CN112494248B - Nursing robot - Google Patents

Nursing robot Download PDF

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Publication number
CN112494248B
CN112494248B CN202011208047.9A CN202011208047A CN112494248B CN 112494248 B CN112494248 B CN 112494248B CN 202011208047 A CN202011208047 A CN 202011208047A CN 112494248 B CN112494248 B CN 112494248B
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CN
China
Prior art keywords
guide rail
frame
shaft
synchronous belt
driving motor
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Active
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CN202011208047.9A
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Chinese (zh)
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CN112494248A (en
Inventor
王朋
钟鸣
刘亚欣
姚玉峰
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Harbin Institute of Technology Weihai
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Harbin Institute of Technology Weihai
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Priority to CN202011208047.9A priority Critical patent/CN112494248B/en
Publication of CN112494248A publication Critical patent/CN112494248A/en
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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
    • A61G7/16—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto converting a lying surface into a chair
    • 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
    • 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

Abstract

The invention relates to a nursing robot, which solves the technical problems of poor comfort, easy damage to human bodies, large workload of nursing personnel, high working strength, low working automation level and low safety of the existing transfer and carrying robot when lifting and moving a nursed person. The invention is widely applied to the technical field of medical instruments.

Description

Nursing robot
Technical Field
The invention relates to the technical field of medical instruments, in particular to a nursing robot.
Background
In the technical field of nursing robots, the nursing work difficulty is high due to the loss or lack of mobility of postoperative patients, paralyzed patients, shock patients, anaesthesia patients, coma patients and disabled patients or old people due to damage and degeneration of physical functions, and the nursing work aiming at the group mainly comprises eating service, transfer and transportation and personal hygiene. Currently, the transfer and carrying robot on the market can safely lift the nursed person from the bed and transfer the nursed person to a wheelchair or other positions, however, the existing robot has the following technical defects: (1) the two arms of the robot are rigid mechanical arms, so that the comfort level of the two arms when lifting and moving the nursed person is poor, and the robot is easy to hurt the human body sometimes; (2) when the nursed person is lifted and moved, the nursed person is easy to slip off, and the safety is low; (3) it cannot adapt to people of different body types; (4) the work needing the assistance of a worker during the holding process is often high in labor intensity, high in technical requirement and low in automation level. (5) At present, most of transfer and carrying robots in the market are special bed-chair integrated structures, and robots used by one person or multiple persons are rare.
Disclosure of Invention
The invention provides a nursing robot which is good in comfort level, free of damage to the human body, capable of reducing the workload and the working strength of nursing personnel, high in working automation level, high in safety, suitable for people of different body types and capable of being used by one person and multiple persons, and aims to solve the technical problems that an existing transfer and carrying robot is poor in comfort level when lifting and moving the nursed person, easy to damage the human body, large in workload of the nursing personnel, high in working strength, low in working automation level and safety and not suitable for people of different body types.
The nursing robot provided by the invention comprises a main frame, a left side frame, a right side frame, a first guide rail component, a second guide rail component, a third guide rail component, a fourth guide rail component, a first driving synchronous pulley, a first driven synchronous pulley, a first synchronous belt, a first driving motor, a first driving universal wheel, a second driving universal wheel, a steering driving motor, a first rotating shaft, a second synchronous pulley, a second rotating shaft, a third synchronous pulley, a second synchronous belt, a first synchronous belt transmission mechanism, a second synchronous belt transmission mechanism, a vertical support, a lifting driving motor, a lead screw, a fifth guide rail component, a sixth guide rail component, a mounting plate, a first support plate, a second support plate, a first connecting rod, a second connecting rod, a first omnidirectional wheel, a second omnidirectional wheel, a left side support frame, a left rear omnidirectional wheel, a left front omnidirectional wheel connecting frame, A first left linear bearing, a second left linear bearing, a first telescopic driving motor, a third synchronous belt wheel transmission mechanism, a right side supporting frame, a right rear omnidirectional wheel, a right front omnidirectional wheel connecting frame, a first right linear bearing, a second telescopic driving motor, a fourth synchronous belt wheel transmission mechanism, a left rotating arm supporting frame, a left lead screw, a left lifting driving motor, a first bearing seat, a second bearing seat and a seventh guide rail component, the guide rail assembly comprises an eighth guide rail assembly, a left motor base, a left crossed roller bearing, a left rotating driving motor, a left driving gear, a left rotating arm, a right rotating arm support frame, a right screw rod, a right lifting driving motor, a third bearing seat, a fourth bearing seat, a ninth guide rail assembly, a tenth guide rail assembly, a right motor base, a right crossed roller bearing, a right rotating driving motor, a right driving gear and a right rotating arm;
the first guide rail assembly is provided with a first sliding block and a first guide rail, the second guide rail assembly is provided with a second sliding block and a second guide rail, the first sliding block is fixedly connected with the top of the main frame, the second sliding block is fixedly connected with the top of the main frame, the first guide rail is fixedly connected with the left side frame, and the second guide rail is fixedly connected with the right side frame; the third guide rail assembly is provided with a third sliding block and a third guide rail, the fourth guide rail assembly is provided with a fourth sliding block and a fourth guide rail, the third sliding block is fixedly connected with the bottom of the main frame, the fourth sliding block is fixedly connected with the bottom of the main frame, the third guide rail is fixedly connected with the left side frame, and the fourth guide rail is fixedly connected with the right side frame; the first driving motor is connected with the main frame, the first driving synchronous belt wheel is connected with an output shaft of the first driving motor, the first driven synchronous belt wheel is rotationally connected with the main frame, and the first synchronous belt is connected between the first driving synchronous belt wheel and the first driven synchronous belt wheel; the first synchronous belt is connected with the first guide rail through a synchronous belt connecting piece, and the first synchronous belt is connected with the second guide rail through a synchronous belt connecting piece;
the first driving universal wheel and the second driving universal wheel are respectively connected with the bottom of the main frame, the first driving universal wheel and the second driving universal wheel are arranged on the left side and the right side of the bottom of the main frame, the steering driving motor is connected with the main frame, the first rotating shaft is rotatably connected with the bottom of the main frame, an output shaft of the steering driving motor is fixedly connected with the first rotating shaft, the second synchronous pulley is connected with the first rotating shaft, the second rotating shaft is rotatably connected with the bottom of the main frame, the third synchronous pulley is connected with the second rotating shaft, the second synchronous belt is connected between the third synchronous pulley and the second synchronous pulley, a wheel shaft of the first driving universal wheel is connected with the first rotating shaft through a first synchronous belt transmission mechanism, and a wheel shaft of the second driving universal wheel is connected with the second rotating shaft through a second synchronous belt transmission mechanism;
the vertical bracket is fixedly connected with the main frame, the lifting driving motor is connected with the vertical bracket, the screw rod is supported on the vertical bracket through two bearing seats, the output shaft of the lifting driving motor is connected with the screw rod, the fifth guide rail component and the sixth guide rail component are respectively and fixedly connected with the two sides of the vertical bracket, the mounting plate is connected with the screw rod through a nut seat, the two sides of the mounting plate are respectively connected with the slide block of the fifth guide rail component, the slide block of the sixth guide rail assembly is connected, one end of a first supporting plate is hinged with one side of the mounting plate, the other end of the first supporting plate is connected with the first omnidirectional wheel, one end of a second supporting plate is hinged with the other side of the mounting plate, the other end of the second supporting plate is connected with the second omnidirectional wheel, one end of a first connecting rod is hinged with the main frame, the other end of the first connecting rod is hinged with the first supporting plate, one end of the second connecting rod is hinged with the main frame, and the other end of the second connecting rod is hinged with the second supporting plate;
the left side supporting frame is fixedly connected with the bottom of the left side frame, the left rear omnidirectional wheel is connected with the left side supporting frame, the left front omnidirectional wheel is connected with a left front omnidirectional wheel connecting frame, the left front omnidirectional wheel connecting frame is provided with a first left optical axis and a second left optical axis, a first left linear bearing and a second left linear bearing are respectively and fixedly connected with the left side supporting frame, the first left linear bearing and the second left linear bearing are distributed up and down, the first left optical axis penetrates through the first left linear bearing, the second left optical axis penetrates through the second left linear bearing, a first telescopic driving motor is connected with the left side supporting frame, a third synchronous pulley transmission mechanism is connected with the left side supporting frame, an output shaft of the first telescopic driving motor is connected with the third synchronous pulley transmission mechanism, and a synchronous belt in the third synchronous pulley transmission mechanism is connected with the left front omnidirectional wheel connecting frame through a synchronous belt connecting piece;
