CN115154113A

CN115154113A - Postoperative patient transfer robot

Info

Publication number: CN115154113A
Application number: CN202210818453.XA
Authority: CN
Inventors: 林盛; 柴超凡; 李刚
Original assignee: Dalian Jiaotong University
Current assignee: Dalian Jiaotong University
Priority date: 2022-07-13
Filing date: 2022-07-13
Publication date: 2022-10-11
Anticipated expiration: 2042-07-13
Also published as: CN115154113B

Abstract

The invention relates to the field of soft body robots, and particularly discloses a post-operative patient carrying robot which comprises a plurality of soft body driving devices, a bed body, an air channel device, an air pump and a power supply, wherein the plurality of soft body driving devices are vertically arranged above the bed body, each soft body driving device comprises a plurality of mutually connected soft body driving units, each soft body driving unit comprises a deformable body capable of being turned over relative to the transverse direction of the bed body and a base connected below the deformable body, an inflation cavity is arranged in each base, each deformable body is of a cavity type structure and is communicated with the inflation cavity, and the air pump is connected with the soft body driving devices through the air channel device. The invention can improve the comfort of the patient in the carrying process, avoid secondary damage to the patient in the carrying process, and can drive a single group of drivers to move independently or a plurality of groups of drivers to move simultaneously through the controller, thereby realizing stable and safe carrying and automatic carrying of the postoperative patient and relieving the problems of the postoperative patient needing to be carried but having insufficient hands in a hospital.

Description

Postoperative patient transfer robot

Technical Field

The invention relates to the field of soft robots.

Background

Postoperative patient and severe patient are operating or the operation is accomplished the back, and the patient need shift between the sick bed, and the patient is because reasons such as anesthesia or wound, and is physically restricted, can't oneself move about usually, just at this moment need a plurality of medical personnel to carry patient simultaneously, nevertheless has the staff not enough, and because the uneven production of manpower is jolted, causes secondary damage's problem to the patient. In 2017, li zhe et al discloses a postoperative patient transfer stretcher in patent CN106943246A, and the device can scoop a patient into a stretcher without moving the patient by mutually matching a transfer cart and a telescopic rotary stretcher, and then transfer the patient out of an operating table by the transfer cart, but the scooping device of the device is a mechanical device and needs to be inserted between the patient and a sickbed, so that certain potential safety hazards are caused. A post-operative patient handling device of the type known as white in 2020, CN112057275A, utilizes two sets of contiguous handling pallets to hold a patient and then moves the patient by means of a roller dragging arrangement, but requires the patient to be moved onto the handling pallets before use, still requiring human involvement. Therefore, the prior art still has the problems of lacking of hands and easy secondary injury to patients. To solve the existing problems, a novel postoperative patient carrying robot is researched and designed, and the problem existing in the existing postoperative transfer of patients is very necessary to be overcome.

Disclosure of Invention

In order to solve the problems existing in the existing postoperative transfer of the patient, the invention provides a postoperative patient carrying robot.

The technical scheme adopted by the invention for realizing the purpose is as follows: the utility model provides a postoperative patient transfer robot, includes software drive arrangement, the bed body, gas circuit device, air pump and power, software drive arrangement be a plurality of and a plurality of software drive arrangement vertical set up in bed body top, software drive arrangement includes a plurality of interconnect's software drive unit, software drive unit is including the deformation body that can overturn for the horizontal direction of bed body and connect in the base that warp the body below, be equipped with the inflation chamber in the base, the deformation body be cavity type structure and with the inflation chamber intercommunication, the deformation body includes interconnect's restrictive coating and inflation layer just the ductility of restrictive coating is less than the ductility of inflation layer, the air pump passes through the gas circuit device with software drive arrangement connects for interior inflation chamber through the base does the deformation body is aerifyd, the power is used for whole device power supply.

Preferably, the bed body is equipped with installing support, middle part platform and mounting panel, the installing support is two, sets up in fixing at bed body one end middle part, the installing support is used for fixing the gas circuit device, the middle part platform sets up inside the bed body below, the middle part platform is used for fixing the air pump, the mounting panel set up in the bed body side, the mounting panel is used for fixing power and hardware circuit module.

Preferably, the deformation body is further provided with two side walls, and the limiting layer, the expansion layer and the two side walls form a closed cavity body type structure in a surrounding mode.

Preferably, the deformation body is arranged in the middle above the base.

Preferably, the soft driving device further comprises a support, and the soft driving unit is connected with the bed body through the support.

