CN107496082A - A kind of multifunctional medical auxiliary displacement robot - Google Patents
A kind of multifunctional medical auxiliary displacement robot Download PDFInfo
- Publication number
- CN107496082A CN107496082A CN201710840005.9A CN201710840005A CN107496082A CN 107496082 A CN107496082 A CN 107496082A CN 201710840005 A CN201710840005 A CN 201710840005A CN 107496082 A CN107496082 A CN 107496082A
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- CN
- China
- Prior art keywords
- shift
- module
- displacement
- flexible
- link
- 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
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Classifications
-
- 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
- A61G1/00—Stretchers
- A61G1/02—Stretchers with wheels
- A61G1/0287—Stretchers with wheels having brakes, e.g. slowing down and/or holding
-
- 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
- A61G1/00—Stretchers
- A61G1/04—Parts, details or accessories, e.g. head-, foot-, or like rests specially adapted for stretchers
-
- 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
- A61G7/1001—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto specially adapted for specific applications
-
- 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
- A61G7/1013—Lifting of patients by
-
- 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
- A61G7/1073—Parts, details or accessories
-
- 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
- A61G2200/00—Information related to the kind of patient or his position
- A61G2200/10—Type of patient
- A61G2200/20—Type of patient with asymmetric abilities, e.g. hemiplegic or missing a limb
-
- 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
- A61G2203/00—General characteristics of devices
- A61G2203/70—General characteristics of devices with special adaptations, e.g. for safety or comfort
Abstract
The invention discloses a kind of multifunctional medical to aid in displacement robot, including flexible shift mechanism, shift folding mechanism, elevating mechanism, the major part of body chassis four.Telescopic displacement mechanism is made up of three modules that structure is identical, size is different, respectively backboard shift module, seat shift module, sole shift module, and each module is made up of external frame, transmission telescopic component, and main function is to complete the displacement using object.Shift folding mechanism is combined by a set of regular toggle and connecting rod fixed frame, and the effect of the part can effectively realize the folding of the flexible shift mechanism in top, and different poses is kept using object.Elevating mechanism can effectively realize overall vertical shift.Body chassis is adjustable to use center of gravity of the object in different positions and pose, to reach the purpose of balance.The present invention can realize flexible displacement, pose conversion, integral elevating, function of regulating center of gravity, possess the features such as complete function, integrated level are high, practical.
Description
Technical field
The present invention relates to sufferer medical treatment, endowment to help the disabled field, it is especially suitable then for hospital's preoperative and postoperative be badly in need of transfer,
Old, handicapped, paralysis and the crowd of semiparalysis.
Background technology
The species of medical treatment auxiliary displacement robot has a variety of at present, it is intended to is badly in need of transfer, old body for hospital's preoperative and postoperative
The crowd of weak, handicapped, paralysis and semiparalysis provides position transfer, posture changing function, enables transferee more effective
Land productivity carries out urgent transfer and daily displacement with the time.The appearance of all kinds of medical treatment auxiliary displacement robots is hospital, home for destitute
Etc. occasion, respectively provided great convenience using the life of crowd, aided in displacement robot system configuration for medical treatment in recent years
Optimization and improvement have very big achievement, efficiency improves a lot, function also more horn of plenty, not only increases hospital, endowment
Institute's transfer is also improved the self care ability for the person of being shifted, is enhanced their self-confidence, dropped simultaneously using the efficiency of crowd
The low risk of artificial displacement.
