switch 621 on controller 600 shape,
The both arms of reality it are completely corresponding on position.Stirring the lever on this switch 610 can the position of corresponding mobile mechanical arm.On move down
Dynamic promotion action bars 622 can allow mechanical arm 300 move up and down in the case of maintaining like angle.Before promoting action bars 622
Rear left and right realizes the equidirectional movement of medical robot 100；Rotation process bar 610 realizes turning to of medical robot 100.Control
Device 600 can overall take off from base body 400, and this makes the operator can be certain distance outer control robot, even patient
600 can operate robot with oneself.Robot is controlled by controller.In other cases, soft also by Voice command
Part identifies the phonetic order of user.Also having another kind of control method, i.e. being fed back by interpolation sense of touch is that operator is directly led to
Cross contact guidance robot arm and arrive the position needed.
Fig. 2 and Fig. 5 a demonstrates the present invention and uses mechanical arm 300 lifting the obesity patients, and vertical linearity driver
210 move up and down and cause change in location, thus control the process of mechanical arm 300 position and angle.
Fig. 3 b, 3c, 3d and 3e demonstrate mechanical arm 300 of the present invention and folding device 310, conveyor-belt apparatus 320 and prolongation
330 annexations of plate.
Fig. 3 a demonstrates 210 annexations of mechanical arm 300 and vertical linearity driver.
Fig. 5 b-1,5b-2,5b-3,5b-4,5c-1,5c-2,5c-3 and 5c-4 demonstrate mechanical arm 300 different angles and adjust
Time whole, the position relationship of mechanical arm 300 and vertical linearity driver 210, including lying on the back, micro-state such as face upward, lean on and sit straight, with
And state when base driving rail expansion and contraction.
Fig. 6 is the use state after the present invention loads onto seat belt 550 when using.
Can be seen that from Fig. 6 and Fig. 7 a base drive rail deployable and shrink, and described mechanical arm 300 can on move down
Move, and Fig. 7 a is that patient 500 is carried to the process of wheelchair 650 by medical robot 100.
Can find out from Fig. 8 the installation site of controller 600 and controller 600 amplify after detailed construction.
Formation system architecture 800, in the present embodiment, medical personnel it is connected with background system as Fig. 9 illustrates the present invention
900 can handle medical robot 100 with controller.In other embodiments, patient 500 may need to pass through voice command
814 or controller 600 medical robot 100 is controlled.In some embodiments, medical professional can launch and refers to
Show that medical robot 100 lifts patient 500 close to embracing.
In the present embodiment, medical robot 100 connects Third party system, and such as hospital logistics management system, controls in real time
Effectively integrating of OS processed and sensor acquisition.The main control subsystem 810 of medical robot 100 includes a system monitoring mould
Block 811, a direct control module 812 and Collaborative Control module 813.In the present embodiment, medical robot 100 is by control
Device 600 processed directly controls.In other embodiments, medical robot 100 can utilize speech recognition software to identify medical care
The voice command of personnel 900.Speech recognition system can allow medical robot 100 start work under the request of medical personnel 900
Make.In other embodiments, medical personnel 900 guide, and by adjusting mechanical arm 300 to desired location built-in sense of touch feedback control
System.
Figure 10 illustrates the control system 700 of the controller 600 of this medical robot 100.Described control system 700 includes place
Reason device 702, mixed-media network modules mixed-media 712, input/output interface mould 710, main storage 706, ROM(read only memory) 704, auxiliary deposit
Reservoir 708 and CD-ROM memorizer 714.And described mixed-media network modules mixed-media 712, input/output interface module 710, main storage 706,
ROM(read only memory) 704, additional storage 708 and CD-ROM memorizer 714 be all connected with described multiprocessor 702.
Obviously, described embodiment is only a part of embodiment of the present invention rather than whole embodiments.Based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under not making creative work premise
Embodiment, all should belong to the scope of protection of the invention.
Claims (9)
1. one kind contains the carrying of variable form mechanical arm and embraces the medical robot lifting the obesity patients, it is characterised in that: include
Can embrace and lift the supporting surface of patient (500), drive base (200) and linkage (350)；Described driving base (200) includes the end
Seat body (400) and at least 3 can move up and down the vertical linearity driver (210) being located on base body (400)；Described
Support face includes the mechanical arm (300) that at least two side is rotatably connected successively；The head end of described mechanical arm (300) is all by connection
Dynamic device (350) is movably connected in vertical linearity driver (210), and then moves up and down in vertical linearity driver (210)
Time, different mechanical arm (300) can be driven to move up and down the angle between adjusting mechanical arm (300) and height.
Carrying containing variable form mechanical arm the most according to claim 1 and embrace and lift the medical robot of the obesity patients,
It is characterized in that: the end of described mechanical arm (300) is rotatably connected the folding device (310) for fixing patient (500).
Carrying containing variable form mechanical arm the most according to claim 2 and embrace and lift the medical robot of the obesity patients,
It is characterized in that: described folding device (310) and/mechanical arm (300) are provided with and can prevent machine from folding device (310) and/machinery
The conveyor-belt apparatus (320) skidded between arm (300) and patient (500) skin.
Carrying containing variable form mechanical arm the most according to claim 4 and embrace and lift the medical robot of the obesity patients,
It is characterized in that: described conveyor-belt apparatus (320) surface is provided with skin-friendly layer.
Carrying containing variable form mechanical arm the most according to claim 1 and embrace and lift the medical robot of the obesity patients,
It is characterized in that: described supporting surface both sides are provided with the extension plate (330) of sustainable patient's leg and cervical region.
