CN205108100U - Manipulator is removed with automatic steady comfortable type to medical treatment - Google Patents
Manipulator is removed with automatic steady comfortable type to medical treatment Download PDFInfo
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- CN205108100U CN205108100U CN201520784342.7U CN201520784342U CN205108100U CN 205108100 U CN205108100 U CN 205108100U CN 201520784342 U CN201520784342 U CN 201520784342U CN 205108100 U CN205108100 U CN 205108100U
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Abstract
The utility model relates to a remove the manipulator, especially relate to a manipulator is removed with automatic steady comfortable type to medical treatment. The problem of the technique is solved provide a manipulator is removed with automatic steady comfortable type to medical treatment. Such manipulator is removed with automatic steady comfortable type to medical treatment is provided, including steady comfortable type mobile device, grab and lift device etc. Steady comfortable type mobile device is including last lower cylinder I, upper and lower telescopic link I bed board under, left slide rail, left slider on, bed board, cushion, servo motor, gear, right slide rail, rack, right slider, grab lift the device including last lower cylinder II cylinder around, go up lower cylinder III connecting pipe, left connecting rod, right connecting rod about, pick cylinder I, manipulator I, industry camera, pick cylinder II, manipulator II, pick cylinder III, manipulator III, connecting rod from beginning to end. A manipulator is removed with automatic steady comfortable type to medical treatment who provides has realized the automation mechanized operation, simple structure, convenient to use, easy to maintain maintenance.
Description
Technical field
This utility model relates to a kind of mobile manipulator, particularly relates to a kind of medical automatic steady comfortable type and moves manipulator.
Background technology
Armarium is the important symbol of up-to-dateness, medical treatment, scientific research, teaching and research, the most fundamental of teaching, also be the primary condition improving constantly medical science level, the armarium of broad sense comprises medical apparatus and instruments, domestic medical device, the armarium of specialty does not then comprise domestic medical device apparatus.At present, the development of clinical speciality is depended on to a great extent and is even played a decisive role the development of instrument.Therefore, armarium has become a key areas of modern medical service.
Before patient is treated, all need to adopt armarium to carry out a series of inspection to patient, to determine the state of an illness of patient, then patient is carried out to next step treatment according to check result.For home-bound patient, just need to transport with transloading equipment medical treatment manipulator, and check by manually lifting to be put on other armarium.
Existing medical manipulator, not there is control system, cannot realize putting the auto lifting of patient, general is all put by manually lifting, firmly steadily uneven, is easy to cause vibrations, not there is comfort devices, easily cause suffering to patient lifting in the process of putting movement, adverse influence is caused to patient, is unfavorable for the state of an illness of patient.
Utility model content
(1) technical problem that will solve
This utility model is in order to overcome existing medical manipulator, not there is control system, cannot realize putting the auto lifting of patient, general is all put by manually lifting, firmly steadily uneven, be easy to cause vibrations, do not there is comfort devices, easily lifting to the shortcoming that patient causes suffering in the process of putting movement, the technical problems to be solved in the utility model is to provide a kind of medical automatic steady comfortable type and moves manipulator.
(2) technical scheme
In order to solve the problems of the technologies described above, this utility model provides so a kind of medical automatic steady comfortable type and moves manipulator, includes steady comfortable type mobile device, grabs and lift device, control system;
Steady comfortable type mobile device includes shelf, universal wheel, upper and lower air cylinders I, up and down expansion link I, lower footpost, upper footpost, lower bed board, left slide rail, left slider, upper bed board, cushion, servomotor, rotating shaft, gear, right slide rail, tooth bar, right slide block;
The below of shelf is provided with universal wheel, and universal wheel is set to multiple, and each universal wheel is all connected with shelf; Above shelf, be provided with upper and lower air cylinders I, shelf is connected with upper and lower air cylinders I; Above upper and lower air cylinders I, be provided with upper and lower expansion link I, upper and lower air cylinders I is connected with upper and lower expansion link I; Above shelf, be provided with lower footpost, lower footpost is set to multiple, each lower footpost all with shelf for being articulated and connected; Above lower footpost, be provided with footpost, upper footpost is set to multiple, and on each, footpost is separately positioned on the top of corresponding lower footpost, on each footpost respectively with corresponding lower footpost for being articulated and connected; Above upper footpost, be provided with lower bed board, on each, footpost is all arranged on the below of lower bed board, on each footpost all with lower bed board for being articulated and connected;
Above lower bed board, be provided with left slide rail, left slide rail is connected with the left end of lower bed board; Above left slide rail, be provided with left slider, left slider and left slide rail are for being flexibly connected; The right side of left slider is provided with upper bed board, and left slider is connected with upper bed board; Upper bed board is arranged on the top of lower bed board, and upper bed board and lower bed board, for be arrangeding in parallel, upper bed board are provided with cushion; The below of the right-hand member of lower bed board is provided with servomotor, and servomotor is connected with lower bed board; The right side of servomotor is provided with rotating shaft, and servomotor is connected with rotating shaft; The right side of rotating shaft is provided with gear, and rotating shaft is connected with gear;
