CN111166588A - Human body lifting and moving robot - Google Patents
Human body lifting and moving robot Download PDFInfo
- Publication number
- CN111166588A CN111166588A CN202010207086.0A CN202010207086A CN111166588A CN 111166588 A CN111166588 A CN 111166588A CN 202010207086 A CN202010207086 A CN 202010207086A CN 111166588 A CN111166588 A CN 111166588A
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- CN
- China
- Prior art keywords
- lifting
- rake
- hand support
- type hand
- human body
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- 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.)
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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
- A61G7/1013—Lifting of patients by
- A61G7/1019—Vertical extending columns or mechanisms
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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
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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
- A61G7/104—Devices carried or supported by
- A61G7/1046—Mobile bases, e.g. having wheels
Abstract
A robot for lifting and moving human body is characterized in that; the AGV comprises an AGV chassis device (100), a bearing rotating shaft mechanism (200), a lifting and moving mechanism (300), a rake-shaped supporting hand (400) and an intelligent control system (500). The intelligent lifting device is applied to intelligent equipment for lifting and moving patients among stretchers, sickbeds, operating tables, examination equipment and the like in hospitals, nursing mechanisms and the like. The invention has the beneficial effects that: 1. the intelligent technology is applied to solve the problem that medical care units depend on manpower to lift and move patients for a long time. 2. The labor intensity of medical personnel is reduced, and the personnel cost is reduced. 3. The frequency of sending medical personnel direct contact patient is reduced, and the infection risk of medical personnel and disease family members is reduced. 4. The lifting and moving device is widely applied to lifting and moving patients among stretchers, sickbeds and medical equipment of hospitals, nursing mechanisms and the like.
Description
Technical Field
The invention relates to the field of hospitals, nursing mechanisms and nursing mechanisms, in particular to a human body lifting and moving robot.
Background
At present, most hospitals, nursing mechanisms, old care mechanisms and the like at home and abroad lift and move patients among stretchers, sickbeds, operating tables, examination equipment and the like. Basically, several persons are carried together or wrapped by a sheet, and a small part of the patient is lifted by a hanging and sliding device through a hanging belt to slide. However, the above method has the following disadvantages:
1. the manpower is wasted, and the labor intensity of medical personnel is increased.
2. Especially when patients with infectious diseases are lifted and moved, the close contact greatly increases the risk of infection of medical care personnel.
3. Carrying by people, wrapping and lifting by bed sheets, and lifting by mechanical hanging. The patient is easy to be injured secondarily due to uneven stress.
Disclosure of Invention
Aiming at the problems, the invention provides a human body lifting and moving robot which can well solve the problems.
In order to achieve the technical purpose, the technical scheme of the invention is realized as follows:
the AGV comprises an AGV chassis device (100), a bearing rotating shaft mechanism (200), a lifting and moving mechanism (300), a rake-type supporting arm (400) and an intelligent control system (500).
Further, the method can be used for preparing a novel material
The AGV chassis device (100) shown in the figures 1, 2 and 3 is characterized by comprising an AGV chassis mounting frame (101), a motor driving wheel module (102), a differential steering power device (103), a storage battery module (104) and an AGV chassis mounting frame cover plate (105).
Further, the method can be used for preparing a novel material
The bearing rotating shaft mechanism (200) shown in the figures 1, 2 and 3 is characterized by comprising a lower bearing module (201), a coupling (202), a synchronizer (203), a driving motor (204), an upper bearing module (205), a rotating shaft (206) and a lifting and moving mechanism connecting plate (207).
Further, the method can be used for preparing a novel material
The lifting mechanism (300) shown in fig. 1, 4, 5 and 6 is characterized by comprising a lifting mechanism mounting frame (301), an upper sliding rail (302), a lower sliding rail (303), an upper moving cross bar (304), a lower moving cross bar (305), an upper synchronous belt rotating shaft (306), an upper synchronous belt wheel shaft (307), a lower synchronous belt rotating shaft (308), a lower synchronous belt wheel shaft (309), an upper moving cross bar transmission servo motor (310) and a lower moving cross bar transmission servo motor (311).
