CN106580602A - Bidirectional transfer nursing robot - Google Patents
Bidirectional transfer nursing robot Download PDFInfo
- Publication number
- CN106580602A CN106580602A CN201611218398.1A CN201611218398A CN106580602A CN 106580602 A CN106580602 A CN 106580602A CN 201611218398 A CN201611218398 A CN 201611218398A CN 106580602 A CN106580602 A CN 106580602A
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- Prior art keywords
- roller
- lower floor
- belt
- nursing care
- transportation robot
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- 230000000474 nursing effect Effects 0.000 title claims abstract description 39
- 230000002457 bidirectional effect Effects 0.000 title abstract 3
- 230000001360 synchronised effect Effects 0.000 claims abstract description 5
- 230000005540 biological transmission Effects 0.000 claims description 25
- 210000004907 gland Anatomy 0.000 claims description 14
- 238000009434 installation Methods 0.000 claims description 10
- 230000033001 locomotion Effects 0.000 claims description 7
- 230000015572 biosynthetic process Effects 0.000 claims 1
- 230000006378 damage Effects 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 9
- 230000008569 process Effects 0.000 description 9
- 230000032258 transport Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 5
- 208000027418 Wounds and injury Diseases 0.000 description 4
- 230000008859 change Effects 0.000 description 4
- 206010033799 Paralysis Diseases 0.000 description 2
- 206010052428 Wound Diseases 0.000 description 2
- 230000009194 climbing Effects 0.000 description 2
- 239000002360 explosive Substances 0.000 description 2
- 208000014674 injury Diseases 0.000 description 2
- 238000004804 winding Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000003340 mental effect Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000002980 postoperative effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
- A61G7/1025—Lateral movement of patients, e.g. horizontal transfer
- A61G7/1036—Lateral movement of patients, e.g. horizontal transfer facilitating loading and unloading of the patient, e.g. using flaps or additional tilting
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
- A61G7/1025—Lateral movement of patients, e.g. horizontal transfer
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
- A61G7/1049—Attachment, suspending or supporting means for patients
- A61G7/1057—Supported platforms, frames or sheets for patient in lying position
Abstract
The invention relates to the technical field of medical appliances and especially relates to a bidirectional transfer nursing robot. The b bidirectional transfer nursing robot comprises an integrated support, transfer modules and a cover plate, wherein an upper-layer driving belt of a human body transfer unit, after bypassing the lower portion of a driving roller, bypasses the upper portions of a tensioning roller and a first commutation roller, after sequentially bypassing the upper portions of two second commutation rollers, goes from the lower portion of a third commutation roller to the upper portion of the third commutation roller and is attached to the upper surface of the cover plate; and a synchronous belt of a machine mobile unit, after bypassing the upper portion of a lower-layer driving belt roller, goes to the lower portions of two lower-layer tensioning belt rollers, sequentially bypasses the upper portion of each lower-layer driven belt roller, and finally goes from the upper portions of the two lower-layer driven belt rollers at a left end and a right end to the lower portions of the lower-layer driven belt rollers, and the transfer nursing robot is driven to move through friction between a lower layer of the synchronous belt and a bed surface or a stretcher. Such equipment provided by the invention, under the condition that the posture of a patient is not changed, realizes transfer nursing of the patient, mitigates the labor intensity of medical care personnel and prevents secondary damage to the patient caused by a conventional transfer mode.
Description
Technical field
The present invention relates to technical field of medical instruments, especially a kind of two-way nursing care of transportation robot.
Background technology
In recent years, domestic medical institutions increasingly focus on improving the nursing quality of patient using high-tech means.But
Traditional mode is also continued to use in the transhipment of hospital critical patient, realizes changing to embrace, in the way of lift by medical personnel or families of patients
Bed action, medical personnel's physical and mental burden is very heavy, if careless manipulation is easy to increase the state of an illness, to patient secondary wound is brought
Evil, causes medical-accident disputes.
For problem above, numerous studies are made both at home and abroad, but major part all concentrates on transhipment sheet, patient transferring cart
And in the research and development of both arms nursing robot.There are all kinds of shortcomings in above transporting mode, for example：Transhipment sheet is flexible material,
Easily change patient's pose in transport process；The usual transhipment part of patient transferring cart and running gear can not be separated, volume compared with
Greatly, and transport direction can only one direction transhipment, use condition is limited；Both arms nursing robot needs also exist for patient's pose and does suitable
Work as adjustment, to coordinate embracing for robot to lift work, and easily the feared state of mind is caused to patient in transport process, be not suitable for
The critical patients such as postoperative, paralysis.
