CN110251338A - Shift robot and its control equipment - Google Patents
Shift robot and its control equipment Download PDFInfo
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- CN110251338A CN110251338A CN201910588463.7A CN201910588463A CN110251338A CN 110251338 A CN110251338 A CN 110251338A CN 201910588463 A CN201910588463 A CN 201910588463A CN 110251338 A CN110251338 A CN 110251338A
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- Prior art keywords
- arm
- displacement
- displacement robot
- driving motor
- cushion
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- 238000006073 displacement reaction Methods 0.000 claims abstract description 66
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 25
- 210000003127 knee Anatomy 0.000 claims description 21
- 230000004888 barrier function Effects 0.000 claims description 11
- 238000005259 measurement Methods 0.000 claims description 10
- 230000000474 nursing effect Effects 0.000 abstract description 31
- 238000000034 method Methods 0.000 abstract description 12
- 238000010586 diagram Methods 0.000 description 4
- 210000003141 lower extremity Anatomy 0.000 description 4
- 238000001514 detection method Methods 0.000 description 3
- 210000002414 leg Anatomy 0.000 description 3
- 210000001217 buttock Anatomy 0.000 description 2
- 208000004350 Strabismus Diseases 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000008030 elimination Effects 0.000 description 1
- 238000003379 elimination reaction Methods 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- VIKNJXKGJWUCNN-XGXHKTLJSA-N norethisterone Chemical compound O=C1CC[C@@H]2[C@H]3CC[C@](C)([C@](CC4)(O)C#C)[C@@H]4[C@@H]3CCC2=C1 VIKNJXKGJWUCNN-XGXHKTLJSA-N 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 239000007779 soft material Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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
- 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
- A61G7/1017—Pivoting arms, e.g. crane type mechanisms
-
- 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
- A61G7/104—Devices carried or supported by
- A61G7/1046—Mobile bases, e.g. having wheels
-
- 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
-
- 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
- A61G7/1063—Safety means
- A61G7/1065—Safety means with electronic monitoring
-
- 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
- A61G7/1082—Rests specially adapted for
- A61G7/1096—Knee, upper or lower leg
Landscapes
- Health & Medical Sciences (AREA)
- Nursing (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Manipulator (AREA)
Abstract
This application provides a kind of displacement robot and its control equipment, are related to care appliances technical field.Displacement robot in the application can carry out paleocinetic personnel to inconvenience and shift, and the device structure is simple, and time is short, easy to operate, can be convenient and controlled by nursing staff's Self-operating or nursing staff.Main loading arm can drive mounting structures to rise or fall, and can be lain prone and be crouched in the support space that mounting structures are formed by nursing staff, be risen or fallen together with mounting structures.It shifts robot to carry out in shifting process to by nursing staff, does not need to apply external force support by nursing staff, also do not need to be alleviated the nursing difficulty in nursery work by itself leg power by care-giver.The displacement robot is compact-sized, can use in lesser space, improves by the nursing level of nursing staff.
Description
Technical field
This application involves care appliances technical fields, in particular to a kind of displacement robot and its control equipment.
Background technique
As the phenomenon that aging of population aggravates, situation also sternness increasingly is looked after in the endowment of old man, and certain old men are due to body
Body reason can not carry out autonomous, or carry out mobile more difficulty, need nursing staff that it is helped to move.Helping quilt
When nursing staff moves away from from original position, since its own is with constant weight, often there is nursing staff by manpower merely
It is difficult to the difficult situation for helping it to move, to cause to decline to by the nursing quality of nursing old man.Meanwhile nursing staff is helping
It helps by nursing staff's moving process, it is also possible to occur being difficult to expect dangerous situation.
Summary of the invention
In order at least overcome above-mentioned deficiency in the prior art, the first purpose of the application is to provide a kind of displacement machine
People and its control equipment.