Above gear, be provided with tooth bar, wheel and rack is meshed; The left side of tooth bar is provided with right slide block, and tooth bar is connected with right slide block; The below of right slide block is provided with right slide rail, and right slide block and right slide rail are for being flexibly connected; Right slide rail is arranged on the top of lower bed board, and right slide rail is connected with the right-hand member of lower bed board; Right slide rail and right slide block and left slide rail and left slider are that symmetrical expression is arranged; The left side of right slide block is provided with upper bed board, and right slide block is connected with upper bed board;
Grab and lift device and include upper and lower air cylinders II, up and down expansion link II, front and back cylinder, upper and lower air cylinders III, up and down expansion link III, left and right connection tube, right limit bolt, left limit bolt, left connecting rod, right connecting rod, capture cylinder I, upper lower connecting rod I, mechanical hand I, industrial camera, crawl cylinder II, upper lower connecting rod II, mechanical hand II, capture cylinder III, upper lower connecting rod III, mechanical hand III, front and back connecting rod;
The rear of lower bed board is provided with upper and lower air cylinders II, and upper and lower air cylinders II is connected with lower bed board; Above upper and lower air cylinders II, be provided with upper and lower expansion link II, upper and lower air cylinders II is connected with upper and lower expansion link II; Above upper and lower expansion link II, be provided with front and back cylinder, upper and lower expansion link II connects with front and back cylinders; The front of front and back cylinder is provided with front and back connecting rod, and front and back cylinder is connected with front and back connecting rod; The front of front and back connecting rod is provided with upper and lower air cylinders III, and front and back connecting rod is connected with upper and lower air cylinders III; The below of upper and lower air cylinders III is provided with upper and lower expansion link III, and upper and lower air cylinders III is connected with upper and lower expansion link III;
The below of upper and lower expansion link III is provided with left and right connection tube, and upper and lower expansion link III is connected with left and right connection tube; Left and right connection tube is provided with right limit bolt and left limit bolt, and right limit bolt is arranged on the right side of left limit bolt, and right limit bolt and left limit bolt are all that bolt is connected with left and right connection tube, and right limit bolt and left limit bolt are that symmetrical expression is arranged;
The right side of left and right connection tube is provided with right connecting rod, and right connecting rod is inserted in the right output port of left and right connection tube, and right connecting rod and left and right connection tube are for being flexibly connected, and right connecting rod is corresponding with right limit bolt; Be provided with in the below of right connecting rod and capture cylinder I, right connecting rod is connected with crawl cylinder I; The below capturing cylinder I is provided with lower connecting rod I, captures cylinder I and be connected with upper lower connecting rod I; The below of upper lower connecting rod I is provided with mechanical hand I, and upper lower connecting rod I is connected with mechanical hand I;
The left side of mechanical hand I is provided with mechanical hand II, above mechanical hand II, is provided with lower connecting rod II, mechanical hand II is connected with upper lower connecting rod II; Be provided with above upper lower connecting rod II and capture cylinder II, upper lower connecting rod II is connected with crawl cylinder II; Above crawl cylinder II, be provided with left and right connection tube, capture cylinder II and be connected with left and right connection tube; The right side capturing cylinder II is provided with industrial camera, and industrial camera is arranged on the below of left and right connection tube, and industrial camera is connected with left and right connection tube;
The left side of left and right connection tube is provided with left connecting rod, and left connecting rod is inserted in the left port of left and right connection tube, and left connecting rod and left and right connection tube are for being flexibly connected, and left connecting rod is corresponding with left limit bolt; Be provided with in the below of left connecting rod and capture cylinder III, left connecting rod is connected with crawl cylinder III; The below capturing cylinder III is provided with lower connecting rod III, captures cylinder III and be connected with upper lower connecting rod III; The below of upper lower connecting rod III is provided with mechanical hand III, and upper lower connecting rod III is connected with mechanical hand III; Mechanical hand I, mechanical hand II and mechanical hand III are all arranged on the top of upper bed board;
Upper and lower air cylinders I, servomotor, upper and lower air cylinders II, front and back cylinder, upper and lower air cylinders III, crawl cylinder I, industrial camera, crawl cylinder II, crawl cylinder III are connected with control system all respectively.
Operation principle: when needing to transport the patient of mobile inconvenience, first medical personnel start control system, medical automatic steady comfortable type is moved manipulator by the universal wheel bottom shelf by medical personnel again, move to the position at patient place, and with patient's keeping parallelism, simultaneously by control system control upper and lower air cylinders I carry out action.Upper and lower air cylinders I drives lower bed board to carry out the adjustment of upper-lower height position by upper and lower expansion link I, makes the height of lower bed board identical with the height of sick bed.
