KR20120003548A

KR20120003548A - Transportation assistance robot

Info

Publication number: KR20120003548A
Application number: KR1020100064209A
Authority: KR
Inventors: 여희주; 최정훈
Original assignee: 주식회사 로보피아
Priority date: 2010-07-05
Filing date: 2010-07-05
Publication date: 2012-01-11
Also published as: KR101272389B1

Abstract

The present invention relates to a transport helper robot that is connected to the inside of the conveying means having a frame to move the conveying means by the electric force, provided between the upper plate and the base plate is provided with electric power driven up and down driving, the electric lifting A second motor provided at one side of the lifting unit to provide electric power to the electric lifting unit, an electric wheel provided at the lower portion of the base plate to be rotated by receiving electric power, and provided at a lower portion of the base plate to provide electric power to the electric wheel. It comprises a first motor and a control unit for controlling the driving of the electric lifting unit and the electric wheel.
According to the transport helper robot of the present invention, the user is less force to move the transport means by being positioned inside the transport means having a frame such as a patient transport means is adjusted to fit the height of the frame and then connected to the transport means by electric force It is also possible to exert the effect of moving the vehicle.

Description

Transportation assistance robot

The present invention relates to a transport helper robot, and more particularly, to a transport helper robot that is connected to the inside of the transport means having a frame to move the transport means by electric power.

In small and medium-sized factories or hospitals, the use of human power is used to transport patients, objects, and equipment in a narrow space or at a short distance, and thus the work efficiency is low. In particular, patients in hospitals often move from hospital beds to examination rooms or operating rooms. Can be moved and vice versa.

As such, the basic device for transporting the patient may be a patient bed 10 having a wheel formed by the assistant 20 as shown in FIG. 1.

Therefore, the assistant 20 may move the patient bed 10 to an examination room or an operating room by dragging the patient bed 10 from the front, pushing it from the back, or dragging it from the side.

However, the occupational disease can occur in the assistant 20 when the patient 20 repeatedly moves the patient's bed carrying the weight of the patient. In particular, there is a problem that musculoskeletal disorders frequently occur in the neck, arms, knees, shoulders, and spine. .

The present invention has been made in order to solve the above-described problems, the transport means by moving the conveying means is moved to the electric power after being connected and adjusted to the height of the frame is located inside the conveying means provided with a frame such as a patient conveying means To provide a transport helper robot that allows the user to move the vehicle with a small force.

Carrying help robot of the present invention for achieving the above object is provided between the upper plate and the base plate is provided with electric power driven up and down direction, the second is provided on one side of the electric lifting portion to provide electric power to the electric lifting unit A motor, an electric wheel provided in the lower portion of the base plate to receive rotational power and driven to rotate, the first motor provided in the lower portion of the base plate to provide electric power to the electric wheel, and controls the driving of the electric lifting unit and the electric wheel. It comprises a control unit.

The electric lifting unit is a pair of first lower link arms, the lower end of which is rotatably connected to the base plate, respectively, and the upper and lower ends of the first lower link arm are rotatably connected, respectively, and the upper end of the upper plate rotates, respectively. A pair of first upper link arms that are connected to each other, a pair of second lower link arms whose lower ends are rotatably connected to the base plate, respectively, and an upper end and a lower end of the second lower link arms, respectively, are rotatably connected. A pair of second upper link arms rotatably connected to an upper plate, respectively, and an upper end thereof connected to a first lower link arm and a first upper link arm provided on one side, and a second lower link arm and a second upper link. A first connecting rod installed through the connecting portion of the arm, and a connecting portion of the first lower link arm and the first upper link arm provided on the other side, and a connecting portion of the second lower link arm and the second upper link arm, respectively. The rod is mounted through the second connecting rod and the first connecting rod and the second connecting rod and is made to include a rotating rod that is rotated by receiving the electric force, the male thread is formed on the outer circumferential surface of the rotating rod, the penetrating inner surface of the first connecting rod A female thread groove corresponding to the male thread portion may be formed.

Both sides of the top plate is provided with a frame holder to be connected to the frame of the transport means, a manual lifting unit may be provided between the top plate and the frame holder.

