CN205835356U - Carrying containing variable form mechanical arm and embrace the medical robot lifting the obesity patients - Google Patents

Abstract

This utility model relates to medical treatment and services robot field, especially discloses a kind of carrying containing variable form mechanical arm and embraces the medical robot lifting the obesity patients, including embracing supporting surface, driving base and the linkage lifting patient；Described driving base include base body and at least 3 can move up and down the vertical linearity driver being located on base body；Described supporting surface includes the mechanical arm that at least two side is rotatably connected successively；The head end of described mechanical arm is all movably connected in vertical linearity driver by linkage, and then when vertical linearity driver moves up and down, and can drive angle and height that different mechanical arm moves up and down between adjusting mechanical arm.This utility model can replace medical personnel's carrying patient, is particularly suited for being suitable for of adiposis patient, and then alleviates the burden of medical personnel.This utility model is lifted by the mobile adjustment of mechanical arm and is embraced and angle during removing patient and height, and then improves patient comfort, alleviates medical personnel's workload.

Description

Carrying containing variable form mechanical arm and embrace the medical robot lifting the obesity patients

Technical field

This utility model relates to medical treatment and services robot field, especially relates to a kind of removing containing variable form mechanical arm Transport and embrace the medical robot lifting the obesity patients.

Background technology

Day by day the increasing of overweight and obesity make adiposis patient be admitted to hospital number and operation demand also increases.These patients' Daily routines and Medicare need medical personnel to pay significant time and muscle power, too increase the muscle of back of medical personnel Skeleton and the injured risk of spinal nerve system.Now patient embraces and lifts shifting apparatus and take up space greatly the most on the market, and it installs utilization not Only need to change ward building structure, also easily cause patient and medical personnel fall down, when its operation is complicated and wastes medical personnel Between.And after surgery, it is painful that artificial carrying patient also can increase patient, causes wound dehiscence.

Utility model content

This utility model is in order to overcome the deficiencies in the prior art, it is provided that one can safe carrying patient, improve patient comfort Degree, alleviates medical personnel's workload, carrying containing variable form mechanical arm and embrace the medical robot lifting the obesity patients.

To achieve these goals, this utility model is by the following technical solutions: a kind of removing containing variable form mechanical arm Transport and embrace the medical robot lifting the obesity patients, including embracing supporting surface, driving base and the linkage lifting patient；Described Drive base to include base body and at least 3 can move up and down the vertical linearity driver being located on base body；Described Support face includes the mechanical arm that at least two side is rotatably connected successively；The head end of described mechanical arm is all movable by linkage It is connected in vertical linearity driver, and then when vertical linearity driver moves up and down, can drive and move down on different mechanical arm Angle between dynamic adjusting mechanical arm and height.This utility model can replace medical personnel's carrying patient, is particularly suited for obesity Patient is suitable for, and then alleviates the burden of medical personnel.This utility model is moved up and down by vertical linearity driver, Jin Erke Different mechanical arms is driven to move, it is achieved to the angular adjustment between mechanical arm；Can protect according to sick Man's Demands mobile mechanical arm The comfort level of card patient, prevents patient's wound dehiscence, beneficially patient health；This utility model is also not limited to patient's simultaneously Carrying, it may also be used for the carrying to other article, embraces the weight lifted and is up to 500 pounds.

Further, the end of described mechanical arm is rotatably connected the folding device for fixing patient.Remove at mechanical arm Fortune patient or during article, can be flipped up folding device, so can safety fix the patient or article being lifted.

Further, described folding device and/or mechanical arm are provided with and can prevent from folding device and/or mechanical arm and patient The conveyor-belt apparatus skidded between skin.It is more prone to embrace and lifts patient.

Further, described conveyor-belt apparatus surface is provided with skin-friendly layer.Improve the comfortableness of patient.

Further, described supporting surface both sides are provided with sustainable patient's leg and the extension plate of cervical region.Improve relaxing of patient Adaptive.

Further, described base body includes that quantity is more than or equal to the montant of vertical linearity driver, each vertical line Property driver can be located on a montant up or down.

Further, described base body be provided with can horizontal development base drive rail, base drive rail connect Mike La Mu takes turns.

Further, also include that a connection drives the controller of base.Medical robot can be controlled by controller to move Patient is lifted with embracing, easy to use.