Control system controls upper and lower air cylinders II again and carries out action, and before and after upper and lower air cylinders II is driven by upper and lower expansion link II, cylinder carries out the adjustment of upper-lower height position.Then control system controls front and back cylinder again and carries out action, before and after cylinder drive upper and lower air cylinders III to carry out the adjustment of front and back position by front and back connecting rod, and by the top being arranged on the mechanical hand I of the below of upper and lower air cylinders III, mechanical hand II, mechanical hand III move to patient.
Staff adjusts according to the length scale of the sick body of different patients again, and now mechanical hand II is just in time positioned at directly over the waist location of the sick body of patient.Staff is again by drawing the right connecting rod filled in and be inserted in the connection tube of left and right, position between the leg adjusting the sick body of mechanical hand I and patient, then staff is again by rotating forward and the bolted right limit bolt of left and right connection tube, by the right connecting rod be inserted in the connection tube of left and right blocking tightly.Then staff is again by drawing the left connecting rod filled in and be inserted in the connection tube of left and right, position between the upper part of the body adjusting the sick body of mechanical hand III and patient, then staff is again by rotating forward and the bolted left limit bolt of left and right connection tube, by the left connecting rod be inserted in the connection tube of left and right blocking tightly.
After mechanical hand I, mechanical hand II, position between mechanical hand III and the sick body of patient are adjusted by staff, photographed image information is fed back to control system by industrial camera.Be integrated with image identification system in the inside of control system, image information industrial camera can fed back and the image information of setting are carried out contrast and are judged.Then control system control upper and lower air cylinders III carries out action, upper and lower air cylinders III is moved downwards by upper and lower expansion link III and left and right connection tube driving mechanical hands I, mechanical hand II, mechanical hand III simultaneously, and mechanical hand I, mechanical hand II, mechanical hand III being moved to the position at patient place, control system controls upper and lower air cylinders III again and stops action.Control system according to the position of the sick body of the patient of industrial camera feedback, can also control the action of upper and lower air cylinders I, upper and lower air cylinders II, front and back cylinder, upper and lower air cylinders III.
Control system controls to capture cylinder I respectively according to the position of sick body of patient in the image information of feedback, capture cylinder II, capture cylinder III carries out action simultaneously.Capture cylinder I to be captured by the leg of the sick body of upper lower connecting rod I driving mechanical hands I couple of patient; Capture cylinder II to be captured by the waist of the sick body of upper lower connecting rod II driving mechanical hands II couple of patient; Capture cylinder III to be captured by the upper part of the body of the sick body of upper lower connecting rod III driving mechanical hands III couple of patient.
After crawl, control system controls upper and lower air cylinders III according to the image information of feedback and carries out action.Upper and lower air cylinders III drives the sick body of the patient grabbed upwards to move by upper and lower expansion link III, and moves to the height of setting, and control system controls upper and lower air cylinders III again and stops action.Control system controls servomotor again and starts running, and servomotor starts to rotate forward, and is rotated together by rotating shaft driven gear.Wheel and rack is meshed, and gear can be with carry-over bar to move.
Tooth bar is connected with right slide block, and right slide block can carry out smooth sliding on right slide rail, and right slide block is connected with upper bed board, upper bed board is connected with left slider, left slider can carry out smooth sliding on left slide rail, is provided with cushion simultaneously, can improves the comfort level of patient on upper bed board.Upper bed board and cushion to be moved to immediately below the sick body of patient by wheel and rack by control system, and control system controls upper and lower air cylinders III again and carries out action.The sick body that upper and lower air cylinders III grabs by upper and lower expansion link III driving mechanical hands I, mechanical hand II, mechanical hand III patient lifted jointly moves downwards, and is placed on the cushion of upper bed board by the sick body of patient.
Then control crawl cylinder I, crawl cylinder II, crawl cylinder III carry out action to control system simultaneously respectively again.Capture cylinder I, capture cylinder II, the sick body of the patient caught is decontroled by control mechanical hand I, mechanical hand II, mechanical hand III respectively again to capture cylinder III.Control system controls upper and lower air cylinders III again and drives mechanical hand I, mechanical hand II, mechanical hand III to move upward, and gets back to origin-location.Then control system control servomotor starts reversion, and servomotor upper bed board by gear and rack drives and carry out smooth sliding together with the sick body of patient, and gets back to origin-location.
(3) beneficial effect
The medical automatic steady comfortable type of one provided by the utility model moves manipulator, has control system, achieves automation mechanized operation, achieve to move to lift to the automatic steady of patient and put, vibrations injury can not be caused to patient, alleviate the workload of people, by adopting cushion, improve the comfortableness of patient in moving process, alleviate the slight illness of patient, be conducive to the treatment of patient, structure is simple, easy to use, be easy to maintenance and repair.
Accompanying drawing explanation
Fig. 1 is axonometric chart structural representation of the present utility model.
