CN115958627A - Truss structure mechanical arm for intelligent ward and use method - Google Patents
Truss structure mechanical arm for intelligent ward and use method Download PDFInfo
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- CN115958627A CN115958627A CN202211639067.0A CN202211639067A CN115958627A CN 115958627 A CN115958627 A CN 115958627A CN 202211639067 A CN202211639067 A CN 202211639067A CN 115958627 A CN115958627 A CN 115958627A
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Abstract
The invention relates to a truss structure installed on a ward, in particular to an intelligent ward truss structure mechanical arm and a using method thereof. The main structure comprises: a truss structure and a mechanical arm; the truss structure is mainly formed by assembling a main truss and an auxiliary truss in a crossed lap joint manner; the mechanical arm is composed of a non-directional bending structure and a mechanical arm main body part; the main truss is arranged on the side wall of the top of the column or the side wall of the beam body in the ward; a mechanical arm is arranged below the truss structure; the invention adopts the main truss with two ends of side steel plates, which can be fixed on the column surface or beam surface of concrete; similarly, if the building is an assembly type building structure, the building can be fixed on a steel structure in a bolt mode; therefore, the fixing structure is firm by adopting the mode; the mode that the non-directional bending structure is fixed below the equipment mounting plate is adopted, the orientation position of the whole mechanical arm can be aimed at, and fine tuning can be performed.
Description
Technical Field
The invention relates to a truss structure installed on a ward, in particular to an intelligent ward truss structure mechanical arm and a using method thereof.
Background
The truss mechanical arm is a full-automatic industrial device which is established on the basis of a three-coordinate system of right angles X, Y and Z and used for adjusting the station of a workpiece or realizing the functions of the workpiece such as track movement and the like. The control core is realized by an industrial controller. After the controller makes certain logic judgment on various input signals, an execution command is issued to each output element to complete the joint motion among the three axes of X, Y and Z, so that a whole set of full-automatic operation flow is realized. The mechanical arm consists of a structural frame, an X shaft assembly, a Y shaft assembly, a Z shaft assembly, a tool clamp, a control cabinet and six parts.
The application of truss mechanical arms in industry is mature; generally, the method can be used for carrying out the works such as article fetching and calling on any spatial position in a factory area; however, the structure is still lack of practical application in medical management. Therefore, if the industrial walking frame mechanical arm structure is applied to a large-area diagnosis and treatment area, the workload of medical staff can be reduced; the working efficiency of diagnosing is promoted.
Disclosure of Invention
The invention aims to provide an intelligent truss structure mechanical arm for a ward, which is structural equipment for applying an industrial truss mechanical arm structure to a ward diagnosis and treatment space.
The invention adopts the following technical scheme for solving the technical problems: the utility model provides a truss structure arm in intelligent ward, its main structure includes: a truss structure and a mechanical arm; the truss structure is mainly formed by assembling a main truss and an auxiliary truss in a crossed lap joint manner; the mechanical arm is composed of a non-directional bending structure and a mechanical arm main body part; the main truss is arranged on the side wall of the top of the column or the side wall of the beam body in the ward; a mechanical arm is arranged below the truss structure;
square barrel pieces are fixed between the first speed reducing motor and the first keel at intervals; a first screw rod extends and is fixed on a rotor of the first speed reducing motor; a base platform is welded at the top end of the first keel; the tail end of the first screw rod is led into a bearing arranged below the base platform; the tail end of one end of the auxiliary truss is provided with a screw rod notch, and one side of the screw rod notch is screwed with a clamping piece through a bolt; a square barrel or a bearing is fixed on the clamping piece;
the second speed reducing motor is fixed with the square cylinder; a second screw rod is fixedly extended from a rotor of the second speed reducing motor, and the tail end of the second screw rod is inserted into a bearing arranged on the clamping piece; a first connecting plate is fixed on the side wall of the base table, and a nut sleeve is arranged at the top end of the first connecting plate and is screwed with a second screw rod through the nut sleeve;
square cylinder pieces are fixed between the third speed reducing motor and the second keel at intervals; the side wall of the starting end of the second keel is welded with a connecting piece, and the top end of the connecting piece is provided with a nut sleeve which is screwed with the first screw rod; a third screw rod extends and is fixed on a rotor of the third speed reducing motor; and a second connection plate is fixed on the side wall of the equipment mounting plate, and a nut sleeve is arranged at the top end of the second connection plate and is screwed with the third screw through the nut sleeve.