The frame holder may be formed of a mounting recess in which the mounting groove in which the frame of the vehicle is seated is concave, and a cover for fixing the frame of the vehicle so as not to be separated from the mount.

The manual lifting unit is composed of a fixed bundle provided spaced to the upper portion of the mount, a lifting rod provided through the fixed bundle and the mount, and a lifting adjustment portion provided on the lifting rod between the mount and the fixed bundle, but the fixed bundle is mounted on the upper portion of the mount. Fixing plate provided to be spaced apart, it may be made of a column portion protruding upward from both ends of the fixing plate connected to the upper plate.

The control unit may be connected to an operation unit for inputting a control command to the transport helper robot or displaying a control state.

A limit switch is provided between the upper plate and the base plate, and the limit switch can slide along the switch plate.

According to the transport helper robot of the present invention as described above, it is located inside the transport means provided with a frame such as a patient transport means is adjusted to fit the height of the frame and then connected to the transport means by moving the transport means by electric power The effect is to enable the user to move the vehicle with a small force to be.

1 illustrates a conventional patient bed,
Figure 2 is a perspective view of a carrying helper robot according to an embodiment of the present invention,
Figure 3 is a perspective view of the carrying helper robot according to an embodiment of the present invention is a top plate and side plates are removed,
4 is a perspective view showing the electric lifting unit according to an embodiment of the present invention,
5 is a side view showing the electric lifting unit according to an embodiment of the present invention,
6 is a perspective view showing an operating state of the electric lifting unit according to an embodiment of the present invention,
7 is a side view showing an operating state of the electric lifting unit according to an embodiment of the present invention,
8 is a perspective view showing a manual lift and frame holder according to an embodiment of the present invention,
9 is a perspective view showing the operating state of the manual lifting unit according to an embodiment of the present invention,
10 is a perspective view illustrating a state in which a transport helper robot is located in a transport means according to an embodiment of the present invention;
11 is a side view showing an operating state of the electric lifting unit in the transport means according to an embodiment of the present invention,
12 is a side view showing a coupled state of the limit switch according to an embodiment of the present invention,
Figure 13 is a side view showing the operating state of the manual lifting unit in the conveying means according to an embodiment of the present invention,
14 illustrates an operation unit according to an embodiment of the present invention.
15 is a block diagram illustrating a control state according to an embodiment of the present invention.

DETAILED DESCRIPTION Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art may easily implement the present invention.

Figure 2 is a perspective view of the transport helper robot according to an embodiment of the present invention, Figure 3 is a perspective view of the transport helper robot according to an embodiment of the present invention is a top plate and side plates are removed.

Hereinafter, the horizontal direction in the direction in which the side plate 203 and the battery 700 of FIG. 2 are continued, the vertical direction in the direction in which the upper plate 201 and the electric wheels 230 are connected, and the pair of the electric wheels 230 are connected to each other. The direction is called longitudinal direction.

The transport helper robot 200 according to an embodiment of the present invention is connected to the inside of the transport means provided with a frame to move the transport means using electric power, as shown in FIGS. 2 and 3, and an upper plate ( 201) is provided between the base plate 205 and the electric lifting unit 300 is provided to receive the electric power is driven up and down, the electric wheel 230 is provided in the lower portion of the base plate 205 to receive the electric power to drive rotation; The first motor 210, which is provided under the base plate 205 and receives power to drive the electric wheel 230, is provided at one side of the electric lift unit 300 to receive the power to drive the electric lift unit 300. The second motor 370 and the speed reducer 360 to reduce the rotation speed of the second motor 370 is provided, the power supply so that the electric power can be provided from the first motor 210 and the second motor 370. Battery 700 for supplying, the battery accommodating part 207 for accommodating the battery 700 And an auxiliary wheel 235 provided under the battery accommodating part 207.

Figure 4 is a perspective view showing the electric lifting unit according to an embodiment of the present invention, Figure 5 is a side view showing the electric lifting unit according to an embodiment of the present invention, Figure 6 is an electric motor according to an embodiment of the present invention 7 is a perspective view illustrating an operating state of the lifting unit, and FIG. 7 is a side view illustrating an operating state of the electric lifting unit according to the exemplary embodiment of the present invention.

