CN115958627B - Truss structure mechanical arm of intelligent ward and use method - Google Patents
Truss structure mechanical arm of intelligent ward and use method Download PDFInfo
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- CN115958627B CN115958627B CN202211639067.0A CN202211639067A CN115958627B CN 115958627 B CN115958627 B CN 115958627B CN 202211639067 A CN202211639067 A CN 202211639067A CN 115958627 B CN115958627 B CN 115958627B
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Abstract
The invention relates to a truss structure installed on a ward, in particular to a truss structure mechanical arm of an intelligent ward and a use method. The main structure comprises: truss structure and robotic arm; the truss structure is mainly formed by assembling a main truss and an auxiliary truss in a cross lap joint manner; the mechanical arm consists of a non-directional bending structure and a mechanical arm main body part; the main truss is arranged on the side wall of the column top or the side wall of the beam body in the ward; a mechanical arm is arranged below the truss structure; the invention adopts the side steel plates at the two ends of the main truss, which can be fixed on the cylindrical surface or the beam surface of the concrete; also if the building structure is an assembled building structure, the building structure can be fixed on a steel structure in a bolt way; therefore, the fixing structure is firm by adopting the mode; the mode that is fixed with unoriented bending structure under the equipment mounting panel has been realized to the orientation position of whole arm, fine tuning can be carried out.
Description
Technical Field
The invention relates to a truss structure installed on a ward, in particular to a truss structure mechanical arm of an intelligent ward and a use method.
Background
The truss mechanical arm is full-automatic industrial equipment which is used for adjusting work stations or realizing the functions of track movement and the like of the work pieces on the basis of a rectangular X, Y and Z three-coordinate system. The control core is realized by an industrial controller. After analyzing and processing various input signals by the controller and making a certain logic judgment, an execution command is issued to each output element to complete the joint movement among X, Y and Z three axes, so that a complete set of full-automatic operation flow is realized. The mechanical arm consists of a structural frame, an X-axis assembly, a Y-axis assembly, a Z-axis assembly, a tool clamp and a control cabinet.
Truss arms are well established in industry; the goods can be generally taken, called and the like from any space position in the factory area; however, the application of the structure to medical management is not practical; therefore, if the industrial truss mechanical arm structure is applied to a large-area diagnosis and treatment area, the workload of medical staff can be reduced; and the working efficiency of diagnosis and treatment is improved.
Disclosure of Invention
The invention aims to provide a truss structure mechanical arm of an intelligent ward, which is structural equipment for applying an industrial walking frame mechanical arm structure to a ward diagnosis and treatment space in the background technology.
The invention solves the technical problems as follows: a truss structure mechanical arm of an intelligent ward mainly comprises: truss structure and robotic arm; the truss structure is mainly formed by assembling a main truss and an auxiliary truss in a cross lap joint manner; the mechanical arm consists of a non-directional bending structure and a mechanical arm main body part; the main truss is arranged on the side wall of the column top or the side wall of the beam body in the ward; a mechanical arm is arranged below the truss structure;
square cylinder parts are fixed between the first gear motor and the first keel at intervals; the rotor of the first speed reduction motor is fixedly provided with a first screw in an extending way; a base seat 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 table; one end of the auxiliary truss is provided with a screw notch, and one side of the screw notch is screwed with a clamping piece through a bolt; a square cylinder or a bearing is fixed on the clamping piece;
the second gear motor is fixed with the square cylinder; the rotor of the second speed reducing motor is fixedly provided with a second screw in an extending manner, and the tail end of the second screw is inserted into a bearing arranged on the clamping piece; the side wall of the base table is fixedly provided with a first connecting plate, and the top end of the first connecting plate is provided with a nut sleeve which is screwed with a second screw rod through the nut sleeve;
square barrel parts are fixed between the third gear motor and the second keel at intervals; the side wall of the initial end of the second keel is welded with a connecting piece, the top end of the connecting piece is provided with a nut sleeve, and the nut sleeve is screwed with the first screw rod; a rotor of the third speed reduction motor is fixedly provided with a third screw in an extending manner; the side wall of the equipment mounting plate is fixed with a second connecting plate, and the top end of the second connecting plate is provided with a nut sleeve which is screwed with a third screw rod.