Technical solution provided by the present application is as follows:
A kind of displacement robot, comprising: pedestal, main loading arm, mounting structures, the first driving motor, lifting arm and second
Driving motor, in which:
One end of the main loading arm is rotatably connected by first rotating shaft and the pedestal, and rolling is provided on the pedestal
Wheel；
First driving motor is fixed on the base, and the driving motor includes the first actuating arm, the driving
One end of arm is connected with the main loading arm, for driving the main loading arm to rotate around the first rotating shaft；
The mounting structures are connect with the other end of the main loading arm, and the mounting structures include bottom plate, are arranged in institute
The handle stating the side plate of bottom plate two sides and being connected with the bottom plate, the bottom plate is connected with side plate to be enclosed for support
The support space of trunk；
Described lifting arm one end is rotatably connected by the second shaft and the main loading arm, and the lifting arm other end is set
It is equipped with cushion；
Second driving motor is fixed on the main loading arm, and second driving motor includes the second actuating arm,
Second actuating arm is connected with the lifting arm, for driving the lifting arm to rotate around second shaft.
Further, displacement robot further include: knee bolster, described knee bolster one end and the main load-bearing
Arm is connected, and the gap for passing through for the lifting arm is provided on the knee bolster.
Further, the cushion includes two sub- cushions that the lifting arm two sides are arranged in, the sub- cushion and institute
Lifting arm rotation connection is stated, described two sub- cushions fix the cushion plane for being formed and being taken for human body after turning to same plane.
Further, which further includes the cushion driving motor for driving described two sub- cushion rotations.
Further, which further includes support rod, and described support rod one end and the lifting arm are rotatablely connected,
Other end one end after described two sub- cushions turn to same plane is used to fix the sub- cushion.
Further, displacement robot further include: be arranged on the handle, for detecting the electrocardio of grasping person's heart rate
Detection module.
Further, displacement robot further include: be arranged on the bottom plate, for shooting the camera shooting mould of surrounding image
Block.
Further, displacement robot further include: the displacement robot further include: distance on the base is set
Detecting module, the distance measurement module is for detecting the distance between the pedestal and barrier；
The displacement robot further include: for driving the third driving motor of the idler wheel rotation and being visited with the distance
Survey the processor that is connected of module, the processor be used to be less than at a distance from the pedestal is between the barrier it is default away from
From when, control the third driving motor and stop driving the roller motion.
Further, displacement robot further include: for the battery module for displacement robot power supply.
Present invention also provides a kind of control equipment for shifting robot, are applied to above-mentioned displacement robot, the control
Equipment is for controlling the first driving motor work or stopping.
Displacement robot in the embodiment of the present application can carry out paleocinetic personnel to inconvenience and shift, the equipment
Structure is simple, and time is short, easy to operate, can be convenient and is controlled by nursing staff's Self-operating or nursing staff.Main load-bearing
Arm can drive mounting structures to rise or fall, and can be lain prone and be crouched in the support space that mounting structures are formed by nursing staff, with holding
Holder structure rises or falls together.Displacement robot in nursing staff's shifting process, do not needed apply external force support quilt
Nursing staff does not need to be alleviated the nursing difficulty in nursery work by itself leg power by care-giver yet.The shifting machine
Device people is compact-sized, can use in lesser space, improves by the nursing level of nursing staff.
Detailed description of the invention
Technical solution in ord to more clearly illustrate embodiments of the present application, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only some embodiments of the application, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is a kind of structural schematic diagram for shifting robot provided by the embodiments of the present application.
Fig. 2 is a kind of another structural schematic diagram for shifting robot provided by the embodiments of the present application.
Fig. 3 is the structural schematic diagram that a kind of displacement robot provided by the embodiments of the present application is in support state.
Fig. 4 is a kind of strabismus schematic diagram for shifting robot provided by the embodiments of the present application.
Fig. 5 is structural representation of the lifting arm with cushion when undeployed in a kind of displacement robot provided by the embodiments of the present application
Figure.
Fig. 6 is lifting arm and the structural representation after cushion expansion in a kind of displacement robot provided by the embodiments of the present application
Figure.
Fig. 7 is that lifting arm shows with the side view structure after cushion expansion in a kind of displacement robot provided by the embodiments of the present application
It is intended to.