Further, described mechanical arm two ends are removably connected with the seat belt for fixing patient.Can prevent patient from falling Fall.

In sum, this utility model is lifted by the mobile adjustment of mechanical arm and is embraced and angle during removing patient and height, And then improve patient comfort, alleviate medical personnel's workload.

Accompanying drawing explanation

Fig. 1 is structural representation one of the present utility model；

Fig. 2 is use state diagram one of the present utility model；

Fig. 3 a is supporting surface of the present utility model and vertical linearity driver connection diagram；

Fig. 3 b is supporting surface structural representation one of the present utility model；

Fig. 3 c is supporting surface structural representation two of the present utility model；

Fig. 3 d is mechanical arm of the present utility model and folding apparatus structure schematic diagram one；

Fig. 3 e is mechanical arm of the present utility model and folding apparatus structure schematic diagram two；

Fig. 4 a is linkage of the present utility model and driving base connection diagram one；

Fig. 4 b is linkage of the present utility model and driving base connection diagram two；

Fig. 5 a is use state diagram two of the present utility model；

Fig. 5 b-1,5b-2,5b-3 and 5b-4 are the mechanical arm of the present utility model front view under different folded states；

Fig. 5 c-1,5c-2,5c-3 and 5c-4 are the mechanical arm of the present utility model rearview under different folded states；

Fig. 6 is that this utility model uses state diagram three；

Fig. 7 a is structural representation two of the present utility model；

Fig. 7 b is use state diagram four of the present utility model；

Fig. 8 is part-structure schematic diagram of the present utility model；

Fig. 9 is the block diagram that this utility model is connected with background system；

Figure 10 is operating system configuration schematic diagram of the present utility model.

Detailed description of the invention

In order to make those skilled in the art be better understood from this utility model scheme, real below in conjunction with this utility model Execute the accompanying drawing in example, the technical scheme in this utility model embodiment is carried out clear, complete description.

A kind of carrying containing variable form mechanical arm of the present utility model and embrace and lift the medical robot of the obesity patients, belongs to In medical treatment and service robot, it is a kind of to there is autonomous driver element, the dexterous robot handling mechanical arm, it is possible to suitably behaviour Under control, patient is taken in one's arms from sick bed the portable medical robot with transfer.This medical robot contains the mechanical arm of variable form To adapt to the needs of environment and nursing procedure.

Robot described in the utility model is severing patients in medical institutions.This medical robot can be healthcare givers Operation or assist lower severing patients and the delivery article that shuttle back and forth within the hospital.This robot is also equipped with being applicable to the complete of hospital space To the mobile mechanical arm driving base, good human-computer interaction interface and being enough to embrace the flexibility lifting the 500 pounds of patients that weigh.

As Figure 1-10 shows, a kind of carrying containing variable form mechanical arm and embrace and lift the medical robot of the obesity patients, Its core includes: supporting surface, driving base 200, linkage 350 and controller 600.Controller 600 connects the driving end Seat 200.Described supporting surface can be embraced and lift patient 500, and described supporting surface includes the machinery that at least two side is rotatably connected successively Arm 300.

Described driving base 200 includes base body 400 and at least 3 vertical linearity drivers 210, and vertical linearity drives Device 210 can move up and down to be located on base body 400.Described base body 400 includes that quantity is more than or equal to vertical linearity and drives The montant 220 of device 210, each vertical linearity driver 210 can be located on a montant 220 up or down.Vertical linearity drives Device 210 has special mechanism, can serve overweight patients 500, such as patient 500 be moved to wheelchair 650 from sick bed, such as figure Shown in 7b.

Concrete, described mechanical arm 300 can be positioned over the position parallel with the patient 500 on sick bed and be stretched over patient 500 bodies get off to embrace lifts patient 500.The head end of described mechanical arm 300 is all by linkage 350 and vertical linearity driver 210 It is flexibly connected.When vertical linearity driver 210 moves up and down, different mechanical arms 300 can be driven also by linkage 350 Move up and down, and then the angle between adjusting mechanical arm 300 and the height of mechanical arm 300.By vertical linearity driver 210 phase Change to position realizes height and the angle adjustment of mechanical arm 300.The end of described mechanical arm 300 is rotatably connected and folds dress Putting 310, described folding device 310 removably connects described mechanical arm 300, and then the convenient replacing folding device.Fold device 310 when opening, and can facilitate and along folding device 310, patient is moved into mechanical arm 300, is then rotated further by folding device 310 to vertically Mechanical arm 300 surface, and then patient 500 can be fixed, prevent patient 500 landing.Furthermore, in order to improve patient further at machinery Stability on arm 300, the most described mechanical arm 300 two ends are removably connected with seat belt 550, and this seat belt 550 can be used for Fixing patient 500, prevents patient 500 from dropping from medical robot further, and this seat belt 550 is sufficiently wide and solid.

