WO2021213405A1

WO2021213405A1 - Automatic patient transfer system and method

Info

Publication number: WO2021213405A1
Application number: PCT/CN2021/088498
Authority: WO
Inventors: 孙兆忠; 修玉香; 夏国杰
Original assignee: 哈尔滨思哲睿智能医疗设备有限公司
Priority date: 2020-04-21
Filing date: 2021-04-20
Publication date: 2021-10-28
Also published as: CN111419553A

Abstract

The present invention relates to the technical field of patient handling, and provides an automatic patient transfer system, comprising an automatic patient transfer vehicle and an automatic patient transfer robot. The automatic patient transfer vehicle comprises a chassis, casters, and a support frame; the casters are mounted on the bottom of the chassis, the support frame is mounted on the chassis, and the automatic patient transfer robot is provided on the support frame; the automatic patient transfer robot comprises a first motion mechanism, a second motion mechanism, at least one first support plate, and at least one second support plate; wherein the first motion mechanism is suitable for controlling the first support plate and the second support plate to alternately move forwards when the second motion mechanism controls the first support plate and the second support plate to alternately perform a folding action and an unfolding action. The present invention further provides an automatic patient transfer method. The automatic patient transfer system and method provided in the present invention not only save the time of medical workers, reduce the labor intensity of medical workers and families of the patient, but also avoid causing secondary injuries to a transported person.

Description

Automatic patient transfer system and method

Technical field

The present invention relates to the technical field of patient handling, in particular to an automatic patient transfer system and method.

Background technique

In the prior art, for critically ill patients or other patients with limited mobility, the patient is manually lifted to the operating table or examination table, and then lifted from the operating table or examination table to the hospital bed. On the one hand, this will increase the labor intensity of medical staff. On the other hand, if the patient suffers from an infectious disease, it will also increase the risk of infection of medical staff and lay a hidden danger for the spread of infectious diseases in the community.

Summary of the invention

The problem solved by the present invention is that the labor intensity of the medical staff is relatively high in the process of patient bed transfer, and when the patient suffers from an infectious disease, the risk of infection of the medical staff will be increased, and the community spread of the infectious disease will be buried. Under the hidden danger.

In order to solve the above problems, the present invention provides an automatic patient transfer system, which includes an automatic patient transfer vehicle and an automatic patient transfer robot; the automatic patient transfer vehicle includes a base, casters and brackets. The casters are mounted on the bottom of the base, and the bracket is mounted on the base. The automatic patient transfer robot is arranged on the bracket; the automatic patient transfer robot includes a first movement mechanism, a second movement mechanism, at least one first support plate and at least one second support plate; each first support plate includes two The first supporting sub-board, the two first supporting sub-boards of each first supporting board move toward each other to realize the closing action of the first supporting board, and the two first supporting sub-boards of each first supporting board move in the opposite direction to Achieve the opening action of the first supporting plate; each second supporting plate includes two second supporting sub-plates, and the two second supporting sub-plates of each second supporting plate move toward each other to realize the closing action of the second supporting plate , The two second support sub-plates of each second support plate move in the opposite direction to realize the opening action of the second support plate; the second movement mechanism is adapted to drive the first support plate and the second support plate to alternately perform the closing action and Opening action; the first movement mechanism is adapted to drive the first support plate and the second support plate to alternate forward movement when the second movement mechanism drives the first support plate and the second support plate to alternately close and open.

Preferably, the first movement mechanism is adapted to drive the first support when the distance between the two first support sub-boards of the first support board is smaller than the distance between the two second support sub-boards of the second support board. The board moves forward; the first movement mechanism is also adapted to drive the Second, the support plate moves forward.

Preferably, the automatic patient transfer system includes a plurality of first supporting plates and a plurality of second supporting plates, the plurality of first supporting plates and the plurality of second supporting plates are arranged at intervals, and the distance between two adjacent first supporting plates A second supporting plate is provided, and a first supporting plate is provided between two adjacent second supporting plates.

Preferably, the first movement mechanism includes a first push rod, a second push rod and a lead screw module. The first push rod is connected to a plurality of first support plates, and the first push rod is suitable for driving the plurality of first support plates. Move, the second push rod is connected with the plurality of second support plates, the second push rod is adapted to drive the plurality of second support plates to move, the screw module is connected with the first push rod and the second push rod, the screw module It is suitable for driving the first push rod to reciprocate relative to the second push rod.

Preferably, a plurality of first uprights are fixedly arranged on the first push rod, two first movement holes are arranged on each first supporting sub-board, and each first upright is matched with a first movement hole; second A plurality of second uprights are fixedly arranged on the push rod, two second moving holes are arranged on each second supporting sub-board, and each second upright is matched with a second moving hole.

Preferably, the screw module includes a first motor and a first screw, the second push rod is fixedly connected to the first motor, one end of the first screw is arranged on the first motor, and the other end of the first screw is rotatably Connected to the first push rod, the first motor is adapted to drive the first screw to expand and contract by rotating to realize the reciprocating movement of the first push rod relative to the second push rod.

