WO2021213406A1 - 一种患者自动转运车及患者自动转运方法 - Google Patents

一种患者自动转运车及患者自动转运方法 Download PDF

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Publication number
WO2021213406A1
WO2021213406A1 PCT/CN2021/088499 CN2021088499W WO2021213406A1 WO 2021213406 A1 WO2021213406 A1 WO 2021213406A1 CN 2021088499 W CN2021088499 W CN 2021088499W WO 2021213406 A1 WO2021213406 A1 WO 2021213406A1
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WO
WIPO (PCT)
Prior art keywords
bracket
patient transfer
push rod
automatic patient
electric push
Prior art date
Application number
PCT/CN2021/088499
Other languages
English (en)
French (fr)
Inventor
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
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Application filed by 哈尔滨思哲睿智能医疗设备有限公司 filed Critical 哈尔滨思哲睿智能医疗设备有限公司
Publication of WO2021213406A1 publication Critical patent/WO2021213406A1/zh

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G1/00—Stretchers
    • A61G1/02—Stretchers with wheels
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G1/00—Stretchers
    • A61G1/04—Parts, details or accessories, e.g. head-, foot-, or like rests specially adapted for stretchers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
    • A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
    • A61G7/1025—Lateral movement of patients, e.g. horizontal transfer
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
    • A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
    • A61G7/104—Devices carried or supported by
    • A61G7/1046—Mobile bases, e.g. having wheels
    • A61G7/1048—Mobile bases, e.g. having wheels having auxiliary drive means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
    • A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
    • A61G7/1073—Parts, details or accessories
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2203/00—General characteristics of devices
    • A61G2203/70—General characteristics of devices with special adaptations, e.g. for safety or comfort