Preferably, described folding device 310 and mechanical arm 300 are provided with conveyor-belt apparatus 320, and conveyor-belt apparatus 320 can Prevent from folding device 310, skidding between mechanical arm 300 and patient 500 skin, and contribute to patient 500 and move into mechanical arm 300. The most in other embodiments, described conveyor-belt apparatus 320 can be only located on folding device 310 or mechanical arm 300.In order to Improving the comfortableness of patient 500, described conveyor-belt apparatus 320 surface is provided with skin-friendly layer, and this skin-friendly layer is made up of skin compatible material.Again Person, described supporting surface both sides are provided with extension plate 330, and this extension plate 330 can make supporting surface stretch out bigger area to support disease The leg of people 500 and cervical region.And this extension plate 330 is connected to be positioned on the mechanical arm 300 of supporting surface both sides.

In order to improve the stability of robot, the most described base body 400 is provided with base and drives rail, and base drives rail Can horizontal development, base drive rail connect McCrum wheel 410, Omni-mobile can be realized.Base drives that rail is deployable makes occupation of land Area is bigger thus improves the stability of robot when performing and embracing and lift transfer task.

And control to drive base 200 for a controller 600, by promoting left and right before and after action bars 622, it is achieved doctor Treat the equidirectional movement of robot 100.Rotation process bar 610 realizes turning to of robot, is more intuitively selected by position-sensing switch 621 Taking mechanical arm 300 position, the vertical linearity controlling this position drives driver 210 to realize height and the angle of mechanical arm 300 Regulation.This mechanical arm 300 be also designed to can deformation structure, and this mechanical arm 300 can also realize according to specific tasks knot Configuration shape is adjustable so as to adapt to the requirement of varying environment manipulation, and its mechanical arm 300 can broaden and accept and do not disturb it His systemic-function.

Additionally, also include personal-machine interactive interface, i.e. a display, this display connects controller.Except being grasped by promotion Make bar 622 and outside rotation process bar 610 is controlled, in other cases, identify use also by Voice command software The phonetic order of person.Also having another kind of control method, i.e. being fed back by interpolation sense of touch is that operator is directly by contact guidance machine Device human arm arrives the position needed.Realize the function of voice, vision and Tactile control to robot.

Mobile and armful medical robot lifting the obesity patients application can efficiently reduce the workload of medical personnel, Improve work efficiency.Especially with greater need for help during adiposis patient is performed an operation, and monitoring process after surgery is also required to The support of this type of medical robot.Medical robot 100 is by imitating the mankind, and profile true to nature and action, by electronics and machinery That has combined is controlled by computer or electron program and realizes, medical robot user can be allowed to feel he has the dignity of oneself, meaning Know and strength.And the medical robot 500 being intended to work together with medical personnel and patient 500 possesses and high cooperates with people Ability and processing safety, this has not only ensured 500 armfuls of safeties lifted and move of patient but also has been greatly saved medical personnel The operating time of 900 and energy.

Medical robot 100 helps medical personnel 900 armfuls to lift and hospital's carrying cargo moving heavy object, thus reduces medical care people Member's backache or the risk of back injuries.This medical robot 100 also has following feature and function: overweight patients is narrow in hospital Safety moving in little space, replaces electric wheelchair；Interactive for patient and doctor；Be not required to too many time the most convenient to operately with Nurse safety ground is interactive；Logistics delivery in hospital can be completed.

Described medical robot 100 manipulates close to sick bed by speech control or controller 600, the most slowly extends machinery Under arm 300 to patient 500 body.The speed that mechanical arm 300 moves forward depends on the speed that conveyor-belt apparatus 320 repercussion is moved, So can eliminate and slide between mechanical arm 300 and patient 500 so that mechanical arm 300 is easier to be placed under patient 500 body and make disease People 500 is more comfortable.