Preferably, the second movement mechanism includes a camshaft, a first cam and a second cam, the first cam and the second cam are arranged on the camshaft, the camshaft drives the first cam and the second cam to rotate, and each first cam Set between the two first support sub-plates of a first support plate, each second cam is set between the two second support sub-plates of a second support plate, when the camshaft drives the first cam and the second When the second cam rotates, the long axis of the first cam is always perpendicular to the long axis of the second cam.

Preferably, the second movement mechanism includes a plurality of camshafts, and the plurality of camshafts are distributed at equal intervals.

Preferably, the second movement mechanism further includes a second motor, a second lead screw, a cam linkage rod and a plurality of rockers. One end of the second lead screw is arranged on the second motor, and the other end of the second lead screw is connected to the cam linkage rod. One end of each rocker is rotatably connected to the cam linkage rod, and the other end of each rocker is fixedly connected to a camshaft. The second motor is suitable for driving the second screw to reciprocate. The cam linkage rod is suitable for driving the cam linkage rod to reciprocate through reciprocating motion, the cam linkage rod is suitable for driving the rocker to rotate around the camshaft through the reciprocating motion, and the rocker is suitable for driving the camshaft to rotate by turning around the camshaft.

The present invention also provides an automatic patient transfer method, using the patient automatic transfer system provided by the present invention to transfer the person being transported from the first bed to the second bed, including: when the patient automatic transfer robot of the patient automatic transfer system is placed on the patient automatically When the automatic patient transfer vehicle of the transfer system is on the bracket, the automatic patient transfer vehicle is pushed close to the first bed; the automatic patient transfer vehicle drives the bracket to move to the first bed; the second motion mechanism of the automatic patient transfer robot drives the patient automatically The first support plate of the transfer robot and the second support plate of the automatic patient transfer robot alternately close and open. At the same time, the first motion mechanism of the automatic patient transfer robot drives the first support plate and the second support plate to approach alternately Move in the direction of the transported person until the automatic patient transfer robot climbs under the transported person; the automatic patient transfer vehicle drives the bracket to fork under the automatic patient transfer robot, and carries the automatic patient transfer robot and the transported person out of the first bed; when When the automatic patient transfer cart is close to the second bed, the bracket is driven by the automatic patient transfer cart to move to the second bed; the bracket is driven by the automatic patient transfer cart to fork out from the automatic patient transfer robot; the automatic patient transfer robot is controlled to move away from the transported robot Under the body and move to the bracket.

In the patient automatic transfer system and the patient automatic transfer method provided by the present invention, the patient automatic transfer robot moves under the transported person through a crawling motion, the patient automatic transfer vehicle forks the patient automatic transfer robot and the transported person back, and the patient automatic transfer vehicle carries it The transported. It not only saves the time of medical workers, reduces the labor intensity of medical workers and patients' family members, but also avoids causing secondary injuries to the transported. At the same time, when the transported person suffers from an infectious disease, the infection of medical staff can be avoided, the risk of infection of medical staff can be reduced, and the risk of further spreading the infectious disease in the community can be eliminated.

Description of the drawings

FIG. 1 is a schematic diagram of the work of an automatic patient transfer system for transferring a transported person according to an embodiment of the present invention;

Figure 2 is a schematic diagram of the three-dimensional mechanism of the automatic patient transfer vehicle in Figure 1;

3 is a schematic diagram of the three-dimensional mechanism of the automatic patient transfer vehicle in FIG. 1 from another perspective;

Fig. 4 is a schematic diagram of the three-dimensional mechanism of the platform seat in Fig. 3;

Fig. 5 is a left view of the automatic patient transfer robot in Fig. 1;

Fig. 6 is a schematic diagram of the three-dimensional mechanism of the automatic patient transfer robot in Fig. 5;

Fig. 7 is an enlarged schematic diagram of part I in Fig. 6;

Fig. 8 is a top view of the automatic patient transfer robot in Fig. 5;

Fig. 9 is a rear view of the automatic patient transfer robot in Fig. 5;

Fig. 10 is an enlarged schematic diagram of part II in Fig. 9.

Description of reference signs:

100-Automatic patient transfer system;

300-Automatic patient transfer vehicle, 310-body, 311-base, 313-platform seat, 313a-lifting platform, 313b-platform frame, 315-lifting mechanism, 317-casters, 331-translating electric push rod, 333-tilting Electric push rod, 335-support arm, 350-bracket, 351-bracket base, 351a-bracket slide, 351b-bracket horizontal plate, 353-bracket plate, 353a-bracket slide, 353b-handrail;

500-Automatic patient transfer robot, 510-skeleton, 511-beam, 511a-movement groove, 513-longitudinal beam, 530-first movement mechanism, 531-first push rod, 533-second push rod, 535-screw Module, 550-second movement mechanism, 551-camshaft, 552-first cam, 553-second cam, 555-second motor, 556-second lead screw, 557-cam linkage rod, 558-rocker , 570-first supporting plate, 571-first supporting sub-plate, 573-first movement hole, 590-second supporting plate, 591-second supporting sub-plate, 593-second movement hole;

701-the transported person, 703-the first bed.

Detailed ways

In order to make the above objectives, features and advantages of the present invention more obvious and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

In the description of the present invention, it should be noted that the terminology in each embodiment, such as "upper", "lower", "front", "rear" and other words indicating directions, are just for simplifying the description based on the accompanying drawings in the specification. The positional relationship does not mean that the referred components and devices must be operated in accordance with the specific orientation and limited operations, methods, and structures in the specification. Such orientation terms do not constitute a limitation to the present invention.