the right side support frame is fixedly connected with the bottom of the right side frame, the right rear omnidirectional wheel is connected with the right side support frame, the right front omnidirectional wheel is connected with the right front omnidirectional wheel connecting frame, the right front omnidirectional wheel connecting frame is provided with a first right optical axis and a second right optical axis, a first right linear bearing and a second right linear bearing are respectively and fixedly connected with the right side support frame, the first right linear bearing and the second right linear bearing are distributed up and down, the first right optical axis penetrates through the first right linear bearing, the second right optical axis penetrates through the second right linear bearing, a second telescopic driving motor is connected with the right side support frame, a fourth synchronous pulley transmission mechanism is connected with the right side support frame, an output shaft of the second telescopic driving motor is connected with the fourth synchronous pulley transmission mechanism, and a synchronous belt in the fourth synchronous pulley transmission mechanism is connected with the right front omnidirectional wheel connecting frame through a synchronous belt connecting piece;
the left lifting driving motor is connected with the left side frame, the left lead screw is connected with an output shaft of the left lifting driving motor, the first bearing seat is connected with the upper part of the left side frame, the second bearing seat is connected with the lower part of the left side frame, the upper end of the left lead screw is connected with the first bearing seat, the lower end of the left lead screw is connected with the second bearing seat, the left rotating arm support frame is connected with the left lead screw through a nut seat, the seventh guide rail assembly and the eighth guide rail assembly are respectively connected to two sides of the left side frame, a sliding block of the seventh guide rail assembly is connected with the left rotating arm support frame, and a sliding block of the eighth guide rail assembly is connected with the left rotating arm support frame; the left motor base is connected with the left rotating arm supporting frame through a left crossed roller bearing, the left rotating driving motor is connected with the left motor base, the left driving gear is connected with the output shaft of the left rotating driving motor,
the left rotating arm comprises a left hollow support shaft, a left driven gear, a rear end bearing, a front end bearing, a first shaft sleeve, a shaft bracket, an outer rope barrel, an inner rope barrel, a front needle bearing, a rear needle bearing, an outer barrel, a first clamping device and a second clamping device, wherein the first shaft sleeve is sleeved on the left hollow support shaft, the shaft bracket is fixedly connected with the front end of the first shaft sleeve, the shaft bracket is rotatably connected with the front end of the left hollow support shaft through the front end bearing, the rear end of the first shaft sleeve is fixedly connected with the left driven gear through a flat key, the left driven gear is rotatably connected with the rear end of the left hollow support shaft through the rear end bearing, the inner rope barrel is sleeved on the rear end of the first shaft sleeve, and the end part of the inner rope barrel is fixedly connected with the left driven gear through a threaded pin; the outer rope barrel is sleeved on the front end of the first shaft sleeve, and the end part of the outer rope barrel is fixedly connected with the shaft bracket through a threaded pin; the outer cylinder is sleeved in the middle of the first shaft sleeve, and the front end and the rear end of the outer cylinder are respectively in rotary connection with the first shaft sleeve through a front needle bearing and a rear needle bearing; the inner rope drum is close to the rear end of the outer drum, and the outer rope drum is close to the front end of the outer drum; the left driven gear is meshed with the left driving gear, and the rear end of the left hollow supporting shaft is fixedly connected with the left motor base;
the right lifting driving motor is connected with the right side frame, the right lead screw is connected with an output shaft of the right lifting driving motor, the third bearing seat is connected with the upper part of the right side frame, the fourth bearing seat is connected with the lower part of the right side frame, the upper end of the right lead screw is connected with the third bearing seat, the lower end of the right lead screw is connected with the fourth bearing seat, the right rotary arm support frame is connected with the right lead screw through a nut seat, the ninth guide rail assembly and the tenth guide rail assembly are respectively connected with two sides of the right side frame, the slider of the ninth guide rail assembly is connected with the right rotary arm support frame, the slider of the tenth guide rail assembly is connected with the right rotary arm support frame, the right motor seat is connected with the right rotary arm support frame through a right crossed roller bearing, the right rotary driving motor is connected with the right motor seat, and the right driving gear is connected with an output shaft of the right rotary driving motor;
the right rotating arm comprises a right hollow supporting shaft, a right driven gear, a second shaft sleeve, an outer rope barrel, an inner rope barrel, an outer barrel, a third clamping device and a fourth clamping device, the second shaft sleeve is sleeved on the right hollow supporting shaft, a shaft frame of the right rotating arm is fixedly connected with the front end of the second shaft sleeve, the shaft frame of the right rotating arm is rotatably connected with the front end of the right hollow supporting shaft through a front end bearing, the rear end of the second shaft sleeve is fixedly connected with the right driven gear through a flat key, and the right driven gear is rotatably connected with the rear end of the right hollow supporting shaft through a rear end bearing; the inner rope barrel of the right rotating arm is sleeved on the rear end of the second shaft sleeve, and the end part of the inner rope barrel of the right rotating arm is fixedly connected with the right driven gear through a threaded pin; the outer rope barrel of the right rotating arm is sleeved on the front end of the second shaft sleeve, and the end part of the outer rope barrel of the right rotating arm is fixedly connected with the shaft bracket of the right rotating arm through a threaded pin; the outer cylinder of the right rotating arm is sleeved in the middle of the second shaft sleeve, and the front end and the rear end of the outer cylinder of the right rotating arm are respectively in rotary connection with the second shaft sleeve through a front needle bearing and a rear needle bearing; the right driven gear is meshed with the right driving gear, and the rear end of the right hollow supporting shaft is fixedly connected with the right motor base.
Preferably, the first clamping device comprises a first ring, a first buckle, a first threaded pin, a first spring plate and a first positioning pin, a threaded hole is formed in the lower portion of the first ring, a positioning pin mounting hole is formed in the side face of the upper portion of the first ring, a spring plate placing groove, a jack and an accommodating groove are formed in the upper portion of the first ring, the first buckle is provided with an inserting portion and a disc portion, the disc portion is provided with a groove, the inserting portion is provided with a first positioning pin groove, a second positioning pin groove and an arc-shaped groove, the first positioning pin groove, the second positioning pin groove and the arc-shaped groove are communicated, the length of the second positioning pin groove is larger than that of the first positioning pin groove, the first threaded pin is connected with the threaded hole in the lower portion of the first ring, the first positioning pin is connected with the positioning pin mounting hole, the two first spring plates are respectively placed in the two spring plate placing grooves of the first ring, the inserting portion of the first buckle penetrates through the jack in the upper portion of the first ring, the disk part of the first buckle is positioned in the accommodating groove at the upper part of the first ring, the disk part of the first buckle is in contact with the two first spring pieces, the outer cylinder of the left rotary arm is sleeved on the first ring, the first threaded pin penetrates through the outer cylinder to be connected with the threaded hole at the lower part of the first ring, and the outer cylinder of the left rotary arm is provided with an opening which is over against the disk part of the first buckle; when the head of the first positioning pin is embedded into the first positioning pin groove of the first buckle, the insertion part of the first buckle is inserted into the connecting hole of the first shaft sleeve, and the two first spring pieces are in a compressed state.
Preferably, the nursing robot further comprises a first telescopic pipe, a second telescopic pipe, a first supporting seat and a second supporting seat, wherein the front end of the first telescopic pipe is inserted into the rear end of the left hollow supporting shaft, and the rear end of the first telescopic pipe can be supported on the first supporting seat; the first supporting seat is connected with the left rotating arm supporting frame; the front end of the second telescopic pipe is inserted from the rear end of the right hollow supporting shaft, the rear end of the second telescopic pipe is supported on a second supporting seat, and the second supporting seat is connected with the right rotary arm supporting frame.
The invention has the beneficial effects that: when lifting and moving the patient, the patient is prevented from slipping, and the device has high stability, reliability and safety. Improving the comfort of the patient and avoiding the patient from being injured again to a great extent.
Can be suitable for the nursed objects with different body types, and has wide application range.
Can assist medical personnel to safely, reliably, comfortably and flexibly complete the carrying work of patients under different nursing scenes.
One machine can be used by a plurality of people, one person can be held, and the other person can be held.
Further features and aspects of the present invention will become apparent from the following description of specific embodiments with reference to the accompanying drawings.