Vertical linearity driver 210 can be that mechanical arm 300 lifting weight provides enough power.Mechanical arm 300 is wedge Shape, the first half is completely coated with the conveyor-belt apparatus 320 of softness.When mechanical arm 300 is completely disposed under patient 500 body, machinery Smooth extension plate 330 can be extended in 300 liang of outsides of arm, thus preferably supports more than the cervical region of patient 500 and leg.Machinery The head end of arm 300 has a folding device 310 as joint；Fig. 3 d shows when folding device 310 is set level and mechanical arm State during 300 keeping parallelism.Fig. 3 e shows to fold and fixing of safety can be embraced the patient lifted when device 310 is packed up The state of 500.This folding device the most also can make mechanical arm 300 be more easy to be placed under patient 500 body: mechanical arm 300 to During front propelling, this vertical linearity driver 210 preferably sounds out patient 500 by twisting up and down as nurse, it is easier to Push ahead.

Linkage 350 can provide strong, safe, lifting and position neatly by minimum vertical linearity driver 210 Put conversion.Vertical linearity driver 210 provides enough power lifting weights, and has enough sensitivity to avoid hurting disease People 500.This medical robot 100 uses the vertical linearity driver 210 of flexibility to control power output in real time thus provides high Safety, the use of vertical linearity driver 210 also can improve battery efficiency.Multiple Linear actuators 210 move up and down and draw Play the relative change of position, thus control position and the angle of mechanical arm 300.

Drive that base 200 floor space is little, can omnirange move.Base body is provided with four independent Mikes driven and draws Nurse wheel 410 so that drive base 200 can in small space Omni-mobile freely.Base drives rail to launch, thus Make driving base area bigger and improve stability, and be more easy to the destination gone close to wheelchair or other client need, drive the end Seat have employed point of zero moment and controls to promote.

Controller 600 is made up of two parts: the part of operation base body 400 and the part of operating robotic arm 300.Control Device 600 integral installation is on base body 400.For the ease of operation, the position selector switch 621 on controller 600 shape, The both arms of reality it are completely corresponding on position.Stirring the lever on this switch 610 can the position of corresponding mobile mechanical arm.On move down Dynamic promotion action bars 622 can allow mechanical arm 300 move up and down in the case of maintaining like angle.Before promoting action bars 622 Rear left and right realizes the equidirectional movement of medical robot 100；Rotation process bar 610 realizes turning to of medical robot 100.Control Device 600 can overall take off from base body 400, and this makes the operator can be certain distance outer control robot, even patient 600 can operate robot with oneself.Robot is controlled by controller.In other cases, soft also by Voice command Part identifies the phonetic order of user.Also having another kind of control method, i.e. being fed back by interpolation sense of touch is that operator is directly led to Cross contact guidance robot arm and arrive the position needed.

Fig. 2 and Fig. 5 a demonstrates this utility model and uses mechanical arm 300 lifting the obesity patients, and vertical linearity drives Device 210 moves up and down and causes change in location, thus controls the process of mechanical arm 300 position and angle.

Fig. 3 b, 3c, 3d and 3e demonstrate this utility model mechanical arm 300 with fold device 310, conveyor-belt apparatus 320 and 330 annexations of extension plate.

Fig. 3 a demonstrates 210 annexations of mechanical arm 300 and vertical linearity driver.

Fig. 5 b-1,5b-2,5b-3,5b-4,5c-1,5c-2,5c-3 and 5c-4 demonstrate mechanical arm 300 different angles and adjust Time, the position relationship of mechanical arm 300 and vertical linearity driver 210, including lying on the back, micro-state such as face upward, lean on and sit straight, and State when base drives rail to launch and shrinks.

Fig. 6 is the use state after loading onto seat belt 550 during this utility model use.

Can be seen that from Fig. 6 and Fig. 7 a base drive rail deployable and shrink, and described mechanical arm 300 can on move down Move, and Fig. 7 a is that patient 500 is carried to the process of wheelchair 650 by medical robot 100.

Can find out from Fig. 8 the installation site of controller 600 and controller 600 amplify after detailed construction.