Furthermore, two tail ends of the main truss are provided with side steel plates, and the side steel plates are riveted with the side wall of the column top or the side wall of the beam body through expansion screws; the upper edge of the main truss is provided with first notches at equal intervals; second notches are formed in the lower sides of the auxiliary trusses at equal intervals; the first notch is matched with the second notch.
Furthermore, a non-directional bending structure is fixed below the equipment mounting plate; the non-directional bending structure is formed by: the clamp plate is fastened with the bow-shaped piece, an air bag is clamped between two adjacent clamp plates to form the clamp plate, a plurality of fastening points are arranged on the periphery of the ring of the specific clamp plate, and two ends, which lean against the bow-shaped piece, are fastened on each fastening point; forming a non-directional bending structure in a manner of overlapping the clamp plate fastening bow pieces; and steel wires penetrate through the fastening points, and the top ends of the steel wires are fixed below the equipment mounting plate.
Furthermore, the non-directional bending structure is fixed with a suspension platform, a suspension support is fixed below the suspension platform, and two sides of the suspension support are respectively fixed with a hoop sleeve; a power box is fixed in the anchor ear sleeve; the outer wall of the power box is provided with a plurality of screw holes; the suspension frame is provided with a plurality of pore channels, and rolling discs are arranged on the pore channels; the steel wire is wound through the rolling disc and then is led into the screw hole.
Furthermore, a speed reduction stepping motor is arranged at the central position in the power box, and a rotating shaft of the speed reduction stepping motor is directly fixed at the central position of the air rod base disc; the speed-reducing stepping motor is annularly provided with a plurality of winders around, each winder comprises a motor and a reel, and steel wires are wound on the reel.
Furthermore, a plurality of hemispherical grooves are uniformly distributed on the outer edge of the other side of the air rod base disc; a plurality of hemispherical grooves are uniformly distributed at the same positions of the bowl plate and the gas rod base plate; an electric air rod is arranged between the bowl plate and the air rod base plate; the head end and the tail end of the electric air rod are provided with hemispherical convex grains; the hemispherical convex grains are movably arranged in the hemispherical grooves; the two ends of the other side of the bowl and the plate are respectively provided with a first claw and a second claw, and the middle position of the other side of the bowl and the plate is provided with a third claw.
Furthermore, the bowl and the dish are movably hinged with a T-shaped shaft through a third goat horn, the top end of the T-shaped shaft is respectively provided with a first branch point, a second branch point and a third branch point, and the first branch point, the second branch point and the third branch point are positioned on the same straight line; an electric air rod is tied between the first goat's horn and the first fulcrum; an electric air rod is tied between the second horn and the second fulcrum; the third branch point position is connected with one end of the seven-shaped shaft rod through an electric air rod; the seven-shaped shaft lever is movably hinged with the T-shaped shaft lever.
Further, the height of the first keel is within the interval of one fourth to one third of the height of the ward layer; and the first keel mounting position is positioned in a material distribution room or a machine room area of a ward.
The invention has the beneficial effects that: two tail ends of the main truss are provided with side steel plates which can be fixed on a cylindrical surface or a beam surface of concrete; similarly, if the building is an assembly type building structure, the building can be fixed on a steel structure in a bolt mode; therefore, the fixing structure is firm by adopting the mode; by adopting the mode that the non-directional bent structure is fixed below the equipment mounting plate, the orientation position of the whole mechanical arm can be finely adjusted, and the requirement of taking articles on any spatial position of a patient on a sickbed is really met; a speed reduction stepping motor structure is arranged at the central position in the power box, so that the mechanical arm can rotate at any angle in the spatial position; a plurality of winders are arranged around the ring of the speed-reducing stepping motor, and the control of the non-directional bending structure is achieved through the control of the winders; an electric gas rod is arranged between the bowl plate and the gas rod base plate, so that a multi-angle movable structure serving as a mechanical arm is realized; the seven-shaped shaft rod and the T-shaped shaft rod are movably hinged, so that the control in the bending and stretching space of the mechanical arm is realized.