Drawings
Fig. 1 is a perspective view of a care robot;
fig. 2 is a front view of the nursing robot shown in fig. 1;
FIG. 3 is a rear view of the care robot of FIG. 1;
fig. 4 is a left side view of the nursing robot shown in fig. 1;
FIG. 5 is a top view of the care robot of FIG. 1;
fig. 6 is a perspective view of the nursing robot shown in fig. 1;
FIG. 7 is an illustration of the mounting of two active castor wheels in the configuration of FIG. 6;
FIG. 8 is a schematic view of a left rotary arm;
FIG. 9 is a cross-sectional view of the left rotating arm of FIG. 8;
FIG. 10 is an enlarged view of a portion of FIG. 9 at M;
FIG. 11 is an enlarged view of a portion of FIG. 9 at N;
FIG. 12 is a cross-sectional view of the left rotating arm of FIG. 8;
FIG. 13 is an enlarged view of a portion of FIG. 12 at P;
FIG. 14 is a partial enlarged view at S in FIG. 12;
FIG. 15 is a schematic view of the first latch of FIG. 12;
FIG. 16 is a front view of the first card-engaging means shown in FIG. 15;
FIG. 17 is a top view of the first latch of FIG. 15;
FIG. 18 is a sectional view taken in the direction G-G of FIG. 16;
FIG. 19 is a sectional view in the direction F-F of FIG. 16;
FIG. 20 is a schematic view of the first snap-fit arrangement of FIG. 13 connecting the outer barrel to the first bushing;
FIG. 21 is the view of FIG. 20 with the head of the alignment pin of the first clip engaging device inserted into the first alignment pin slot;
fig. 22 is a schematic structural view of a first ring in the first clamping device;
FIG. 23 is a side view of the first ring of FIG. 22;
FIG. 24 is a top view of the first ring shown in FIG. 22;
fig. 25 is a schematic structural view of a first clip in the first clip device;
fig. 26 is a schematic structural view of a first clip in the first clip device;
FIG. 27 is a top view of the first clip of FIG. 25;
FIG. 28 is a side view of the first catch of FIG. 25;
FIG. 29 is a schematic view of the first latch device in an unlatched configuration;
FIG. 30 is a front view of the structure shown in FIG. 29;
FIG. 31 is a top view of the structure shown in FIG. 29;
FIG. 32 is a sectional view taken along the direction J-J in FIG. 31;
FIG. 33 is a sectional view taken in the direction G-G of FIG. 30;
FIG. 34 is a schematic view of the nursing robot moving to the bedside with the left rotating arm near the patient's head and the right rotating arm near the patient's feet;
FIG. 35 is a schematic view of the right rotary arm being rotated to wind the cloth;
FIG. 36 is a schematic view of the left rotary arm moved under the patient's head;
FIG. 37 is a schematic view showing the left rotating arm rotated to wind two ropes around the left rotating arm;
FIG. 38 is a schematic view of the care robot moving a patient to a wheelchair;
FIG. 39 is a schematic view showing the connection of the first and second strings to both sides of the cloth;
FIG. 40 is a schematic view of the cloth in a funnel shape;
FIG. 41 is a schematic view of the arrangement of the cord on the cloth;
fig. 42 is a schematic structural view of the nursing robot in a storage state;
figure 43 is a schematic view of a robot translating a patient from a first bed to a second bed.
The symbols in the drawings illustrate that:
1. a main frame, 2, a left side frame, 3, a right side frame, 4, a first guide rail assembly, 4-1, a first slider, 4-2, a first guide rail, 5, a second guide rail assembly, 5-1, a second slider, 6, a third guide rail assembly, 6-1, a third slider, 7, a fourth guide rail assembly, 7-1, a fourth slider, 8, a first driving synchronous pulley, 9, a first driven synchronous pulley, 10, a first synchronous belt, 11, a first driving motor, 12, a first driving universal wheel, 13, a second driving universal wheel, 14, a steering driving motor, 15, a first rotating shaft, 16, a second synchronous pulley, 17, a second rotating shaft, 18, a third synchronous pulley, 19, a second synchronous belt, 20, a first synchronous belt transmission mechanism, 21, a second synchronous belt transmission mechanism, 22, a vertical support, 23, a lifting driving motor, 24. a screw rod, 25, a fifth guide rail assembly, 26, a sixth guide rail assembly, 27, a mounting plate, 28, a first support plate, 29, a second support plate, 30, a first connecting rod, 31, a second connecting rod, 32, a first omni wheel, 33, a second omni wheel, 34, a left support frame, 35, a left rear omni wheel, 36, a left front omni wheel, 37, a left front omni wheel connecting frame, 37-1, a first left optical axis, 37-2, a second left optical axis, 38, a first left linear bearing, 39, a second left linear bearing, 40, a first telescopic driving motor, 41, a third synchronous pulley transmission mechanism, 42, a right support frame, 43, a right rear omni wheel, 44, a right front omni wheel, 45, a right front omni wheel connecting frame, 45-1, a first right optical axis, 45-2, a second right optical axis, 46, a first right linear bearing, 47, a second right linear bearing, 48. a second telescopic driving motor, 49 a fourth synchronous pulley transmission mechanism, 50 a left rotating arm support frame, 51 a left screw rod, 52 a left lifting driving motor, 53 a first bearing seat, 54 a second bearing seat, 55 a seventh guide rail assembly, 56 an eighth guide rail assembly, 57 a left motor seat, 58 a left cross roller bearing, 59 a left rotating driving motor, 60 a left driving gear, 62 a left rotating arm, 62-1 a left hollow supporting shaft, 62-2 a left driven gear, 62-3 a rear end bearing, 62-4 a front end bearing, 62-5 a first shaft sleeve, 62-6 a flat key, 62-7 a shaft frame, 62-8 an outer rope barrel, 62-9 an inner rope barrel, 62-10 a threaded pin, 62-11 a front roller bearing, 62-12 a rear needle bearing, 62-13 parts of an outer cylinder, 62-14 parts of a first clamping device, 62-15 parts of a second clamping device, 63 parts of a first support seat, 64 parts of a first telescopic pipe, 65 parts of a right rotating arm support frame, 66 parts of a right lead screw, 67 parts of a right lifting driving motor, 68 parts of a third bearing seat, 70 parts of a ninth guide rail component, 71 parts of a tenth guide rail component, 72 parts of a right motor seat, 73 parts of a right crossed roller bearing, 74 parts of a right rotating driving motor, 75 parts of a right driving gear, 77 parts of a right rotating arm, 77-2 parts of a right driven gear, 78 parts of a second support seat, 79 parts of a second telescopic pipe, 90 parts of cloth, 91 parts of a first rope, 92 parts of a second rope, 93 parts of a sickbed and 94 parts of a wheelchair.
Detailed Description
The present invention will be described in further detail below with reference to specific embodiments thereof with reference to the attached drawings.
As shown in fig. 1 to 7, the nursing robot includes a main frame 1, a left side frame 2, a right side frame 3, a first guide rail assembly 4, a second guide rail assembly 5, a third guide rail assembly 6, a fourth guide rail assembly 7, a first driving synchronous pulley 8, a first driven synchronous pulley 9, a first synchronous belt 10, a first driving motor 11, a first driving universal wheel 12, a second driving universal wheel 13, a steering driving motor 14, a first rotating shaft 15, a second synchronous pulley 16, a second rotating shaft 17, a third synchronous pulley 18, a second synchronous belt 19, a first synchronous belt transmission mechanism 20, a second synchronous belt transmission mechanism 21, a vertical support 22, a lifting driving motor 23, a lead screw 24, a fifth guide rail assembly 25, a sixth guide rail assembly 26, a mounting plate 27, a first support plate 28, a second support plate 29, a first connecting rod 30, a second connecting rod 31, a first omnidirectional wheel 32, a second omnidirectional wheel 33, a third guide rail assembly 13, a fourth guide rail assembly 7, a first driving synchronous pulley 8, a second synchronous pulley 17, a second synchronous pulley 18, a second synchronous belt 19, a third synchronous belt transmission mechanism, a third synchronous belt, a fourth synchronous belt transmission mechanism, a fourth synchronous belt assembly, a fifth synchronous belt assembly, a fourth synchronous belt assembly, a left support bracket 34, a left rear omnidirectional wheel 35, a left front omnidirectional wheel 36, a left front omnidirectional wheel connecting bracket 37, a first left linear bearing 38, a second left linear bearing 39, a first telescopic driving motor 40, a third synchronous pulley transmission mechanism 41, a right support bracket 42, a right rear omnidirectional wheel 43, a right front omnidirectional wheel 44, a right front omnidirectional wheel connecting bracket 45, a first right linear bearing 46, a second right linear bearing 47, a second telescopic driving motor 48, a fourth synchronous pulley transmission mechanism 49, a left rotating arm support bracket 50, a left lead screw 51, a left lifting driving motor 52, a first bearing seat 53, a second bearing seat 54, a seventh guide rail assembly 55, an eighth guide rail assembly 56, a left motor seat 57, a left cross roller bearing 58, a left rotating driving motor 59, a left driving gear 60, a left rotating arm 62, a first support seat 63, a first telescopic pipe 64, a right rotating arm support bracket 65, a left telescopic pipe support bracket 65, a right telescopic pipe support bracket, a right telescopic pipe, a left telescopic pipe, a right telescopic pipe, a, A right screw 66, a right lifting driving motor 67, a third bearing seat 68, a fourth bearing seat, a ninth guide rail assembly 70, a tenth guide rail assembly 71, a right motor seat 72, a right cross roller bearing 73, a right rotation driving motor 74, a right driving gear 75, a right rotation arm 77, a second supporting seat 78 and a second extension pipe 79.