In addition, the terms "first" and "second" mentioned in the embodiments of the present invention are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. . Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of these features.

Please refer to FIG. 1, an embodiment of the present invention provides an automatic patient transfer system 100, which is used to transport a person 701 (for example, a sick person or animal, a person or animal that is too fat to move on their own, and is too lazy to move. People or animals that are unwilling to move on their own, or goods that need to be moved, etc.) are transported. In this embodiment, the automatic patient transfer system 100 is used to transfer a sick person from a first bed 703 (for example, a hospital bed) to a second bed (for example, an examination bed or an operating bed) as an example.

The automatic patient transfer system 100 provided by the embodiment of the present invention includes an automatic patient transfer vehicle 300 and an automatic patient transfer robot 500. The automatic patient transfer robot 500 is detachably placed in the automatic patient transfer vehicle 300, the automatic patient transfer vehicle 300 is adapted to place the automatic patient transfer robot 500 on the first bed 703, and the automatic patient transfer robot 500 is adapted to be transferred from the patient automatic vehicle. 300 moves under the body of the transported person 701 placed on the first bed 703 through a crawling motion, and the automatic patient transfer vehicle 300 is also suitable for transporting and placing the automatic patient transfer robot 500 on the second bed.

2 and 3, in the embodiment of the present invention, the automatic patient transfer vehicle 300 includes a vehicle body 310, a pan electric push rod 331, a tilt electric push rod 333, a support arm 335, and a bracket 350.

In the embodiment of the present invention, the vehicle body 310 includes a base 311, a platform base 313, and a lifting mechanism 315. The lower end of the lifting mechanism 315 is connected to the base 311, and the upper end of the lifting mechanism 315 is connected to the platform base 313. The lifting mechanism 315 is suitable for driving the platform base. 313 is raised and lowered relative to the base 311. The "upper end" of the lifting mechanism 315 refers to the end of the lifting mechanism 315 facing upward when the automatic patient transfer vehicle 300 is in use. The "lower end" of the lifting mechanism 315 refers to the end of the lifting mechanism 315 facing downward when the automatic patient transfer vehicle 300 is in use.

In a preferred embodiment of the present invention, the base 311 includes a rectangular frame and two bottom plates. The two bottom plates are respectively arranged at two ends of the rectangular frame. A hollow area is formed in the middle of the rectangular frame. The two bottom plates and the rectangular frame are integrally formed.

4, in a preferred embodiment of the present invention, the platform base 313 includes a lifting platform 313a and a platform frame 313b, the lifting platform 313a is connected to the top of the platform frame 313b, and the lifting platform 313a and the platform frame 313b are integrally formed. Specifically, the platform base 313 includes two lifting platforms 313a, and the two lifting platforms 313a are respectively arranged on both sides of the platform frame 313b. The platform frame 313b can pass through the hollow area formed in the middle of the rectangular frame of the base 311. The "top" of the platform frame 313b refers to the upper end of the platform frame 313b when the automatic patient transfer vehicle 300 is in use.

In a preferred embodiment of the present invention, the vehicle body 310 includes two lifting mechanisms 315. The lower ends of the two lifting mechanisms 315 are respectively fixedly connected to the two bottom plates of the base 311, and the upper ends of the two lifting mechanisms 315 are respectively fixedly connected to the two lifting platforms 313a. The lifting mechanism 315 is adapted to drive the platform base 313 to lift relative to the base 311 by adjusting the length of the lifting mechanism 315.

It can be understood that the length of the lifting mechanism 315 can be adjusted by a motor, and the length of the lifting mechanism 315 can also be adjusted by a hydraulic cylinder or an air cylinder.

Referring again to FIG. 1, in the embodiment of the present invention, the vehicle body 310 further includes casters 317, and the casters 317 are disposed on the bottom of the base 311. Preferably, the vehicle body 310 includes four casters 317, and the four casters 317 are respectively arranged at the four corners of the rectangular frame of the base 311. The automatic patient transfer cart 300 can be pushed to move through the casters 317.

In the embodiment of the present invention, the bracket 350 is suitable for placing the automatic patient transfer robot 500. Specifically, the bracket 350 includes a bracket base 351 and a bracket plate 353, the bracket plate 353 is suitable for sliding relative to the bracket base 351, and the bracket plate 353 is suitable for placing the automatic patient transfer robot 500.

In the preferred embodiment of the present invention, the bracket base 351 includes two bracket slideways 351a and a bracket horizontal plate 351b. Both ends of the bracket horizontal plate 351b are connected to the two bracket slideways 351a and the bracket horizontal plate 351b. The two ends are respectively connected to one end of the two bracket slideways 351a.

In a preferred embodiment of the present invention, the carriage plate 353 includes two carriage slides 353a, each carriage slide 353a is slidably disposed on a carriage slide 351a, and the carriage slide 353a is suitable for placing an automatic patient transfer robot. 500.