At present, Japan is faced with increasingly severe Aging Problem.In great number of issues, certain company is the auxiliary of old man
Displacement provides a brand-new solution, while it can also turn into the good assistant in hospital.It is reported that the said firm have developed one
Money assists displacement robot, and it can easily realize the displacement using object, but shift range is smaller.Domestic certain company exploitation
And the electrically-operated shifting machine designed, it can effectively realize the displacement of bed patient.But premise must nurse manually to being used object
Pad mat, will be repeatedly during this upset using object body, then the corner of mat is suspended on electrically-operated shifting machine again,
Process is cumbersome.In shifting process mat back and forth rock the comfortableness for also reducing machine.In addition, by China University of Geosciences's machinery
The medical electric rotating fortune bed of system's professor's design solves hospital to immotile patient from first-aid centre to each to a certain extent
Section office are checked and operating room " must be hugged, lifted, embrace, frame " etc. and cause the mode that repeatedly injures to patient, while also mitigate medical care
The labor intensity of personnel, but the easy fold of sheet on the displacement conveyer belt, Consumer's Experience are ineffective.Publication No.
CN101653396A robot for transferring and transporting patients can be realized between operation table, sick bed or inspection equipment to the sick and wounded
Machinery transhipment, apply external force without nursing staff or family members, the transport robot can realize simple transhipment, can not be hindered
Member's posture changing.
The present invention integrates flexible shift function, pose mapping function, elevating function, function of regulating center of gravity, certain
Hospital, home for destitute transfer are not only increased in degree using the efficiency of object, is more provided using the life of crowd very big
It is convenient.
The content of the invention
In order to solve the problems, such as that key function is integrated, the medical treatment auxiliary displacement machine for integrating all critical functions is realized
People, integrate flexible shift function, pose mapping function, elevating function, function of regulating center of gravity the invention provides a kind of
Medical treatment auxiliary displacement robot.Wherein telescopic displacement mechanism main function is to complete the displacement using object.Shift folding mechanism
The folding of the flexible shift mechanism in top can be effectively realized, different poses is kept using object.Elevating mechanism can be realized effectively
Overall vertical shift.Body chassis is adjustable to use center of gravity of the object in different positions and pose, to reach the purpose of balance.
The technical solution adopted for the present invention to solve the technical problems is：A kind of multifunctional medical auxiliary displacement robot,
It is most of including flexible shift mechanism, shift folding mechanism, elevating mechanism, body chassis four.Flexible shift mechanism is by three knots
The module composition that structure is identical, size is different, respectively backboard shift module, seat shift module, sole shift module, Mei Gemo
Block is made up of external frame, flexible transfer assembly, telescopic drive electric machine assembly, transmission motor component.Flexible transfer assembly
It is slidably mounted on the inside of external frame, is driven by telescopic drive electric machine assembly, the part can be relative to outer with certain
Portion's framework does relative motion, and realizes the stretching motion of the part.By transmitting the driving of motor component, stretch transfer assembly
Translatory movement can be carried out, according to the difference in translatory movement direction, completes the placement and reception of the person of being shifted.Shift folding mechanism by
A set of seven-link assembly mechanism, link supports frame, connecting rod motor component composition.Whole shift folding mechanism is arranged on flexible displacement
Both sides below module, wherein plate link, thick link, shank link are separately mounted to the backboard displacement mould of flexible shift mechanism
Block, seat shift module, sole shift module downside.Crank is driven by connecting rod motor so that plate link, thigh connect
Diverse location relation is presented in bar, shank link, so as to realize that the pose of each flexible shift module is changed.When crank and its be hinged company
When bar is conllinear, rear panel module, seat module, sole module in shift folding module are in collinear relationship or respective angles pole
Extreme position relation, so that displacement robot is presented and lain low and limit sitting posture position.Elevating mechanism is arranged on shift folding mechanism
Inner side, avoids increasing the height of integrated model, while can complete effective lifting of mechanism, to adapt to different occasion different heights
Bed body, so as to complete human body displacement.Body chassis is stretched module, carrier frame, chassis telescope motor component, universal wheel by chassis
Composition, whole body chassis are arranged on below elevating mechanism.In shifting process, the stretching motion back and forth of telescopic displacement module can be led
The center of gravity of whole machine is caused to change, now telescope motor Component driver in chassis stretches block motion to complete whole machine
Gravity balance.