The content of the invention
The present invention is for tradition is to the high labor intensive of the nursing care of transportation needs of old man and patient and easily causes secondary wound
Harmful problem and a kind of pose for not changing patient in transport process of research design, realize to before and after injured, paralysis or injury
Automatically the symmetrical nursing care of transportation robot of the modularity moved of patient.
To solve technical problem, the technical solution used in the present invention is：
A kind of two-way nursing care of transportation robot, for carrying out turning between sick bed and between sick bed and stretcher to patient
Fortune, it is characterised in that the nursing care of transportation robot includes：Integral support, transhipment and cover the lid on integral support top at module
Plate, the integral support includes multiple horizontal side plates and is connected to two longitudinal side plates at horizontal side plate two ends, adjacent transverse side plate
Between be respectively provided with a transhipment module, the human body transhipment unit of the transhipment module including upper strata and the machine movement of lower floor are single
Unit, the human body transhipment unit includes：The first motor being fixed on horizontal side plate and the master of first motor coaxle connection
Moving gear, driven gear and institute that the idle wheel engaged with the driving gear is engaged with the idle wheel are fixed on the first motor
State the coaxially connected drive roll of driven gear, the idler roller being arranged on the right side of drive roll, first be arranged on the left of drive roll to change
To roller, be separately positioned on idler roller right side and the first reversing roller on the left of two second reversing rollers, be arranged on integral support or so two
3rd reversing roller and upper strata transmission belt at end, the idler roller, the first reversing roller, the second reversing roller and the equal frame of the 3rd reversing roller
It is located on two adjacent cross side plates；The upper strata transmission belt after, is changed respectively from the lower section of drive roll from idler roller and first
Bypass to above roller, sequentially the top from two second reversing rollers after, the lower section from the 3rd reversing roller around top, and with
The upper surface of cover plate fits；The machine mobile unit includes：Base support, the second motor being fixed on base support,
The lower floor's active belt roller being connected with second motor coaxle, the two lower floor's tension band rollers for being arranged on lower floor's active belt roller both sides,
The multiple lower floor's driven belt rollers and Timing Belt being arranged on the outside of two lower floor's tension band rollers, lower floor's active belt roller, lower floor's tensioning
Band roller and lower floor's driven belt roller are serrated roller and are erected on base support, and the Timing Belt is from the top of lower floor's active belt roller
After, around the lower section of two lower floor's tension band rollers, sequentially bypass from each lower floor's driven belt roller top, finally from left and right two ends
The top of Liang Ge lower floors driven belt roller drives transhipment shield by the lower floor of Timing Belt around lower section with the friction of bed surface or stretcher
The movement of reason robot.
Further, lower floor's driven belt roller at left and right two ends 1～3cm higher than the level height of adjacent lower driven belt roller.
Further, lower floor's active belt roller left side has 7 lower floor's driven belt rollers, and right side has Liang Ge lower floors driven
Band roller, and first, left side lower floor's driven belt roller is higher than adjacent lower driven belt roller.
Further, the base support includes two crossbeams being parallel to each other, multiple longerons being connected between crossbeam
With the hanger being arranged on crossbeam, lower floor's driven belt roller is arranged in the space that each longeron is formed, and two ends are erected at two
On crossbeam, a connecting rod is connected to the machine mobile unit of the human body transhipment unit on upper strata and lower floor through hanger and horizontal side plate
Together.
Further, the two ends of the drive roll and the first reversing roller are supported on horizontal side plate by support block, institute
State and have on horizontal side plate strip chute, the top of chute is axis hole, and the support block has U-shaped opening, during installation, first will
Support block is put into axis hole, makes U-shaped opening just to chute, then drive roll or the first reversing roller are slided into into axis hole from chute, then
The spindle nose to limit drive roll or the first reversing roller that support block is rotated to an angle is moved.