Formation system architecture 800, in the present embodiment, medical care it is connected with background system as Fig. 9 illustrates this utility model Personnel 900 can handle medical robot 100 with controller.In other embodiments, patient 500 may need to be ordered by voice Make 814 or controller 600 medical robot 100 is controlled.In some embodiments, medical professional can launch and refers to Show that medical robot 100 lifts patient 500 close to embracing.

In the present embodiment, medical robot 100 connects Third party system, and such as hospital logistics management system, controls in real time Effectively integrating of OS processed and sensor acquisition.The main control subsystem 810 of medical robot 100 includes a system monitoring module 811, a direct control module 812 and Collaborative Control module 813.In the present embodiment, medical robot 100 is by controlling Device 600 directly controls.In other embodiments, medical robot 100 can utilize speech recognition software to identify medical personnel The voice command of 900.Speech recognition system can allow medical robot 100 start working under the request of medical personnel 900.? In other embodiments, medical personnel 900 guide, and by adjusting mechanical arm 300 to desired location built-in sense of touch feedback control.

Figure 10 illustrates the control system 700 of the controller 600 of this medical robot 100.Described control system 700 includes place Reason device 702, mixed-media network modules mixed-media 712, input/output interface mould 710, main storage 706, ROM (read only memory) 704, auxiliary are deposited Reservoir 708 and CD-ROM memorizer 714.And described mixed-media network modules mixed-media 712, input/output interface module 710, main storage 706, ROM (read only memory) 704, additional storage 708 and CD-ROM memorizer 714 are all connected with described multiprocessor 702.

Obviously, described embodiment is only a part of embodiment of the present utility model rather than whole enforcement Example.Based on the embodiment in this utility model, those of ordinary skill in the art are obtained under not making creative work premise The every other embodiment obtained, all should belong to the scope of this utility model protection.

Claims (9)

1. one kind contains the carrying of variable form mechanical arm and embraces the medical robot lifting the obesity patients, it is characterised in that: include Can embrace and lift the supporting surface of patient (500), drive base (200) and linkage (350)；Described driving base (200) includes the end Seat body (400) and at least 3 can move up and down the vertical linearity driver (210) being located on base body (400)；Described Support face includes the mechanical arm (300) that at least two side is rotatably connected successively；The head end of described mechanical arm (300) is all by connection Dynamic device (350) is movably connected in vertical linearity driver (210), and then moves up and down in vertical linearity driver (210) Time, different mechanical arm (300) can be driven to move up and down the angle between adjusting mechanical arm (300) and height.

Carrying containing variable form mechanical arm the most according to claim 1 and embrace and lift the medical robot of the obesity patients, It is characterized in that: the end of described mechanical arm (300) is rotatably connected the folding device (310) for fixing patient (500).

Carrying containing variable form mechanical arm the most according to claim 2 and embrace and lift the medical robot of the obesity patients, It is characterized in that: described folding device (310) and/or mechanical arm (300) are provided with and can prevent from folding device (310) and/or machine The conveyor-belt apparatus (320) skidded between mechanical arm (300) and patient (500) skin.

Carrying containing variable form mechanical arm the most according to claim 3 and embrace and lift the medical robot of the obesity patients, It is characterized in that: described conveyor-belt apparatus (320) surface is provided with skin-friendly layer.

Carrying containing variable form mechanical arm the most according to claim 1 and embrace and lift the medical robot of the obesity patients, It is characterized in that: described supporting surface both sides are provided with the extension plate (330) of sustainable patient's leg and cervical region.

Carrying containing variable form mechanical arm the most according to claim 1 and embrace and lift the medical robot of the obesity patients, It is characterized in that: described base body (400) includes that quantity is more than or equal to the montant (220) of vertical linearity driver (210), often One vertical linearity driver (210) can be located on a montant (220) up or down.

Carrying containing variable form mechanical arm the most according to claim 1 and embrace and lift the medical robot of the obesity patients, It is characterized in that: described base body (400) be provided with can horizontal development base drive rail, base drive rail connect Mike draw Nurse wheel (410).

Carrying containing variable form mechanical arm the most according to claim 1 and embrace and lift the medical robot of the obesity patients, It is characterized in that: also include that a connection drives the controller (600) of base (200).

Carrying containing variable form mechanical arm the most according to claim 1 and embrace and lift the medical robot of the obesity patients, It is characterized in that: described mechanical arm (300) two ends are removably connected with the seat belt (550) for fixing patient (500).