Preferably, the bracket plate 353 further includes an armrest 353b, and both ends of the armrest 353b are respectively connected with two bracket slide plates 353a. The armrest 353b is adapted to push the bracket slide 353a to slide relative to the bracket base 351. Specifically, the armrest 353b is adapted to push the bracket slide 353a to slide in the bracket slide 351a.

Preferably, the bracket plate 353 further includes a locking mechanism (not shown), and the locking mechanism is adapted to restrict the sliding of the bracket sliding plate 353a relative to the bracket base 351. It can be understood that when the locking mechanism is in the unlocked state, the bracket slide 353a can slide relative to the bracket base 351; the locking mechanism is in the locked state, and the bracket slide 353a cannot slide relative to the bracket base 351.

In the embodiment of the present invention, one end of the support arm 335 is hinged to the vehicle body 310, and the other end of the support arm 335 is hinged to the bracket 350. The support arm 335 is adapted to rotate relative to the vehicle body 310, and the support arm 335 is also adapted to rotate relative to the bracket 350.

In a preferred embodiment of the present invention, the end of the support arm 335 that is away from the hinged connection with the bracket 350 is hinged with the platform base 313. Specifically, the end of the support arm 335 that is away from the hinged connection with the bracket 350 is hinged with the bottom of the platform frame 313b.

In a preferred embodiment of the present invention, the automatic patient transfer vehicle 300 includes two support arms 335, and the end of the two support arms 335 that is away from the hinged connection with the vehicle body 310 is hinged with the bracket base 351. Specifically, the ends of the two support arms 335 that are away from the hinged connection with the vehicle body 310 are hinged with the two bracket slideways 351a, respectively. Preferably, the ends of the two support arms 335 that are away from the hinged connection with the vehicle body 310 are hinged with the middle of the two bracket slideways 351a, respectively.

In the embodiment of the present invention, one end of the translational electric push rod 331 is connected to the vehicle body 310, and the other end of the translational electric push rod 331 is connected to the support arm 335.

In a preferred embodiment of the present invention, the end of the translational electric push rod 331 away from the connection with the support arm 335 is connected to the platform base 313. Preferably, the end of the translational electric push rod 331 away from the connection with the support arm 335 is connected to the bottom of the platform frame 313b.

Preferably, the end of the translational electric push rod 331 far from the connection with the support arm 335 is connected to the platform base 313 by a pin 337. Specifically, the pin shaft 337 is fixedly connected to the platform base 313, and the translational electric push rod 331 is rotatably connected to the pin shaft 337.

In a preferred embodiment of the present invention, the automatic patient transfer vehicle 300 includes two translational electric push rods 331, and the ends of the two translational electric push rods 331 away from the connection with the vehicle body 310 are respectively connected to two support arms 335.

Preferably, the other end of the translational electric push rod 331 away from the connection with the vehicle body 310 is connected to the support arm 335 by a pin 337. Specifically, the pin shaft 337 is fixedly connected to the support arm 335, and the translational electric push rod 331 is rotatably connected to the pin shaft 337.

It can be understood that the translational electric push rod 331 is adapted to drive the support arm 335 to rotate by controlling the expansion and contraction of the translational electric push rod 331 to drive and control the translation of the carriage 350, and the carriage 350 is suitable for the automatic transfer robot to take and place the patient by translation. 500.

It can be understood that the translational electric push rod 331 may be adjusted by a motor to adjust the expansion and contraction of the translational electric push rod 331, and the translational electric push rod 331 may also be adjusted by a hydraulic cylinder or an air cylinder.

In the embodiment of the present invention, one end of the tilt electric push rod 333 is connected with the vehicle body 310, and the other end of the tilt electric push rod 333 is connected with the bracket 350. The tilt electric push rod 333 is suitable for driving control by adjusting the expansion and contraction of the tilt electric push rod 333. The degree of inclination of the bracket 350. In the embodiment of the present invention, the tilt electric push rod 333 and the translation electric push rod 331 jointly drive and control the carriage 350 to translate in the tilt direction.

In a preferred embodiment of the present invention, the end of the tilt electric push rod 333 away from the connection with the bracket 350 is connected to the platform base 313. Specifically, the end of the tilt electric push rod 333 away from the connection with the bracket 350 is connected to the bottom of the platform frame 313b.

In a preferred embodiment of the present invention, the end of the tilt electric push rod 333 away from the connection with the vehicle body 310 is connected to the bracket base 351. Specifically, the end of the tilt electric push rod 333 away from the connection with the vehicle body 310 is connected to the bracket horizontal plate 351b. Preferably, the end of the inclined electric push rod 333 away from the connection with the vehicle body 310 is connected to the middle of the bracket horizontal plate 351b.

It can be understood that the tilt electric push rod 333 may be adjusted by a motor to adjust the expansion and contraction of the tilt electric push rod 333, and the tilt electric push rod 333 may also be adjusted by a hydraulic cylinder or an air cylinder.

Referring to FIGS. 5 to 10, in this embodiment of the present invention, the automatic patient transfer robot 500 includes a skeleton 510, a first movement mechanism 530, a second movement mechanism 550, at least one first support plate 570, and at least one second support plate 590 .

In the embodiment of the present invention, the skeleton 510 includes a plurality of transverse beams 511 and a plurality of longitudinal beams 513, and the plurality of transverse beams 511 and the plurality of longitudinal beams 513 form a grid structure. The first movement mechanism 530, the second movement mechanism 550, the first support plate 570 and the second support plate 590 are all arranged on the skeleton 510.