Further, the method can be used for preparing a novel material
The harrow-shaped hand support (400) shown in the figures 1, 5, 6 and 7 is characterized by comprising an upper harrow-shaped hand support (416), a lower harrow-shaped hand support (401), an upper harrow-shaped hand support upper lifting servo electric cylinder (402), an upper harrow-shaped hand support copper sleeve guide rail (403), an upper harrow-shaped hand support bearing cross bar (404), an upper harrow-shaped hand support L-shaped bionic finger (405), a lower harrow-shaped hand support upper lifting servo electric cylinder (406), a lower harrow-shaped hand support copper sleeve guide rail (407), a lower harrow-shaped hand support bearing cross bar (408), a lower harrow-shaped hand support L-shaped bionic finger (409), a bionic finger main rod (410), a bionic finger main rod slideway (411), a bionic finger pressure sensor (412), a bionic finger main rod slideway spring (413), a bionic finger slideway bolt (414) and a bionic finger latex sleeve (415).
Further, the method can be used for preparing a novel material
The intelligent control system (500) as shown in FIG. 8 is characterized by comprising a laser radar recognition device (501) and a visual recognition device (502).
The invention has the beneficial effects that:
1. the intelligent technology is applied to solve the problem that medical care units depend on manpower to lift and move patients for a long time.
2. The labor intensity of medical personnel is reduced, and the personnel cost is reduced.
3. The frequency of sending medical personnel direct contact patient is reduced, and the infection risk of medical personnel and disease family members is reduced.
4. The lifting and moving device is widely applied to lifting and moving patients among stretchers, sickbeds and medical equipment of hospitals, nursing mechanisms and the like.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a human body lifting and moving robot.
FIG. 2 is a schematic diagram of an AGV chassis device.
Fig. 3 is a schematic view of a bearing rotating shaft mechanism.
FIG. 4 is a schematic diagram of a lifting and moving mechanism.
FIG. 5 is a schematic view of an upper rake type hand holder.
FIG. 6 is a schematic view of a lower rake type hand lifter.
FIG. 7 is a schematic diagram of a bionic finger.
FIG. 8 is a schematic diagram of an intelligent control system.
Fig. 9 is a side schematic view of the structure of the human body lifting and moving robot.
AGV chassis arrangement.
AGV chassis mounting frame 101.
102. Motor drive wheel module.
103. A differential steering power device.
104. A battery module.
AGV chassis mounting frame cover plate 105.
200. Bearing pivot mechanism.
201. And a lower bearing module.
202. A coupling.
203. A synchronizer.
204. The motor is driven.
205. And an upper bearing module.
206. A rotating shaft.
207. And a lifting and moving mechanism connecting plate.
300. And (4) a lifting and moving mechanism.
301. And (4) mounting a frame of the lifting and moving mechanism.
302. And (4) an upper sliding rail.
303. A lower slide rail.
304. The horizontal bar is moved upwards.
305. The horizontal bar is moved downwards.
306. And an upper synchronous belt rotating shaft.
307. And an upper synchronous pulley shaft.
308. The lower synchronous belt is provided with a rotating shaft.
309. A lower synchronous pulley shaft.
310. The upper moving cross bar drives a servo motor.
311. The lower moving cross bar drives a servo motor.
400. A rake type hand support.
401. Lower rake type hand support.
402. An upper rake type hand-supporting lifting servo electric cylinder.
403. An upper rake type hand supporting copper sleeve guide rail.
404. An upper rake type hand supporting bearing cross rod.
405. An upper rake type hand support L-shaped bionic finger.
406. The lower rake type hand support lifting servo electric cylinder.
407. The lower rake type hand support copper sleeve guide rail.
408. The lower rake type hand support bearing cross rod.
409. The lower rake type hand support is an L-shaped bionic finger.
410. The bionic finger main rod.
411. Bionic finger main rod slide ways.
412. A bionic finger pressure sensor.
413. Bionic finger main rod slideway spring.
414. A bionic finger slideway bolt.
415. A bionic finger latex sleeve.
416. An upper rake type hand support.
500. An intelligent control system.
501. Provided is a laser radar identification device.
502. A visual recognition device.
Detailed Description
The technical solution in the embodiment of the robot for lifting and moving a human body according to the present invention will be made clear and fully described below with reference to the accompanying drawings in the embodiment of the present invention, and it is apparent that the described embodiment is only a part of the embodiment of the present invention, and not a whole embodiment. All other embodiments that can be derived by one of ordinary skill in the art from the embodiments given herein are intended to be within the scope of the present invention.
The human body lifting robot comprises the following components:
the AGV chassis device (100) is characterized in that a motor driving wheel module (102) is arranged on an AGV chassis mounting frame (101) to provide power to drive the whole structure to move, a differential steering power device (103) is arranged on a front driving module to achieve stable steering, and a storage battery module (104) provides power for the whole system. An AGV chassis mounting frame cover plate (105) overlies the AGV chassis mounting frame (101).