Being labeled as in accompanying drawing: 1-shelf, 2-universal wheel, 3-upper and lower air cylinders I, the upper and lower expansion link I of 4-, footpost under 5-, the upper footpost of 6-, 7-lower bed board, the left slide rail of 8-, 9-left slider, 10-upper bed board, 11-cushion, 12-servomotor, 13-rotating shaft, 14-gear, the right slide rail of 15-, 16-tooth bar, the right slide block of 17-, 18-upper and lower air cylinders II, the upper and lower expansion link II of 19-, cylinder before and after 20-, 21-upper and lower air cylinders III, the upper and lower expansion link III of 22-, about 23-connection tube, 24-right limit bolt, 25-left limit bolt, the left connecting rod of 26-, the right connecting rod of 27-, 28-captures cylinder I, the upper lower connecting rod I of 29-, 30-mechanical hand I, 31-industrial camera, 32-captures cylinder II, the upper lower connecting rod II of 33-, 34-mechanical hand II, 35-captures cylinder III, the upper lower connecting rod III of 36-, 37-mechanical hand III, connecting rod before and after 38-, 39-control system.
Detailed description of the invention
Below in conjunction with drawings and Examples, this utility model is further described.
embodiment 1
A kind of medical automatic steady comfortable type moves manipulator, as shown in Figure 1, includes steady comfortable type mobile device, grabs and lift device, control system 39; Steady comfortable type mobile device includes shelf 1, universal wheel 2, upper and lower air cylinders I 3, up and down expansion link I 4, lower footpost 5, upper footpost 6, lower bed board 7, left slide rail 8, left slider 9, upper bed board 10, cushion 11, servomotor 12, rotating shaft 13, gear 14, right slide rail 15, tooth bar 16, right slide block 17.
The below of shelf 1 is provided with universal wheel 2, and universal wheel 2 is set to multiple, and each universal wheel 2 is all connected with shelf 1; Above shelf 1, be provided with upper and lower air cylinders I 3, shelf 1 is connected with upper and lower air cylinders I 3; Above upper and lower air cylinders I 3, be provided with upper and lower expansion link I 4, upper and lower air cylinders I 3 is connected with upper and lower expansion link I 4; Above shelf 1, be provided with lower footpost 5, lower footpost 5 is set to multiple, each lower footpost 5 all with shelf 1 for being articulated and connected; Above lower footpost 5, be provided with footpost 6, upper footpost 6 is set to multiple, and on each, footpost 6 is separately positioned on the top of corresponding lower footpost 5, on each footpost 6 respectively with corresponding lower footpost 5 for being articulated and connected; Above upper footpost 6, be provided with lower bed board 7, on each, footpost 6 is all arranged on the below of lower bed board 7, on each footpost 6 all with lower bed board 7 for being articulated and connected.
Above lower bed board 7, be provided with left slide rail 8, left slide rail 8 is connected with the left end of lower bed board 7; Above left slide rail 8, be provided with left slider 9, left slider 9 and left slide rail 8 are for being flexibly connected; The right side of left slider 9 is provided with upper bed board 10, and left slider 9 is connected with upper bed board 10; Upper bed board 10 is arranged on the top of lower bed board 7, and upper bed board 10 and lower bed board 7, for be arrangeding in parallel, upper bed board 10 are provided with cushion 11; The below of the right-hand member of lower bed board 7 is provided with servomotor 12, and servomotor 12 is connected with lower bed board 7; The right side of servomotor 12 is provided with rotating shaft 13, and servomotor 12 is connected with rotating shaft 13; The right side of rotating shaft 13 is provided with gear 14, and rotating shaft 13 is connected with gear 14.
Above gear 14, be provided with tooth bar 16, gear 14 is meshed with tooth bar 16; The left side of tooth bar 16 is provided with right slide block 17, and tooth bar 16 is connected with right slide block 17; The below of right slide block 17 is provided with right slide rail 15, and right slide block 17 and right slide rail 15 are for being flexibly connected; Right slide rail 15 is arranged on the top of lower bed board 7, and right slide rail 15 is connected with the right-hand member of lower bed board 7; Right slide rail 15 and right slide block 17 and left slide rail 8 and left slider 9 are arranged for symmetrical expression; The left side of right slide block 17 is provided with upper bed board 10, and right slide block 17 is connected with upper bed board 10.
Grab and lift device and include upper and lower air cylinders II 18, upper and lower expansion link II 19, front and back cylinder 20, upper and lower air cylinders III 21, upper and lower expansion link III 22, left and right connection tube 23, right limit bolt 24, left limit bolt 25, left connecting rod 26, right connecting rod 27, capture cylinder I 28, upper lower connecting rod I 29, mechanical hand I 30, industrial camera 31, capture cylinder II 32, upper lower connecting rod II 33, mechanical hand II 34, capture cylinder III 35, upper lower connecting rod III 36, mechanical hand III 37, front and back connecting rod 38.