Further, two ends of the main truss are 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; the lower edge of the auxiliary truss is provided with second notches at equal intervals; the first notch is matched with the second notch.
Further, a non-directional bending structure is fixed under the equipment mounting plate; the non-directional bending structure is formed by: the clamp plate fastens the bow-shaped piece, and the air bag is clamped between two adjacent clamp plates, a plurality of fastening points are arranged on the annular circumference of the specific clamp plate, and two ends of the bow-shaped piece, which are backed towards one end, are fastened on each fastening point; forming a non-directional bending structure in a mode of overlapping the clamp plate fastening bows; and steel wires are penetrated in the fastening points, and the top ends of a plurality of steel wires are fixed below the equipment mounting plate.
Further, the non-directional bending structure is fixed with a suspension table, a suspension support is fixed under the suspension table, and hoop sleeves are respectively fixed on two sides of the suspension support; a power box is fixed in the hoop sleeve; the outer wall of the power box is provided with a plurality of wire holes; the suspension table is provided with a plurality of pore canals, and rolling discs are arranged in the pore canals; the steel wire is led into the wire hole after passing through the rolling disc.
Further, a speed-reducing stepping motor is arranged at the central position in the power box, and a rotating shaft of the speed-reducing stepping motor is directly fixed at the central position of the air rod base plate; the speed-reducing stepping motor is annularly arranged with a plurality of winders, the winders are composed of a motor and a reel, and steel wires are wound on the reel.
Further, a plurality of hemispherical grooves are uniformly distributed on the periphery of the outer edge of the other surface of the air rod base plate; a plurality of hemispherical grooves are uniformly distributed on the same positions of the bowl plate and the air 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 particles; the hemispherical convex particles are movably arranged in the hemispherical grooves; the bowl is characterized in that two ends of the other surface of the bowl are respectively provided with a first sheep horn and a second sheep horn, and a third sheep horn is arranged in the middle.
Further, the bowl and the dish are movably hinged with a T-shaped shaft lever through a third claw, a first branch point position, a second branch point position and a third branch point position are respectively arranged at the top end of the T-shaped shaft lever, and the first branch point position, the second branch point position and the third branch point position are positioned on the same straight line position; an electric air rod is tied between the first sheep horn and the first fulcrum; an electric air rod is tied between the second claw and the second fulcrum; the third branch point is tied with one end of the seven-shaped shaft rod through an electric gas rod; the seven-shaped shaft rod is movably hinged with the T-shaped shaft rod.
Further, the height of the first keel is within a range from one fourth to one third of the height of a ward layer; and the first keel mounting position is positioned in a batching room or a machine room area of a ward.
The invention has the beneficial effects that: two ends of the main truss are provided with side steel plates, and the main truss can be fixed on a cylindrical surface or a beam surface of concrete; also if the building structure is an assembled building structure, the building structure can be fixed on a steel structure in a bolt way; therefore, the fixing structure is firm by adopting the mode; the mode that the non-directional bending structure is fixed under the equipment mounting plate is adopted, so that the orientation position of the whole mechanical arm can be finely adjusted, and the requirements of taking articles from any spatial position of a patient on a sickbed are truly 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 on the space position; a plurality of winders are arranged in a circle by adopting a speed reduction stepping motor, and the control of the non-directional bending structure is achieved through the control of the winders; an electric air rod is arranged between the bowl plate and the air 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 construction diagram of the present invention.
Figure 2 is a block diagram of the first and second keels and fitting mounting of the present invention.
Fig. 3 is a diagram of the auxiliary truss structure of the present invention.
Figure 4 is a view of another view of the first keel and second keel and fitting of the invention.