The first guide rail assembly 4 is provided with a first sliding block 4-1 and a first guide rail 4-2, the second guide rail assembly 5 is provided with a second sliding block 5-1 and a second guide rail, the first sliding block 4-1 is fixedly connected with the top of the main frame 1, the second sliding block 5-1 is fixedly connected with the top of the main frame 1, the first guide rail 4-2 is fixedly connected with the left side frame 2, and the second guide rail is fixedly connected with the right side frame 3. The third guide rail assembly 6 is provided with a third sliding block 6-1 and a third guide rail, the fourth guide rail assembly 7 is provided with a fourth sliding block 7-1 and a fourth guide rail, the third sliding block 6-1 is fixedly connected with the bottom of the main frame 1, the fourth sliding block 7-1 is fixedly connected with the bottom of the main frame 1, the third guide rail is fixedly connected with the left side frame 2, and the fourth guide rail is fixedly connected with the right side frame 3. The first driving motor 11 is fixedly installed on the main frame 1, the first driving synchronous pulley 8 is connected with an output shaft of the first driving motor 11, the first driven synchronous pulley 9 is rotatably connected with the main frame 1, and the first synchronous belt 10 is connected between the first driving synchronous pulley 8 and the first driven synchronous pulley 9. The first synchronous belt 10 is connected with the first guide rail 4-2 through a synchronous belt connecting piece, and the first synchronous belt 10 is connected with the second guide rail through a synchronous belt connecting piece. When the first driving motor 11 acts, the first synchronous belt 10 rotates to drive the first guide rail 4-2 and the second guide rail to translate, and the third guide rail and the fourth guide rail to translate synchronously, so that the left side frame 2 and the right side frame 3 can be drawn close to or stretched out of the main frame 1.
A first driving universal wheel 12 and a second driving universal wheel 13 are respectively connected with the bottom of the main frame 1, the first driving universal wheel 12, the second driving universal wheel 13 is arranged on the left side and the right side of the bottom of the main frame 1, the steering driving motor 14 is installed on the main frame 1, the first rotating shaft 15 is rotatably connected with the bottom of the main frame 1, an output shaft of the steering driving motor 14 is fixedly connected with the first rotating shaft 15, the second synchronous belt pulley 16 is connected with the first rotating shaft 15, the second rotating shaft 17 is rotatably connected with the bottom of the main frame 1, the third synchronous belt pulley 18 is connected with the second rotating shaft 17, the second synchronous belt 19 is connected between the third synchronous belt pulley 18 and the second synchronous belt pulley 16, a wheel shaft of the first driving universal wheel 12 is connected with the first rotating shaft 15 through the first synchronous belt transmission mechanism 20, and a wheel shaft of the second driving universal wheel 13 is connected with the second rotating shaft 17 through the second synchronous belt transmission mechanism 21. When the steering driving motor 14 works, the output shaft of the steering driving motor 14 drives the first rotating shaft 15 and the second rotating shaft 17 to synchronously rotate, and then the first driving universal wheel 12 and the second driving universal wheel 13 are driven to synchronously rotate to change the direction through the first synchronous belt transmission mechanism 20 and the second synchronous belt transmission mechanism 21.
The vertical bracket 22 is fixedly connected with the main frame 1, the lifting driving motor 23 is fixedly installed on the vertical bracket 22, the screw rod 24 is supported on the vertical bracket 22 through two bearing seats, the output shaft of the lifting driving motor 23 is connected with the screw rod 24, the fifth guide rail assembly 25 and the sixth guide rail assembly 26 are respectively fixedly installed on two sides of the vertical bracket 22, the installation plate 27 is connected with the screw rod 24 through a nut seat, two sides of the installation plate 27 are respectively connected with the slide block of the fifth guide rail assembly 25 and the slide block of the sixth guide rail assembly 26, one end of the first support plate 28 is hinged with one side of the installation plate 27, the other end of the first support plate 28 is connected with the first omnidirectional wheel 32, one end of the second support plate 29 is hinged with the other side of the installation plate 27, the other end of the second support plate 29 is connected with the second omnidirectional wheel 33, one end of the first connecting rod 30 is hinged with the main frame 1, the other end of the first connecting rod 30 is hinged with the first support plate 28, one end of the second link 31 is hinged to the main frame 1, and the other end of the second link 31 is hinged to the second support plate 29.
The left support frame 34 is fixedly connected with the bottom of the left frame 2, the left rear omnidirectional wheel 35 is connected with the left support frame 34, the left front omnidirectional wheel 36 is connected with the left front omnidirectional wheel connecting frame 37, the left front omnidirectional wheel connecting frame 37 is provided with a first left optical axis 37-1 and a second left optical axis 37-2, a first left linear bearing 38 and a second left linear bearing 39 are respectively and fixedly connected with the left support frame 34, the first left linear bearing 38 and the second left linear bearing 39 are distributed up and down, the first left optical axis 37-1 passes through the first left linear bearing 38, the second left optical axis 37-2 passes through the second left linear bearing 39, a first telescopic driving motor 40 is arranged on the left support frame 34, a third synchronous pulley transmission mechanism 41 is arranged on the left support frame 34, an output shaft of the first telescopic driving motor 40 is connected with a third synchronous pulley transmission mechanism 41, a synchronous belt in the third synchronous pulley transmission mechanism 41 is connected with the left front omnidirectional wheel connecting frame 37 through a synchronous belt connecting piece . The first telescopic driving motor 40 acts to drive the left front omni wheel connecting frame 37 to move back and forth through the third synchronous pulley transmission mechanism 41, so as to drive the left front omni wheel 36 to move back and forth, and adjust the distance between the left front omni wheel 36 and the left rear omni wheel 35.
The right side support frame 42 is fixedly connected with the bottom of the right side frame 3, the right rear omnidirectional wheel 43 is connected with the right side support frame 42, the right front omnidirectional wheel 44 is connected with the right front omnidirectional wheel connecting frame 45, the right front omnidirectional wheel connecting frame 45 is provided with a first right optical axis 45-1 and a second right optical axis 45-2, a first right linear bearing 46 and a second right linear bearing 47 are respectively and fixedly connected with the right side support frame 42, the first right linear bearing 46 and the second right linear bearing 47 are distributed up and down, the first right optical axis 45-1 penetrates through the first right linear bearing 46, the second right optical axis 45-2 penetrates through the second right linear bearing 47, a second telescopic driving motor 48 is arranged on the right side support frame 42, a fourth synchronous pulley transmission mechanism 49 is arranged on the right side support frame 42, an output shaft of the second telescopic driving motor 48 is connected with a fourth synchronous pulley transmission mechanism 49, a synchronous belt in the fourth synchronous pulley transmission mechanism 49 is connected with the right front omnidirectional wheel connecting frame 45 through a synchronous belt connecting piece .
The left lifting driving motor 52 is fixedly installed on the left side frame 2, the left lead screw 51 is connected with an output shaft of the left lifting driving motor 52, the first bearing seat 53 is installed on the upper portion of the left side frame 2, the second bearing seat 54 is installed on the lower portion of the left side frame 2, the upper end of the left lead screw 51 is connected with the first bearing seat 53, the lower end of the left lead screw 51 is connected with the second bearing seat 54, the left rotating arm support frame 50 is connected with the left lead screw 51 through a nut seat, the seventh guide rail assembly 55 and the eighth guide rail assembly 56 are respectively installed on two sides of the left side frame 2, a sliding block of the seventh guide rail assembly 55 is connected with the left rotating arm support frame 50, and a sliding block of the eighth guide rail assembly 56 is connected with the left rotating arm support frame 50. The left motor base 57 is connected with the left rotating arm support frame 50 through a left crossed roller bearing 58, the left rotating driving motor 59 is fixedly installed on the left motor base 57, the left driving gear 60 is connected with an output shaft of the left rotating driving motor 59, the left rotating arm 62 comprises a left hollow supporting shaft 62-1 and a left driven gear 62-2, the left driven gear 62-2 is meshed with the left driving gear 60, the rear end of the left hollow supporting shaft 62-1 is fixedly connected with the left motor base 57, the front end of a first telescopic pipe 64 is inserted from the rear end of the left hollow supporting shaft 62-1, the rear end of the first telescopic pipe 64 is supported on a first support base 63, and the first telescopic pipe 64 can support the weight of the whole left rotating arm 62. The first support base 63 is connected to the left rotary arm support 50. The first extension tube 64 can be fully inserted into the left hollow support shaft 62-1. When the left lifting driving motor 52 works, the left rotating arm support 50 is driven to move upwards or downwards, and the left rotating arm support 50 drives the left rotating arm 62 to move upwards or downwards, so that the left rotating arm 62 is lifted.