Drawings
Fig. 1 is an overall structural view of the present invention.
Fig. 2 is a mounting structure view of the first keel, the second keel and the fittings of the invention.
Fig. 3 is a view showing the construction of the secondary truss of the present invention.
Figure 4 is a view of the first and second keels and fittings of the present invention in another orientation.
Fig. 5 is a structural view of a main girder of the present invention.
Fig. 6 is a structural view of a robot arm body of the present invention.
Fig. 7 is an overall structural view of the non-directional bending structure of the present invention.
Fig. 8 is a detailed structural view of the non-directional bent structure of the present invention.
Fig. 9 is a view showing the structure of a single-sided robot main body according to the present invention.
Figure 10 is a view of the central part of the robot arm of the present invention.
Figure 11 is a view of the rotating parts of the robot arm of the present invention.
Fig. 12 is a structural view of a bending and stretching part of the robot arm of the present invention.
Fig. 13 is a schematic view of the internal structure of the power box of the present invention.
In the figure, 1-a first speed reducing motor, 2-a second speed reducing motor, 3-a third speed reducing motor, 4-a first keel, 5-a second keel, 6-a first screw, 7-a second screw, 8-a third screw, 9-a main truss, 91-a side steel plate, 92-a first notch, 10-an auxiliary truss, 101-a second notch, 102-a screw notch, 11-a clamp, 12-a square barrel, 13-a base platform, 131-a first connecting plate, 14-a connecting member, 15-an equipment mounting plate, 151-a second connecting plate, 16-a suspension platform, 161-a suspension support, 17-a pressing plate, 18-an arch, 19-an air bag, 20-an electric air rod, 21-a bowl, 211-a first claw, 212-a second claw, 213-a third claw, 22-a T-shaped shaft lever, 222-a second claw position, 223-a third claw position, 23-a seven-shaped shaft lever, 24-a steel wire box, 25-a wire hoop hole, 251-a stepping motor, 27-a base plate, 26-a base holding motor and a base.
Detailed Description
A detailed description of the embodiments of the present invention is provided below with reference to fig. 1-13.
Example (b): the utility model provides a truss structure arm in intelligent ward, its main structure includes: a truss structure and a mechanical arm; the truss structure is mainly formed by assembling a main truss 9 and an auxiliary truss 10 in a crossed lap joint manner; the cross lap joint can be realized in a bolt fastening mode, and can also be fixed in a buckling groove mode; as long as the transverse and longitudinal structures are firm, the structure shown in the attached figure 1 of the scheme is fixed by the buckling groove; namely, two tail ends of the main truss 9 are provided with side steel plates 91, and the side steel plates 91 are riveted with the side wall of the column top or the side wall of the beam body through expansion screws; the upper side of the main truss 9 is provided with first notches 92 at equal intervals; second notches 101 are formed in the lower side of the auxiliary truss 10 at equal intervals; the first notch 92 and the second notch 101 are matched.
The mechanical arm is composed of a non-directional bending structure and a mechanical arm main body part; referring to fig. 6-7, the non-directional flexure mechanism provides the main portion of the arm with a flexure at any angular spatial location, resembling a "caterpillar" in appearance. The main truss 9 is arranged on the side wall of the top of the column or the side wall of the beam body in the ward; the beam is arranged on the top side wall or the beam side wall, and a certain load-bearing structure is mainly considered; the existing temporary houses adopt aerated blocks as filling partition walls because the aerated blocks do not have bearing capacity.