The invention has the advantages that rationally and effectively collect flexible shift function, pose mapping function, elevating function, again
Heart regulatory function is in one.Flexible shift module to use effective displacement between object implementatio8 diverse location.Shift folding
Module can be according to the different demands using object, the pose adjustment being optimal, flexibly and easily.Elevating function causes whole mechanism
The human body displacement between different occasion different height bed bodies is adapted to, materially increases its application scenario.Chassis
Mechanism can realize gravity balance of the whole machine in shifting process, ensure machine even running.This invention is auxiliary to improve medical treatment
All key functions of displacement robot are helped to provide a set of effective and feasible scheme.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is general structure schematic diagram of the present invention；
Fig. 2 is right flank structural representation of the present invention；
Fig. 3 stretches out displacement structure schematic diagram for the present invention；
The bottom of 5. castor of flexible shift mechanism 2. linkage, 3. elevating mechanism, the 4. strap brake castor of 1. transmission 6. in figure
Disc mechanism 7. overturns the elevating mechanism of 10. connecting rod fixed frame of handrail one 8. external frame, 9. telescopic drive electric machine assembly 11.
The thick link 16. of the chassis of 12. chassis telescope motor component of drive component 13. 14. shank link of flexible module 15. is overturn
The backboard displacement of 20. seat shift module of the plate link 18. of handrail 2 17. upset 3 19. sole shift module of handrail 21.
The crank of module 22..
Embodiment
Below in conjunction with the accompanying drawings and embodiment the invention will be further described：
Structure, ratio, size, quantity etc. depicted in this specification institute accompanying drawings, only coordinating specification to be taken off
The content shown, so that those skilled in the art understands and reads, the enforceable qualifications of the present invention are not limited to, therefore
Do not have technical essential meaning, the modification of any structure, the change of proportionate relationship or the adjustment of size, do not influenceing the present invention
Under the effect of can be generated and the purpose that can reach, it all should still fall and obtain the model that can cover in disclosed technology contents
In enclosing.Meanwhile cited such as " on ", " under ", "left", "right", " centre " term in this specification, it is merely convenient to describe
Understand, and be not used to limit the enforceable scope of the present invention, its relativeness is altered or modified, and technology is being changed without essence
Inside hold, when being also considered as the enforceable category of the present invention.
【Embodiment】
A kind of multifunctional medical auxiliary displacement robot includes the flexible shift mechanism 1 of transmission, linkage 2, elevating mechanism
3, strap brake castor 4, castor 5, body chassis 6, handrail 1 is overturn, external frame 8, telescopic drive electric machine assembly 9, connecting rod is solid
Determine framework 10, elevating mechanism drive component 11, chassis telescope motor component 12, chassis stretches module 13, shank link 14, thigh
Connecting rod 15, handrail 2 16 is overturn, plate link 17, overturns handrail 3 18, sole shift module 19, seat shift module 20, the back of the body
Plate shift module 21, crank 22 form.The flexible shift mechanism 1 of transmission includes sole shift module 19, seat shift module 20, the back of the body
Plate shift module 21, handrail 1 is overturn, overturn handrail 2 16, overturn handrail 3 18, external frame 8, telescopic drive electric machine assembly
9.The motion of flexible shift mechanism is same by sole shift module 19, seat shift module 20,21 3 modules of backboard shift module
Step displacement is realized.By taking backboard motion module as an example, by external frame 8, telescopic drive electric machine assembly 9,21 groups of backboard shift module
Into upset handrail 1 downwardly turns over before moving, and telescopic drive electric machine assembly 9 drives backboard shift module 21 relative to external frame
Frame 8 moves along a straight line, and completes the expanding-contracting action of backboard shift module 21, is moved when backboard shift module 21 stretches out to place or receive
During the person of position, the transmission motor Component driver backboard shift module 21 internal installed in it carries out translatory movement, completes to be moved
The placement or reception of position person.Linkage 2 (shift folding mechanism) is connected by connecting rod fixed frame 10, shank link 14, thigh
Bar 15, plate link 17, the grade of crank 22 connecting rod composition, driven by connecting rod electric machine assembly, crank 22 and adjacent links place are straight
Line is into different angle, therefore shank link 14, thick link 15, can be showed between plate link 17 by lying low to sitting posture pole
The different angle of extreme position, when crank 22 is conllinear with adjacent links, shank link 14, thick link 15, plate link 17 is in
The angle that lies low (i.e. conllinear) or the comfortable angle of the sitting posture limit.Elevating mechanism 3 is driven achievable by elevating mechanism drive component 11
The whole lifting for transmitting flexible shift mechanism 1 and linkage 2, so that medical treatment auxiliary displacement robot can be suitably used for different occasions
The bed of different height, efficiently accomplish human body displacement.Body chassis 6 is by strap brake castor 4, castor 5, chassis telescope motor component
12, the flexible module 13 in chassis is formed, and is driven by chassis telescope motor component 12, and the flexible module 13 in chassis is done relative to carrier frame
Linear telescopic moves, within gravity center shift of the adjustment medical treatment auxiliary displacement robot in shifting process to safety value.