A right lifting driving motor 67 is fixedly installed on the right side frame 3, a right lead screw 66 is connected with an output shaft of the right lifting driving motor 67, a third bearing seat 68 is installed on the upper part of the right side frame 3, a fourth bearing seat is installed on the lower part of the right side frame 3, the upper end of the right lead screw 66 is connected with the third bearing seat 68, the lower end of the right lead screw 66 is connected with the fourth bearing seat, a right rotating arm support frame 65 is connected with the right lead screw 66 through a nut seat, a ninth guide rail assembly 70 and a tenth guide rail assembly 71 are respectively installed on both sides of the right side frame 3, a slider of the ninth guide rail assembly 70 is connected with the right rotating arm support frame 65, a slider of the tenth guide rail assembly 71 is connected with the right rotating arm support frame 65, a right motor seat 72 is connected with the right rotating arm support frame 65 through a right cross roller bearing 73, a right rotating driving motor 74 is fixedly installed on the right motor seat, the right rotating arm 77 comprises a right hollow supporting shaft and a right driven gear 77-2, the right driven gear 77-2 is meshed with the right driving gear 75, the rear end of the right hollow supporting shaft is fixedly connected with the right motor base 72, the front end of the second extension tube 79 is inserted from the rear end of the right hollow supporting shaft, and the rear end of the second extension tube 79 is supported on the second supporting seat 78. Second support 78 is connected to right rotary arm support 65. The second telescopic tube 79 can be inserted entirely into the right hollow support shaft. When the right lifting driving motor 67 works, the right rotating arm supporting frame 65 is driven to move upwards or downwards, and the right rotating arm supporting frame 65 drives the right rotating arm 77 to move upwards or downwards, so that the lifting of the right rotating arm 77 is realized.
As shown in figures 8-14, the left rotary arm 62 comprises a left hollow support shaft 62-1, a left driven gear 62-2, a rear end bearing 62-3, a front end bearing 62-4, a first shaft sleeve 62-5, a flat key 62-6, a shaft bracket 62-7, an outer rope barrel 62-8, an inner rope barrel 62-9, a threaded pin 62-10, a front needle bearing 62-11, a rear needle bearing 62-12, an outer barrel 62-13, a first clamping device 62-14 and a second clamping device 62-15. The first shaft sleeve 62-5 is sleeved on the left hollow supporting shaft 62-1, the shaft bracket 62-7 is fixedly connected with the front end of the first shaft sleeve 62-5, the shaft bracket 62-7 is rotatably connected with the front end of the left hollow supporting shaft 62-1 through a front end bearing 62-4, the rear end of the first shaft sleeve 62-5 is fixedly connected with the left driven gear 62-2 through a flat key 62-6, and the left driven gear 62-2 is rotatably connected with the rear end of the left hollow supporting shaft 62-1 through a rear end bearing 62-3. The inner rope barrel 62-9 is sleeved on the rear end of the first shaft sleeve 62-5, and the end part of the inner rope barrel 62-9 is fixedly connected with the left driven gear 62-2 through a threaded pin 62-10. The outer rope barrel 62-8 is sleeved on the front end of the first shaft sleeve 62-5, and the end part of the outer rope barrel 62-8 is fixedly connected with the shaft bracket 62-7 through a threaded pin. The outer cylinder 62-13 is sleeved in the middle of the first shaft sleeve 62-5, and the front end and the rear end of the outer cylinder 62-13 are respectively connected with the first shaft sleeve 62-5 in a rotating mode through a front needle bearing 62-11 and a rear needle bearing 62-12. The inner rope barrel 62-9 is close to the rear end of the outer barrel 62-13, and the outer rope barrel 62-8 is close to the front end of the outer barrel 62-13.
As shown in fig. 15-28, the first latch 62-14 is in a locked state, the first latch 62-14 includes a first ring 62-14-1, a first latch 62-14-2, a first screw pin 62-14-3, a first spring plate 62-14-4, and a first positioning pin 62-14-5, a screw hole 62-14-1-1 is formed at a lower portion of the first ring 62-14-1, a positioning pin mounting hole 62-14-1-2 is formed at an upper side of the first ring 62-14-1, the upper part of the first ring 62-14-1 is provided with a spring piece placing groove 62-14-1-3, an inserting hole 62-14-1-4 and a receiving groove 62-14-1-5. The first buckle 62-14-2 is provided with a plug-in part 62-14-2-1 and a disc part 62-14-2-2, the disc part 62-14-2-2 is provided with a groove 62-14-2-1, the plug-in part 62-14-2-1 is provided with a first positioning pin groove 62-14-2-1-1, a second positioning pin groove 62-14-2-1-2 and an arc-shaped groove 62-14-2-1-3, the first positioning pin groove 62-14-2-1-1, the second positioning pin groove 62-14-2-1-2 are communicated with the arc-shaped groove 62-14-2-1-3, and the length of the second positioning pin groove 62-14-2-1-2 is larger than that of the first positioning pin groove 62-14-2 1-1 length. The first threaded pin 62-14-3 is connected with a threaded hole 62-14-1-1 at the lower part of the first ring 62-14-1, the first positioning pin 62-14-5 is connected with a positioning pin mounting hole 62-14-1-2, two first spring leaves 62-14-4 are respectively placed in two spring leaf placing grooves 62-14-1-3 of the first ring 62-14-1, the inserting part 62-14-2-1 of the first buckle 62-14-2 passes through the inserting hole 62-14-1-4 at the upper part of the first ring 62-14-1, the disc part 62-14-2-2 of the first buckle 62-14-2 is positioned in the accommodating groove 62-14-1-5 at the upper part of the first ring 62-14-1, the disk portion 62-14-2-2 of the first snap 62-14-2 is in contact with two first leaf springs 62-14-4. The head of the first positioning pin 62-14-5 is inserted into the first positioning pin groove 62-14-2-1-1 of the first buckle 62-14-2, and the two first spring strips 62-14-4 are in a compressed state. The outer cylinder 62-13 is sleeved on the first circular ring 62-14-1, the first threaded pin 62-14-3 penetrates through the outer cylinder 62-13 to be connected with a threaded hole 62-14-1-1 at the lower part of the first circular ring 62-14-1 so as to fixedly connect the first circular ring 62-14-1 with the outer cylinder 62-13, the outer cylinder 62-13 is provided with an opening to enable a disc part 62-14-2-2 of the first buckle 62-14-2 to be exposed and convenient to operate, the insertion part 62-14-2-1 of the first buckle 62-14-2 is inserted into the connecting hole 62-5-1 of the first shaft sleeve 62-5 to lock the outer cylinder 62-13, thereby realizing the fixed connection of the first shaft sleeve 62-5 and the outer cylinder 62-13 (the outer cylinder 62-13 and the first shaft sleeve 62-5 rotate synchronously).
When the outer cylinder 62-13 needs to be unlocked, as shown in fig. 29-33, a straight screwdriver is used for supporting the first buckle 62-14-2 to the groove 62-14-2-1 on the disc part 62-14-2-2 of the first buckle 62-14-2 and pressing downwards to enable the first buckle 62-14-2 to rotate 180 degrees, further the head of the first positioning pin 62-14-5 comes out of the first positioning pin groove 62-14-2-1-1 and then passes through the arc-shaped groove 62-14-2-1-3 to be in the second positioning pin groove 62-14-2-1-2, then the straight screwdriver is removed, under the action of the elastic force of the two first spring pieces 62-14-4, the head of the first positioning pin 62-14-5 is embedded into the root of the second positioning pin groove 62-14-2-1-2, the two first spring pieces 62-14-4 are in a relaxed state, the insertion part 62-14-2-1 of the first buckle 62-14-2 moves upwards along the insertion hole 62-14-1-4, so that the insertion part 62-14-2-1 of the first buckle 62-14-2 is pulled out of the connection hole 62-5-1 of the first sleeve 62-5, and the first sleeve 62-5 and the outer cylinder 62-13 can move relatively.
The structure of the second clamping device 62-15 is the same as that of the first clamping device 62-14, the second clamping device 62-15 comprises a second circular ring, a second buckle, a second threaded pin, a second spring piece and a second positioning pin, the second threaded pin is connected with a threaded hole in the lower portion of the second circular ring, a positioning pin mounting hole is formed in the side face of the upper portion of the second circular ring, and a spring piece placing groove, a jack and an accommodating groove are formed in the upper portion of the second circular ring. The second buckle is equipped with grafting portion and disc portion, and disc portion is equipped with the groove, and grafting portion is equipped with first locating pin groove, second locating pin groove, arc wall, and the length in second locating pin groove is greater than the length in first locating pin groove. The second locating pin is connected with the locating pin mounting hole of second ring upper portion side, and two second spring pieces are placed respectively in two spring piece standing grooves of second ring, and the jack on second ring upper portion is passed to the grafting portion of second buckle, and the disc portion of second buckle is arranged in the holding tank on second ring upper portion, and the disc portion and two second spring pieces contact of second buckle. The head of the second positioning pin is embedded into the first positioning pin groove of the second buckle, and the two second spring pieces are in a compressed state. The urceolus cover is on the second ring, thereby the second screw thread round pin passes the urceolus and is connected second ring and urceolus fixed connection with the screw hole of second ring lower part, and the urceolus has just to the opening of second buckle, thereby the fixed connection of first axle sleeve and urceolus is realized in the connecting hole of inserting first axle sleeve to the grafting portion of second buckle.