Icon: 100- shifts robot；101- pedestal；111- idler wheel；The main loading arm of 102-；103- mounting structures；131-
Handle；132- side plate；104- lifting arm；141- cushion；The sub- cushion of 142-；143- support rod；105- knee bolster；106-
Distance measurement module.
Specific embodiment
To keep the purposes, technical schemes and advantages of the embodiment of the present application clearer, below in conjunction with the embodiment of the present application
In attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is
Some embodiments of the present application, instead of all the embodiments.The application being usually described and illustrated herein in the accompanying drawings is implemented
The component of example can be arranged and be designed with a variety of different configurations.
Therefore, the detailed description of the embodiments herein provided in the accompanying drawings is not intended to limit below claimed
Scope of the present application, but be merely representative of the selected embodiment of the application.Based on the embodiment in the application, this field is common
Technical staff's every other embodiment obtained without making creative work belongs to the model of the application protection
It encloses.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.
In the description of the present application, it is also necessary to which explanation is unless specifically defined or limited otherwise, term " setting ",
" installation ", " connected ", " connection " shall be understood in a broad sense, for example, it may be fixedly connected, may be a detachable connection or one
Connect to body；It can be mechanical connection, be also possible to be electrically connected；It can be directly connected, it can also be indirect by intermediary
It is connected, can be the connection inside two elements.For the ordinary skill in the art, on being understood with concrete condition
State the concrete meaning of term in this application.
As shown in Figure 1, the embodiment of the present application provides a kind of displacement robot 100, comprising: pedestal 101, main loading arm
102, mounting structures 103, the first driving motor, lifting arm 104 and the second driving motor.
One end of the main loading arm 102 is rotatablely connected by first rotating shaft and the pedestal 101, on the pedestal 101
It is provided with idler wheel 111.Component of the pedestal 101 as support other structures, while in order to guarantee the stabilization during transhipment human body
Property, the counterweight of constant weight can be configured in pedestal 101, according to actual needs to reduce the center of gravity of single unit system, enhancing displacement
Stability in 100 motion process of robot.The position for the idler wheel 111 being arranged on pedestal 101 can determine according to actual needs,
Idler wheel 111 in direction of motion front end can choose universal wheel, and the idler wheel 111 in direction of motion rear end can be using solid
The one-way wheel of motion orientation.
The third driving motor that may be provided for driving idler wheel 111 in pedestal 101, can be with by third driving motor
Idler wheel 111 is driven to move, so that displacement robot 100 does not need external force promotion, it can be with autonomous travel.Main loading arm 102 and bottom
One end of 101 connection of seat be it is rotatable, while main loading arm 102 being rotated by the first driving motor, first
First actuating arm of driving motor can be rotated using the main loading arm 102 of support around first rotating shaft, and turn to certain angle
It is afterwards that main loading arm 102 is fixed, keep the opposite pedestal 101 of main loading arm 102 static.
The mounting structures 103 are connect with the other end of the main loading arm 102, and the mounting structures 103 include bottom
Plate, the side plate 132 that the bottom plate two sides are set and the handle 131 being connected with the bottom plate, the bottom plate and side plate 132
Connection is enclosed the support space of support trunk.
Main component of the mounting structures 103 as support human body, the distance between two side plates 132 can be according to support people
The size of body determines that handle 131 can be convenient the personnel being transferred and hold, and bottom plate and side plate 132 can be covered with thicker soft
Material improves comfort of the personnel by support when.When personnel are by 103 support of mounting structures, which can be held
Handle 131, while lying prone and crouching on bottom plate, by trunk support, the oxter of personnel can fix at the edge of side plate 132 bottom plate, prevent
Only slid from bottom plate.Personnel lie prone it is sleeping after, can control the first driving motor and main loading arm 102 driven to rotate, main loading arm
102 can be gradually increased with the angle of 101 place plane of pedestal, mounting structures 103 under the drive of main loading arm 102 also to
Direction far from pedestal 101 moves, and is promoted to drive by the human body of support.
Described 104 one end of lifting arm is rotatably connected by the second shaft with the main loading arm 102, the lifting arm
104 other ends are provided with cushion 141.