Fig. 5 is a diagram of the structure of the main truss of the present invention.
Fig. 6 is a main body structure diagram of the mechanical arm of the present invention.
Fig. 7 is an overall block diagram of the non-directional flexure mechanism of the present invention.
Fig. 8 is a detailed view of the structure of the non-directional flexure mechanism of the present invention.
Fig. 9 is a main body structure diagram of the one-sided mechanical arm of the present invention.
Fig. 10 is a structural view of a center part of the mechanical arm of the present invention.
Fig. 11 is a structural view of a rotating member of the mechanical arm of the present invention.
Fig. 12 is a diagram showing a structure of a bending and stretching member of the mechanical arm according to the present invention.
Fig. 13 is a schematic view of the internal structure of the power box of the present invention.
In the figure, a 1-first gear motor, a 2-second gear motor, a 3-third gear motor, a 4-first keel, a 5-second keel, a 6-first screw, a 7-second screw, an 8-third screw, a 9-main truss, a 91-side steel plate, a 92-first notch, a 10-auxiliary truss, a 101-second notch, a 102-screw notch, a 11-clamping piece, a 12-square barrel piece, a 13-base table, a 131-first connecting plate, a 14-connecting piece, a 15-equipment mounting plate, a 151-second connecting plate, a 16-suspension stand, 161-suspension support, 17-pressing plate, 18-bow, 19-air bag, 20-electric air rod, 21-bowl, 211-first horn, 212-second horn, 213-third horn, 22-T-shaped shaft rod, 221-first branch point, 222-second branch point, 223-third branch point, 23-seven-shaped shaft rod, 24-steel wire, 25-power box, 251-wire hole, 252-deceleration stepping motor, 253-winder, 26-air rod base plate and 27-hoop sleeve.
Detailed Description
The following describes in detail the embodiments of the present invention with reference to fig. 1-13.
The first gear motor 1, the second gear motor 2, the third gear motor 3, the first keel 4, the second keel 5, the first screw 6, the second screw 7, the third screw 8, the main truss 9, the side steel plate 91, the first notch 92, the auxiliary truss 10, the second notch 101, the screw notch 102, the clip 11, the square barrel 12, the base table 13, the first connecting plate 131, the connecting piece 14, the equipment mounting plate 15, the second connecting plate 151, the suspension table 16, the suspension mount 161, the pressure plate 17, the bow 18, the air bag 19, the electric air bar 20, the bowl 21, the first horn 211, the second horn 212, the third horn 213, the T-shaped shaft 22, the first branch point 221, the second branch point 222, the third branch point 223, the seven-shaped shaft 23, the steel wire 24, the power box 25, the wire hole 251, the speed reduction motor 252, the winder 253, the air bar base plate 26, the hoop 27
Examples: a truss structure mechanical arm of an intelligent ward mainly comprises: truss structure and robotic 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 cross lap joint can be fastened by bolts or fixed by a buckling groove; the structure shown in the figure 1 of the scheme is fixed by adopting a clamping groove as long as the structure in the transverse and longitudinal directions is firm; the two ends of the main truss 9 are 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; the lower edge of the auxiliary truss 10 is provided with second notches 101 at equal intervals; the first notch 92 is matched with the second notch 101.
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 bending structure provides bending of the arm body portion at any angular spatial location, similar to a "caterpillar" from the exterior of the visual structure. The main truss 9 is arranged on the side wall of the column top or the side wall of the beam body in the ward; is arranged on the top side wall or the beam body side wall, and mainly considers that a certain bearing structure is needed; many of the prior temporary houses use air-entrained cut blocks as infill barriers because of the lack of load-bearing properties.