In the embodiment of the present invention, each first support plate 570 includes two first support sub-boards 571. The two first supporting sub-boards 571 are respectively arranged on both sides of the frame 510. The two first supporting sub-plates 571 of each first supporting plate 570 move toward each other to realize the closing action of the first supporting plate 570, and the two first supporting sub-plates 571 of each first supporting plate 570 move in the opposite direction to realize the first The opening action of the support plate 570.

In the embodiment of the present invention, each second supporting board 590 includes two second supporting sub-boards 591. The two second supporting sub-boards 591 are respectively arranged on both sides of the frame 510. The two second supporting sub-plates 591 of each second supporting plate 590 move towards each other to realize the closing action of the second supporting plate 590, and the two second supporting sub-plates 591 of each second supporting plate 590 move in the opposite direction to realize the second movement. The opening action of the support plate 590.

In a preferred embodiment of the present invention, the automatic patient transfer system 100 includes a plurality of first support plates 570 and a plurality of second support plates 590. A plurality of first supporting plates 570 and a plurality of second supporting plates 590 are arranged at intervals, a second supporting plate 590 is arranged between two adjacent first supporting plates 570, and a second supporting plate 590 is arranged between two adjacent second supporting plates 590. A first supporting plate 570 is provided.

In the embodiment of the present invention, the second movement mechanism 550 is adapted to drive the first support plate 570 and the second support plate 590 to alternately perform a closing action and an opening action.

Specifically, in the embodiment of the present invention, the second movement mechanism 550 includes a cam shaft 551, a first cam 552 and a second cam 553. The camshaft 551 is rotatably arranged on the beam 511, and the first cam 552 and the second cam 553 are arranged on the camshaft 551. Preferably, the first cam 552 and the second cam 553 are fixedly arranged on the camshaft 551. The cam shaft 551 is suitable for driving the first cam 552 and the second cam 553 to rotate. Each first cam 552 is disposed between two first supporting sub-plates 571 of a first supporting plate 570, and each second cam 553 is disposed between two second supporting sub-plates 591 of a second supporting plate 590 between. The first cam 552 and the second cam 553 are both oval, and the cam shaft 551 drives the first cam 552 and the second cam 553 to rotate, thereby driving the first support plate 570 and the second support plate 590 to alternately close and open .

Preferably, the long axis of the first cam 552 and the long axis of the second cam 553 are perpendicular to each other. By setting the long axis of the first cam 552 to always be perpendicular to the long axis of the second cam 553 during the rotation, when the first supporting plate 570 is closing, the second supporting plate 590 is opening; When one supporting plate 570 is performing an opening action, the second supporting plate 590 is performing a closing action. In this way, the time when the distance between the two first supporting sub-boards 571 of the first supporting plate 570 is smaller than the distance between the two second supporting sub-boards 591 of the second supporting plate 590 is recorded as t1, and the first The time when the distance between the two first supporting sub-plates 571 of the supporting plate 570 is greater than the distance between the two second supporting sub-plates 591 of the second supporting plate 590 is t2, and then t1 and t2 are equal.

In a preferred embodiment of the present invention, the second movement mechanism 550 includes a plurality of camshafts 551, and the plurality of camshafts 551 are rotatably arranged on the beam 511 at equal intervals.

In the embodiment of the present invention, the second movement mechanism 550 further includes a second motor 555, a second lead screw 556, a cam linkage rod 557 and a plurality of rockers 558. The second motor 555 is fixedly arranged on the frame 510, one end of the second screw 556 is arranged on the second motor 555, the other end of the second screw 556 is connected to the cam linkage rod 557, and one end of each rocker 558 is rotatably connected On the cam linkage lever 557, the other end of each rocker 558 is fixedly connected with a cam shaft 551. The second motor 555 is adapted to drive the second lead screw 556 to reciprocate, the second lead screw 556 is adapted to drive the cam linkage rod 557 to reciprocate through reciprocating motion, and the cam linkage rod 557 is adapted to drive the rocker 558 around the cam through reciprocating motion. The shaft 551 rotates, and the rocker 558 is adapted to drive the cam shaft 551 to rotate by rotating around the cam shaft 551.

In other embodiments of the present invention, the camshaft 551 can also be driven to rotate by other mechanisms. For example, the second movement mechanism 550 includes a motor and a pulley, and the motor drives the pulley to rotate, thereby driving the camshaft 551 to rotate.

In the embodiment of the present invention, the first motion mechanism 530 is adapted to drive the first support plate 570 and the second support plate 570 when the second motion mechanism 550 drives the first support plate 570 and the second support plate 590 to alternately close and open. The supporting plate 590 moves forward alternately.

In a preferred embodiment of the present invention, the first movement mechanism 530 is suitable for when the distance between the two first supporting sub-plates 571 of the first supporting plate 570 is smaller than the distance between the two second supporting sub-plates 591 of the second supporting plate 590. When the distance between the two, the first support plate 570 is driven to move forward.