Further, the nursing care of transportation robot also includes tensioner, and the tensioner includes L-shaped push rod, pressure
Plate and adjusting screw, have the tipper for tilting upward on the horizontal side plate, the pressing plate is fixed on horizontal side plate, institute
The installation side for stating L-shaped push rod is located in tipper, has screwed hole on the regulation side of L-shaped push rod, and adjusting screw passes through screwed hole
And withstand on pressing plate, the end on the installation side of the L-shaped push rod has the U-shaped mounting groove of the spindle nose for being used for installing idler roller, changes
Become the length that adjusting screw screws in screw thread, idler roller is moved up and down while moving left and right, be tensioned upper strata transmission belt.
Further, the upper strata transmission belt is PVC flat rubber beltings, and the Timing Belt is arc tooth synchronous belt.
Further, the transhipment module is four.
Further, the machine mobile unit also includes bearing gland, and lower floor's active belt roller passes through bearings
Between base support and bearing gland, bearing gland passes through fixed between bolt and base, has two on the bearing gland
Screwed hole, the vertical elongated slot on the crossbeam with the axle for being used for installing lower floor's tension band roller a, puller bolt passes through bearing pressure
On the screwed hole for covering and the axle for withstanding on lower floor's tension band roller, Timing Belt is tensioned.
Further, human body transhipment unit also includes corner bracket, and each described 3rd reversing roller is divided into three sections, described
Corner bracket is fixed on longitudinal side plate, and each section of the 3rd reversing roller is supported by corner bracket.
Relative to prior art, the present invention apparently has the advantages that：
Nursing care of transportation robot is transferred to stretcher or disease by the 1, moving left and right by the machine mobile unit of lower floor, realization
On bed, while the machine mobile unit of lower floor is moved left and right, the human body transhipment unit on upper strata passes through upper strata transmission belt gradually
By on transportation of patients to nursing care of transportation robot, using the equipment of the present invention, caregiver can be alone patient from transhipment shield
Reason robot is moved on stretcher/sick bed, or is transported to from stretcher/sick bed in nursing care of transportation robot, and is not changed
The attitude of patient, not only alleviates the labor intensity of medical personnel, and enhances the security and comfort level of patient, while keeping away
The secondary injury that traditional transporting mode brings in transport process to patient is exempted from.
2nd, lower floor's driven belt roller at left and right two ends 1～3cm higher than the level height of adjacent lower driven belt roller, it is ensured that transhipment
Nursing robot has in the process of walking certain obstacle climbing ability.
3rd, the two ends of drive roll and the first reversing roller are supported on horizontal side plate by support block, easy for installation, are only needed
Support block is rotated after the spindle nose of drive roll or the first reversing roller is installed in place, makes U-shaped opening rotate a certain angle.
4th, nursing care of transportation robot can two-way transhipment as needed.
Description of the drawings
Fig. 1 is the two-way nursing care of transportation robot architecture figure of the embodiment of the present invention；
Fig. 2 is embodiment of the present invention transhipment function structure chart；
Fig. 3 is A portions enlarged drawing in Fig. 2；
Fig. 4 is embodiment of the present invention integral support and covering plate structure figure；
Fig. 5 is embodiment of the present invention human body transhipment unit upper strata transmission band winding schematic diagram；
Fig. 6 is embodiment of the present invention tensioning device structure figure；
Fig. 7 is that embodiment of the present invention drive roll and the first reversing roller install explosive view；
The machine mobile unit structure chart of Tu8Shi embodiment of the present invention lower floor；
Fig. 9 is embodiment of the present invention synchronization band winding schematic diagram；
Figure 10 is that embodiment of the present invention lower floor tension band roller installs explosive view；
Upper strata transmission belt and toothed belt transmission schematic diagram when Figure 11 is lifting human body in transport process；
Upper strata transmission belt and toothed belt transmission schematic diagram when Figure 12 is manned walking in transport process；
Figure 13 is upper strata transmission belt and toothed belt transmission schematic diagram when human body is put down in transport process.
In figure, 10, integral support, 11, horizontal side plate, 111, chute, 112, axis hole, 113, tipper, 12, longitudinal direction side
Plate, 20, cover plate, the 30, first motor, 31, driving gear, 32, idle wheel, 33, driven gear, 34, idler roller, the 35, first commutation
Roller, the 36, second reversing roller, the 37, the 3rd reversing roller, 38, upper strata transmission belt, 39, support block, 391, U-shaped opening, 40, tensioning dress
Put, 401, L-shaped push rod, 402, pressing plate, 403, adjusting screw, 41, drive roll, 42, corner bracket, 50, base support, 501, crossbeam,
5011st, vertical elongated slot, 502, longeron, 503, hanger, the 51, second motor, 52, lower floor's active belt roller, 53, lower floor's idler roller, 54,
Lower floor's driven voller, 55, Timing Belt, 56, patient, 57, bearing gland, 60, connecting rod, 61, puller bolt.