Second driving motor is fixed on the main loading arm 102, and second driving motor includes the second driving
Arm, second actuating arm are connected with the lifting arm 104, for driving the lifting arm 104 to turn around second shaft
It is dynamic.
Mounting structures 103 realize the support of trunk part, and lifting arm 104 can be used as the knot of support human buttock
Structure, lifting arm 104 being rotated by the second driving motor, the torso portion of human body is completed in mounting structures 103
Support and main loading arm 102 promote mounting structures 103 to after certain altitude, and the second driving motor can drive lifting arm
104 rotations, the cushion 141 that 104 one end of lifting arm is arranged are moved to the direction close to human buttock, and are moved in cushion 141
Keep constant with the relative position of main loading arm 102 to lifting arm 104 is driven when human contact, by the personnel of support
It is sitting on cushion 141.
In another embodiment, which further includes being arranged on the handle 131, for detecting
The ECG detecting module of grasping person's heart rate.It can be with the heart rate of real-time detection grasping person, to transport by ECG detecting module
In the process, the physical condition for the personnel that are transported is monitored.
In addition, the displacement robot 100 can also include being arranged on the bottom plate, for shooting the camera shooting of surrounding image
Module.The image that the personnel of being transported can be not only shot by photographing module, can also shoot the surrounding image in transport process,
Facilitate reservation transhipment evidence.
In another embodiment, as shown in Figure 2, Figure 3 and Figure 4, displacement robot 100 further include: knee protection
Pad 105, described 105 one end of knee bolster are connected with the main loading arm 102, are provided on the knee bolster 105
Gap for being passed through for the lifting arm 104.Main loading arm 102 is held after mounting structures 103 have been lifted certain altitude
The torso portion for the person of asking someone is sitting on the cushion 141 of lifting arm 104 by 103 support of mounting structures, while by support personnel, but by
The motion profile that mounting structures 103 are lifted in main loading arm 102 is not perpendicular to ground, the movement rail of mounting structures 103
Mark is one section of arc using first rotating shaft as the center of circle, so that faced to the ground by support personnel, and at this time if not to this
The knee of support personnel is fixed, which may slide from cushion 141.Knee bolster in the embodiment of the present application
105 can be soft neonychium, can be contradicted on knee bolster 105 by the knee of support personnel, knee bolster 105
Can be by applying active force to the personnel by the knee of support personnel, making will not be to close to ground by the body of support personnel
Direction sliding, allow by support personnel it is more stable be shifted 100 support of robot.
Lifting arm 104 can be accommodated in main load-bearing when not carrying out support to human body under the driving of the second driving motor
102 side of arm, after being provided with knee bolster 105, lifting arm 104 can be by the gap that opens up on knee bolster 105
Move to the position being in contact with by support human body.
The cushion 141 being arranged on lifting arm 104 can be taken for personnel, imitate to improve cushion 141 to the support of personnel
Fruit, the area for needing to configure cushion 141 is larger, keeps cushion 141 and the area of human contact larger, to realize effectively comfortable
Support.But if 141 area of cushion is larger, it is fixed on 104 one end of lifting arm, not only will affect the movement of lifting arm 104,
Simultaneously when lifting arm 104 is accommodated in main 102 side of loading arm, the biggish cushion 141 of area is not allowed easily contained yet.Therefore, exist
In another embodiment, as shown in Figures 5 to 7, cushion 141 may include being separately positioned on 104 two sides of lifting arm
Two sub- cushions 142, the sub- cushion 142 is rotatablely connected with the lifting arm 104, in order to rotate two sub- cushions 142
It can be fixed after to certain angle, as shown in Fig. 7, support rod 143 can also be set by sub- cushion 142 and 104 phase of lifting arm
It is fixed.Since sub- cushion 142 can be freely rotated around the shaft, two sub- cushions 142 can be turned in the case where not using
The position being parallel to each other is stored in upright state to the two sides of lifting arm 104, at this point it is possible to which the occupancy for reducing cushion 141 is empty
Between, easy of rise arm 104 is accommodated in the side of main loading arm 102.Lifting arm 104 by the second driving motor drive to held
Body ask someone when being in contact, expansion can be rotated in two sub- cushions 142 of receiving state, be changed into from the state being parallel to each other
In conplane state, after deployment, sub- cushion 142 and 104 phase of lifting arm is fixed using support rod 143, make two
Sub- cushion 142 is spliced to form the cushion 141 taken for human body, to provide the position that can be taken by support human body.In addition, two
Sub- cushion 142 can also realize that automatic open-close, cushion driving motor can be set in lifting arm by setting cushion driving motor
In 104, sub- cushion 142 can be driven to be unfolded or pack up under the control of control instruction.