As shown in the attached drawing 1, a square cylinder 12 is fixed between the first speed reduction motor 1 and the first keel 4 at intervals; the square cylindrical part 12 is used as a bridge between the keel and the speed reducing motor, and the first screw 6 fixed to the rotor of the first speed reducing motor 1 in an extending manner can be installed in the square cylindrical part 12 through the design of the square cylindrical part;
the base platform 13 is welded at the top end of the first keel 4; the tail end of the first screw rod 6 is introduced into a bearing arranged below the base platform 13; therefore, one end of the first screw 6 is provided with the first speed reducing motor 1, and the other end is provided with the bearing, so that a stable rotating space structure is formed;
a screw rod notch 102 is formed at the tail end of the auxiliary truss 10, and a clamping piece 11 is screwed on one side of the screw rod notch 102 through a bolt; in general, the screw rod notches 102 of the auxiliary truss 10 are not provided with the clamping pieces 11, the square barrel pieces 12 or the bearings; when the auxiliary truss 10 is used as the wall side in the whole ward interval, a square tube 12 is fixed in the clamping piece 11 at the tail end of the auxiliary truss 10 at one side close to the wall, and a bearing is fixed in the clamping piece 11 at the tail end of the auxiliary truss 10 at the other corresponding side close to the wall;
the second speed reducing motor 2 is fixed with the square cylinder 12; a second screw 7 is fixed to a rotor of the second speed reduction motor 2 in an extending manner, and the tail end of the second screw 7 is inserted into a bearing arranged on the clamping piece 11; a first connecting plate 131 is fixed on the side wall of the base table 13, and a nut sleeve is arranged at the top end of the first connecting plate 131 and is screwed with the second screw 7 through the nut sleeve; through the design of the structure, the platform can transversely move in the horizontal direction; that is, the movement of the equipment-mounting plate 15 is actuated;
a square cylinder part 12 is fixed between the third gear motor 3 and the second keel 5 at intervals; the square barrel member 12 used here serves the same function as that used in the construction described above; the side wall of the starting end of the second keel 5 is welded with a connecting piece 14, the welding mode can be fixed by bolts, but according to the actual situation, the connecting piece is generally welded and integrally formed; or the device is integrated when leaving the factory; the top end of the connecting piece 14 is provided with a nut sleeve, and the nut sleeve is screwed with the first screw 6; through the designed structure, the platform can move in the vertical direction, namely the equipment mounting plate 15 is driven to move up and down;
a third screw 8 extends and is fixed on the rotor of the third speed reducing motor 3; a second connection plate 151 is fixed on the side wall of the equipment mounting plate 15, and a nut sleeve is arranged at the top end of the second connection plate 151 and is screwed with the third screw 8 through the nut sleeve; through the designed structure, the platform can move horizontally and longitudinally, namely the device mounting plate 15 is driven to move up and down.
A non-directional bending structure is fixed below the equipment mounting plate 15; the non-directional bending structure is composed of: the pressing plates 17 are fastened on the bow-shaped piece 18, and an air bag 19 is clamped between two adjacent pressing plates 17, wherein the air bag 19 mainly has the function of deforming when being pressed and has the function equal to a spring; but because of the spherical body, the deformation angle is more various and the stability is better than that of the spring, and the specific structure can refer to the structure shown in figure 8;
the pressing plate 17 is provided with a plurality of fastening points around the ring, the number of the specific fastening points is configured according to actual equipment, and obviously, the more the number of the fastening points is, the wider the direction of adjustment is; but the matched structure is more complicated, more steel wires 24 are needed, and more wire winders 253 are needed for matching; and more systems for controlling the winder 23 are required for regulation control; two ends of the backrest bow 18 are then fastened at each fastening point; the unidirectional bending structure is formed in a manner that the clamp plates 17 and the fastening bow pieces 18 are superposed; and the steel wires 24 pass through the fastening points, and the top ends of the steel wires 24 are fixed below the equipment mounting plate.