As shown in fig. 1, a square barrel part 12 is fixed between the first gear motor 1 and the first keel 4 at intervals; the square barrel part 12 is used as a bridge between the keels and the gear motor, and the design of the square barrel part 12 can enable the first screw rod 6 which is fixed on the rotor of the first gear motor 1 in an extending manner to be installed in the square barrel part;
the top end of the first keel 4 is welded with a base table 13; the tail end of the first screw rod 6 is led into a bearing arranged under the base table 13; therefore, one end of the first screw rod 6 is provided with the first gear motor 1, and the other end is provided with a bearing, so that a stable rotating space structure is formed;
a screw notch 102 is formed at one end of the auxiliary truss 10, and a clamping piece 11 is screwed on one side of the screw notch 102 through bolts; the clamping piece 11, the square barrel 12 or the bearing are not arranged in the screw notch 102 of the auxiliary truss 10 in general; when the auxiliary truss 10 is used as the wall-leaning side in the whole ward area, a square cylinder 12 is fixed in a clamping piece 11 at the tail end of the auxiliary truss 10 at one side of the wall, and a bearing is fixed in a clamping piece 11 at the tail end of the corresponding auxiliary truss 10 at the other side of the wall;
the second gear motor 2 is fixed with the square cylinder 12; the rotor of the second gear motor 2 is fixedly provided with a second screw rod 7 in an extending manner, and the tail end of the second screw rod 7 is inserted into a bearing arranged in the clamping piece 11; the side wall of the base table 13 is fixed with a first connecting plate 131, the top end of the first connecting plate 131 is provided with a nut sleeve, and the nut sleeve is screwed with the second screw rod 7; through the design of the structure, the platform can transversely move in the horizontal direction; that is, to actuate movement of the device mounting plate 15;
a square barrel part 12 is fixed between the third gear motor 3 and the second keel 5 at intervals; the square barrel 12 employed herein functions the same as that employed in the above-described construction; the side wall of the initial end of the second keel 5 is welded with a connecting piece 14, the welding mode can be fixed by bolts, but the welding is generally integrally formed according to actual conditions; or is integrated when leaving the factory; the top end of the connecting piece 14 is provided with a nut sleeve which is screwed with the first screw rod 6; through the structure of the design, the platform can move in the vertical direction, namely, the device mounting plate 15 is driven to move up and down;
a third screw rod 8 is fixedly extended from the rotor of the third gear motor 3; a second connecting plate 151 is fixed on the side wall of the equipment mounting plate 15, a nut sleeve is arranged at the top end of the second connecting plate 151, and the second connecting plate is screwed with the third screw rod 8 through the nut sleeve; the structure of this design can enable the platform to move in the horizontal and longitudinal directions, that is, drive the movement of the device mounting plate 15.
A non-directional bending structure is fixed below the equipment mounting plate 15; the non-directional bending structure is formed by: the pressing plates 17 fasten the bows 18, and an air bag 19 is clamped between two adjacent pressing plates 17, and the air bag 19 mainly has the function of deforming when being pressed and is equivalent to a spring; but due to the spherical body, the deformation angle is more various than that of the spring, the stability is good, and the specific structure can be shown in the figure 8;
the annular circumference of the pressing plate 17 is provided with a plurality of fastening points, the number of the specific fastening points is prepared according to actual equipment, and obviously, the larger the number of the fastening points is, the wider the direction in which the fastening points can be adjusted is; but the mating structure is more complex, requiring more steel wires 24 and more wire winders 253 to mate; and a system requiring more control of the winder 23 for regulation control; two ends of the back-facing bow 18 are then fastened to each fastening point; forming a non-directional bending structure in a mode that the clamp plates 17 fasten the bows 18 to be overlapped; and steel wires 24 are penetrated in the fastening points, and the top ends of the steel wires 24 are fixed below the equipment mounting plate.
The non-directional bending structure is fixed with the suspension table 16, and the same fixing mode can be bolt fixing or any other physical fixing structure including welding; a suspension support 161 is fixed under the suspension stand 16, and hoop sleeves 27 are respectively fixed on two sides of the suspension support 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 designed screw hole 251 is filled with lubricating oil during the use process or in the power box 25 body;
the suspension table 16 is provided with a plurality of pore canals, and rolling discs are arranged in the pore canals; the wire 24 passes around the drum and then passes into the wire hole 251.