Preferably, the soft driving unit is made of silicone resin, and a sheet-shaped non-stretchable substance is arranged in the limiting layer.

Preferably, the air path device is arranged on one side of the bed body and comprises an air pipe connected with the soft driving device and an electromagnetic valve connected with the air pipe, and the air pump is connected with the electromagnetic valve.

Preferably, the air pipes are connected with the base through branch air pipes, the number of the air pipes and the number of the electromagnetic valves are the same as that of the soft driving devices, and the number of the branch air pipes is the same as that of the base.

Preferably, the device further comprises a hardware circuit module and a controller, wherein the hardware circuit module is connected with the gas circuit device and the gas pump, and the controller is connected with the hardware circuit module and is used for controlling the gas circuit device and the gas pump.

Preferably, the controller is provided with a start button, a stop button and an air path selection button, and the air path selection button is used for selecting the on-off quantity of the air path device.

According to the post-operation patient carrying robot, the gas in the cavity of the soft driving device is used for supporting and moving a patient, so that the comfort of the patient in the carrying process can be improved, the secondary damage to the patient in the carrying process is avoided, in addition, a controller can drive a single group of drivers to move independently or multiple groups of drivers to move simultaneously, the operation and the control can be realized only by one hand, the convenience is provided for the carrying of the patient, the stable and safe carrying and the automatic carrying of the post-operation patient are realized, and the problem that the post-operation patient in a hospital needs to be carried but the hand is insufficient can be solved.

Drawings

FIG. 1 is a front view of a patient transfer robot according to an embodiment of the present invention;

FIG. 2 is a perspective view of a post-operative patient transfer robot in accordance with an embodiment of the present invention;

FIG. 3 is a schematic structural diagram of an air passage device according to an embodiment of the present invention;

FIG. 4 is a schematic structural diagram of a software driver according to an embodiment of the present invention;

FIG. 5 is a schematic structural view of a deformable body in a relaxed state according to an embodiment of the invention;

FIG. 6 is a schematic diagram of a configuration of an embodiment of the present invention in a state in which the confinement layer is separated from the expansion layer;

FIG. 7 is a structural view illustrating a state where a transformation body starts to be bent according to an embodiment of the present invention;

fig. 8 is a schematic structural view of an article to be carried after lateral movement according to an embodiment of the present invention.

In the figure: 1. the device comprises a software driving device, 1-1 parts of a base, 1-2 parts of a limiting layer, 1-3 parts of an expansion layer, 1-4 parts of a support, 2 parts of a bed body, 2-1 parts of an installation support, 2-2 parts of a middle platform, 2-3 parts of an installation plate, 3 parts of an air pump, 4 parts of a power supply, 5 parts of a hardware circuit module, 6 parts of an air path device, 6-1 parts of an air pipe, 6-2 parts of an electromagnetic valve group, 7 parts of a controller, 8 parts of an object to be transported.

Detailed Description

The embodiments of the present invention will be described in further detail with reference to the drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. The terms "mounted," "connected," and "coupled" are to be construed broadly and may include, for example, fixed connections, removable connections, or integral connections; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art. In addition, in the description of the present invention, "a plurality" means two or more unless otherwise specified.

A postoperative patient transfer robot of this embodiment is as shown in fig. 1-3, including software drive arrangement 1, the bed body 2, gas circuit device 6, air pump 3 and power 4, software drive arrangement 1 is a plurality of and a plurality of software drive arrangement 1 vertical setting in bed body 2 top, software drive arrangement 1 includes a plurality of interconnect's software drive unit, software drive unit includes the deformation body that can overturn for bed body 2 horizontal direction and connects in base 1-1 of deformation body below, be equipped with the inflation chamber in base 1-1, the deformation body is cavity type structure and communicates with the inflation chamber, the deformation body includes interconnect's restriction layer 1-2 and inflation layer 1-3 and the ductility of restriction layer 1-2 is less than the ductility of inflation layer 1-3, software drive arrangement 1 carries the patient through the deformation body, air pump 3 is connected with software drive arrangement 1 through gas circuit device 6 for aerifing the deformation body through the interior inflation chamber of base 1-1, power 4 is used for whole device power supply.