In a preferred embodiment of the present invention, the first movement mechanism 530 is also suitable when the distance between the two second support sub-boards 591 of the second support board 590 is smaller than the two first support sub-boards 571 of the first support board 570 When the distance between the two, the second supporting plate 590 is driven to move forward. The "forward" movement of the first support plate 570 and the second support plate 590 means that when the automatic patient transfer robot 500 moves toward the person 701, it approaches the direction of the person 701; when the automatic patient transfer robot 500 moves away When the transported person 701 moves, keep away from the direction of the transported person 701.

In the embodiment of the present invention, the first movement mechanism 530 includes a first push rod 531, a second push rod 533, and a screw module 535. The first push rod 531 and the second push rod 533 are arranged on the cross beam 511, the screw module 535 is connected to the first push rod 531 and the second push rod 533, and the screw module 535 is adapted to drive the first push rod 531 to face each other Perform a reciprocating motion on the second putter 533. Preferably, the first movement mechanism 530 includes two screw modules 535.

Specifically, in a preferred embodiment of the present invention, a moving groove 511a is provided on the beam 511, the first push rod 531 and the second push rod 533 are arranged in the moving groove 511a, and the first push rod 531 is adapted to be in the moving groove 511a. Relative to the second push rod 533 reciprocating linearly.

In the embodiment of the present invention, the first push rod 531 is connected to the plurality of first support plates 570, and the first push rod 531 is suitable for driving the plurality of first support plates 570 to move. Specifically, in a preferred embodiment of the present invention, a plurality of first uprights (not shown) are fixedly arranged on the first push rod 531, and each first supporting sub-board 571 is provided with two first movement holes 573, Each first upright is matched with a first moving hole 573. Specifically, the first upright column is cylindrical, the first moving hole 573 is a cylindrical hole, the radius of the first moving hole 573 is larger than the radius of the first upright column, and the first supporting sub-plate 571 can move relative to the first push rod 531, The first upright column cooperates with the first movement hole 573 to limit the movement of the first supporting sub-board 571 relative to the first push rod 531 into the closing and opening actions of the first supporting plate 570. Each first supporting sub-board 571 is defined by Two adjacent first uprights limit its movement.

In the embodiment of the present invention, the second push rod 533 is connected to the plurality of second support plates 590, and the second push rod 533 is suitable for driving the plurality of second support plates 590 to move. Specifically, in a preferred embodiment of the present invention, a plurality of second uprights (not shown) are fixedly provided on the second push rod 533, and each second supporting sub-board 591 is provided with two second movement holes 593, Each second upright is matched with a second movement hole 593. The second upright column is cylindrical, the second moving hole 593 is a cylindrical hole, and the radius of the second moving hole 593 is larger than the radius of the second upright column. The second supporting sub-board 591 can move relative to the second push rod 533, and the second upright post cooperates with the second movement hole 593 to limit the movement of the second supporting sub-board 591 relative to the second push rod 533 to the movement of the second supporting plate 590. Closing action and opening action.

In a preferred embodiment of the present invention, the lead screw module 535 includes a first motor and a first lead screw. The first lead screw is mounted on the first motor, and the first motor is adapted to drive the first lead screw to expand and contract through rotation. One end of the first screw is arranged on the first motor, the other end of the first screw is rotatably connected to the first push rod 531, the second push rod 533 is fixedly connected to the first motor, and the first motor is suitable for driving the first motor by rotation. A lead screw expands and contracts to realize the reciprocating movement of the first push rod 531 relative to the second push rod 533.

Specifically, in a preferred embodiment of the present invention, when the distance between the two first supporting sub-plates 571 of the first supporting plate 570 is smaller than the distance between the two second supporting sub-plates 591 of the second supporting plate 590 , The screw module 535 drives the first push rod 531 away from the second push rod 533. Since the distance between the two first support sub-boards 571 of the first support board 570 is smaller than the distance between the two second support sub-boards 591 of the second support board 590, the plurality of second support boards 590 are connected to the first bed. 703 or the second bed or the transported person 701 touches, and the plurality of first support plates 570 are in a suspended state. Under the action of friction, the plurality of second support plates 590 are in a static state, and the first push rod 531 drives the plurality of first support plates 570 and the skeleton 510 to move forward under the action of the lead screw module 535.

In a preferred embodiment of the present invention, when the distance between the two second supporting sub-plates 591 of the second supporting plate 590 is smaller than the distance between the two first supporting sub-plates 571 of the first supporting plate 570, the lead screw The module 535 drives the first push rod 531 to approach the second push rod 533. Since the distance between the two second supporting sub-boards 591 of the second supporting board 590 is smaller than the distance between the two first supporting sub-boards 571 of the first supporting board 570, the plurality of first supporting boards 570 and the first bed 703 or the second bed or the transported person 701 touches, and the plurality of second support plates 590 are in a suspended state. Under the action of friction, the plurality of first support plates 570 are in a static state, and the second push rod 533 drives the plurality of second support plates 590 and the lead screw module 535 to move forward under the action of the lead screw module 535.