In the present embodiment, above-mentioned telescopic drive electric machine assembly 9 drives backboard shift module 21 to be done directly relative to external frame 8
Line moves, and completes the expanding-contracting action of backboard shift module 21, and specific stretching structure herein does not limit.
In the present embodiment, aforementioned link mechanism 2 (shift folding mechanism) is by connecting rod fixed frame 10, shank link 14, greatly
Leg connecting rod 15, plate link 17, the grade of crank 22 connecting rod composition, the connecting rod number that linkage is included herein do not limit.
In the present embodiment, above-mentioned elevating mechanism 3 is driven by elevating mechanism drive component 11 can be achieved the flexible shifting of whole transmission
Position mechanism 1 and linkage 2 lifting, herein elevating mechanism can use lifting column, screw mandrel scissors mechanism or push rod scissor machine
Structure, specific executive mode do not limit.
In the present embodiment, the flexible module 13 in above-mentioned chassis is driven by chassis telescope motor component 12, relative to chassis frame
Frame does linear telescopic motion, and the specifically flexible executive mode of the flexible module in chassis does not limit herein.
In the present embodiment, above-mentioned integrally-built each several part plate size can be set according to the ergonomics of different crowd
Meter, is not specifically limited herein.
Claims (6)
1. a kind of multifunctional medical auxiliary displacement robot, including flexible shift mechanism, shift folding mechanism, elevating mechanism, bottom
Disc mechanism four is most of.Telescopic displacement mechanism is made up of three modules that structure is identical, size is different, respectively backboard displacement mould
Block, seat shift module, sole shift module, each module are made up of under(-)chassis, telescopic component, transfer assembly, main to make
Be complete using object displacement.Shift folding mechanism is by a set of regular toggle and connecting rod fixed frame
Combine, the effect of the part can effectively realize the folding of the flexible shift mechanism in top, and different positions is kept using object
Appearance.Elevating mechanism can effectively realize overall vertical shift.Body chassis is adjustable to use center of gravity of the object in different positions and pose,
To reach the purpose of whole robot gravity balance.
2. medical treatment auxiliary displacement robot according to claim 1, it is characterised in that above-mentioned flexible shift mechanism part leads to
Rear panel module, seat module, the synchronization telescope of sole module can be realized by crossing the slide block guide rail of bottom gears transmission and both sides, to turn
The shifting person of being shifted.
3. medical treatment auxiliary displacement robot according to claim 1, it is characterised in that in above-mentioned flexible shift mechanism part
The support of each module both sides will meet that guide rail is installed in side simultaneously, bottom installation rack, coordinate corresponding construction, can realize individually
The steady stretching motion of module.
4. medical treatment auxiliary displacement robot according to claim 1, it is characterised in that in above-mentioned flexible shift mechanism part
Backboard shift module, seat shift module, sole shift module to be separately mounted to corresponding plate link, thick link,
In leg link, so that the motor function of connecting rod can be embodied.