A deceleration stepping motor 252 is arranged at the central position in the power box 25, and the rotating shaft of the deceleration stepping motor 252 is directly fixed at the central position of the air rod base plate 26; the deceleration stepping motor 252 is annularly provided with a plurality of winders 253 at a circle, the winders 253 are composed of a motor and a reel, and the steel wire 24 is wound on the reel; the structure of the winder 253 is not specifically developed here, since it is a prior art, and the core component has been developed in the present specification.
Referring to fig. 11-12, a plurality of hemispherical grooves are uniformly distributed on the periphery of the outer edge of the other surface of the air rod base plate 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 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 two ends of the other surface of the bowl and 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 21 is movably hinged with a T-shaped shaft rod 22 through a third claw 213, a first branch point 221, a second branch point 222 and a third branch point 223 are respectively arranged at the top end of the T-shaped shaft rod 22, and the three branch points are positioned on the same straight line position; an electric air rod is tied between the first horn 211 and the first branch point 221; an electric air rod is tied between the second claw 212 and the second branch point 222; the third branch point 223 is tied with one end of the seven-shaped shaft lever 23 through an electric air lever; the seven-shaped shaft lever 23 is movably hinged with the T-shaped shaft lever 22.
The height of the first keel 4 is within a range of one quarter to one third of the ward floor height; the height of the first keel 4 is designed to be shorter; it mainly considers that too long a height can affect the personnel passing in the ward; the height of the adjustment is generally used as a supplement to the telescopic height of the non-directional bending structure;
and the first keel 4 is arranged in a material mixing room or a machine room area of a ward; the design structure can show that the first keel 4 only moves in a small area range, and is generally close to one side of the wall surface; the building design side is generally reasonable as a functional area.
The application method of the truss structure mechanical arm of the intelligent ward comprises the following steps:
s1, firstly, customizing a matched set which is adapted to the seven-shaped shaft lever 23 according to the actual use requirement of a ward; the kit referred to herein may be a tray, a case, or the like;
s2, dividing a bed in a ward into grids, and debugging the designated position of the sick bed, wherein the specific debugging content is that the space position of a patient on the ward for taking and storing articles is convenient and easy under the vertical position of the equipment mounting plate 15;
s3, the patient takes and stores the articles: firstly, medical staff can place articles required by patients on appointed beds in a dosing room or a machine room area, and the articles can be placed on a dosing member of the seven-shaped shaft lever 23; then the first reducing motor 1 starts the first screw rod 6 to rotate, so that the connecting piece 14 ascends, and the second keel 5 and the equipment mounting plate 15 are driven to integrally lift; immediately after all of the wire winder 253 is started, all of the wire 24 thereof is rewound; the non-oriented curved structure is compressed to a minimum at this time;
s4, the second speed reducing motor 2 starts the second screw rod 7 to rotate, so that the base table 13 can horizontally and transversely automatically move; by calculation of the setting program, the base table 13 thereof is moved to the specified patient bed lateral coordinates; movement of the base table 13, that is, movement of the device mounting plate 15; the third gear motor 3 starts the third screw rod 8 to rotate, so that the equipment mounting plate 15 automatically moves horizontally and longitudinally; by calculation of the setup program, its device mounting plate 15 is moved to the specified patient bed longitudinal coordinates; the position of a preset area of the patient bed is just 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 the patient can conveniently take the article; fine position adjustments are then made for various patient positions: specific: according to the direction of a patient, the directional bending of the non-directional bending structure is realized by adjusting the quantity of the steel wire wound by the winding device 253 which is annularly arranged in a circle in the power box 25;
s6, starting a deceleration stepping motor 252 in the power box 25 to adjust the steering of the seven-shaped shaft rod 23; and a 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; and each electric air rod arranged in the T-shaped shaft rod 22 and the seven-shaped shaft rod 23 is controlled to control the bending and opening directions of the motion; obviously, if only the work of a medicine feeding tray, a meal feeding box and the like is required in the step 1, the step 6 is shaped in a batching room or a machine room area.