Specific embodiment
In order that technical problem solved by the invention, technical scheme and beneficial effect become more apparent, below in conjunction with
Drawings and Examples, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein is only used
To explain the present invention, it is not intended to limit the present invention.
In describing the invention, it is to be understood that term " radial direction ", " axial direction ", " on ", D score, " top ", " bottom ",
The orientation or position relationship of the instructions such as " interior ", " outward " is, based on orientation shown in the drawings or position relationship, to be for only for ease of and retouch
State the present invention and simplify description, rather than indicate or imply that the device or element of indication must be with specific orientation, with specific
Azimuth configuration and operation, therefore be not considered as limiting the invention.In describing the invention, unless otherwise stated,
" multiple " are meant that two or more.
It is to be understood that：Left and right directions described herein refers to the moving direction i.e. cross side of upper strata transmission belt 38
The bearing of trend of plate 11, fore-and-aft direction described herein refers to the bearing of trend of longitudinal side plate 12.
A kind of as Figure 1-Figure 13 two-way nursing care of transportation robot, between sick bed and sick bed and stretcher it
Between patient is transported through, including：Integral support 10, transhipment and cover the cover plate 20 on the top of integral support 10 at module, referring to figure
4, integral support 10 includes multiple horizontal side plates 11 and is connected to two longitudinal side plates 12 at the two ends of horizontal side plate 11, adjacent transverse side
A transhipment module is respectively provided between plate 11, transporting module includes that the human body transhipment unit on upper strata and the machine of lower floor move single
Unit, with reference to Fig. 2 and Fig. 5, human body transhipment unit includes：The first motor 30 and the first motor 30 being fixed on horizontal side plate 11
Coaxially connected driving gear 31, it is fixed on the idle wheel 32 engaged with driving gear 31 on the first motor 30 and engages with idle wheel 32
Driven gear 33 and the coaxially connected drive roll 41 of driven gear 33, be arranged on the idler roller 34 on the right side of drive roll 41, arrange
The first reversing roller 35 in the left side of drive roll 41, it is separately positioned on the two second of the right side of idler roller 34 and the left side of the first reversing roller 35
Reversing roller 36, the 3rd reversing roller 37 and upper strata transmission belt 38 that are arranged on the two ends of integral support 10 or so.Idler roller 34, first
Reversing roller 35, the second reversing roller 36 and the 3rd reversing roller 37 are erected on two adjacent cross side plates 11；Referring to Fig. 5, upper strata passes
It is dynamic with 38 from the lower section of drive roll 41 after, respectively the top from the reversing roller 35 of idler roller 34 and first bypasses, sequentially from two
After, the lower section from the 3rd reversing roller 37 is affixed around top with the upper surface of cover plate 20 for the top of the second reversing roller 36
Close；With reference to Fig. 2, Fig. 8, Fig. 9 and Figure 10, machine mobile unit includes：Base support 50, second be fixed on base support 50
The coaxially connected lower floor's active belt roller 52 of the motor 51 of motor 51 and second, two lower floors for being arranged on the both sides of lower floor's active belt roller 52
Tension band roller 53, the multiple lower floor's driven belt rollers 54 and Timing Belt 55 that are arranged on the outside of two lower floor tension band roller 53, lower floor is actively
Band roller 52, lower floor tension band roller 53 and lower floor driven belt roller 54 are serrated roller and are erected on base support 50, Timing Belt 55
Top from lower floor's active belt roller 52 after, around the lower section of two lower floor tension band rollers 53, sequentially from each lower floor's driven belt roller
54 tops bypass, and finally the top from the Liang Ge lower floors driven belts roller 54 at left and right two ends is around lower section, by under Timing Belt 55
Layer drives the movement of nursing care of transportation robot with the friction of bed surface or stretcher.
To ensure that nursing care of transportation robot has in the process of walking certain obstacle climbing ability, the lower floor at left and right two ends is driven
With the 1～3cm higher than the level height of adjacent lower driven belt roller 54 of roller 54.