The non-directional bent structure is fixed with the suspension platform 16, and the fixing mode here may be bolt fixing, or any other physical fixing structure including welding; a suspension support 161 is fixed below the suspension support 16, and two sides of the suspension support 161 are respectively fixed with a hoop sleeve 27; a power box 25 is fixed in the anchor ear sleeve 27; the outer wall of the power box 25 is provided with a plurality of screw holes 251; the thread hole 251 is designed to be filled with lubricating oil during use or in the power box 25 body;
the suspension platform 16 is provided with a plurality of pore channels, and the pore channels are provided with rolling discs; the steel wire 24 is wound around the rolling disc and then enters the wire hole 251.
A speed-reducing stepping motor 252 is arranged at the central position in the power box 25, and the rotating shaft of the speed-reducing stepping motor 252 is directly fixed at the central position of the air rod base disc 26; a plurality of wire winders 253 are arranged on the circular periphery of the speed reducing stepping motor 252, each wire winder 253 consists of a motor and a reel, and a steel wire 24 is wound on the reel; the structure of the bobbin 253 is not specifically developed here because it is a prior art, and the core components are already developed in this specification.
Referring to fig. 11-12, a plurality of hemispherical grooves are uniformly distributed on the outer edge of the other side of the air rod base disc 26; a plurality of hemispherical grooves are uniformly distributed on the bowl plate 21 and the air rod base plate 26 at the same position; an electric air rod 20 is arranged between the bowl plate 21 and the air rod base plate 26; hemispherical convex grains are arranged at the head end and the tail end of the electric air rod 20; the hemispherical convex grains are movably arranged in the hemispherical grooves; the two ends of the other side of the bowl and the dish 21 are respectively provided with a first claw 211 and a second claw 212, and the middle position is provided with a third claw 213.
The bowl and the dish 21 are movably hinged with a T-shaped shaft 22 through a third claw 213, and the top end of the T-shaped shaft 22 is respectively provided with a first branch point position 221, a second branch point position 222 and a third branch point position 223 which are positioned on the same straight line; an electric air rod is tied between the first goat's horn 211 and the first branch point position 221; an electric air rod is connected between the second claw 212 and the second pivot 222; the third branch point position 223 is connected with one end of the seven-shaped shaft rod 23 through an electric air rod; the seven-shaped shaft 23 is articulated with the T-shaped shaft 22.
The height of the first keel 4 is within the interval of one fourth to one third of the height of the ward layer; the height of the first keel 4 is designed to be shorter; the problem that the excessive height affects the personnel passing in the ward is mainly considered; the adjusted height is generally used as a supplement to the stretching height of the unidirectional bending structure;
the mounting position of the first keel 4 is positioned in a batching room or a machine room area of a ward; the design structure of the scheme shows that the first keel 4 only moves in a small area range, and is generally close to one side of a wall surface; this side of the building design is generally more logical as a functional area.