The embodiment of the present invention also provides an automatic patient transfer method. According to the embodiment of the present invention, the automatic patient transfer system 100 provided to transfer the transportee 701 from the first bed 703 to the second bed includes:

When the automatic patient transfer robot 500 of the automatic patient transfer system 100 is placed on the bracket 350 of the automatic patient transfer vehicle 300 of the automatic patient transfer system 100, the automatic patient transfer vehicle 300 is pushed close to the first bed 703;

Drive the support arm 335 of the automatic patient transfer vehicle 300 to rotate through the translational electric push rod 331 of the automatic patient transfer vehicle 300 to drive the control bracket 350 to translate to the first bed 703;

The first support plate 570 of the automatic patient transfer robot 500 and the second support plate 590 of the automatic patient transfer robot 500 are controlled by the second motion mechanism 550 of the automatic patient transfer robot 500 to alternately perform closing and opening actions, and at the same time, the patient is automatically transferred The first movement mechanism 530 of the robot 500 controls the first support plate 570 and the second support plate 590 to alternately move in a direction close to the transported person 701 until the automatic patient transfer robot 500 moves under the transported person 701;

Control the rotation of the support arm 335 by the translational electric push rod 331 to control the bracket 350 to fork under the automatic patient transfer robot 500;

The rotation of the support arm 335 is controlled by the translational electric push rod 331 to control the carriage 350 to carry the patient automatic transfer robot 500 and the transported person 701 to leave the first bed 703;

When the automatic patient transfer vehicle 300 is close to the second bed, the support arm 335 is controlled to rotate by the translational electric push rod 331 to control the carriage 350 to move to the second bed;

Control the rotation of the support arm 335 by the translational electric push rod 331 to control the bracket 350 to fork out of the automatic patient transfer robot 500;

Control the automatic patient transfer robot 500 to move away from the person being transported 701 and return to the cradle 350;

The rotation of the support arm 335 is controlled by the translational electric push rod 331 to control the bracket 350 to leave the second bed.

In the automatic patient transfer system and the patient automatic transfer method provided by the embodiments of the present invention, the patient automatic transfer robot moves under the transported person through a crawling motion, the patient automatic transfer vehicle forks the patient automatic transfer robot and the transported person back, and the patient automatically transfers The vehicle carries the transported person. It not only saves the time of medical workers, reduces the labor intensity of medical workers and patients' family members, but also avoids causing secondary injuries to the transported. At the same time, when the transported person suffers from an infectious disease, the infection of medical staff can be avoided, the risk of infection of medical staff can be reduced, and the risk of further spreading the infectious disease in the community can be eliminated.

The automatic patient transfer vehicle provided by the embodiment of the present invention controls the rotation of the support arm through a translational electric push rod to control the translation of the bracket, so that it can cooperate with the automatic patient transfer robot to get on and off the patient automatic transfer vehicle, and at the same time saves the time of medical workers. It reduces the labor intensity of medical workers and the families of patients, and avoids causing secondary injuries to the transported.

According to the automatic patient transfer robot provided by the embodiment of the present invention, when the second motion mechanism controls the first support plate and the second support plate to alternately close and open, the first motion mechanism controls the first support plate and the second support plate Alternate forward movement to realize the crawling action of the patient's automatic transfer robot. The crawling robot can crawl under the transported person, which can realize the mechanized transport of the transported person. In the case of the transported person suffering from infectious diseases, it can avoid the medical staff. Infections, reduce the risk of infection by medical staff, and eliminate the risk of further spreading infectious diseases in the community.

Although the present disclosure is disclosed as above, the protection scope of the present disclosure is not limited to this. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present disclosure, and these changes and modifications will fall within the protection scope of the present invention.

Claims

An automatic patient transfer system, which includes an automatic patient transfer vehicle (300) and an automatic patient transfer robot (500),

The automatic patient transfer robot (500) is arranged on the automatic patient transfer vehicle (300);