As shown in FIGS. 4 and 5, the electric lifting unit 300 has a first support plate 301 and a second support plate 301a spaced apart from each other in a vertical direction on an upper portion of the base plate 205, and an upper plate 201. The first support plate 330 and the second support plate 330a are spaced apart from each other in the vertical direction.

Lower ends of the pair of first lower link arms 310 are rotatably connected to the first support plate 301 in a horizontal direction of one side and the other side, and a pair of upper ends of the first lower link arms 310 are provided. Lower ends of the first upper link arms 320 are rotatably connected, respectively, and upper ends of the first upper link arms 320 are rotatably connected to one side and the other side of the first support plate 330, respectively.

Lower ends of the pair of second lower link arms 311 are rotatably connected to the second support plate 301a in the horizontal direction of one side and the other side, and a pair of upper ends of the second lower link arms 311 are provided. Lower ends of the second upper link arms 321 are rotatably connected, respectively, and upper ends of the second upper link arms 321 are rotatably connected to one side and the other side of the second support plate 330a, respectively.

Here, the lower link arms 310 and 311 may be rotatably connected directly to the base plate 205 without the supporting plates 301 and 301a, and the upper link arms 320 and 321 may also have an upper plate without the support plates 330 and 330a. 201 may be directly rotatably connected.

The first lower link arm 310 and the first upper link arm 320 are connected to each other, and the second lower link arm 311 and the second upper link arm 321 are connected to each other in the vertical direction. The first connecting rod 341 is installed, and the connecting portion of the first lower link arm 310 and the first upper link arm 320 and the second lower link arm 311 and the second upper link arm 321 of the other side. The second connecting rods 343 are installed in the vertical direction through the connecting portions, respectively, and the rotating rods 350 are provided in the horizontal direction through the first connecting rods 341 and the second connecting rods 343.

The second motor 370 may be connected to the second connecting rod 343 and fixedly installed.

Here, the second motor 370 that provides the electric power to the rotating rod 350 is connected and the rotating rod 350 is rotated by receiving the electric power of the motor 370.

In addition, a male screw portion (not shown) is formed on an outer circumferential surface of the rotating rod 350, and a female screw groove (not shown) corresponding to the male screw portion is formed on a penetrating inner surface of the first connecting rod 341.

Therefore, when the rotary rod 350 is rotated by receiving the rotational force of the second motor 370, the male screw portion formed on the rotary rod 350 and the female screw groove formed on the inner surface of the first connecting rod 341 are engaged with each other. As shown in FIG. 7, the first connecting rod 341 is relatively moved along the rotating rod 350 and the angle formed between the lower link arms 310 and 311 and the upper link arms 320 and 321 is changed. As a result, the gap between the top plate 201 and the base plate 205 is changed, and the top plate 201 is moved up and down with respect to the electric wheel 230.

For reference, in the present invention, the link arm was used to adjust the lifting of the electric lifting unit 300. However, the present invention is not limited thereto, and an elliptical cam (not shown) having a diameter length not equal to the electric lifting unit ( It is also possible to adjust the elevation of the 300).

8 is a perspective view showing the manual lifting unit and the frame holder according to an embodiment of the present invention, Figure 9 is a perspective view showing the operating state of the manual lifting unit according to an embodiment of the present invention.

As shown in FIG. 8, the frame holder 500 is fixed such that the mounting groove 511 on which the frame of the carrier is seated is recessed and the frame of the carrier is not separated from the mount 510. The cover 520 is fastened to the mounting table 510 to be made.

As shown in FIG. 8, the manual lifting unit 400 penetrates the fixed bundle 410 and the fixed bundle 410 spaced apart from the upper portion of the mount 510, and is rotatably inserted into the mount 510. The lifting bar 430, the mounting table 510 is made up of the lifting control unit 450 provided on the lifting bar 430 between the fixed bundle 410, the fixed bundle 410 is the upper mounting bracket 510 The fixing plate 411 is provided spaced apart from each other, consisting of a pillar portion 413 protruding upward from both ends of the fixing plate 411 and connected to the upper plate 201.