5. medical treatment auxiliary displacement robot according to claim 1, it is characterised in that in above-mentioned shift folding mechanism section
The difference that link assembly adjusts crank position by electric machine assembly can realize plate link, thick link, shank link difference position
Combination is put, to realize effective conversion between the person's of being shifted different positions and pose.
6. medical treatment auxiliary displacement robot according to claim 1, it is characterised in that above-mentioned flexible shift mechanism part exists
In shifting process, the flexible module in chassis does linear telescopic motion relative to carrier frame, with adjustment medical treatment auxiliary displacement robot
Gravity center shift in shifting process is within safety value.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710840005.9A CN107496082A (en) | 2017-09-18 | 2017-09-18 | A kind of multifunctional medical auxiliary displacement robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710840005.9A CN107496082A (en) | 2017-09-18 | 2017-09-18 | A kind of multifunctional medical auxiliary displacement robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107496082A true CN107496082A (en) | 2017-12-22 |
Family
ID=60697627
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710840005.9A Pending CN107496082A (en) | 2017-09-18 | 2017-09-18 | A kind of multifunctional medical auxiliary displacement robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107496082A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109938936A (en) * | 2019-04-15 | 2019-06-28 | 嘉兴铸工智能设备有限公司 | A kind of Medical mobile stretcher and its application method |
| CN116459086A (en) * | 2023-04-17 | 2023-07-21 | 上海理工大学 | Multifunctional wheelchair robot capable of achieving annular transfer |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3786523A (en) * | 1970-11-18 | 1974-01-22 | G Sele | Medical appliance |
| EP0406178A2 (en) * | 1989-06-28 | 1991-01-02 | ERGOTECH S.r.L. | A wheeled stretcher for the easy transfer of patients from bed to stretcher and vice versa |
| JPH06285121A (en) * | 1993-03-31 | 1994-10-11 | Yaesu Keikougiyou Kk | Patient transferring device |
| CN1247170C (en) * | 2000-04-17 | 2006-03-29 | 村田机械株式会社 | Multi-functional bed |
| CN104736119A (en) * | 2013-09-17 | 2015-06-24 | 松下知识产权经营株式会社 | Wheelchair and combination bed |
| CN107157681A (en) * | 2017-05-08 | 2017-09-15 | 金陵科技学院 | A kind of bending transfer bed to mobile patient |
-
2017
- 2017-09-18 CN CN201710840005.9A patent/CN107496082A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3786523A (en) * | 1970-11-18 | 1974-01-22 | G Sele | Medical appliance |
| EP0406178A2 (en) * | 1989-06-28 | 1991-01-02 | ERGOTECH S.r.L. | A wheeled stretcher for the easy transfer of patients from bed to stretcher and vice versa |
| JPH06285121A (en) * | 1993-03-31 | 1994-10-11 | Yaesu Keikougiyou Kk | Patient transferring device |
| CN1247170C (en) * | 2000-04-17 | 2006-03-29 | 村田机械株式会社 | Multi-functional bed |
| CN104736119A (en) * | 2013-09-17 | 2015-06-24 | 松下知识产权经营株式会社 | Wheelchair and combination bed |
| CN107157681A (en) * | 2017-05-08 | 2017-09-15 | 金陵科技学院 | A kind of bending transfer bed to mobile patient |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109938936A (en) * | 2019-04-15 | 2019-06-28 | 嘉兴铸工智能设备有限公司 | A kind of Medical mobile stretcher and its application method |
| CN116459086A (en) * | 2023-04-17 | 2023-07-21 | 上海理工大学 | Multifunctional wheelchair robot capable of achieving annular transfer |
| CN116459086B (en) * | 2023-04-17 | 2024-02-09 | 上海理工大学 | Multifunctional wheelchair robot capable of achieving annular transfer |
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Application publication date: 20171222 |
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