A use method of a truss structure mechanical arm of an intelligent ward comprises the following steps:
s1, firstly, additionally customizing a matching part adapted to the seven-shaped shaft rod 23 according to the actual use requirement of a ward; the kit as referred to herein may be a serving tray, serving box, or the like;
s2, dividing the bed in the ward into grids, and debugging the specified position of the bed, wherein the specific debugging content is that the equipment mounting plate 15 is positioned vertically, so that the spatial position for supporting and storing articles by the patient in the ward is convenient and fast;
s3, the patient takes and stores the articles: firstly, medical staff in a dispensing room or a room area can place the needed articles for a patient on a designated bed, and the articles can be placed on a matching part of the seven-shaped shaft rod 23; then, the first speed reducing motor 1 starts the first screw rod 6 to rotate, so that the connecting piece 14 rises, and the second keel 5 and the equipment mounting plate 15 are driven to integrally lift; immediately after all the wire winders 253 are started, all the steel wires 24 are rewound; the non-directional bent structure is compressed to the shortest;
s4, the second screw 7 is started to rotate by the second speed reducing motor 2, so that the base platform 13 can horizontally and transversely automatically move; through calculation of a set program, the base table 13 moves to the horizontal coordinate of the appointed patient bed; movement of the base table 13, that is, movement of the equipment mounting plate 15; the third speed reducing motor 3 starts the third screw rod 8 to rotate, so that the equipment mounting plate 15 automatically moves horizontally and longitudinally; through calculation of a set program, the equipment mounting plate 15 moves to the longitudinal coordinate of the appointed patient bed; the position of a preset region of the patient bed is right below the coordinates of the crisscross points;
s5, gradually releasing the steel wire 24 wound in the winder 253; the falling height of the main body part of the mechanical arm is just suitable for the position where a patient can conveniently take articles; refined position adjustments are then made for the positions of the various patients: specifically, the method comprises the following steps: according to the orientation of a patient, the directional bending of the non-directional bending structure is realized by adjusting the winding amount of the wire winder 253 arranged in the power box 25 in a circle;
s6, the steering of the seven-shaped shaft rod 23 can be adjusted by starting the speed reduction stepping motor 252 in the power box 25; the electric air rods 20 are controlled to adjust the positioning of any position of the seven-shaped shaft rod 23 in space; the electric air rods arranged in the T-shaped shaft rod 22 and the seven-shaped shaft rod 23 are controlled to move in the bending and opening directions of the controller; obviously, if only the dispensing trays, serving boxes, etc. are required to work in step 1, this step 6 is set in the dispensing room or in the area of the machine room.
The foregoing shows and describes the general principles, principal features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (9)
1. The utility model provides a truss structure arm in intelligent ward, its main structure includes: a truss structure and a mechanical arm; the truss structure is mainly formed by assembling a main truss (9) and an auxiliary truss (10) in a cross lap joint manner; the mechanical arm is composed of a non-directional bending structure and a mechanical arm main body part; the method is characterized in that: the main truss (9) is arranged on the side wall of the top of the column or the side wall of the beam body in the ward; a mechanical arm is arranged below the truss structure;
square barrel pieces (12) are fixed between the first speed reducing motor (1) and the first keel (4) at intervals; a first screw (6) extends and is fixed on a rotor of the first speed reducing motor (1); a base platform (13) is welded at the top end of the first keel (4); the tail end of the first screw rod (6) is introduced into a bearing arranged below the base platform (13); a screw rod notch (102) is formed in the tail end of one end of the auxiliary truss (10), and a clamping piece (11) is screwed on one side of the screw rod notch (102) through a bolt; a square cylinder (12) or a bearing is fixed on the clamping piece (11);
the second speed reducing motor (2) is fixed with the square cylinder part (12); a second screw (7) is fixedly extended from a rotor of the second speed reducing motor (2), and the tail end of the second screw (7) is inserted into a bearing arranged on the clamping piece (11); a first connecting plate (131) is fixed on the side wall of the base table (13), and a nut sleeve is arranged at the top end of the first connecting plate (131) and is screwed with the second screw (7) through the nut sleeve;
square barrel pieces (12) are fixed between the third speed reducing motor (3) and the second keel (5) at intervals; a connecting piece (14) is welded on the side wall of the starting end of the second keel (5), a nut sleeve is arranged at the top end of the connecting piece (14), and the nut sleeve is screwed with the first screw (6); a third screw (8) extends and is fixed on a rotor of the third speed reducing motor (3); a second connection plate (151) is fixed on the side wall of the equipment installation plate (15), a nut sleeve is arranged at the top end of the second connection plate (151), and the second connection plate is screwed with the third screw (8) through the nut sleeve.
2. The truss structure mechanical arm for the intelligent ward of claim 1, wherein the two ends of the main truss (9) are provided with side steel plates (91), and the side steel plates (91) are riveted with the side wall of the column top or the side wall of the beam body through expansion screws; first notches (92) are formed in the upper side of the main truss (9) at equal intervals; second notches (101) are formed in the lower side of the auxiliary truss (10) at equal intervals; the first notch (92) is matched with the second notch (101).