Here, the lifting control unit 450 is shown to be fixedly coupled to the outer circumferential surface of the elevating bar 430 in the form of a polygonal nut, but is not limited thereto. It can also be formed by (450).

In addition, a male screw portion (not shown) is formed on an outer circumferential surface of the elevating rod 430, and a female screw groove (not shown) corresponding to the male screw portion is formed on a penetrating inner surface of the fixing plate 411.

Accordingly, when the elevating adjustment unit 450 is turned by using a separate tool such as a spanner, the male screw portion formed on the elevating rod 430 and the female screw groove formed on the inner surface of the fixing plate 411 are engaged with each other, as shown in FIG. 9. Likewise, the lifting bar 430 is relatively moved along the fixed bundle 410.

10 is a perspective view showing a state in which the transport helper robot according to an embodiment of the present invention is located in the transport means, Figure 11 is a side view showing the operating state of the electric lifting unit in the transport means according to an embodiment of the present invention 12 is a side view showing a coupled state of the limit switch according to an embodiment of the present invention, Figure 13 is a side view showing the operating state of the manual lifting unit in the conveying means according to an embodiment of the present invention.

As a conveying means, the patient conveying means 100 is taken as an example, and as shown in FIG. 10, the transport helper robot 200 according to the present invention is positioned inside the patient conveying means 100.

Here, the position of the base frame 130 of the patient carrying means 100 and the position of the frame holder 500 of the transport helper robot 200 may be different, and the position of the base frame 130 and the frame holder 500 is the same. Must be fitted.

The base frame 130 is in a fixed state, and in the present invention, since the frame holder 500 is positioned at a lower position than the base frame 130, the frame holder 500 should be moved upward.

Therefore, in order to adjust the frame holder 500 to the same position as the base frame 130 by driving the second motor 370 to rotate the rotating rod 350, between the first connecting rod 341 and the second connecting rod (343) As the distance between the two adjacent to each other, the angle formed between the lower link arms (310, 311) and the upper link arms (320, 321) is increased.

At this time, since the base plate 205 is in contact with and fixed to the electric wheels 230 touching the ground, the upper link arms 320 and 321 move upward relative to the lower link arms 310 and 311. Accordingly, the supporting plates 330 and 330a connected to the upper link arms 320 and 321, the upper plate 201 connected to the supporting plates 330 and 330a, the manual lifting unit 400 connected to the upper plate 201, and the frame holder ( 500 is also moved upwards at the same time, if the position of the base frame 130 and the position of the frame holder 500 is matched, as shown in Figure 11 connects the base frame 130 to the frame holder 500.

Subsequently, the driving wheel 100 for the patient may be moved by the electric force by driving the first motor 210 to rotate the electric wheel 230.

In addition, the base plate 205 is spaced in the vertical direction is provided with a buffer unit 600, a buffer member such as a spring (not shown) is inserted into the buffer unit 600, the top plate 201 and the base plate 205 Both ends of the buffer member are in close contact therebetween. Therefore, when the electric lifting unit 300 moves in the downward direction or the upward direction, the impact between the upper plate 201 and the base plate 205 is alleviated.

In addition, as shown in FIG. 12, a limit switch 970 may be provided between the upper plate 201 and the base plate 205 to limit the lifting distance of the electric lifting unit 300.

In addition, since the height from the ground to the base frame 130 may be different for each patient bed 100, it is necessary to change the position where the limit switch 970 is installed.

Therefore, by providing a switch plate 971 between the top plate 201 and the base plate 205, by allowing the switch plate 971 to adjust the installation position of the limit switch 970 in a sliding manner, the base frame from the ground Even the patient bed 100 having different heights up to 130 may be adjusted so that the electric lifting unit 300 is elevated at an appropriate distance.

Meanwhile, when the upper link arms 320 and 321 are moved upward in the state where the electric wheel 230 is worn out or the ground is uneven, the positions of the base frame 130 and the frame holder 500 are not equally aligned. In this case, the height of the frame holder 500 may be adjusted through the manual lifting unit 400.