The foregoing has shown and described the basic 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, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (4)
1. A truss structure mechanical arm of an intelligent ward mainly comprises: truss structure and robotic arm; the truss structure is mainly formed by assembling a main truss (9) and an auxiliary truss (10) in a cross lap joint mode, and the auxiliary truss (10) comprises a first auxiliary truss and a second auxiliary truss; the mechanical arm consists 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 column top or the side wall of the beam body in the ward; a mechanical arm is arranged below the truss structure;
a square cylinder (12) is fixed between the first gear motor (1) and the first keel (4) at intervals; the rotor of the first gear motor (1) is fixedly provided with a first screw rod (6) in an extending way; a base table (13) is welded at the top end of the first keel (4); the tail end of the first screw (6) is led into a bearing arranged under the base table (13); screw grooves (102) are formed in one end of the first auxiliary truss and one end of the second auxiliary truss, and clamping pieces (11) are screwed on one side of the screw grooves (102) through bolts; a square cylinder (12) or a bearing is fixed on the clamping piece (11);
the second gear motor (2) is fixed with the square cylinder (12), and the square cylinder (12) is fixed on the clamping piece (11) of the first auxiliary truss; the rotor of the second speed reducing motor (2) is fixedly provided with a second screw rod (7) in an extending mode, and the tail end of the second screw rod (7) is inserted into a bearing arranged on the second auxiliary truss clamping piece (11);
the side wall of the base table (13) is fixedly provided with a first connecting plate (131), the top end of the first connecting plate (131) is provided with a nut sleeve, and the nut sleeve is screwed with the second screw (7);
a square cylinder (12) is fixed between the third gear motor (3) and the second keel (5) at intervals; a connecting piece (14) is welded on the side wall of the initial end of the second keel (5), a nut sleeve is arranged at the top end of the connecting piece (14), and the connecting piece is screwed with the first screw (6) through the nut sleeve; a third screw rod (8) is fixedly extended from the rotor of the third gear motor (3); a second connecting 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 connecting plate (151) and is screwed with the third screw rod (8) through the nut sleeve;
an unoriented bending structure is fixed under the equipment mounting plate (15); the non-directional bending structure comprises a pressing plate (17), a bow (18) and an air bag (19); the clamp plates (17) are used for fastening the bow-shaped pieces (18), the air bags (19) are clamped between two adjacent clamp plates (17), a plurality of fastening points are arranged on the periphery of the ring of the clamp plates (17), and two ends leaning against the bow-shaped pieces (18) are fastened on each fastening point; forming a non-directional bending structure in a mode that clamping bows (18) of a pressing plate (17) are overlapped; steel wires (24) are penetrated in the fastening points, and the top ends of a plurality of the steel wires (24) are fixed below the equipment mounting plate;
the non-directional bending structure is fixed with a suspension table (16), a suspension support (161) is fixed under the suspension table (16), and hoop sleeves (27) are respectively fixed on two sides of the suspension support (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 wire holes (251); a plurality of holes are formed in the suspension platform (16), and rolling discs are arranged in the holes; the steel wire (24) is led into the wire hole (251) after passing through the rolling disc;
a speed-reducing stepping motor (252) is arranged at the central position in the power box (25), and a rotating shaft of the speed-reducing stepping motor (252) is directly fixed at the central position of the air rod base plate (26); a plurality of winders (253) are annularly arranged on the speed-reducing stepping motor (252), the winders (253) are composed of motors and reels, and steel wires (24) are wound on the reels;
a plurality of hemispherical grooves are uniformly distributed on the periphery of the outer edge of the other surface of the air rod base plate (26); the bowl plate (21) and the air rod base plate (26) are uniformly provided with a plurality of hemispherical grooves 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 particles are movably arranged in the hemispherical grooves; the two ends of the other surface of the bowl plate (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 dish (21) is movably hinged with a T-shaped shaft rod (22) through a third claw (213), a first branch point (221), a second branch point (222) and a third branch point (223) are respectively arranged at the top end of the T-shaped shaft rod (22), and the three are positioned on the same straight line position; an electric air rod is tied between the first horn (211) and the first branch point (221); an electric air rod is tied between the second claw (212) and the second branch point (222); the third branch point (223) is tied with one end of the seven-shaped shaft lever (23) through an electric air lever; the seven-shaped shaft rod (23) is movably hinged with the T-shaped shaft rod (22).