Definitions

  • the present invention relates to the technical field of patient transportation, in particular to an automatic patient transfer vehicle and a patient automatic transfer method.
  • the medical staff or family members of the patient use bed sheets to lift the patient to the operating bed or examination bed, and then lift the patient from the operating bed or examination bed to the hospital bed.
  • careless handling can cause secondary injury to the surgical patient.
  • multiple people are needed to help move, and more medical staff are needed, which increases the labor intensity of medical staff and patients' families.
  • the problem solved by the present invention is that it is easy to cause secondary injury to the patient during the transfer process of the patient. At the same time, more medical personnel are required, and the labor intensity of the medical personnel and the patient's family members is enhanced.
  • the present invention provides an automatic patient transfer vehicle for cooperating with an automatic patient transfer robot to transfer the transported person, including a vehicle body, a translational electric push rod, a support arm and a bracket.
  • an automatic patient transfer vehicle for cooperating with an automatic patient transfer robot to transfer the transported person, including a vehicle body, a translational electric push rod, a support arm and a bracket.
  • one end of the support arm is hinged with the car body, the other end of the support arm is hinged with the bracket, one end of the translation electric push rod is connected with the car body, and the other end of the translation electric push rod is connected with the support arm.
  • the translation electric push rod is suitable for driving the support arm.
  • the carriage is rotated to drive the carriage for translation, and the carriage is suitable for taking and placing the patient's automatic transfer robot by translation.
  • the automatic patient transfer vehicle further includes a tilt electric push rod, one end of the tilt electric push rod is connected with the vehicle body, the other end of the tilt electric push rod is connected with the bracket, and the tilt electric push rod is suitable for controlling the tilt of the bracket.
  • the bracket includes a bracket base and a bracket plate, the end of the support arm that is hinged away from the vehicle body is hinged to the bracket base, the end of the tilt electric push rod that is away from the vehicle body is connected to the bracket base, and the support
  • the shelf plate is suitable for sliding relative to the bracket base, and the bracket plate is suitable for placing an automatic patient transfer robot.
  • the automatic patient transfer vehicle includes two support arms
  • the bracket base includes two bracket slides and a bracket horizontal plate
  • the two ends of the bracket horizontal plate are respectively connected to the two bracket slides
  • the tilt electric push rod The end far away from the vehicle body is connected with the bracket horizontal plate, and the ends of the two support arms that are hinged away from the vehicle body are hinged with the two bracket slideways.
  • the bracket plate includes two bracket slides, each bracket slide is slidably arranged on a bracket slide, and the bracket slide is suitable for placing an automatic patient transfer robot.
  • the bracket plate includes an armrest and a locking mechanism.
  • the two ends of the armrest are respectively connected with two bracket slide plates.
  • the armrest is suitable for pushing the bracket slide plate to slide relative to the bracket base, and the locking mechanism is suitable for restricting the bracket slide plate relative to each other. Slide on the base of the bracket.
  • the vehicle body includes a base, a platform base and a lifting mechanism.
  • the lower end of the lifting mechanism is connected to the base, and the upper end of the lifting mechanism is connected to the platform base.
  • the lifting mechanism is suitable for driving the platform base to lift relative to the base.
  • the hinged end of the frame is hinged with the platform base, the end of the translational electric push rod away from the support arm is connected with the platform base, and the end of the tilt electric push rod away from the bracket is connected with the platform base.
  • the platform base includes a lifting platform and a platform frame, the upper end of the lifting mechanism is connected with the lifting platform, the lifting platform is connected with the top of the platform frame, the lifting platform and the platform frame are integrally formed, and the end of the support arm away from the hinged bracket is connected with
  • the platform frame is hinged, the end of the translational electric push rod away from the support arm is connected to the platform frame, and the end of the tilting electric push rod away from the bracket is connected to the platform frame.
  • the vehicle body further includes casters, which are arranged at the bottom of the base.
  • the present invention also provides an automatic patient transfer method, using the patient automatic transfer vehicle provided by the present invention to cooperate with the patient automatic transfer robot to transfer the person being transported from the first bed to the second bed, including: when the patient automatic transfer vehicle approaches the first bed When the automatic patient transfer vehicle's translational electric push rod drives the support arm of the automatic patient transfer vehicle to rotate to drive the carriage of the automatic patient transfer vehicle to translate to the first bed to fork into the automatic patient transfer robot carrying the transported person ; Drive the support arm to rotate through the translational electric push rod to drive the carriage away from the first bed; when the automatic patient transfer cart is close to the second bed, the support arm is driven to rotate by the translational electric push rod to drive the carriage to translate to the second bed , And fork out from the automatic patient transfer robot.
  • the rotation of the support arm is controlled by the translational electric push rod to control the translation of the bracket, so as to cooperate with the automatic patient transfer robot to get on and off the patient automatic transfer vehicle, and save medical workers at the same time This reduces the labor intensity of medical workers and patients’ family members and avoids causing secondary harm to the transported.
  • 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;
  • FIG. 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.
  • 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;
  • 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. .
  • the features defined with “first” and “second” may explicitly or implicitly include one or more of these features.
  • 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.
  • 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 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the vehicle body 310 further includes casters 317, and the casters 317 are disposed on the bottom of the base 311.
  • 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.
  • the bracket 350 is suitable for placing the automatic patient transfer robot 500.
  • 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.
  • 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.
  • 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.
  • the bracket plate 353 further includes an armrest 353b, and both ends of the armrest 353b are respectively connected to two bracket sliding plates 353a.
  • the armrest 353b is adapted to push the bracket slide 353a to slide relative to the bracket base 351.
  • the armrest 353b is adapted to push the bracket slide 353a to slide in the bracket slide 351a.
  • 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.
  • one end of the support arm 335 is hinged with the vehicle body 310, and the other end of the support arm 335 is hinged with 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 .
  • 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.
  • 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.
  • 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 includes two second supporting sub-boards 591.
  • 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.
  • 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 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.
  • 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 .
  • the long axis of the first cam 552 and the long axis of the second cam 553 are perpendicular to each other.
  • 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.
  • 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.
  • 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.
  • 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
  • the cam linkage rod 557 is adapted to drive the rocker 558 around the cam through reciprocating motion.
  • the shaft 551 rotates
  • the rocker 558 is adapted to drive the cam shaft 551 to rotate by rotating around the cam shaft 551.
  • the camshaft 551 can also be driven to rotate by other mechanisms.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the first movement mechanism 530 includes two screw modules 535.
  • 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.
  • 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.
  • 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.
  • 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
  • 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.
  • 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.
  • 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
  • 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.
  • the lead screw module 535 includes a first motor and a lead screw.
  • the lead screw is mounted on the first motor, and the first motor is adapted to drive the lead screw to expand and contract through rotation.
  • One end of the screw is set on the first motor, and the other end of the screw is rotatably connected to the first push rod 531.
  • the second push rod 533 is fixedly connected to the first motor.
  • the first motor is adapted to drive the screw to expand and contract by rotating.
  • the first push rod 531 reciprocates relative to the second push rod 533.
  • 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.
  • 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 automatic patient transfer system 100 provided to transfer the transportee 701 from the first bed 703 to the second bed includes:
  • 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;
  • 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;
  • 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;
  • 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.
  • 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.
  • the first 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.