In the present invention, four manual lifting units 400 are provided, and the height of the frame holder 500 can be adjusted by adjusting the respective manual lifting units 400. That is, one manual lifting unit 400 or a plurality of manual lifting units 400 may be adjusted according to positions where the base frame 130 and the frame holder 500 are not equally aligned.

Therefore, when the lifting control part 450 provided in the manual lifting part 400 is properly rotated by using a tool, the male screw part formed on the lifting bar 430 and the female screw groove formed on the inner side of the fixing plate 411 are mutually different. As the lifting bar 430 is relatively moved along the fixed bundle 410 while being engaged, and thus the frame holder 500 connected to the lifting bar 430 is also simultaneously moved upwards, as shown in FIG. The position of the 130 and the frame holder 500 is equally matched.

14 is a view showing an operation unit according to an embodiment of the present invention, Figure 15 is a block diagram showing a control state according to an embodiment of the present invention.

The transport helper robot 200 includes a control unit 900 for controlling the electric lifting unit 300 and the electric wheel 230 to be driven, and the control unit 900 inputs or controls a control command to the transport helper robot 200. The operation unit 800 which displays a state in which a command is input is connected. The operation unit 800 is provided with an operation unit holder 160 on one side of the patient carrying means 100, as shown in FIG. It may be fixed to the 160.

As illustrated in FIG. 14, the operation unit 800 includes a main panel 810, a first subsidiary panel 860 on one side of the main panel 810, and a second subsidiary on the other side of the main panel 810. Panel 870 is provided.

The main panel 810 includes a power on / off unit 840 for turning on or off the power applied to the transport helper robot 200, a speed control unit 820 for adjusting a limit of a moving speed of the transport helper robot 200, An emergency stop unit 830 for quickly stopping driving of the transport helper robot 200 and a status display unit 850 indicating an operating state of the transport helper robot 200 is provided.

The status display unit 850 includes an up-down state display unit 851 for displaying an upward or downward movement state of the electric lifting unit 300, a backward state display unit 852 for displaying a reverse state of the transport helper robot 200, and a transport helper. A forward state display unit 853 for displaying the forward state of the robot 200 and a power state display unit 854 for displaying the state of power applied to the transport helper robot 200 are provided.

The first sub-panel 860 has an up-down selection unit 861 for moving the electric lifting unit 300 upward or downward, and a forward and backward selection unit 863 for moving the transport helper robot 200 forward or backward. The horn 865 is provided to make the horn ring.

The second auxiliary panel 870 is provided with a battery display portion 871 for displaying the remaining capacity of the battery 700, to increase or decrease the moving speed of the transport helper robot 200 to the other side of the second auxiliary panel 870. An accelerator 880 is provided.

In addition, the handle 890 is provided at one side of the first auxiliary panel 860 and the other side of the accelerator 880, respectively, and the end of the handle 890 is connected to the operation unit holder 160, so that the operation unit 800 is a patient bed. 100 may be provided.

As described above, when the operation unit 800 is provided, and power is supplied to the transport helper robot 200 by operating the power on / off unit 840 as shown in FIG. 15, power is supplied to the power state display unit 854. The status of being applied is displayed.

When the electric lifting unit 300 is moved downward by operating the up-down selecting unit 861, the control unit 900 drives the second motor 370 to move the electric lifting unit 300 downward, and the up-down state The display unit 851 displays a state in which the electric lifting unit 300 is moved downward.

At this time, the distance that the electric lifting unit 300 is moved downward through the limit switch 970 is limited.

After setting the limit value of the moving speed through the speed adjusting unit 820 and selecting forward by operating the forward and backward selection unit 863, the forward state display unit 853 is displayed as the forward state.

Subsequently, when the accelerator 880 is manipulated, the controller 900 may drive the first motor 210 to move the transport assistance robot 200 forward while the electric wheel 230 is rotated. Even if 880 is operated to the maximum value, the speed above the limit value of the moving speed set by the speed controller 820 is not output.