Further, the method can be used for preparing a novel material
The bearing rotating shaft mechanism (200) shown in the figures 1, 2 and 3 is characterized in that; the driving motor (204) drives the synchronizer (203) to drive the coupling (202) to rotate. The rotating shaft (206) is arranged between the upper bearing module (205) and the lower bearing module (201) and is connected with the coupling (202) and the lifting and moving mechanism connecting plate (207). The coupling (202) rotates to drive the rotating shaft (206) to rotate.
Further, the method can be used for preparing a novel material
The lifting and moving mechanism (300) shown in the figures 1, 4, 5 and 6 is characterized in that; an upper slide rail (302), a lower slide rail (303), an upper moving cross bar transmission servo motor (310), a lower moving cross bar transmission servo motor (311), an upper synchronous belt rotating shaft (306) and a lower synchronous belt rotating shaft (308) which are arranged on a lifting mechanism mounting frame (301). Comprises an upper moving cross bar (304), a lower moving cross bar (305), an upper synchronous pulley shaft (307) and a lower synchronous pulley shaft (309).
Further, the method can be used for preparing a novel material
The rake type hand support (400) shown in the figures 1, 5, 6 and 7 is characterized in that; an upper rake type hand support (416), a lower rake type hand support (401), an upper rake type hand support lifting servo electric cylinder (402) arranged on an upper moving cross bar (304), an upper rake type hand support copper sleeve guide rail (403), an upper rake type hand support bearing cross bar (404), an upper rake type hand support L-shaped bionic finger (405) arranged on the upper rake type hand support bearing cross bar (404), a lower rake type hand support lifting servo electric cylinder (406) arranged on a lower moving cross bar (305), a lower rake type hand support copper sleeve guide rail (407), a lower rake type hand support bearing cross bar (408), a lower rake type hand support L-shaped bionic finger (409) arranged on the lower rake type hand support bearing cross bar (408), and bionic finger main rods (410) arranged on the bionic fingers, a bionic finger main rod slideway (411), a bionic finger pressure sensor (412), a bionic main rod spring (413), a bionic finger bolt (414), a bionic finger slide way and a bionic finger pressure sensor (412), a bionic main rod spring (413), A bionic finger latex sleeve (415).
The intelligent control system (500) as shown in FIG. 8 is special; the laser radar recognition device comprises a laser radar recognition device (501) and a visual recognition device (502).
Further, the method can be used for preparing a novel material
The human body lifting and moving machine is assembled in the way shown in the figure 1 and 9; the AGV chassis device (100) is connected with the bearing rotating shaft mechanism (200) through a coupling (202). The bearing rotating shaft mechanism (200) is connected with the lifting and moving mechanism (300) through a lifting and moving mechanism connecting plate (207). The harrow-shaped hand supporters (400) are respectively connected with an upper harrow-shaped hand supporter (416) through an upper moving cross bar (304) and connected with a lower harrow-shaped hand supporter (401) through a lower moving cross bar (305). An intelligent control system (500) is arranged on the AGV chassis device (100).
The working principle is as follows:
by utilizing the radian of the human body and the elasticity of the soft pads on the sickbed, the stretcher and the medical equipment, after the two rake-shaped hand supports are pressed and lifted up and down alternately in a certain gap formed below the human body, the two bionic fingers are inserted into the lower part of the human body alternately to lift up the human body. The bionic finger simulates the touch of a human hand, when the tail end of the bionic finger meets certain pressure, the sliding bolt in the finger automatically returns to trigger the pressure sensor to feed back a signal to the intelligent control system, and the intelligent control system automatically adjusts the alternate angle and mode of the supporting hand, so that the human body is prevented from being injured by mistake, and the function of holding and translating the patient is realized. The bearing rotating shaft is used for adjusting the hand supporting angle and the position of a patient to be lifted, moved and laid horizontally. The AGV device has a robot motion function and a human body transport function, and a vision system recognizes an accurate position of an object to be moved by a work. The laser radar is used for obstacle recognition when the robot moves.
Further, the method can be used for preparing a novel material
As described above, with the above technical solution of the present invention, the present invention has the following advantages:
1. the intelligent technology is applied to solve the problem that medical care units depend on manpower to lift and move patients for a long time.