As shown in fig. 2, the bed body 2 is provided with two mounting brackets 2-1, a middle platform 2-2 and two mounting plates 2-3, the two mounting brackets 2-1 are fixed in the middle of one end of the bed body 2, the mounting brackets 2-1 are used for fixing the air path device 6, so that the air path device 6 is fixed more firmly and is not easy to fall off, the middle platform 2-2 is arranged inside the lower part of the bed body 2, the middle platform 2-2 is used for fixing the air pump 3, so that the air pump 3 is fixed inside the bed body 2, the external space is not occupied, and the air pump 3 is prevented from being collided with, the mounting plates 2-3 are arranged on the side surfaces of the bed body 2, and the mounting plates 2-3 are used for fixing the power supply 4 and the hardware circuit module 5.

As shown in figures 3 and 4, the width of the expansion layer 1-3 in the deformable body can be larger than that of the limiting layer 1-2, the deformable body is also provided with two side walls, the limiting layer 1-2, the expansion layer 1-3 and the two side walls form a closed cavity type structure in a surrounding mode, and the deformable body is arranged in the middle above the base 1-1. The soft driving device 1 also comprises a support 1-4, the soft driving unit is connected with the bed body 2 through the support 1-4, the material of the soft driving unit is silicon resin, and the limiting layer 1-2 is internally provided with a flaky non-stretchable substance. During manufacturing, the base 1-1, the limiting layer 1-2 and the expansion layer 1-3 can be poured into a printed mold through silicon rubber to be integrally molded, wherein a sheet-shaped non-stretchable substance is placed in the limiting layer 1-2 to ensure the plasticity and non-stretchability of the limiting layer 1-2, an inner concave square hole with the same size as the base 1-1 is formed in the upper end of the support 1-4, the base 1-1 is placed in the inner concave square hole of the support 1-4, the bottom of the base 1-1 is directly fixed on the support 1-4 through an adhesive to prevent relative movement, four corners of the support 1-4 are perforated, and the support 1-4 is fixed on the upper portion of the bed body 2 through bolts and nuts.

As shown in figure 3, the air path device 6 is arranged on one side of the bed body 2, the air path device 6 comprises an air tube 6-1 connected with the soft driving device 1 and an electromagnetic valve 6-2 connected with the air tube 6-1, the air pump 3 is connected with the electromagnetic valve 6-2, the air tube 6-1 is connected with the base 1-1 through a branch air tube, the number of the air tube 6-1 and the electromagnetic valve 6-2 is the same as that of the soft driving device 1, and the number of the branch air tubes is the same as that of the base.

In addition, the air pump device further comprises a hardware circuit module 5 and a controller 7, wherein the hardware circuit module 5 is connected with the air path device 6 and the air pump 3, and the controller 7 is connected with the hardware circuit module 5 and used for controlling the air path device 6 and the air pump 3. The controller 7 is provided with a start button, a stop button and an air path selection button, and the air path selection button is used for selecting the on-off quantity of the electromagnetic valves 6-2.

The number of lines and columns of the soft driving devices 1 in the device can be increased or decreased according to requirements, the layout of the soft driving devices 1 can be combined according to requirements, the lengths of the limiting layers 1-2 and the expansion layers 1-3 can be further lengthened according to actual carrying requirements, two or more groups of soft driving devices 1 can be started for carrying operation according to carrying requirements in the carrying process, the shape of the bed body 2 can be deformed according to requirements, and other accessories and devices can be added, connected, fixed and installed to realize required functions.

Fig. 5-8 are simplified schematic diagrams of the patient handling process of the device, in the automatic patient handling process, firstly, the starting button on the controller 7 is pressed, and the transverse swinging displacement of the object 8 to be handled on the platform is realized through the combined action of the expansion layers 1-3 and the limiting layers 1-2 by increasing the air pressure in the deformation body.

Taking the working process of a row of software drivers 1 as an example: 1. as shown in FIG. 5, firstly, the deformable body is in a relaxed state, the object 8 to be carried is flatly placed on the soft driving device 1, and the limiting layer 1-2, the expansion layer 1-3 and the base 1-1 are pressed and attached tightly;

2. as shown in fig. 6, when the start button on the controller 7 is pressed, the air pump 3 starts to pump air into the deformable body through the branched air pipe, the expansion layer 1-3 is pressed and expanded along with the inflow of the air, so that the volume of the deformable body is continuously expanded, the inner surface of the limiting layer 1-2 is gradually separated from the inner surface of the expansion layer 1-3, and the object 8 to be transported is gradually lifted;