In the present embodiment, referring to Fig. 8 and Fig. 9, the left side of lower floor's active belt roller 52 has 7 lower floor driven belt rollers 54, right side
With Liang Ge lower floors driven belts roller 54, in order that transmission belt bypass after lower floor tension band roller 53 can preferably with lower floor's driven belt
Roller 54 is fitted, and first, left side lower floor's driven belt roller 54 is higher than adjacent lower driven belt roller 54.
In the present embodiment, referring to Fig. 2 and Fig. 8, base support 50 includes two crossbeams 501 being parallel to each other, multiple connections
Longeron 502 between crossbeam 501 and the hanger 503 being arranged on crossbeam 501, lower floor driven belt roller 54 is arranged on each longeron
In 502 spaces for being formed, and two ends are erected on two crossbeams 501, and a connecting rod 60 passes through hanger 503 and horizontal side plate 11 by upper strata
Human body transhipment unit and the machine mobile unit of lower floor link together.
Referring to Fig. 7, the two ends of the reversing roller 35 of drive roll 41 and first are supported on horizontal side plate 11 by support block 39,
Laterally there is strip chute 111, the top of chute 111 is axis hole 112, and support block 39 has U-shaped opening 391 on side plate 11,
During installation, first support block 39 is put into into axis hole 112, makes U-shaped opening 391 just to chute 111, then drive roll 41 or first is commutated
Roller 35 slides into axis hole 112 from chute 111, and then support block 39 rotates to an angle to limit the commutation of drive roll 41 or first
The spindle nose movement of roller 35.
Referring to Fig. 6, nursing care of transportation robot also includes tensioner 40, and tensioner 40 includes L-shaped push rod 401, pressing plate
402 and adjusting screw 403, there is the tipper 113 for tilting upward on horizontal side plate 11, pressing plate 402 is fixed on horizontal side plate
On 11, the installation side of L-shaped push rod 401 is located in tipper 113, has screwed hole on the regulation side of L-shaped push rod 401, adjusts spiral shell
Nail 403 is through screwed hole and withstands on pressing plate 402, and the end on the installation side of L-shaped push rod 401 has for installing idler roller 34
The U-shaped mounting groove of spindle nose, change adjusting screw 403 screw in screw thread length, while moving left and right idler roller 34 on move down
It is dynamic, it is tensioned upper strata transmission belt 38.
In the present embodiment, upper strata transmission belt 38 is PVC flat rubber beltings, and Timing Belt 55 is arc tooth synchronous belt 55.
In the present embodiment, transhipment module is four.
Referring to Figure 10, machine mobile unit also includes bearing gland 57, and lower floor's active belt roller 52 is by bearings the bottom of at
Between seat support 50 and bearing gland 57, bearing gland 57 passes through fixed between bolt and base, has two on bearing gland 57
Screwed hole, the vertical elongated slot 5011 on crossbeam 501 with the axle for being used for installing lower floor tension band roller 53 a, puller bolt 61 is passed through
Screwed hole on bearing gland 57 is simultaneously withstood on the axle of lower floor tension band roller 53, and Timing Belt 55 is tensioned.
Referring to Fig. 1 and Fig. 2, human body transhipment unit also includes corner bracket, and 37 points of each the 3rd reversing roller is three sections, and corner bracket is fixed
On longitudinal side plate 12, each section of the 3rd reversing roller 37 is supported by corner bracket 42.
Specifically, by taking transhipment of the patient 56 from left side to right side as an example, the transhipment of the two-way nursing care of transportation robot
Journey can be divided into three phases：
(1) the lifting human body stage, as shown in figure 11, Timing Belt 55 of the machine mobile unit of lower floor is counterclockwise during this
Rotation, the upper strata transmission belt 38 of the human body transhipment unit on upper strata turns clockwise, and machine mobile unit is moved and causes whole equipment
Close to human body, human body transports unit motion and patient 56 is raised to into equipment with the frictional force of body surface by upper strata transhipment band
Upper surface.
(2) manned walking phase, as shown in figure 12, upper strata transmission belt 38 of human body transhipment unit does not rotate during this,
The Timing Belt 55 of the machine mobile unit of lower floor turns clockwise, and makes whole equipment walk towards right side.
(3) place the human body stage, as shown in figure 13, the rotate counterclockwise of Timing Belt 55 of machine mobile unit during this,
The upper strata transmission belt 38 of human body transhipment unit turns clockwise, and human body is positioned on bed surface, and whole equipment is walked to the left, is taken off
From human body.