3. The truss structure mechanical arm for the intelligent ward of claim 1, wherein a non-directional bending structure is fixed below the equipment mounting plate (15); the non-directional bending structure is formed by: the clamp plates (17) are used for fastening the bow-shaped pieces (18), an air bag (19) is clamped between every two adjacent clamp plates (17), a plurality of fastening points are arranged on the clamp plates (17) in a circular circle, and two ends leaning against the bow-shaped pieces (18) are fastened on each fastening point; the non-directional bending structure is formed in a mode that the clamp plates (17) and the fastening bow pieces (18) are overlapped; and steel wires (24) penetrate through the fastening points, and the top ends of the steel wires (24) are fixed below the equipment mounting plate.
4. The truss structure mechanical arm for the intelligent ward of claim 1, wherein the non-directional bending structure is fixed with a suspension bracket (16), a suspension bracket (161) is fixed under the suspension bracket (16), and hooping sleeves (27) are respectively fixed on two sides of the suspension bracket (161); a power box (25) is fixed in the hoop sleeve (27); the outer wall of the power box (25) is provided with a plurality of screw holes (251); the suspension platform (16) is provided with a plurality of pore canals, and the pore canals are provided with rolling discs; the steel wire (24) is wound through the rolling disc and then is led into the wire hole (251).
5. The truss structure mechanical arm for the intelligent ward of claim 4, wherein a speed reduction stepping motor (252) is arranged at the central position in the power box (25), and the rotating shaft of the speed reduction stepping motor (252) is directly fixed at the central position of the air rod base plate (26); the speed-reducing stepping motor (252) is annularly provided with a plurality of wire winders (253) around, each wire winder (253) consists of a motor and a reel, and a steel wire (24) is wound on the reel.
6. The truss structure mechanical arm for intelligent ward of claim 5, wherein a plurality of hemispherical grooves are uniformly distributed on the periphery of the outer edge of the other side of the air rod base disc (26); a plurality of hemispherical grooves are uniformly distributed on the bowl plate (21) and the air rod base plate (26) at the same position; an electric air rod (20) is arranged between the bowl plate (21) and the air rod base plate (26); the head end and the tail end of the electric air rod (20) are provided with hemispherical convex grains; the hemispherical convex grains are movably arranged in the hemispherical grooves; the bowl and dish (21) is characterized in that a first claw (211) and a second claw (212) are respectively arranged at two ends of the other surface of the bowl and dish (21), and a third claw (213) is arranged in the middle of the bowl and dish.
7. The truss structure mechanical arm for the intelligent ward of claim 6, wherein the bowl (21) is movably hinged with a T-shaped shaft (22) through a third claw (213), the top end of the T-shaped shaft (22) is respectively provided with a first branch point (221), a second branch point (222) and a third branch point (223), and the three branch points are located on the same straight line;
an electric air rod is connected between the first goat's horn (211) and the first branch point (221) in a pulling way; an electric air rod is tied between the second horn (212) and the second branch point (222); the third branch point position (223) is connected with one end of the seven-shaped shaft lever (23) through an electric air lever in a pulling way; the seven-shaped shaft lever (23) is movably hinged with the T-shaped shaft lever (22).
8. The truss structure mechanical arm for the intelligent ward of claim 1, wherein the height of the first keel (4) is within a range of one quarter to one third of the height of the ward layer; and the mounting position of the first keel (4) is positioned in a material distribution room or a machine room area of a ward.