The right rotating arm 77 has the same structure as the left rotating arm 62, and the right rotating arm 77 includes a right hollow support shaft, a right driven gear, a rear end bearing, a front end bearing, a second shaft sleeve, a shaft bracket, an outer cable tube, an inner cable tube, an outer tube, a third latch device, and a fourth latch device. The second shaft sleeve is sleeved on the right hollow supporting shaft, the shaft frame is fixedly connected with the front end of the second shaft sleeve, the shaft frame is rotatably connected with the front end of the right hollow supporting shaft through a front end bearing, the rear end of the second shaft sleeve is fixedly connected with the right driven gear through a flat key, and the right driven gear is rotatably connected with the rear end of the right hollow supporting shaft through a rear end bearing. The inner rope barrel is sleeved on the rear end of the second shaft sleeve, and the end part of the inner rope barrel is fixedly connected with the right driven gear through a threaded pin. The outer rope barrel is sleeved on the front end of the second shaft sleeve, and the end part of the outer rope barrel is fixedly connected with the shaft bracket through a threaded pin. The outer cylinder is sleeved in the middle of the second shaft sleeve, and the front end and the rear end of the outer cylinder are respectively in rotary connection with the second shaft sleeve through a front needle bearing and a rear needle bearing. The inner rope drum is close to the rear end of the outer drum, and the outer rope drum is close to the rear end of the outer drum. The structure of the third clamping device 62-14 is the same as that of the first clamping device 62-14, the third clamping device comprises a third ring, a third buckle, a third threaded pin, a third spring piece and a third positioning pin, the third threaded pin is connected with a threaded hole at the lower part of the third ring, a positioning pin mounting hole is formed in the side face of the upper part of the third ring, and a spring piece placing groove, a jack and a containing groove are formed in the upper part of the third ring. The third buckle is provided with a plug-in part and a disc part, the disc part is provided with a groove, the plug-in part is provided with a first positioning pin groove, a second positioning pin groove and an arc-shaped groove, and the length of the second positioning pin groove is greater than that of the first positioning pin groove. The third locating pin is connected with the locating pin mounting hole of the side face of the upper portion of the third ring, the two third spring pieces are respectively placed in the two spring piece placing grooves of the third ring, the inserting portion of the third buckle penetrates through the inserting hole of the upper portion of the third ring, the disc portion of the third buckle is located in the containing groove of the upper portion of the third ring, and the disc portion of the third buckle is in contact with the two third spring pieces. The head of the third positioning pin is embedded into the first positioning pin groove of the third buckle, and the two second spring pieces are in a compressed state. The outer barrel is sleeved on the third circular ring, the third threaded pin penetrates through the threaded hole in the lower portion of the outer barrel and is connected with the threaded hole in the lower portion of the third circular ring, so that the third circular ring is fixedly connected with the outer barrel, the outer barrel is provided with an opening opposite to the third buckle, and the insertion part of the third buckle is inserted into the connecting hole of the second shaft sleeve, so that the second shaft sleeve is fixedly connected with the outer barrel.
The structure of the fourth clamping device 62-15 is the same as that of the first clamping device 62-14, the fourth clamping device comprises a fourth ring, a fourth buckle, a fourth threaded pin, a fourth spring piece and a fourth positioning pin, the fourth threaded pin is connected with a threaded hole in the lower portion of the fourth ring, a positioning pin mounting hole is formed in the side face of the upper portion of the fourth ring, and a spring piece placing groove, a jack and a containing groove are formed in the upper portion of the fourth ring. The fourth buckle is equipped with grafting portion and disc portion, and disc portion is equipped with the groove, and grafting portion is equipped with first locating pin groove, second locating pin groove, arc wall, and the length in second locating pin groove is greater than the length in first locating pin groove. The fourth locating pin is connected with the locating pin mounting hole of fourth ring upper portion side, and two fourth spring pieces are placed respectively in two spring piece standing grooves of fourth ring, and the jack on fourth ring upper portion is passed to the grafting portion of fourth buckle, and the disc portion of fourth buckle is arranged in the holding tank on fourth ring upper portion, and the disc portion and two fourth spring piece contacts of fourth buckle. The head of the fourth positioning pin is embedded into the first positioning pin groove of the fourth buckle, and the two second spring pieces are in a compressed state. The outer barrel is sleeved on the fourth ring, the fourth threaded pin penetrates through the threaded hole in the lower portion of the outer barrel and the threaded hole in the lower portion of the fourth ring to be connected with the fourth ring and the outer barrel, the outer barrel is provided with an opening opposite to the fourth buckle, and the inserting portion of the fourth buckle is inserted into the connecting hole of the second shaft sleeve to achieve fixed connection of the second shaft sleeve and the outer barrel.
The operation of the nursing robot will be described below,
first, as shown in fig. 34, the cloth 90 is laid flat on the bed 93, the patient lies flat on the cloth 90, the head of the patient is positioned at the left end of the cloth 90, the feet of the patient are positioned at the right end of the cloth 90, the nursing robot moves beside the bed 93, the left rotating arm is close to the head of the patient, and the right rotating arm is close to the feet of the patient. As shown in fig. 39, the first string 91 and the second string 92 pass through both sides of the cloth 90, and right ends of the first string 91 and the second string 92 are fixed to right ends of the cloth 90, respectively.
And secondly, the third clamping device and the fourth clamping device on the right rotating arm 77 are in a locking state, and the second shaft sleeve and the outer cylinder of the right rotating arm 77 are fixedly connected together (the outer cylinder and the second shaft sleeve rotate synchronously). The first clamping device and the second clamping device of the left rotating arm 62 are in an unlocked state, and the outer cylinder 62-13 cannot rotate together with the first shaft sleeve 62-5 when the first shaft sleeve 62-5 on the left rotating arm 62 rotates. As shown in fig. 35, the right end of the cloth 90 is hooked on the outer cable tube and the inner cable tube of the right rotary arm 77 by a hook (or the right end of the cloth 90 is fixed on the right rotary arm 77 by other methods), and then the right rotary arm 77 is driven to rotate, so that the right end of the cloth 90 is slowly wound on the right rotary arm 77, and the right rotary arm 77 rotates and moves leftwards to the leg bend between the thigh and the calf of the patient (the thigh is inclined upwards and the calf is in a natural sagging state).
Third, as shown in fig. 36, the left end of the cloth 90 is fixed to the outer cylinder 62-13 of the left rotating arm 62, the end of the first string 91 is fixed to the outer string cylinder 62-8 of the left rotating arm 62 (which may be tied to the outer string cylinder 62-8), the second string 92 is fixed to the inner string cylinder 62-9 of the left rotating arm 62, the left rotating arm 62 is moved upward by a certain distance to tilt the back of the patient upward,
fourthly, as shown in fig. 37, the left rotating arm 62 is driven to rotate, so that the first rope 91 and the second rope 92 are wound on the outer rope cylinder 62-8 and the inner rope cylinder 62-9 (the lengths of the two ropes are shortened), the left end of the cloth 90 is not wound on the outer cylinder 62-13 of the left rotating arm 62, the cloth 90 forms a funnel shape (shown in the joint diagram 40), and the two sides of the cloth 90 block the body of the patient to prevent the patient from falling off.
And fifthly, the nursing robot is wholly evacuated from the sickbed, the patient is transferred away, the transferring process is stable and reliable, and the safety is high. The patient can be transferred to a wheelchair as shown in figure 38 with the left rotating arm 62 higher than the right rotating arm 77 to bring the patient in a sitting position and then placed in the wheelchair.
For the connection manner of the rope and the cloth, a structure as shown in fig. 41 may be adopted, two sides of the cloth 90 in the length direction and one side in the width direction are provided with a cabling groove 90-1, and the first rope 91 and the second rope 92 are arranged in the cabling groove 90-1, or the first rope 91 and the second rope 92 are designed to be integrally formed and arranged in the cabling groove 90-1.