The above-mentioned desirable embodiment according to the present invention is enlightenment, and by above-mentioned description, relevant staff is complete
Various change and modification can be carried out in the range of without departing from this invention technological thought.This invention it is technical
Scope is not limited to the content in description, it is necessary to its technical scope is determined according to right.
Claims (10)
1. a kind of two-way nursing care of transportation robot, for being transported through to patient between sick bed and between sick bed and stretcher,
Characterized in that, the nursing care of transportation robot includes：Integral support (10), transhipment and are covered on integral support (10) top module
Cover plate (20), the integral support (10) including multiple horizontal side plates (11) and be connected to horizontal side plate (11) two ends two indulge
To side plate (12), a transhipment module is respectively provided between adjacent transverse side plate (11), the transhipment module includes the human body on upper strata
Transhipment unit and the machine mobile unit of lower floor, the human body transhipment unit includes：First be fixed on horizontal side plate (11)
The coaxially connected driving gear (31) of motor (30) and first motor (30), be fixed on the first motor (30) with it is described
Driven gear (33) and the driven gear that the idle wheel (32) of driving gear (31) engagement is engaged with the idle wheel (32)
(33) coaxially connected drive roll (41), be arranged on the right side of drive roll (41) idler roller (34), to be arranged on drive roll (41) left
First reversing roller (35) of side, be separately positioned on idler roller (34) right side and the first reversing roller (35) on the left of two second reversing rollers
(36) the 3rd reversing roller (37) and upper strata transmission belt (38) at integral support (10) left and right two ends, the idler roller, are arranged on
(34), the first reversing roller (35), the second reversing roller (36) and the 3rd reversing roller (37) are erected at two adjacent cross side plates (11)
On；The upper strata transmission belt (38) from the lower section of drive roll (41) after, respectively from idler roller (34) and the first reversing roller
(35) bypass above, sequentially the top from two second reversing rollers (36) after, from the lower section of the 3rd reversing roller (37) around
Top, and fit with the upper surface of cover plate (20)；The machine mobile unit includes：Base support (50), it is fixed on base
The coaxially connected lower floor's active belt roller (52) of the second motor (51) and second motor (51) on support (50), it is arranged on
Two lower floors' tension band roller (53) of lower floor's active belt roller (52) both sides, be arranged on the outside of two lower floors' tension band roller (53) it is multiple under
Layer driven belt roller (54) and Timing Belt (55), lower floor's active belt roller (52), lower floor's tension band roller (53) and lower floor's driven belt
Roller (54) is serrated roller and is erected on base support (50), top of the Timing Belt (55) from lower floor's active belt roller (52)
After, around the lower section of two lower floors' tension band roller (53), sequentially bypass from each lower floor's driven belt roller (54) top, finally from a left side
The top of Liang Ge lower floors driven belt roller (54) at right two ends is around lower section, the lower floor and bed surface or stretcher by Timing Belt (55)
Friction drive the movement of nursing care of transportation robot.
2. two-way nursing care of transportation robot according to claim 1, it is characterised in that lower floor's driven belt roller at left and right two ends
(54) 1～3cm higher than the level height of adjacent lower driven belt roller (54).
3. two-way nursing care of transportation robot according to claim 2, it is characterised in that lower floor's active belt roller (52) is left
Side has 7 lower floors's driven belt roller (54), and right side has Liang Ge lower floors driven belt roller (54), and first, left side lower floor's driven belt
Roller (54) is higher than adjacent lower driven belt roller (54).
4. the two-way nursing care of transportation robot according to any one of claim 1-3, it is characterised in that the base support
(50) including two crossbeams being parallel to each other (501), multiple longerons (502) being connected between crossbeam (501) and it is arranged on horizontal stroke
Hanger (503) on beam (501), lower floor's driven belt roller (54) is arranged in the space of each longeron (502) formation, and two ends
It is erected on two crossbeams (501), the human body on upper strata is transported unit by a connecting rod (60) through hanger (503) and horizontal side plate (11)
Link together with the machine mobile unit of lower floor.
5. two-way nursing care of transportation robot according to claim 1, it is characterised in that the drive roll (41) and first is changed
It is supported on horizontal side plate (11) by support block (39) to the two ends of roller (35), there is strip on the horizontal side plate (11)
Shape chute (111), the top of chute (111) is axis hole (112), the support block (39) with U-shaped opening (391), during installation,
First support block (39) is put into into axis hole (112), makes U-shaped opening (391) just to chute (111), then by drive roll (41) or first
Reversing roller (35) slides into axis hole (112) from chute (111), then support block (39) rotates to an angle to limit drive roll
(41) or the first reversing roller (35) spindle nose movement.