9. The method of using the truss structure robot of any one of claims 1-8 in a smart ward, comprising the steps of:
s1, firstly, additionally customizing a matching set matched with a seven-shaped shaft rod (23) according to the actual use requirement of a ward; the kit as referred to herein may be a serving tray, serving box, or the like;
s2, dividing the bed in the ward into grids, and debugging the specified position of the bed, wherein the specific debugging content is that the space position for supporting and storing articles by a patient in the ward is convenient and fast under the vertical position of the equipment mounting plate (15);
s3, the patient takes and stores the articles: firstly, medical staff can place the required articles for the patient on the appointed bed in a dispensing room or a room area, and the articles are placed on a matching set of a seven-shaped shaft rod (23); then, the first speed reducing motor (1) starts the first screw (6) to rotate, so that the connecting piece (14) rises, and the second keel (5) and the equipment mounting plate (15) are driven to be integrally lifted; starting all the wire winders (253) and rewinding all the steel wires (24); the non-directional bent structure is compressed to the shortest;
s4, starting a second screw rod (7) to rotate by a second speed reducing motor (2), so that the base platform (13) can horizontally and transversely automatically move; through calculation of a set program, the base table (13) moves to the horizontal coordinate of the appointed patient bed; movement of the base table (13), that is, movement of the equipment mounting plate (15); the third speed reducing motor (3) starts the third screw (8) to rotate, so that the equipment mounting plate (15) horizontally and longitudinally moves automatically; through calculation of a set program, the equipment mounting plate (15) moves to the longitudinal coordinate of the appointed patient bed; the position of a preset region of the patient bed is directly below the coordinates of the criss-cross points;
s5, gradually releasing the steel wire (24) coiled in the winder (253); the falling height of the main body part of the mechanical arm is just suitable for the position where a patient can conveniently take articles; refined position adjustments are then made for the positions of the various patients: specifically, the method comprises the following steps: according to the orientation of a patient, the directional bending of the non-directional bending structure is realized by adjusting the winding amount of a wire winder (253) arranged in the power box (25) in a circle;
s6, the steering of the seven-shaped shaft rod (23) can be adjusted by starting a speed reduction stepping motor (252) in the power box (25); the plurality of electric air rods (20) are controlled to adjust the positioning of any position on the space of the seven-shaped shaft rod (23); the electric air rods arranged in the T-shaped shaft rod (22) and the seven-shaped shaft rod (23) are controlled, and the bending and opening directions of the controller can be controlled to move; obviously, if only the dispensing trays, serving boxes, etc. are required to work in step 1, this step 6 is performed in the dispensing room or room area.
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| CN202211639067.0A CN115958627B (en) | 2022-12-20 | 2022-12-20 | Truss structure mechanical arm of intelligent ward and use method |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5721290A (en) * | 1980-07-07 | 1982-02-03 | Motoda Denshi Kogyo Kk | Robot arm device |
| US4721005A (en) * | 1985-06-06 | 1988-01-26 | Honda Giken Kogyo Kabushiki Kaisha | Robot apparatus |
| CN101106951A (en) * | 2004-11-24 | 2008-01-16 | 诺瓦尔外科系统公司 | Hand-actuated device for remote manipulation of a grasping tool |
| CN202247980U (en) * | 2011-10-10 | 2012-05-30 | 淮南蓝翔重工有限责任公司 | Excavating device with rotatable small arm |
| CN211029991U (en) * | 2019-09-26 | 2020-07-17 | 成都墨轩科技有限公司 | Multifunctional automatic universal mechanical arm |
-
2022
- 2022-12-20 CN CN202211639067.0A patent/CN115958627B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5721290A (en) * | 1980-07-07 | 1982-02-03 | Motoda Denshi Kogyo Kk | Robot arm device |
| US4721005A (en) * | 1985-06-06 | 1988-01-26 | Honda Giken Kogyo Kabushiki Kaisha | Robot apparatus |
| CN101106951A (en) * | 2004-11-24 | 2008-01-16 | 诺瓦尔外科系统公司 | Hand-actuated device for remote manipulation of a grasping tool |
| CN202247980U (en) * | 2011-10-10 | 2012-05-30 | 淮南蓝翔重工有限责任公司 | Excavating device with rotatable small arm |
| CN211029991U (en) * | 2019-09-26 | 2020-07-17 | 成都墨轩科技有限公司 | Multifunctional automatic universal mechanical arm |
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| Publication number | Publication date |
|---|---|
| CN115958627B (en) | 2023-06-23 |
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