Abstract

本发明提供了一种患者自动转运车，涉及患者搬运技术领域，用于配合患者自动转运机器人转运被运者，包括车体、平移电动推杆、支撑臂、托架，托架适于放置患者自动转运机器人，支撑臂一端与车体铰接，支撑臂另一端与托架铰接，平移电动推杆一端与车体连接，平移电动推杆另一端与支撑臂连接，平移电动推杆适于通过控制支撑臂的转动从而控制托架的移动，托架适于通过移动取放患者自动转运机器人。本发明还提供一种患者自动转运方法，本发明提供的患者自动转运车及患者自动转运方法可以配合患者自动转运机器人上下患者自动转运车，同时节省了医务工作者的时间，降低了医务工作者和病患家属的劳动强度，避免给被运者造成二次伤害。

Description

一种患者自动转运车及患者自动转运方法 技术领域
本发明涉及患者搬运技术领域，具体而言，涉及一种患者自动转运车及患者自动转运方法。
背景技术
现有技术中，对重症患者或者其他行动不便患者换床检查或手术的处理，都是医护人员或者患者家属用床单将患者抬到手术床或检查床上，再从手术床、检查床抬到病床上，有的时候搬运不慎还会对手术患者造成二次伤害。面对体重重的患者就需要多个人帮忙移动，需要较多的医护人员，增强了医护人员和患者家属的劳动强度。
发明内容
本发明解决的问题是对患者移床转运过程中容易造成患者二次伤害，同时需要较多的医护人员，增强了医护人员和患者家属的劳动强度。
为解决上述问题，本发明提供一种患者自动转运车，用于配合患者自动转运机器人转运被运者，包括车体、平移电动推杆、支撑臂和托架，托架适于放置患者自动转运机器人，支撑臂一端与车体铰接，支撑臂另一端与托架铰接，平移电动推杆一端与车体连接，平移电动推杆另一端与支撑臂连接，平移电动推杆适于通过驱动支撑臂进行转动以驱动托架进行平移，托架适于通过平移以取放患者自动转运机器人。
较佳地，患者自动转运车还包括倾斜电动推杆，倾斜电动推杆一端与车体连接，倾斜电动推杆另一端与托架连接，倾斜电动推杆适于控制托架的倾斜程度。
较佳地，托架包括托架底座和托架板，支撑臂的远离与车体铰接的一端与托架底座铰接，倾斜电动推杆的远离与车体连接的一端与托架底座连接，托架板适于相对于托架底座滑动，托架板适于放置患者自动转运机器人。
较佳地，患者自动转运车包括两个支撑臂，托架底座包括两个托架滑道和一托架横板，托架横板两端分别连接两个托架滑道，倾斜电动推杆的远离 与车体连接的一端与托架横板连接，两个支撑臂的远离与车体铰接的一端分别与两个托架滑道铰接。
较佳地，托架板包括两个托架滑板，每一托架滑板可滑动地设置于一托架滑道上，托架滑板适于放置患者自动转运机器人。
较佳地，托架板包括扶手和锁止机构，扶手两端分别与两个托架滑板连接，扶手适于推动托架滑板相对于托架底座滑动，锁止机构适于限制托架滑板相对于托架底座滑动。
较佳地，车体包括底座、平台座和升降机构，升降机构的下端与底座相连，升降机构的上端与平台座相连，升降机构适于驱动平台座相对于底座升降，支撑臂的远离与托架铰接的一端与平台座铰接，平移电动推杆的远离与支撑臂连接的一端与平台座连接，倾斜电动推杆的远离与托架连接的一端与平台座连接。
较佳地，平台座包括升降台和平台框，升降机构的上端与升降台相连，升降台与平台框的顶端连接，升降台与平台框一体成型，支撑臂的远离与托架铰接的一端与平台框铰接，平移电动推杆的远离与支撑臂连接的一端与平台框连接，倾斜电动推杆的远离与托架连接的一端与平台框连接。
较佳地，车体还包括脚轮，脚轮设置于底座的底部。
本发明还提供一种患者自动转运方法，采用本发明提供的患者自动转运车配合患者自动转运机器人将被运者从第一床转移至第二床，包括：当患者自动转运车靠近第一床时，通过患者自动转运车的平移电动推杆驱动患者自动转运车的支撑臂进行转动以驱动患者自动转运车的托架平移至第一床以叉入载着被运者的患者自动转运机器人下；通过平移电动推杆驱动支撑臂进行转动以驱动托架离开第一床；当患者自动转运车靠近第二床时，通过平移电动推杆驱动支撑臂进行转动以驱动托架平移至第二床，并从患者自动转运机器人下叉出。
本发明提供的患者自动转运车及患者自动转运方法，通过平移电动推杆控制支撑臂的转动从而控制托架的平移，从而可以配合患者自动转运机器人上下患者自动转运车，同时节省了医务工作者的时间，降低了医务工作者和病患家属的劳动强度，避免给被运者造成二次伤害。