3. as shown in fig. 7, as the air continues to flow in, the volume of the deformation body is further enlarged, the part of the expansion layer 1-3, which is longer than the limiting layer 1-2, begins to expand to a greater extent, the object 8 to be carried is jacked up to incline towards the other side, and as the stress of the object 8 to be carried changes, the joint of the limiting layer 1-2 and the expansion layer 1-3 is subjected to downward extrusion force which is not coplanar with the limiting layer 1-2, at this time, the middle partition of the limiting layer 1-2 cannot maintain a balanced state, and the limiting layer 1-2 rotates with the joint with the base 1-1 as an axis;

4. as shown in fig. 8, with the continuous inflation of the deformable body, the limiting layer 1-2 rotates 180 degrees around the joint with the base 1-1, the gas filled in the deformable body is slowly exhausted through the electromagnetic valve set 6-2 under the pressure of the object 8 to be transported, and the limiting layer 1-2 is folded together with the upper surface of the base 1-1 to complete the transportation of the object 8 to be transported.

The embodiments of the present invention have been presented for purposes of illustration and description, and are not intended to be exhaustive or limited to the invention in the form disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiment was chosen and described in order to best explain the principles of the invention and the practical application, and to enable others of ordinary skill in the art to understand the invention for various embodiments with various modifications as are suited to the particular use contemplated.

Claims

1. The utility model provides a postoperative patient transfer robot, its characterized in that, includes software drive arrangement (1), the bed body (2), gas circuit device (6), air pump (3) and power (4), software drive arrangement (1) be a plurality of and a plurality of software drive arrangement (1) vertical setting in bed body (2) top, software drive arrangement (1) include a plurality of interconnect's software drive unit, the software drive unit including can be for the deformation body of bed body (2) horizontal direction upset and connect in base (1-1) of deformation body below, be equipped with the inflation chamber in base (1-1), the deformation body be cavity type structure and with the inflation chamber intercommunication, the deformation body includes interconnect's restriction layer (1-2) and inflation layer (1-3) just the ductility of restriction layer (1-2) is less than the ductility of inflation layer (1-3), air pump (3) pass through gas circuit device (6) with air circuit drive arrangement (1) connect for do through the software of base (1-1) the inflation body is used for whole power supply unit (4).

2. A post-operative patient transfer robot according to claim 1, wherein the bed body (2) is provided with two mounting brackets (2-1), a middle platform (2-2) and two mounting plates (2-3), the two mounting brackets (2-1) are fixed at the middle of one end of the bed body (2), the mounting brackets (2-1) are used for fixing the air channel device (6), the middle platform (2-2) is arranged inside the lower part of the bed body (2), the middle platform (2-2) is used for fixing the air pump (3), the mounting plates (2-3) are arranged at the side of the bed body (2), and the mounting plates (2-3) are used for fixing the power supply (4) and the hardware circuit module (5).

3. A post-operative patient transfer robot according to claim 1, wherein the deformation body is further provided with two side walls, the confinement layers (1-2), the expansion layers (1-3) and the two side walls enclosing a closed cavity type structure.

4. A post-operative patient transfer robot according to claim 1, wherein said deformation body is arranged in the middle above said base (1-1).

5. A post-operative patient transfer robot according to claim 1, characterized in that said soft drive means (1) further comprises supports (1-4), said soft drive unit being connected to the bed (2) by means of the supports (1-4).

6. A post-operative patient transfer robot according to claim 1, wherein the soft drive unit is made of silicone and the constraining layers (1-2) are provided with a sheet-like non-stretchable substance.

7. A post-operative patient transfer robot according to claim 1, wherein said air path device (6) is disposed at one side of said bed body (2), said air path device (6) comprises an air tube (6-1) connected to said soft driving device (1) and an electromagnetic valve (6-2) connected to said air tube (6-1), and said air pump (3) is connected to said electromagnetic valve (6-2).

8. A post-operative patient transfer robot according to claim 7, wherein said air tube (6-1) is connected to said base (1-1) by means of a branched air tube, the number of said air tubes (6-1) and said solenoid valves (6-2) being the same as the number of said soft drive means (1), and the number of said branched air tubes being the same as the number of said base (1-1).

9. A post-operative patient transfer robot according to claim 1, further comprising a hardware circuit module (5) and a controller (7), wherein said hardware circuit module (5) is connected to said air circuit device (6) and air pump (3), and said controller (7) is connected to said hardware circuit module (5) for controlling said air circuit device (6) and air pump (3).

10. A post-operative patient handling robot according to claim 9, wherein said controller (7) is provided with a start button, a stop button and a gas circuit selection button for selecting the number of on/off of said gas circuit means (6).