In another embodiment, then as shown in Fig. 2, the displacement robot 100 further include: be arranged in the pedestal
Distance measurement module 106 on 101, for detecting the distance between the pedestal 101 and barrier.The displacement robot 100
It can also include third driving motor for driving the idler wheel 111 to rotate and for for the displacement robot 100 confession
The battery module of electricity.In addition, the displacement robot 100 can also include: the processing being connected with the distance measurement module 106
Device controls described the when the processor is used to be less than pre-determined distance at a distance from the pedestal 101 is between the barrier
Three driving motors stop that the idler wheel 111 is driven to move.
In order to improve the safety of displacement 100 transit staff of robot, the movement of displacement robot 100 can be by artificial
The mode of operation carries out, and the forward or backward of displacement robot 100 is controlled by the work of control third driving motor, and can
To pass through the direction of motion of the direction of motion control displacement robot 100 of control idler wheel 111.The integrated control of control panel can be passed through
Third driving motor processed and the function of controlling 111 direction of motion of idler wheel, facilitate staff to operate.Displacement robot 100 exists
After the completion of human body support, so that it may it is moved under the control of operator, it is specified to be transported to by support personnel
Position, during the motion, shifting in the moving line of robot 100 may can be close to barrier, if cannot advise in time
It keeps away, the personnel of being transported may be damaged.Distance measurement module 106 in the embodiment of the present application can use ultrasonic wave, milli
The distance between the detection medium detection of metric wave, laser or other forms and barrier.Processor is visited in distance measurement module 106
When measuring closer apart from barrier, can be stopped working by control third driving motor to control the movement of feeding robot, be protected
Demonstrate,prove the personnel safety in transfer process.
The operating process of shifting machine device people 100 is illustrated below.
The personnel for needing to be transported first can be sitting in or be stood in a certain position, and staff can operate displacement robot
100 close to the personnel, make the personnel towards displacement robot 100, and are in the handle 131 in mounting structures 103 far from people
The position of member, shifting robot 100 at this time can be in state shown in Fig. 2.Staff can be transported personnel according to waiting
Position operate main loading arm 102 and rotate, rise or fall mounting structures 103, guarantee the position of bottom plate and be transported personnel
Trunk position it is corresponding.After the position of mounting structures 103 is adjusted, it can control idler wheel 111 and be in the lock state, to keep away
During exempting from support, displacement robot 100 is slided.Meanwhile being transported personnel and can lie prone into support space sleeping, make trunk
Part is located in support space, while side plate 132 being made to be located at oxter close to the side of handle 131, and the both hands for being transported personnel can
To grip handle 131.Further, staff can operate the first driving motor and drive the main rotation of loading arm 102, make to hold
Holder structure 103 is lifted, and is transported personnel at this time and is followed 103 Synchronous lifting of mounting structures, lower limb can be gradually distance from sit originally or
The position of standing.When the personnel of being transported are raised to certain altitude, knee can be resisted against on knee bolster 105 and prevent
Lower limb sliding.