The automatic patient transfer robot (500) includes a first movement mechanism (530), a second movement mechanism (550), at least one first support plate (570) and at least one second support plate (590); each The first supporting plate (570) includes two first supporting sub-plates (571), and the two first supporting sub-plates (571) of each first supporting plate (570) move toward each other to realize the first When a supporting plate (570) is folded, the two first supporting sub-plates (571) of each first supporting plate (570) move in the opposite direction to realize the expansion of the first supporting plate (570). Open action; each of the second supporting plate (590) includes two second supporting sub-plates (591), each of the second supporting plate (590) of the two second supporting sub-plates (591) Move toward each other to realize the closing action of the second supporting plate (590), and the two second supporting sub-plates (591) of each second supporting plate (590) move in opposite directions to realize the second The opening action of the support plate (590); the second movement mechanism (550) is adapted to drive the first support plate (570) and the second support plate (590) to alternately perform a closing action and an opening action; The first movement mechanism (530) is suitable for when the second movement mechanism (550) drives the first support plate (570) and the second support plate (590) to alternately perform a closing action and an opening action , Driving the first supporting plate (570) and the second supporting plate (590) to move forward alternately.
The automatic patient transfer system according to claim 1, wherein the first movement mechanism (530) is adapted to act as between the two first supporting sub-plates (571) of the first supporting plate (570) When the distance is less than the distance between the two second supporting sub-boards (591) of the second supporting plate (590), the first supporting plate (570) is driven to move forward; the first movement The mechanism (530) is also suitable for when the distance between the two second supporting sub-plates (591) of the second supporting plate (590) is smaller than the two second supporting plates (570) of the first supporting plate (570). When a distance between the supporting sub-boards (571), the second supporting board (590) is driven to move forward.
The automatic patient transfer system according to claim 1, wherein it comprises a plurality of the first support plates (570) and a plurality of the second support plates (590), and a plurality of the first support plates (570) And a plurality of the second supporting plates (590) are arranged at intervals, and a second supporting plate (590) is arranged between two adjacent first supporting plates (570), and two adjacent ones The first supporting plate (570) is arranged between the second supporting plates (590).
The automatic patient transfer system according to claim 3, wherein the first movement mechanism (530) comprises a first push rod (531), a second push rod (533) and a lead screw module (535), the The first push rod (531) is connected to a plurality of the first support plates (570), and the first push rod (531) is adapted to drive the plurality of first support plates (570) to move, and the second The push rod (533) is connected to the plurality of second support plates (590), and the second push rod (533) is adapted to drive the plurality of second support plates (590) to move, and the lead screw module (535) is connected to the first push rod (531) and the second push rod (533), and the lead screw module (535) is adapted to drive the first push rod (531) relative to the The second putter (533) reciprocates.
The automatic patient transfer system according to claim 4, wherein the first push rod (531) is fixedly provided with a plurality of first uprights, and each of the first supporting sub-boards (571) is provided with two The first movement hole (573), each of the first uprights is matched with one of the first movement holes (573); the second push rod (533) is fixedly provided with a plurality of second uprights, and each The second supporting sub-board (591) is provided with two second moving holes (593), and each of the second uprights is matched with one of the second moving holes (593).
The automatic patient transfer system according to claim 4, wherein the lead screw module (535) comprises a first motor and a first lead screw, and the second push rod (533) is fixedly connected to the first motor One end of the first screw is arranged on the first motor, the other end of the first screw is rotatably connected to the first push rod (531), and the first motor is adapted to be driven by rotation The first lead screw expands and contracts to realize the reciprocating movement of the first push rod (531) relative to the second push rod (533).
The automatic patient transfer system according to claim 1, wherein the second movement mechanism (550) comprises a camshaft (551), a first cam (552) and a second cam (553), the first cam (550) 552) and the second cam (553) are arranged on the camshaft (551), and the camshaft (551) drives the first cam (552) and the second cam (553) to rotate, each A first cam (552) is arranged between the two first supporting sub-plates (571) of a first supporting plate (570), and each of the second cams (553) is arranged on a Between the two second supporting sub-boards (591) of the second supporting plate (590), when the camshaft (551) drives the first cam (552) and the second cam (553) ) When rotating, the long axis of the first cam (552) is always perpendicular to the long axis of the second cam (553).
The automatic patient transfer system according to claim 7, wherein the second movement mechanism (550) comprises a plurality of the camshafts (551), and the plurality of camshafts (551) are distributed at equal intervals.
The automatic patient transfer system according to claim 8, wherein the second movement mechanism (550) further comprises a second motor (555), a second lead screw (556), a cam linkage rod (557) and a plurality of rockers Rod (558), one end of the second screw (556) is arranged on the second motor (555), the other end of the second screw (556) is connected with the cam linkage rod (557), each One end of a rocker (558) is rotatably connected to the cam linkage rod (557), and the other end of each rocker (558) is fixedly connected to a camshaft (551), so The second motor (555) is adapted to drive the second lead screw (556) to reciprocate, and the second lead screw (556) is adapted to drive the cam linkage rod (557) to reciprocate through reciprocating motion, The cam linkage lever (557) is adapted to drive the rocker (558) to rotate around the camshaft (551) through a reciprocating motion, and the rocker (558) is adapted to rotate around the camshaft (551) Drive the camshaft (551) to rotate.
An automatic patient transfer method, using the patient automatic transfer system (100) according to any one of claims 1-9 to transfer the transported person (701) from the first bed (703) to the second bed, which comprises:

When the automatic patient transfer robot (500) of the automatic patient transfer system (100) is placed on the bracket (350) of the automatic patient transfer vehicle (300) of the automatic patient transfer system (100), the patient is pushed The automatic transfer vehicle (300) is close to the first bed (703);

Drive the carriage (350) to move to the first bed (703) through the automatic patient transfer vehicle (300);

The first support plate (570) of the automatic patient transfer robot (500) and the second support of the automatic patient transfer robot (500) are driven by the second motion mechanism (550) of the automatic patient transfer robot (500) The plate (590) alternately performs closing and opening actions, and at the same time, the first support plate (570) and the second support plate ( 590) Alternately move in a direction close to the transported person (701) until the automatic patient transfer robot (500) climbs under the transported person (701);

The carriage (350) is driven by the automatic patient transfer vehicle (300) to fork under the automatic patient transfer robot (500), and carry the automatic patient transfer robot (500) and the transported person (701) ) Leave the first bed (703);

When the automatic patient transfer vehicle (300) approaches the second bed, the automatic patient transfer vehicle (300) drives the bracket (350) to move to the second bed;

Drive the bracket (350) to fork out of the automatic patient transfer robot (500) through the automatic patient transfer vehicle (300);

The automatic patient transfer robot (500) is controlled to move away from under the transported person (701) and move to the bracket (350).