附图说明
图1为本发明实施例提供的患者自动转运系统转运被运者的工作示意图；
图2为图1中患者自动转运车的立体机构示意图；
图3为图1中患者自动转运车的另一视角的立体机构示意图；
图4为图3中平台座的立体机构示意图；
图5为图1中患者自动转运机器人的左视图；
图6为图5中患者自动转运机器人的立体机构示意图；
图7为图6中部分Ⅰ的放大示意图；
图8为图5中患者自动转运机器人的俯视图；
图9为图5中患者自动转运机器人的后视图；
图10为图9中部分II的放大示意图。
附图标记说明：
100-患者自动转运系统；
300-患者自动转运车，310-车体，311-底座，313-平台座，313a-升降台，313b-平台框，315-升降机构，317-脚轮，331-平移电动推杆，333-倾斜电动推杆，335-支撑臂，350-托架，351-托架底座，351a-托架滑道，351b-托架横板，353-托架板，353a-托架滑板，353b-扶手；
500-患者自动转运机器人，510-骨架，511-横梁，511a-运动槽，513-纵梁，530-第一运动机构，531-第一推杆，533-第二推杆，535-丝杠模组，550-第二运动机构，551-凸轮轴，552-第一凸轮，553-第二凸轮，555-第二电机，556-第二丝杠，557-凸轮联动杆，558-摇杆，570-第一支撑板，571-第一支撑子板，573-第一运动孔，590-第二支撑板，591-第二支撑子板，593-第二运动孔；
701-被运者，703-第一床。
具体实施方式
为使本发明的上述目的、特征和优点能够更为明显易懂，下面结合附图对 本发明的具体实施例做详细的说明。
在本发明的描述中，应当说明的是，各实施例中的术语名词例如“上”、“下”、“前”、“后”等指示方位的词语，只是为了简化描述基于说明书附图的位置关系，并不代表所指的元件和装置等必须按照说明书中特定的方位和限定的操作及方法、构造进行操作，该类方位名词不构成对本发明的限制。
另外，在本发明的实施例中所提到的术语“第一”、“第二”仅用于描述目的，并不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个该特征。
请结合图1，本发明实施例提供一种患者自动转运系统100，用于对被运者701(例如患病的人或动物，因为太胖而无法自行移动的人或动物，因为太懒而不愿意自行移动的人或动物，或者需要搬运的货物等)进行转运。本实施例以患者自动转运系统100用于将患病的人从第一床703(例如，病床)转运至第二床(例如，检查床或手术床)为例进行说明。
本发明实施例提供的患者自动转运系统100包括患者自动转运车300和患者自动转运机器人500。患者自动转运机器人500以可分离的方式放置于患者自动转运车300，患者自动转运车300适于将患者自动转运机器人500放置于第一床703，患者自动转运机器人500适于从患者自动转运车300通过爬行动作运动到放置于第一床703上的被运者701的体下，患者自动转运车300还适于将患者自动转运机器人500运送并放置于第二床。
请结合图2和图3，本发明实施例中，患者自动转运车300包括车体310、平移电动推杆331、倾斜电动推杆333、支撑臂335和托架350。
本发明实施例中，车体310包括底座311、平台座313和升降机构315，升降机构315的下端与底座311相连，升降机构315的上端与平台座313相连，升降机构315适于驱动平台座313相对于底座311升降。升降机构315的“上端”是指在患者自动转运车300处于使用工况时，升降机构315朝上的一端。升降机构315的“下端”是指在患者自动转运车300处于使用工况时，升降机构315朝下的一端。
本发明较佳实施例中，底座311包括一矩形框和两个底板，两个底板分别 设置于矩形框的两端，矩形框的中部形成有一镂空区，两个底板与矩形框一体成型。
请结合图4，本发明较佳实施例中，平台座313包括升降台313a和平台框313b，升降台313a与平台框313b的顶端连接，升降台313a与平台框313b一体成型。具体地，平台座313包括两个升降台313a，两个升降台313a分别设置于平台框313b两侧。平台框313b可穿过底座311的矩形框的中部形成的镂空区。平台框313b的“顶端”是指在患者自动转运车300处于使用工况时，平台框313b朝上的一端。