2. The truss structure mechanical arm of the intelligent ward according to claim 1, wherein two ends of the main truss (9) are provided with side steel plates (91), and the side steel plates (91) are riveted with the column top side wall or the beam body side wall through expansion screws; the upper edge of the main truss (9) is provided with first notches (92) at equal intervals; the lower edge of the auxiliary truss (10) is provided with second notches (101) at equal intervals; the first notch (92) is matched with the second notch (101).
3. The truss-structured mechanical arm for intelligent wards according to claim 1, wherein the height of the first keel (4) is within a range of one-fourth to one-third of the height of a ward floor; and the first keel (4) is arranged in a batching room or a machine room area of a ward.
4. A method of using a truss structure robot arm for an intelligent ward according to any one of claims 1-3, comprising the steps of:
s1, firstly, customizing a matched set which is adapted to a seven-shaped shaft lever (23) according to actual use needs of a ward; the matched set comprises a medicine delivery tray and a meal delivery box;
s2, dividing a sickbed position in a sickroom into grids, and debugging the designated position of the sickbed position, wherein the specific debugging content is a space position at which a patient on the sickbed position can conveniently pick up and store articles by using an equipment mounting plate (15) at the vertical position;
s3, the patient takes and stores the articles: firstly, medical staff can place articles required by patients on appointed patient beds in a dosing room or machine room area, and the articles are placed on a dosing set of a seven-shaped shaft lever (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 integrally lift; immediately after all the wire reels (253) are started, all the wires (24) thereof are rewound; the non-oriented curved structure is compressed to a minimum at this time;
s4, a second speed reducing motor (2) starts a second screw rod (7) to rotate, so that the base table (13) can horizontally and transversely move automatically; the base table (13) is moved to the designated patient bed transverse coordinates by calculation of a set program; movement of the base table (13), that is, movement of the device mounting plate (15); the third gear motor (3) starts the third screw rod (8) to rotate, so that the equipment mounting plate (15) automatically moves horizontally and longitudinally; the equipment mounting plate (15) is moved to the specified longitudinal coordinates of the patient bed by calculation of the set program; the position of a preset area of a designated patient bed position is just 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 space position where the patient can conveniently take the articles; fine position adjustments are then made for various patient positions: specific: according to the direction of a patient, the directional bending of the non-directional bending structure is realized by adjusting the quantity of the steel wire wound by a winding device (253) which is annularly arranged in a circle in the power box (25);
s6, starting a speed reduction stepping motor (252) in the power box (25) to adjust the steering of the seven-shaped shaft lever (23); controlling a plurality of electric air rods (20) to adjust the positioning of any position on the space of the seven-shaped shaft rod (23); the respective electric gas rods mounted in the T-shaped shaft rod (22) and the seven-shaped shaft rod (23) are controlled so as to control the movement in the bending and opening directions.
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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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| CN202211639067.0A CN115958627B (en) | 2022-12-20 | 2022-12-20 | Truss structure mechanical arm of intelligent ward and use method |
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| CN115958627B true CN115958627B (en) | 2023-06-23 |
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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 |
|---|---|
| CN115958627A (en) | 2023-04-14 |
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