Carrying containing variable form mechanical arm the most according to claim 1 and embrace and lift the medical robot of the obesity patients,
It is characterized in that: described base body (400) includes that quantity is more than or equal to the montant (220) of vertical linearity driver (210), often
One vertical linearity driver (210) can be located on a montant (220) up or down.
Carrying containing variable form mechanical arm the most according to claim 1 and embrace and lift the medical robot of the obesity patients,
It is characterized in that: described base body (400) be provided with can horizontal development base drive rail, base drive rail connect Mike draw
Nurse wheel (410).
Carrying containing variable form mechanical arm the most according to claim 1 and embrace and lift the medical robot of the obesity patients,
It is characterized in that: also include that a connection drives the controller (600) of base (200).
Carrying containing variable form mechanical arm the most according to claim 1 and embrace and lift the medical robot of the obesity patients,
It is characterized in that: described mechanical arm (300) two ends are removably connected with the seat belt (550) for fixing patient (500).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610395325.3A CN106142096A (en) | 2016-06-04 | 2016-06-04 | Carrying containing variable form mechanical arm and embrace the medical robot lifting the obesity patients |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610395325.3A CN106142096A (en) | 2016-06-04 | 2016-06-04 | Carrying containing variable form mechanical arm and embrace the medical robot lifting the obesity patients |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106142096A true CN106142096A (en) | 2016-11-23 |
Family
ID=57352909
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610395325.3A Pending CN106142096A (en) | 2016-06-04 | 2016-06-04 | Carrying containing variable form mechanical arm and embrace the medical robot lifting the obesity patients |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106142096A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2429161Y (en) * | 2000-05-26 | 2001-05-09 | 孙良军 | Bed for carrying imminent patient |
| CN101568317A (en) * | 2007-03-28 | 2009-10-28 | 松下电器产业株式会社 | Transfer assistance device and transfer assistance device with multi-supporter mechanism |
| WO2009147832A1 (en) * | 2008-06-06 | 2009-12-10 | パナソニック株式会社 | Robot, robot control device, control method and control program |
| CN101653396A (en) * | 2009-09-15 | 2010-02-24 | 中国人民解放军军事医学科学院卫生装备研究所 | robot for transferring and transporting patients |
| CN104661630A (en) * | 2012-09-19 | 2015-05-27 | 马仕路株式会社 | Care method and care robot used therein |
| CN205835356U (en) * | 2016-06-04 | 2016-12-28 | 浙江侍维波机器人科技有限公司 | Carrying containing variable form mechanical arm and embrace the medical robot lifting the obesity patients |
-
2016
- 2016-06-04 CN CN201610395325.3A patent/CN106142096A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2429161Y (en) * | 2000-05-26 | 2001-05-09 | 孙良军 | Bed for carrying imminent patient |
| CN101568317A (en) * | 2007-03-28 | 2009-10-28 | 松下电器产业株式会社 | Transfer assistance device and transfer assistance device with multi-supporter mechanism |
| WO2009147832A1 (en) * | 2008-06-06 | 2009-12-10 | パナソニック株式会社 | Robot, robot control device, control method and control program |
| CN101653396A (en) * | 2009-09-15 | 2010-02-24 | 中国人民解放军军事医学科学院卫生装备研究所 | robot for transferring and transporting patients |
| CN104661630A (en) * | 2012-09-19 | 2015-05-27 | 马仕路株式会社 | Care method and care robot used therein |
| CN205835356U (en) * | 2016-06-04 | 2016-12-28 | 浙江侍维波机器人科技有限公司 | Carrying containing variable form mechanical arm and embrace the medical robot lifting the obesity patients |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN205795942U (en) | A kind of bed chair integrated nursing care bed | |
| CN209154294U (en) | A kind of wheelchair combined multi-functional nursing bed | |
| CN104582662B (en) | Patient relocates system | |
| CN101357097A (en) | Five degree of freedom ectoskeleton type upper limb rehabilitation robot | |
| CN204016670U (en) | Medical nursing transferring hospital bed | |
| US20150182403A1 (en) | A Mobile Robotic Lifting and Transferring System for Bariatric Patients | |
| US9254234B2 (en) | Robotic strong arm | |
| Jiang et al. | Research progress and prospect of nursing robot | |
| DE102018215479A1 (en) | Device for supporting the mobility of a person with reduced mobility | |
| CN205835356U (en) | Carrying containing variable form mechanical arm and embrace the medical robot lifting the obesity patients | |
| Liu et al. | Biomimetic design of a chest carrying nursing-care robot for transfer task | |
| CN106142096A (en) | Carrying containing variable form mechanical arm and embrace the medical robot lifting the obesity patients | |
| CN202288674U (en) | Nursing bed being easy to turn over body | |
| CN209187292U (en) | A kind of turn Tai Bei mechanism of wheelchair combination nursing bed | |
| CN204520986U (en) | A kind of medical apparatus and instruments places bracket | |
| EP3373878B1 (en) | Robotic mobile and modifiable bed with verticalization | |
| CN210698036U (en) | Wheel chair | |
| CN202342317U (en) | Multi-functional medical wheel stretcher | |
| CN208823363U (en) | Intelligent robot for rehabilitation nursing | |
| CN208942781U (en) | Intelligent robot for rehabilitation nursing | |
| CN106901944A (en) | The portable device for healing and training that people stands can be helped | |
| Meng et al. | Bionic design and analysis of a multi-posture wheelchair | |
| Duc et al. | Study on the Lower Extremity Rehabilitation Device RHleg. | |
| CN205555485U (en) | Pharmacy department is with robot that gets it filled | |
| CN208193243U (en) | It is multi-functional to turn over anti-disgrace sore care implement |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| AD01 | Patent right deemed abandoned | ||
| AD01 | Patent right deemed abandoned |
Effective date of abandoning: 20181102 |