For example, if the limit of the moving speed is set to 10 km / h through the speed control unit 820, even if the accelerator 880 is operated to the maximum value, the moving speed of the transport helper robot 200 does not exceed 10 km / h. Will be.

On the other hand, if necessary, the carrying assistance robot 200 can be moved backwards. In this case, when the forward and backward selection unit 863 is operated to select the reverse, the reverse state display unit 852 is displayed as the reverse state.

In addition, the transport helper robot 200 may be provided with an ultrasonic sensor unit 950, and may cause an alarm to be notified when an obstacle is detected through the ultrasonic sensor unit 950.

In the above description, the present invention has been described with reference to preferred embodiments, but the present invention is not necessarily limited thereto, and a person having ordinary skill in the art to which the present invention pertains does not depart from the technical spirit of the present invention. It will be readily appreciated that various substitutions, modifications and variations can be made.

201: top plate 205: base plate
210: first motor 230: electric wheel
300: electric lifting unit 370: second motor
900: control unit

Claims

An electric lifting unit 300 provided between the upper plate 201 and the base plate 205 and driven upward and downward to receive electric power;
A second motor 370 provided on one side of the electric lifting unit 300 to provide electric power to the electric lifting unit 300;
An electric wheel 230 provided at a lower portion of the base plate 205 and driven to receive rotational force;
A first motor 210 provided below the base plate 205 to provide electric power to the electric wheel 230;
Carrying assistance robot comprising a control unit 900 for controlling the driving of the electric lifting unit 300 and the electric wheels 230.

According to claim 1, wherein the electric lifting unit 300
A pair of first lower link arms 310, the lower ends of which are respectively rotatably connected to the base plate 205;
An upper end of the first lower link arm 310 and a lower end thereof are rotatably connected to each other, and an upper end of the first lower link arm 310 is rotatably connected to the upper plate 201;
A pair of second lower link arms 311, the lower ends of which are respectively rotatably connected to the base plate 205;
A pair of second upper link arms 321 connected to an upper end and a lower end of the second lower link arm 311, respectively, rotatably connected to an upper plate 201;
A first lower link arm 310 and a first upper link arm 320 provided at one side of the connection part and a second lower link arm 311 and a second upper link arm 321 respectively installed through 1 connecting rod 341;
The first lower link arm 310 and the first upper link arm 320 provided on the other side and the connecting portion of the second lower link arm 311 and the second upper link arm 321 are respectively installed through 2 connecting rods (343) and
It includes a rotating rod 350 is mounted to penetrate the first connecting rod 341 and the second connecting rod 343 and is supplied with electric power,
A male helper robot is formed on an outer circumferential surface of the rotating rod 350 and a female screw groove corresponding to the male screw part is formed on a penetrating inner surface of the first connecting rod 341.

According to claim 1, At both ends of the top plate 201
Frame supporter 500 is provided to be connected to the frame of the transport means, the carrier helper robot, characterized in that the manual lifting unit 400 is provided between the upper plate and the frame holder (500).

The method of claim 3, wherein the frame holder 500
The transport helper, characterized in that the mounting groove 511, the seat of the transport means is formed with a concave mount 510 and a cover 520 for fixing the frame of the transport means from being detached from the mount 510. robot.

The method of claim 4, wherein the manual lifting unit 400
Fixed bundle 410 is provided spaced to the top of the mounting bracket 510, lifting rod 430 provided through the fixed bundle 410 and the mounting bracket 510, between the mounting bracket 510 and the fixed bundle 410 The lifting bar 430 is made of a lifting control unit 450 is provided, the fixed bundle 410 is fixed to the mounting plate 510 is provided spaced apart from the top of the fixing plate 411, the fixing plate 411 protrudes upwards Carrying help robot, characterized in that consisting of the pillar portion 413 is connected to the top plate (201).

The method of claim 1, wherein the control unit 900
Carrying helper robot 200, characterized in that the input of a control command or the operation unit 800 is displayed, the control state is displayed.

The method of claim 2,
A limit switch (970) is provided between the upper plate (201) and the base plate (205), the limit switch (970) is equipped with a helper robot, characterized in that the slide moves along the switch plate (971).