The rear of lower bed board 7 is provided with upper and lower air cylinders II 18, and upper and lower air cylinders II 18 is connected with lower bed board 7; Above upper and lower air cylinders II 18, be provided with upper and lower expansion link II 19, upper and lower air cylinders II 18 is connected with upper and lower expansion link II 19; Above upper and lower expansion link II 19, be provided with front and back cylinder 20, upper and lower expansion link II 19 is connected with front and back cylinder 20; The front of front and back cylinder 20 is provided with front and back connecting rod 38, and front and back cylinder 20 is connected with front and back connecting rod 38; The front of front and back connecting rod 38 is provided with upper and lower air cylinders III 21, and front and back connecting rod 38 is connected with upper and lower air cylinders III 21; The below of upper and lower air cylinders III 21 is provided with upper and lower expansion link III 22, and upper and lower air cylinders III 21 is connected with upper and lower expansion link III 22.
The below of upper and lower expansion link III 22 is provided with left and right connection tube 23, and upper and lower expansion link III 22 is connected with left and right connection tube 23; Left and right connection tube 23 is provided with right limit bolt 24 and left limit bolt 25, right limit bolt 24 is arranged on the right side of left limit bolt 25, right limit bolt 24 and left limit bolt 25 all with left and right connection tube 23 for bolt is connected, right limit bolt 24 and left limit bolt 25 are that symmetrical expression is arranged.
The right side of left and right connection tube 23 is provided with right connecting rod 27, and right connecting rod 27 is inserted in the right output port of left and right connection tube 23, and right connecting rod 27 and left and right connection tube 23 are for being flexibly connected, and right connecting rod 27 is corresponding with right limit bolt 24; Be provided with in the below of right connecting rod 27 and capture cylinder I 28, right connecting rod 27 is connected with crawl cylinder I 28; The below capturing cylinder I 28 is provided with lower connecting rod I 29, captures cylinder I 28 and be connected with upper lower connecting rod I 29; The below of upper lower connecting rod I 29 is provided with mechanical hand I 30, and upper lower connecting rod I 29 is connected with mechanical hand I 30.
The left side of mechanical hand I 30 is provided with mechanical hand II 34, above mechanical hand II 34, is provided with lower connecting rod II 33, mechanical hand II 34 is connected with upper lower connecting rod II 33; Be provided with above upper lower connecting rod II 33 and capture cylinder II 32, upper lower connecting rod II 33 is connected with crawl cylinder II 32; Above crawl cylinder II 32, be provided with left and right connection tube 23, capture cylinder II 32 and be connected with left and right connection tube 23; The right side capturing cylinder II 32 is provided with industrial camera 31, and industrial camera 31 is arranged on the below of left and right connection tube 23, and industrial camera 31 is connected with left and right connection tube 23.
The left side of left and right connection tube 23 is provided with left connecting rod 26, and left connecting rod 26 is inserted in the left port of left and right connection tube 23, and left connecting rod 26 and left and right connection tube 23 are for being flexibly connected, and left connecting rod 26 is corresponding with left limit bolt 25; Be provided with in the below of left connecting rod 26 and capture cylinder III 35, left connecting rod 26 is connected with crawl cylinder III 35; The below capturing cylinder III 35 is provided with lower connecting rod III 36, captures cylinder III 35 and be connected with upper lower connecting rod III 36; The below of upper lower connecting rod III 36 is provided with mechanical hand III 37, and upper lower connecting rod III 36 is connected with mechanical hand III 37; Mechanical hand I 30, mechanical hand II 34 and mechanical hand III 37 are all arranged on the top of upper bed board 10.
Upper and lower air cylinders I 3, servomotor 12, upper and lower air cylinders II 18, front and back cylinder 20, upper and lower air cylinders III 21, crawl cylinder I 28, industrial camera 31, crawl cylinder II 32, crawl cylinder III 35 are connected with control system 39 all respectively.
Operation principle: when needing to transport the patient of mobile inconvenience, first medical personnel start control system 39, medical automatic steady comfortable type is moved manipulator by the universal wheel 2 bottom shelf 1 by medical personnel again, move to the position at patient place, and with patient's keeping parallelism, control upper and lower air cylinders I 3 by control system 39 simultaneously and carry out action.Upper and lower air cylinders I 3 drives lower bed board 7 to carry out the adjustment of upper-lower height position by upper and lower expansion link I 4, makes the height of lower bed board 7 identical with the height of sick bed.
Control system 39 controls upper and lower air cylinders II 18 again and carries out action, and before and after upper and lower air cylinders II 18 is driven by upper and lower expansion link II 19, cylinder 20 carries out the adjustment of upper-lower height position.Then control system 39 control again before and after cylinder 20 carry out action, before and after cylinder 20 drive upper and lower air cylinders III 21 to carry out the adjustment of front and back position by front and back connecting rod 38, and by the top being arranged on the mechanical hand I 30 of the below of upper and lower air cylinders III 21, mechanical hand II 34, mechanical hand III 37 move to patient.