6. two-way nursing care of transportation robot according to claim 1, it is characterised in that the nursing care of transportation robot is also wrapped
Tensioner (40) is included, the tensioner (40) includes L-shaped push rod (401), pressing plate (402) and adjusting screw (403), institute
State and there is the tipper (113) for tilting upward on horizontal side plate (11), the pressing plate (402) is fixed on horizontal side plate (11),
The installation side of the L-shaped push rod (401) is located in tipper (113), has screwed hole on the regulation side of L-shaped push rod (401), is adjusted
Section screw (403) through screwed hole and is withstood on pressing plate (402), and the end on the installation side of the L-shaped push rod (401) has and is used for
The U-shaped mounting groove of the spindle nose of idler roller (34) is installed, changes the length that adjusting screw (403) screws in screw thread, make idler roller (34)
Move up and down while moving left and right, tensioning upper strata transmission belt (38).
7. two-way nursing care of transportation robot according to claim 1, it is characterised in that the upper strata transmission belt (38) is
PVC flat rubber beltings, the Timing Belt (55) is arc tooth synchronous belt (55).
8. two-way nursing care of transportation robot according to claim 1, it is characterised in that the transhipment module is four.
9. two-way nursing care of transportation robot according to claim 1, it is characterised in that the machine mobile unit also includes
Bearing gland (57), lower floor's active belt roller (52) by bearings base support (50) and bearing gland (57) it
Between, bearing gland (57) has two screwed holes, the crossbeam by fixed between bolt and base on the bearing gland (57)
(501) there is the vertical elongated slot (5011) of the axle for being used for installing lower floor's tension band roller (53), a puller bolt (61) is through axle on
Screwed hole on pressure cap (57) is simultaneously withstood on the axle of lower floor's tension band roller (53), by Timing Belt (55) tensioning.
10. two-way nursing care of transportation robot according to claim 1, it is characterised in that the human body transhipment unit is also wrapped
Corner bracket (42) is included, each described 3rd reversing roller (37) is divided into three sections, and the corner bracket (42) is fixed on longitudinal side plate (12), the
Each section of three reversing rollers (37) is supported by corner bracket (42).
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| CN201611218398.1A CN106580602B (en) | 2016-12-26 | 2016-12-26 | Two-way nursing care of transportation robot |
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| CN201611218398.1A CN106580602B (en) | 2016-12-26 | 2016-12-26 | Two-way nursing care of transportation robot |
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| CN106580602B CN106580602B (en) | 2018-12-04 |
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| CN108324468A (en) * | 2018-03-16 | 2018-07-27 | 杨显斌 | Human body original position appearance submarine switching vehicle |
| CN108381567A (en) * | 2018-05-17 | 2018-08-10 | 南京信息职业技术学院 | A kind of service robot of transportation of patients |
| CN112006852A (en) * | 2020-08-31 | 2020-12-01 | 浙江佑欣智能医疗科技有限公司 | Transfer vehicle capable of bidirectionally transferring patients |
| CN112021971A (en) * | 2020-08-28 | 2020-12-04 | 燕山大学 | Movable auxiliary bathing device and operation method thereof |
| CN113274221A (en) * | 2021-05-18 | 2021-08-20 | 河南科技大学第一附属医院 | ICU nursing device for transferring patient |
| US11628111B1 (en) * | 2022-03-30 | 2023-04-18 | Able Innovations Inc. | Transfer device with platform plate having two-sided functionality |
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| US11628111B1 (en) * | 2022-03-30 | 2023-04-18 | Able Innovations Inc. | Transfer device with platform plate having two-sided functionality |
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|---|---|
| CN106580602B (en) | 2018-12-04 |
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Effective date of registration: 20190918 Address after: 315400 No. 175 Anshan Road, Chengdong New District, Yuyao Economic Development Zone, Ningbo City, Zhejiang Province Patentee after: Zhejiang Yu Yu intelligent robot Co., Ltd. Address before: Hebei Street West Harbor area, 066004 Hebei city of Qinhuangdao province No. 438 Patentee before: Yanshan University |