2. The labor intensity of medical personnel is reduced, and the personnel cost is reduced.
3. The frequency of sending medical personnel direct contact patient is reduced, and the infection risk of medical personnel and disease family members is reduced.
4. The lifting and moving device is widely applied to lifting and moving patients among stretchers, sickbeds and medical equipment of hospitals, nursing mechanisms and the like.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that are within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (6)
1. The invention discloses a human body lifting robot which is characterized by comprising an AGV chassis device (100), a bearing rotating shaft mechanism (200), a lifting mechanism (300), a rake-type supporting hand (400) and an intelligent control system (500).
2. The AGV chassis device (100) of the human body transfer robot according to claim 1, comprising an AGV chassis mounting frame (101), a motor driving wheel module (102), a differential steering power device (103), a storage battery module (104), and an AGV chassis mounting frame cover plate (105).
3. The bearing rotating shaft mechanism (200) of the human body lifting robot according to claim 1 is characterized by comprising a lower bearing module (201), a coupling (202), a synchronizer (203), a driving motor (204), an upper bearing module (205), a rotating shaft (206) and a lifting mechanism connecting plate (207).
4. The lifting mechanism (300) of the human body lifting robot according to claim 1, comprising a lifting mechanism mounting frame (301), an upper slide rail (302), a lower slide rail (303), an upper moving cross bar (304), a lower moving cross bar (305), an upper synchronous belt rotating shaft (306), an upper synchronous belt wheel shaft (307), a lower synchronous belt rotating shaft (308), a lower synchronous belt wheel shaft (309), an upper moving cross bar transmission servo motor (310) and a lower moving cross bar transmission servo motor (311).
5. The rake-type hand support (400) of the human body lifting robot according to claim 1 comprises an upper rake-type hand support (416), a lower rake-type hand support (401), an upper rake-type hand support lifting servo electric cylinder (402), an upper rake-type hand support copper sleeve guide rail (403), an upper rake-type hand support bearing cross rod (404), an upper rake-type hand support L-type bionic finger (405), a lower rake-type hand support lifting servo electric cylinder (406), a lower rake-type hand support copper sleeve guide rail (407), a lower rake-type hand support bearing cross rod (408), a lower rake-type hand support L-type bionic finger (409), a bionic finger main rod (410), a bionic finger main rod slide way (411), a bionic finger pressure sensor (412), a bionic finger main rod slide way spring (413), a bionic finger slide way bolt (414) and a bionic finger latex sleeve (415).
6. The intelligent control system (500) of the human body lifting robot according to claim 1 is characterized by comprising a laser radar recognition device (501) and a visual recognition device (502).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010207086.0A CN111166588A (en) | 2020-03-23 | 2020-03-23 | Human body lifting and moving robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010207086.0A CN111166588A (en) | 2020-03-23 | 2020-03-23 | Human body lifting and moving robot |
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| Publication Number | Publication Date |
|---|---|
| CN111166588A true CN111166588A (en) | 2020-05-19 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010207086.0A Pending CN111166588A (en) | 2020-03-23 | 2020-03-23 | Human body lifting and moving robot |
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| CN (1) | CN111166588A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112089559A (en) * | 2020-08-18 | 2020-12-18 | 西安交通大学 | Auxiliary standing device and method based on indoor positioning and artificial intelligence |
| CN112451269A (en) * | 2020-12-03 | 2021-03-09 | 杭州程天科技发展有限公司 | Patient shifting machine and supporting plate thereof |
| CN113425511A (en) * | 2021-06-28 | 2021-09-24 | 华北医疗健康集团邢台总医院 | Electric medical bed capable of automatically passing through bed |
-
2020
- 2020-03-23 CN CN202010207086.0A patent/CN111166588A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112089559A (en) * | 2020-08-18 | 2020-12-18 | 西安交通大学 | Auxiliary standing device and method based on indoor positioning and artificial intelligence |
| CN112089559B (en) * | 2020-08-18 | 2021-06-01 | 西安交通大学 | Auxiliary standing device and method based on indoor positioning and artificial intelligence |
| CN112451269A (en) * | 2020-12-03 | 2021-03-09 | 杭州程天科技发展有限公司 | Patient shifting machine and supporting plate thereof |
| CN112451269B (en) * | 2020-12-03 | 2021-09-17 | 杭州程天科技发展有限公司 | Patient shifting machine |
| CN113425511A (en) * | 2021-06-28 | 2021-09-24 | 华北医疗健康集团邢台总医院 | Electric medical bed capable of automatically passing through bed |
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