Staff adjusts according to the length scale of the sick body of different patients again, and now mechanical hand II 34 is just in time positioned at directly over the waist location of the sick body of patient.Staff is again by drawing the right connecting rod 27 filled in and be inserted in left and right connection tube 23, position between the leg adjusting the sick body of mechanical hand I 30 and patient, then staff is again by rotating forward and the bolted right limit bolt 24 of left and right connection tube 23, by the right connecting rod 27 be inserted in left and right connection tube 23 blocking tightly.Then staff is again by drawing the left connecting rod 26 filled in and be inserted in left and right connection tube 23, position between the upper part of the body adjusting the sick body of mechanical hand III 37 and patient, then staff is again by rotating forward and the bolted left limit bolt 25 of left and right connection tube 23, by the left connecting rod 26 be inserted in left and right connection tube 23 blocking tightly.
After mechanical hand I 30, mechanical hand II 34, position between mechanical hand III 37 and the sick body of patient are adjusted by staff, photographed image information is fed back to control system 39 by industrial camera 31.Be integrated with image identification system in the inside of control system 39, image information industrial camera 31 can fed back and the image information of setting are carried out contrast and are judged.Then control system 39 controls upper and lower air cylinders III 21 and carries out action, upper and lower air cylinders III 21 is moved downwards by upper and lower expansion link III 22 and left and right connection tube 23 driving mechanical hands I 30, mechanical hand II 34, mechanical hand III 37 simultaneously, and mechanical hand I 30, mechanical hand II 34, mechanical hand III 37 being moved to the position at patient place, control system 39 controls upper and lower air cylinders III 21 again and stops action.The position of the sick body of the patient that control system 39 can also be fed back according to industrial camera 31, controls the action of upper and lower air cylinders I 3, upper and lower air cylinders II 18, front and back cylinder 20, upper and lower air cylinders III 21.
Control system 39 controls to capture cylinder I 28 respectively according to the position of sick body of patient in the image information of feedback, capture cylinder II 32, capture cylinder III 35 carries out action simultaneously.Capture cylinder I 28 to be captured by the leg of the sick body of upper lower connecting rod I 29 driving mechanical hands I 30 couples of patients; Capture cylinder II 32 to be captured by the waist of the sick body of upper lower connecting rod II 33 driving mechanical hands II 34 couples of patients; Capture cylinder III 35 to be captured by the upper part of the body of the sick body of upper lower connecting rod III 36 driving mechanical hands III 37 couples of patients.
After crawl, control system 39 controls upper and lower air cylinders III 21 according to the image information of feedback and carries out action.Upper and lower air cylinders III 21 drives the sick body of the patient grabbed upwards to move by upper and lower expansion link III 22, and moves to the height of setting, and control system 39 controls upper and lower air cylinders III 21 again and stops action.Control system 39 controls servomotor 12 again and starts running, and servomotor 12 starts to rotate forward, and is rotated together by rotating shaft 13 driven gear 14.Gear 14 is meshed with tooth bar 16, and gear 14 can be with carry-over bar 16 to move.
Tooth bar 16 is connected with right slide block 17, right slide block 17 can carry out smooth sliding on right slide rail 15, right slide block 17 is connected with upper bed board 10, upper bed board 10 is connected with left slider 9, left slider 9 can carry out smooth sliding on left slide rail 8, on upper bed board 10, be provided with cushion 11 simultaneously, the comfort level of patient can be improved.Upper bed board 10 and cushion 11 move to immediately below the sick body of patient by gear 14 and tooth bar 16 by control system 39, and control system 39 controls upper and lower air cylinders III 21 again and carries out action.The sick body that upper and lower air cylinders III 21 grabs by upper and lower expansion link III 22 driving mechanical hands I 30, mechanical hand II 34, mechanical hand III 37 patient lifted jointly moves downwards, and is placed on the cushion 11 of upper bed board 10 by the sick body of patient.
Then control crawl cylinder I 28, crawl cylinder II 32, crawl cylinder III 35 carry out action to control system 39 simultaneously respectively again.Capture cylinder I 28, capture cylinder II 32, the sick body of the patient caught is decontroled by control mechanical hand I 30, mechanical hand II 34, mechanical hand III 37 respectively again to capture cylinder III 35.Control system 39 controls upper and lower air cylinders III 21 again and drives mechanical hand I 30, mechanical hand II 34, mechanical hand III 37 to move upward, and gets back to origin-location.Then control system 39 controls servomotor 12 and starts reversion, and servomotor 12 drives upper bed board 10 to carry out smooth sliding together with the sick body of patient by gear 14 and tooth bar 16, and gets back to origin-location.