When the robot holds the patient from the bed, the left front omni-wheel 36, the right front omni-wheel 44, the first omni-wheel 32, and the second omni-wheel 33 are completely at the bottom of the bed. As shown in fig. 43, when the robot needs to transfer a patient from the bed 95 to the bed 96, and the space between the bed 95 and the bed 97 is not enough to pull the left front omni wheel 36, the right front omni wheel 44, the first omni wheel 32, and the second omni wheel 33 of the robot away from the bottom of the bed at one time and then move out of the range of the bed, the following control strategies can be adopted to realize the transfer process of the patient from the bed 95 to the bed 96:
firstly, the robot translates towards the direction of a sickbed 96, when the right front omnidirectional wheel 44 interferes with the bed leg of the sickbed 95, the right front omnidirectional wheel 44 is retracted (the second telescopic driving motor 48 works to drive the right front omnidirectional wheel 44 to retract), at the moment, the first omnidirectional wheel 32 and the second omnidirectional wheel 33 can still support the whole robot, the whole robot continues translating, when the right front omnidirectional wheel 44 moves out of the bottom of the sickbed 95, the right front omnidirectional wheel 44 extends out again, the whole robot continues translating towards the direction of the sickbed 96, when the second omnidirectional wheel 33 interferes with the bed leg of the sickbed 95, the first omnidirectional wheel 32 and the second omnidirectional wheel 33 retract (the lifting driving motor 23 works to drive the first omnidirectional wheel 32 and the second omnidirectional wheel 33 to retract), at the moment, the left front omnidirectional wheel 36 and the right front omnidirectional wheel 44 support the whole robot, then the whole robot continues translating, when the first omnidirectional wheel 32 and the second omnidirectional wheel 33 move out of the bottom of the sickbed 95, the first omnidirectional wheel 32 and the second omnidirectional wheel 33 extend out again, and similarly, the left front omnidirectional wheel 36 avoids the interference with the bed feet of the sickbed in a manner of retracting first and then extending. It can be seen that finally, the robot does not need to move the left front omnidirectional wheel 36, the right front omnidirectional wheel 44, the first omnidirectional wheel 32 and the second omnidirectional wheel 33 out of the bed bottom at one time, and the space requirement on the distance between the bed and the bed when the robot works is reduced.
When the nursing robot is not needed to be used, as shown in fig. 42, the left side frame 2 and the right side frame 3 of the robot are stored, the right front omni wheel and the left front omni wheel are stored, the left rotating arm 62 and the right rotating arm 77 are in the vertical state, and the whole robot in the stored state is small in size and small in occupied space. The process of enabling the left rotating arm 62 to be in the vertical state is that the rear end of the first extension tube 64 is separated from the first support base 63, the first extension tube 64 is integrally inserted into the left hollow support shaft 62-1, the left rotating arm 62 is pushed upwards by hand, the left cross roller bearing 58 acts, and the left motor base 57 rotates upwards by 90 degrees.
The above description is only for the purpose of illustrating preferred embodiments of the present invention and is not to be construed as limiting the present invention, and it is apparent to those skilled in the art that various modifications and variations can be made in the present invention.

Claims (3)

1. A nursing robot is characterized by comprising a main frame, a left side frame, a right side frame, a first guide rail component, a second guide rail component, a third guide rail component, a fourth guide rail component, a first driving synchronous belt wheel, a first driven synchronous belt wheel, a first synchronous belt, a first driving motor, a first driving universal wheel, a second driving universal wheel, a steering driving motor, a first rotating shaft, a second synchronous belt wheel, a second rotating shaft, a third synchronous belt wheel, a second synchronous belt, a first synchronous belt transmission mechanism, a second synchronous belt transmission mechanism, a vertical support, a lifting driving motor, a lead screw, a fifth guide rail component, a sixth guide rail component, a mounting plate, a first supporting plate, a second supporting plate, a first connecting rod, a second connecting rod, a first omnidirectional wheel, a second omnidirectional wheel, a left side supporting frame, a left rear wheel, a left front omnidirectional wheel connecting frame, A first left linear bearing, a second left linear bearing, a first telescopic driving motor, a third synchronous belt wheel transmission mechanism, a right side supporting frame, a right rear omnidirectional wheel, a right front omnidirectional wheel connecting frame, a first right linear bearing, a second telescopic driving motor, a fourth synchronous belt wheel transmission mechanism, a left rotating arm supporting frame, a left lead screw, a left lifting driving motor, a first bearing seat, a second bearing seat and a seventh guide rail component, the guide rail assembly comprises an eighth guide rail assembly, a left motor base, a left crossed roller bearing, a left rotating driving motor, a left driving gear, a left rotating arm, a right rotating arm support frame, a right screw rod, a right lifting driving motor, a third bearing seat, a fourth bearing seat, a ninth guide rail assembly, a tenth guide rail assembly, a right motor base, a right crossed roller bearing, a right rotating driving motor, a right driving gear and a right rotating arm;
the first guide rail assembly is provided with a first sliding block and a first guide rail, the second guide rail assembly is provided with a second sliding block and a second guide rail, the first sliding block is fixedly connected with the top of the main frame, the second sliding block is fixedly connected with the top of the main frame, the first guide rail is fixedly connected with the left side frame, and the second guide rail is fixedly connected with the right side frame; the third guide rail assembly is provided with a third sliding block and a third guide rail, the fourth guide rail assembly is provided with a fourth sliding block and a fourth guide rail, the third sliding block is fixedly connected with the bottom of the main frame, the fourth sliding block is fixedly connected with the bottom of the main frame, the third guide rail is fixedly connected with the left side frame, and the fourth guide rail is fixedly connected with the right side frame; the first driving motor is connected with the main frame, the first driving synchronous belt wheel is connected with an output shaft of the first driving motor, the first driven synchronous belt wheel is rotatably connected with the main frame, and the first synchronous belt is connected between the first driving synchronous belt wheel and the first driven synchronous belt wheel; the first synchronous belt is connected with the first guide rail through a first synchronous belt connecting piece, and the first synchronous belt is connected with the second guide rail through a second synchronous belt connecting piece;
the first driving universal wheel and the second driving universal wheel are respectively connected with the bottom of the main frame, the first driving universal wheel and the second driving universal wheel are arranged on the left side and the right side of the bottom of the main frame, the steering driving motor is connected with the main frame, the first rotating shaft is rotatably connected with the bottom of the main frame, an output shaft of the steering driving motor is fixedly connected with the first rotating shaft, the second synchronous pulley is connected with the first rotating shaft, the second rotating shaft is rotatably connected with the bottom of the main frame, the third synchronous pulley is connected with the second rotating shaft, the second synchronous belt is connected between the third synchronous pulley and the second synchronous pulley, a wheel shaft of the first driving universal wheel is connected with the first rotating shaft through a first synchronous belt transmission mechanism, and a wheel shaft of the second driving universal wheel is connected with the second rotating shaft through a second synchronous belt transmission mechanism;
the vertical support is fixedly connected with the main frame, the lifting driving motor is connected with the vertical support, the lead screw is supported on the vertical support through two bearing seats, an output shaft of the lifting driving motor is connected with the lead screw, the fifth guide rail assembly and the sixth guide rail assembly are respectively and fixedly connected with two sides of the vertical support, the mounting plate is connected with the lead screw through a nut seat, two sides of the mounting plate are respectively connected with a sliding block of the fifth guide rail assembly and a sliding block of the sixth guide rail assembly, one end of the first support plate is hinged with one side of the mounting plate, the other end of the first support plate is connected with the first omnidirectional wheel, one end of the second support plate is hinged with the other side of the mounting plate, the other end of the second support plate is connected with the second omnidirectional wheel, one end of the first connecting rod is hinged with the main frame, and the other end of the first connecting rod is hinged with the first support plate, one end of the second connecting rod is hinged with the main frame, and the other end of the second connecting rod is hinged with the second supporting plate;
the left side supporting frame is fixedly connected with the bottom of the left side frame, the left rear omnidirectional wheel is connected with the left side supporting frame, the left front omnidirectional wheel is connected with a left front omnidirectional wheel connecting frame, the left front omnidirectional wheel connecting frame is provided with a first left optical axis and a second left optical axis, the first left linear bearing and the second left linear bearing are respectively and fixedly connected with the left side supporting frame, the first left linear bearing and the second left linear bearing are distributed up and down, the first left optical axis passes through the first left linear bearing, the second left optical axis passes through the second left linear bearing, the first telescopic driving motor is connected with the left side supporting frame, the third synchronous belt wheel transmission mechanism is connected with the left side supporting frame, the output shaft of the first telescopic driving motor is connected with the third synchronous belt wheel transmission mechanism, a synchronous belt in the third synchronous belt wheel transmission mechanism is connected with a left front omnidirectional wheel connecting frame through a synchronous belt connecting piece;