In order to avoid lifting arm 104 impacts above-mentioned operating process, lifting arm 104 during aforesaid operations all
It is accommodated in main 102 side of loading arm.After the personnel of being transported are lifted to certain altitude, lifting arm 104 can be controlled again
Rotation, the cushion 141 that 104 one end of lifting arm is arranged is between the both legs of human body and and human contact.It is adopted in cushion 141
When with the forms of two sub- cushions 142, two sub- openings of cushions 142 can be spliced into after lifting arm 104 and human contact
The bigger cushion 141 of area, the personnel of being transported can be sitting on cushion 141.At this point, being transported personnel's trunk in sleeping appearance of lying prone
Gesture is by 103 support of mounting structures, and by 105 support of cushion 141 and knee bolster, the both feet for being transported personnel can be put lower limb
It sets on pedestal 101.At this point, this, which is transported personnel, is just shifted the completion of 100 support of robot, shifting robot 100 at this time can
With in state shown in Fig. 3, staff can operate displacement robot 100 and move to point of transhipment.In transport process,
The personnel of being transported can detect heart rate by the heart rate sensor being arranged on handle 131, understand that staff in real time and be transported
The physical condition of personnel.Meanwhile in transport process, if displacement robot 100 and barrier are closer, processor
Idler wheel 111 can be controlled in time according to the range data that distance measurement sensor detects to stop operating, guarantee is transported personnel
Barrier will not be bumped to.
After displacement robot 100 runs to transhipment destination, so that it may put down the personnel of being transported, staff can be with
First operation cushion 141 recycles, and makes the storage of lifting arm 104 to main 102 side of loading arm.Meanwhile lean on the lower limb for being transported personnel
The position of sitting and lying closely is needed, then operates main loading arm 102 and moves, declines mounting structures 103, and can help to be transported people
Member sits on seat.Later, being transported personnel can stand up from mounting structures 103, and the weight of whole body is made to be transferred to seat
On.Staff can operate displacement robot 100 and withdraw, and complete the transhipment work of personnel.
In addition, being transported personnel for what both hands can be move freely, the shifting of robot 100 can be shifted with Self-operating
It is dynamic, it does not need other staff or nursing staff helps, realize autonomous displacement, realize that the displacement of personnel is taken care of oneself, elimination is protected
The psychological burden of reason person, without the concern for seeking help other people.
Present invention also provides a kind of control equipment for shifting robot, are applied to above-mentioned displacement robot, the control
Equipment is for controlling the first driving motor work or stopping.
In conclusion displacement robot 100 in the embodiment of the present application inconvenience can be carried out paleocinetic personnel into
Row displacement, the device structure is simple, and time is short, easy to operate, can be convenient by nursing staff's Self-operating or caregiver
Member's control.Main loading arm 102 can drive mounting structures 103 to rise or fall, and can be lain prone and be crouched in mounting structures by nursing staff
In the 103 support spaces formed, risen or fallen together with mounting structures 103.Displacement robot 100 is moved to by nursing staff
During position, external force support is not needed by nursing staff, does not need to alleviate nursery work by leg power by care-giver yet
In nursing difficulty.The displacement robot 100 is compact-sized, can use in lesser space, improves by nursing staff's
Nursing level.
The above, the only various embodiments of the application, but the protection scope of the application is not limited thereto, it is any
Those familiar with the art within the technical scope of the present application, can easily think of the change or the replacement, and should all contain
Lid is within the scope of protection of this application.Therefore, the protection scope of the application should be based on the protection scope of the described claims.
Claims (10)
1. a kind of displacement robot characterized by comprising pedestal, main loading arm, mounting structures, the first driving motor, lifting
Arm and the second driving motor, in which:
One end of the main loading arm is rotatably connected by first rotating shaft and the pedestal, is provided with idler wheel on the pedestal；
First driving motor is fixed on the base, and first driving motor includes the first actuating arm, the driving
One end of arm is connected with the main loading arm, for driving the main loading arm to rotate around the first rotating shaft；
The mounting structures are connect with the other end of the main loading arm, and the mounting structures include bottom plate, are arranged at the bottom
The side plate of plate two sides and the handle being connected with the bottom plate, the bottom plate is connected with side plate to be enclosed for support human body
The support space of trunk；
Described lifting arm one end is rotatably connected by the second shaft and the main loading arm, is arranged on the lifting arm other end
There is cushion；
Second driving motor is fixed on the main loading arm, and second driving motor includes the second actuating arm, described
Second actuating arm is connected with the lifting arm, for driving the lifting arm to rotate around second shaft.