The above embodiment only have expressed preferred implementation of the present utility model, and it describes comparatively concrete and detailed, but therefore can not be interpreted as the restriction to this utility model the scope of the claims.It should be pointed out that for the person of ordinary skill of the art, without departing from the inventive concept of the premise, can also make some distortion, improvement and substitute, these all belong to protection domain of the present utility model.Therefore, the protection domain of this utility model patent should be as the criterion with claims.
Claims (1)
1. medical automatic steady comfortable type moves a manipulator, it is characterized in that, includes steady comfortable type mobile device, grabs and lift device, control system (39);
Steady comfortable type mobile device includes shelf (1), universal wheel (2), upper and lower air cylinders I (3), up and down expansion link I (4), lower footpost (5), upper footpost (6), lower bed board (7), left slide rail (8), left slider (9), upper bed board (10), cushion (11), servomotor (12), rotating shaft (13), gear (14), right slide rail (15), tooth bar (16), right slide block (17);
The below of shelf (1) is provided with universal wheel (2), and universal wheel (2) is set to multiple, and each universal wheel (2) is all connected with shelf (1); The top of shelf (1) is provided with upper and lower air cylinders I (3), and shelf (1) is connected with upper and lower air cylinders I (3); The top of upper and lower air cylinders I (3) is provided with upper and lower expansion link I (4), and upper and lower air cylinders I (3) is connected with upper and lower expansion link I (4); The top of shelf (1) is provided with lower footpost (5), and lower footpost (5) is set to multiple, each lower footpost (5) all with shelf (1) for being articulated and connected; The top of lower footpost (5) is provided with upper footpost (6), upper footpost (6) is set to multiple, on each, footpost (6) is separately positioned on the top of corresponding lower footpost (5), on each footpost (6) respectively with corresponding lower footpost (5) for being articulated and connected; The top of upper footpost (6) is provided with lower bed board (7), and on each, footpost (6) is all arranged on the below of lower bed board (7), on each footpost (6) all with lower bed board (7) for being articulated and connected;
The top of lower bed board (7) is provided with left slide rail (8), and left slide rail (8) is connected with the left end of lower bed board (7); The top of left slide rail (8) is provided with left slider (9), and left slider (9) and left slide rail (8) are for being flexibly connected; The right side of left slider (9) is provided with upper bed board (10), and left slider (9) is connected with upper bed board (10); Upper bed board (10) is arranged on the top of lower bed board (7), and upper bed board (10) and lower bed board (7), for be arrangeding in parallel, upper bed board (10) are provided with cushion (11); The below of the right-hand member of lower bed board (7) is provided with servomotor (12), and servomotor (12) is connected with lower bed board (7); The right side of servomotor (12) is provided with rotating shaft (13), and servomotor (12) is connected with rotating shaft (13); The right side of rotating shaft (13) is provided with gear (14), and rotating shaft (13) is connected with gear (14);
The top of gear (14) is provided with tooth bar (16), and gear (14) is meshed with tooth bar (16); The left side of tooth bar (16) is provided with right slide block (17), and tooth bar (16) is connected with right slide block (17); The below of right slide block (17) is provided with right slide rail (15), and right slide block (17) and right slide rail (15) are for being flexibly connected; Right slide rail (15) is arranged on the top of lower bed board (7), and right slide rail (15) is connected with the right-hand member of lower bed board (7); Right slide rail (15) and right slide block (17) and left slide rail (8) and left slider (9) are arranged for symmetrical expression; The left side of right slide block (17) is provided with upper bed board (10), and right slide block (17) is connected with upper bed board (10);
Grab and lift device and include upper and lower air cylinders II (18), upper and lower expansion link II (19), front and back cylinder (20), upper and lower air cylinders III (21), upper and lower expansion link III (22), left and right connection tube (23), right limit bolt (24), left limit bolt (25), left connecting rod (26), right connecting rod (27), capture cylinder I (28), upper lower connecting rod I (29), mechanical hand I (30), industrial camera (31), capture cylinder II (32), upper lower connecting rod II (33), mechanical hand II (34), capture cylinder III (35), upper lower connecting rod III (36), mechanical hand III (37), front and back connecting rod (38),
The rear of lower bed board (7) is provided with upper and lower air cylinders II (18), and upper and lower air cylinders II (18) is connected with lower bed board (7); The top of upper and lower air cylinders II (18) is provided with upper and lower expansion link II (19), and upper and lower air cylinders II (18) is connected with upper and lower expansion link II (19); The top of upper and lower expansion link II (19) is provided with front and back cylinder (20), and upper and lower expansion link II (19) is connected with front and back cylinder (20); The front of front and back cylinder (20) is provided with front and back connecting rod (38), and front and back cylinder (20) is connected with front and back connecting rod (38); The front of front and back connecting rod (38) is provided with upper and lower air cylinders III (21), and front and back connecting rod (38) is connected with upper and lower air cylinders III (21); The below of upper and lower air cylinders III (21) is provided with upper and lower expansion link III (22), and upper and lower air cylinders III (21) is connected with upper and lower expansion link III (22);