the right side supporting frame is fixedly connected with the bottom of the right side frame, the right rear omnidirectional wheel is connected with the right side supporting frame, the right front omnidirectional wheel is connected with the right front omnidirectional wheel connecting frame, the right front omnidirectional wheel connecting frame is provided with a first right optical axis and a second right optical axis, the first right linear bearing and the second right linear bearing are respectively and fixedly connected with the right supporting frame, the first right linear bearing and the second right linear bearing are distributed up and down, the first right optical axis passes through the first right linear bearing, the second right optical axis passes through the second right linear bearing, the second telescopic driving motor is connected with the right side supporting frame, the fourth synchronous belt wheel transmission mechanism is connected with the right side supporting frame, an output shaft of the second telescopic driving motor is connected with a fourth synchronous pulley transmission mechanism, and a synchronous belt in the fourth synchronous pulley transmission mechanism is connected with a right front omnidirectional wheel connecting frame through a synchronous belt connecting piece;
the left lifting driving motor is connected with the left side frame, the left lead screw is connected with an output shaft of the left lifting driving motor, the first bearing seat is connected with the upper part of the left side frame, the second bearing seat is connected with the lower part of the left side frame, the upper end of the left lead screw is connected with the first bearing seat, the lower end of the left lead screw is connected with the second bearing seat, the left rotating arm support frame is connected with the left lead screw through a nut seat, the seventh guide rail assembly and the eighth guide rail assembly are respectively connected to two sides of the left side frame, a sliding block of the seventh guide rail assembly is connected with the left rotating arm support frame, and a sliding block of the eighth guide rail assembly is connected with the left rotating arm support frame; the left motor base is connected with the left rotating arm support frame through a left crossed roller bearing, the left rotating driving motor is connected with the left motor base, the left driving gear is connected with the output shaft of the left rotating driving motor,
the left rotating arm comprises a left hollow support shaft, a left driven gear, a rear end bearing, a front end bearing, a first shaft sleeve, a shaft bracket, an outer rope barrel, an inner rope barrel, a front needle bearing, a rear needle bearing, an outer barrel, a first clamping device and a second clamping device, the first shaft sleeve is sleeved on the left hollow support shaft, the shaft bracket is fixedly connected with the front end of the first shaft sleeve, the shaft bracket is rotatably connected with the front end of the left hollow support shaft through the front end bearing, the rear end of the first shaft sleeve is fixedly connected with the left driven gear through a flat key, the left driven gear is rotatably connected with the rear end of the left hollow support shaft through the rear end bearing, the inner rope barrel is sleeved on the rear end of the first shaft sleeve, and the end part of the inner rope barrel is fixedly connected with the left driven gear through a threaded pin; the outer rope barrel is sleeved on the front end of the first shaft sleeve, and the end part of the outer rope barrel is fixedly connected with the shaft bracket through a threaded pin; the outer cylinder is sleeved in the middle of the first shaft sleeve, and the front end and the rear end of the outer cylinder are respectively in rotary connection with the first shaft sleeve through a front needle bearing and a rear needle bearing; the inner rope drum is close to the rear end of the outer drum, and the outer rope drum is close to the front end of the outer drum; the left driven gear is meshed with the left driving gear, and the rear end of the left hollow supporting shaft is fixedly connected with the left motor base;
the right lifting driving motor is connected with the right side frame, the right screw rod is connected with an output shaft of the right lifting driving motor, the third bearing seat is connected to the upper part of the right side frame, the fourth bearing seat is connected to the lower part of the right side frame, the upper end of the right screw rod is connected with a third bearing seat, the lower end of the right screw rod is connected with a fourth bearing seat, the right rotary arm support frame is connected with a right screw rod through a nut seat, the ninth guide rail assembly and the tenth guide rail assembly are respectively connected with the two sides of the right side frame, the slide block of the ninth guide rail component is connected with the right rotary arm supporting frame, the slide block of the tenth guide rail component is connected with the right rotary arm supporting frame, the right motor base is connected with the right rotary arm supporting frame through a right crossed roller bearing, the right rotary driving motor is connected with the right motor base, and the right driving gear is connected with an output shaft of the right rotary driving motor;
the right rotary arm comprises a right hollow support shaft, a right driven gear, a second shaft sleeve, an outer rope barrel, an inner rope barrel, an outer barrel, a third clamping device and a fourth clamping device, the second shaft sleeve is sleeved on the right hollow support shaft, a shaft frame of the right rotary arm is fixedly connected with the front end of the second shaft sleeve, the shaft frame of the right rotary arm is rotatably connected with the front end of the right hollow support shaft through a front end bearing, the rear end of the second shaft sleeve is fixedly connected with the right driven gear through a flat key, and the right driven gear is rotatably connected with the rear end of the right hollow support shaft through a rear end bearing; the inner rope barrel of the right rotating arm is sleeved on the rear end of the second shaft sleeve, and the end part of the inner rope barrel of the right rotating arm is fixedly connected with the right driven gear through a threaded pin; the outer rope barrel of the right rotating arm is sleeved on the front end of the second shaft sleeve, and the end part of the outer rope barrel of the right rotating arm is fixedly connected with the shaft bracket of the right rotating arm through a threaded pin; the outer cylinder of the right rotating arm is sleeved in the middle of the second shaft sleeve, and the front end and the rear end of the outer cylinder of the right rotating arm are respectively in rotary connection with the second shaft sleeve through a front needle bearing and a rear needle bearing; the right driven gear is meshed with the right driving gear, and the rear end of the right hollow supporting shaft is fixedly connected with the right motor base.
2. The nursing robot as claimed in claim 1, wherein the first engaging means comprises a first ring, a first buckle, a first threaded pin, a first spring plate, and a first positioning pin, the lower portion of the first ring is provided with a threaded hole, the upper side surface of the first ring is provided with a positioning pin mounting hole, the upper portion of the first ring is provided with a spring plate placement groove, a jack, and a receiving groove, the first buckle is provided with an inserting portion and a disc portion, the disc portion is provided with a groove, the inserting portion is provided with a first positioning pin groove, a second positioning pin groove, and an arc-shaped groove, the first positioning pin groove, the second positioning pin groove, and the arc-shaped groove are communicated, the length of the second positioning pin groove is greater than that of the first positioning pin groove, the first threaded pin is connected with the threaded hole at the lower portion of the first ring, the first positioning pin is connected with the positioning pin mounting hole, the two first spring plates are respectively placed in the two placement grooves of the first ring, the inserting part of the first buckle penetrates through the inserting hole in the upper part of the first ring, the disc part of the first buckle is positioned in the accommodating groove in the upper part of the first ring, the disc part of the first buckle is in contact with the two first spring pieces, the outer cylinder of the left rotating arm is sleeved on the first ring, the first threaded pin penetrates through the outer cylinder and is connected with the threaded hole in the lower part of the first ring, and the outer cylinder of the left rotating arm is provided with an opening which is opposite to the disc part of the first buckle; when the head of the first positioning pin is embedded into the first positioning pin groove of the first buckle, the insertion part of the first buckle is inserted into the connecting hole of the first shaft sleeve, and the two first spring pieces are in a compressed state.
3. The nursing robot as claimed in claim 2, further comprising a first extension tube, a second extension tube, a first support seat and a second support seat, wherein the front end of the first extension tube is inserted from the rear end of the left hollow support shaft, and the rear end of the first extension tube can be supported on the first support seat; the first supporting seat is connected with the left rotating arm supporting frame; the front end of the second telescopic pipe is inserted from the rear end of the right hollow supporting shaft, the rear end of the second telescopic pipe is supported on a second supporting seat, and the second supporting seat is connected with the right rotary arm supporting frame.
CN202011208047.9A 2020-11-03 2020-11-03 Nursing robot Active CN112494248B (en)

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Citations (4)

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Publication number Priority date Publication date Assignee Title
CN203001308U (en) * 2013-01-27 2013-06-19 王梅 Nursing mechanical arm
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JP6538295B1 (en) * 2018-03-14 2019-07-03 修 横田 Fixed-type care lift
CN210903805U (en) * 2019-07-17 2020-07-03 三河市静尔动科技有限公司 Sky rail shifting machine

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN209611598U (en) * 2019-01-07 2019-11-12 中国科学院沈阳自动化研究所 The wounded suitable for narrow space rush to transport robot waist lifting joint
CN110640755A (en) * 2019-09-19 2020-01-03 哈尔滨工业大学（威海） Robot for nursing transfer
CN111588573B (en) * 2020-05-29 2021-10-26 燕山大学 Multi-arm cooperative transfer nursing robot

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN203001308U (en) * 2013-01-27 2013-06-19 王梅 Nursing mechanical arm
JP6538295B1 (en) * 2018-03-14 2019-07-03 修 横田 Fixed-type care lift
CN108724213A (en) * 2018-06-13 2018-11-02 哈尔滨工业大学（威海） A kind of Yi Cheng robots
CN210903805U (en) * 2019-07-17 2020-07-03 三河市静尔动科技有限公司 Sky rail shifting machine

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