2. displacement robot according to claim 1, which is characterized in that the displacement robot further include: knee bolster,
Described knee bolster one end is connected with the main loading arm, is provided on the knee bolster for supplying the lifting arm
The gap passed through.
3. displacement robot according to claim 1, which is characterized in that the cushion includes being arranged in the lifting arm two
Two sub- cushions of side, the sub- cushion and the lifting arm are rotatablely connected, after described two sub- cushions turn to same plane
It is fixed to form the cushion plane taken for human body.
4. displacement robot according to claim 3, which is characterized in that the displacement robot further includes described for driving
The cushion driving motor of two sub- cushion rotations.
5. displacement robot according to claim 3, which is characterized in that the displacement robot further includes support rod, described
Support rod one end and the lifting arm are rotatablely connected, and the other end is used for one end after described two sub- cushions turn to same plane
The fixed sub- cushion.
6. displacement robot according to claim 1, which is characterized in that the displacement robot further include: be arranged described
On handle, for detecting the ECG detecting module of grasping person's heart rate.
7. displacement robot according to claim 1, which is characterized in that the displacement robot further include: be arranged described
On bottom plate, for shooting the photographing module of surrounding image.
8. displacement robot according to claim 1, which is characterized in that the displacement robot further include: be arranged described
Distance measurement module on pedestal, the distance measurement module is for detecting the distance between the pedestal and barrier；
The displacement robot further include: for drive idler wheel rotation third driving motor and with the distance measurement mould
The processor that block is connected, the processor are used to be less than pre-determined distance at a distance from the pedestal is between the barrier
When, it controls the third driving motor and stops driving the roller motion.
9. displacement robot according to claim 1, which is characterized in that the displacement robot further include: for being described
Shift the battery module of robot power supply.
10. a kind of control equipment for shifting robot, which is characterized in that applied to shifting described in claim 1 to 9 any one
Position robot, the control equipment is for controlling the first driving motor work or stopping.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910588463.7A CN110251338A (en) | 2019-07-02 | 2019-07-02 | Shift robot and its control equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910588463.7A CN110251338A (en) | 2019-07-02 | 2019-07-02 | Shift robot and its control equipment |
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| Publication Number | Publication Date |
|---|---|
| CN110251338A true CN110251338A (en) | 2019-09-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910588463.7A Pending CN110251338A (en) | 2019-07-02 | 2019-07-02 | Shift robot and its control equipment |
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| CN (1) | CN110251338A (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2010069283A (en) * | 2008-08-20 | 2010-04-02 | Toyota Motor Corp | Transfer device and transfer method thereof |
| WO2015004704A1 (en) * | 2013-07-11 | 2015-01-15 | 共栄プロセス株式会社 | Human body transfer device |
| JP2015165879A (en) * | 2014-03-04 | 2015-09-24 | トヨタ自動車株式会社 | care system |
| WO2017061136A1 (en) * | 2015-10-06 | 2017-04-13 | 富士機械製造株式会社 | Assistance device |
| CN210330990U (en) * | 2019-07-02 | 2020-04-17 | 中侨健康管理（上海）有限公司 | Displacement robot |
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2019
- 2019-07-02 CN CN201910588463.7A patent/CN110251338A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2010069283A (en) * | 2008-08-20 | 2010-04-02 | Toyota Motor Corp | Transfer device and transfer method thereof |
| WO2015004704A1 (en) * | 2013-07-11 | 2015-01-15 | 共栄プロセス株式会社 | Human body transfer device |
| JP2015165879A (en) * | 2014-03-04 | 2015-09-24 | トヨタ自動車株式会社 | care system |
| WO2017061136A1 (en) * | 2015-10-06 | 2017-04-13 | 富士機械製造株式会社 | Assistance device |
| CN210330990U (en) * | 2019-07-02 | 2020-04-17 | 中侨健康管理（上海）有限公司 | Displacement robot |
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