The below of upper and lower expansion link III (22) is provided with left and right connection tube (23), and upper and lower expansion link III (22) is connected with left and right connection tube (23); Left and right connection tube (23) is provided with right limit bolt (24) and left limit bolt (25), right limit bolt (24) is arranged on the right side of left limit bolt (25), right limit bolt (24) and left limit bolt (25) all with left and right connection tube (23) for bolt is connected, right limit bolt (24) and left limit bolt (25) are that symmetrical expression is arranged;
The right side of left and right connection tube (23) is provided with right connecting rod (27), right connecting rod (27) is inserted in the right output port of left and right connection tube (23), right connecting rod (27) and left and right connection tube (23) are for being flexibly connected, and right connecting rod (27) is corresponding with right limit bolt (24); Be provided with in the below of right connecting rod (27) and capture cylinder I (28), right connecting rod (27) is connected with crawl cylinder I (28); The below capturing cylinder I (28) is provided with upper lower connecting rod I (29), captures cylinder I (28) and be connected with upper lower connecting rod I (29); The below of upper lower connecting rod I (29) is provided with mechanical hand I (30), and upper lower connecting rod I (29) is connected with mechanical hand I (30);
The left side of mechanical hand I (30) is provided with mechanical hand II (34), the top of mechanical hand II (34) is provided with upper lower connecting rod II (33), mechanical hand II (34) is connected with upper lower connecting rod II (33); Be provided with in the top of upper lower connecting rod II (33) and capture cylinder II (32), upper lower connecting rod II (33) is connected with crawl cylinder II (32); The top capturing cylinder II (32) is provided with left and right connection tube (23), captures cylinder II (32) and be connected with left and right connection tube (23); The right side capturing cylinder II (32) is provided with industrial camera (31), and industrial camera (31) is arranged on the below of left and right connection tube (23), and industrial camera (31) is connected with left and right connection tube (23);
The left side of left and right connection tube (23) is provided with left connecting rod (26), left connecting rod (26) is inserted in the left port of left and right connection tube (23), left connecting rod (26) and left and right connection tube (23) are for being flexibly connected, and left connecting rod (26) is corresponding with left limit bolt (25); Be provided with in the below of left connecting rod (26) and capture cylinder III (35), left connecting rod (26) is connected with crawl cylinder III (35); The below capturing cylinder III (35) is provided with upper lower connecting rod III (36), captures cylinder III (35) and be connected with upper lower connecting rod III (36); The below of upper lower connecting rod III (36) is provided with mechanical hand III (37), and upper lower connecting rod III (36) is connected with mechanical hand III (37); Mechanical hand I (30), mechanical hand II (34) and mechanical hand III (37) are all arranged on the top of upper bed board (10);
Upper and lower air cylinders I (3), servomotor (12), upper and lower air cylinders II (18), front and back cylinder (20), upper and lower air cylinders III (21), crawl cylinder I (28), industrial camera (31), crawl cylinder II (32), crawl cylinder III (35) are connected with control system (39) all respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520784342.7U CN205108100U (en) | 2015-10-12 | 2015-10-12 | Manipulator is removed with automatic steady comfortable type to medical treatment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520784342.7U CN205108100U (en) | 2015-10-12 | 2015-10-12 | Manipulator is removed with automatic steady comfortable type to medical treatment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205108100U true CN205108100U (en) | 2016-03-30 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520784342.7U Expired - Fee Related CN205108100U (en) | 2015-10-12 | 2015-10-12 | Manipulator is removed with automatic steady comfortable type to medical treatment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205108100U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108814844A (en) * | 2018-08-21 | 2018-11-16 | 安徽艾珂尔制药有限公司 | A kind of medical bed of Convenient wheelchair patient |
| CN110811384A (en) * | 2019-09-23 | 2020-02-21 | 金晴 | Bathtub protection device based on smart home and working method thereof |
| CN115444668A (en) * | 2022-09-06 | 2022-12-09 | 创客天下(北京)科技发展有限公司 | Life monitoring and rescuing device for cooperative robot |
| CN115487019A (en) * | 2021-06-18 | 2022-12-20 | 护仕康有限公司 | Nursing device |
-
2015
- 2015-10-12 CN CN201520784342.7U patent/CN205108100U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108814844A (en) * | 2018-08-21 | 2018-11-16 | 安徽艾珂尔制药有限公司 | A kind of medical bed of Convenient wheelchair patient |
| CN110811384A (en) * | 2019-09-23 | 2020-02-21 | 金晴 | Bathtub protection device based on smart home and working method thereof |
| CN115487019A (en) * | 2021-06-18 | 2022-12-20 | 护仕康有限公司 | Nursing device |
| CN115444668A (en) * | 2022-09-06 | 2022-12-09 | 创客天下(北京)科技发展有限公司 | Life monitoring and rescuing device for cooperative robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160330 Termination date: 20161012 |