本发明较佳实施例中，车体310包括两个升降机构315。两个升降机构315的下端分别与底座311的两个底板固定连接，两个升降机构315的上端分别与两个升降台313a固定连接。升降机构315适于通过调整升降机构315的长度以驱动平台座313相对于底座311升降。
可以理解的是，升降机构315可以由电机调整升降机构315的长度，升降机构315也可以由液压缸或者气缸调整升降机构315的长度。
请再次结合图1，本发明实施例中，车体310还包括脚轮317，脚轮317设置于底座311的底部。较佳地，车体310包括四个脚轮317，四个脚轮317分别设置于底座311的矩形框的四个角的位置。可通过脚轮317推动患者自动转运车300移动。
本发明实施例中，托架350适于放置患者自动转运机器人500。具体地，托架350包括托架底座351和托架板353，托架板353适于相对于托架底座351滑动，托架板353适于放置患者自动转运机器人500。
本发明较佳实施例中，托架底座351包括两个托架滑道351a和一托架横板351b，托架横板351b两端分别连接两个托架滑道351a，托架横板351b两端分别与两个托架滑道351a的一端相连接。
本发明较佳实施例中，托架板353包括两个托架滑板353a，每一托架滑板353a可滑动地设置于一托架滑道351a上，托架滑板353a适于放置患者自动转运机器人500。
较佳地，托架板353还包括扶手353b，扶手353b两端分别与两个托架滑 板353a连接。扶手353b适于推动托架滑板353a相对于托架底座351滑动，具体地，扶手353b适于推动托架滑板353a在托架滑道351a内滑动。
较佳地，托架板353还包括锁止机构(图未示)，锁止机构适于限制托架滑板353a相对于托架底座351滑动。可以理解，锁止机构处于解锁状态，托架滑板353a可相对于托架底座351滑动；锁止机构处于锁止状态，托架滑板353a不可相对于托架底座351滑动。
本发明实施例中，支撑臂335的一端与车体310铰接，支撑臂335的另一端与托架350铰接。支撑臂335适于相对于车体310转动，支撑臂335还适于相对于托架350转动。
本发明较佳实施例中，支撑臂335的远离与托架350铰接的一端与平台座313铰接。具体地，支撑臂335的远离与托架350铰接的一端与平台框313b的底部铰接。
本发明较佳实施例中，患者自动转运车300包括两个支撑臂335，两个支撑臂335的远离与车体310铰接的一端与托架底座351铰接。具体地，两个支撑臂335的远离与车体310铰接的一端分别与两个托架滑道351a铰接。较佳地，两个支撑臂335的远离与车体310铰接的一端分别与两个托架滑道351a的中部铰接。
本发明实施例中，平移电动推杆331一端与车体310连接，平移电动推杆331另一端与支撑臂335连接。
本发明较佳实施例中，平移电动推杆331的远离与支撑臂335连接的一端与平台座313相连。较佳地，平移电动推杆331的远离与支撑臂335连接的一端与平台框313b的底部相连接。
较佳地，平移电动推杆331的远离与支撑臂335连接的一端与平台座313通过销轴337相连。具体地，销轴337与平台座313固定连接，平移电动推杆331可转动地连接在销轴337上。
本发明较佳实施例中，患者自动转运车300包括两个平移电动推杆331，两个平移电动推杆331的远离与车体310连接的一端分别与两个支撑臂335连接。
较佳地，平移电动推杆331的远离与车体310连接的另一端与支撑臂335通过销轴337相连。具体地，销轴337与支撑臂335固定连接，平移电动推杆331可转动地连接在销轴337上。
可以理解，平移电动推杆331适于通过控制平移电动推杆331的伸缩从而驱动支撑臂335进行转动以驱动控制托架350的进行平移，托架350适于通过平移以取放患者自动转运机器人500。
可以理解，平移电动推杆331可以由电机调整平移电动推杆331的伸缩，平移电动推杆331也可以由液压缸或者气缸调整平移电动推杆331的伸缩。
本发明实施例中，倾斜电动推杆333一端与车体310连接，倾斜电动推杆333另一端与托架350连接，倾斜电动推杆333适于通过调整倾斜电动推杆333的伸缩以驱动控制托架350的倾斜程度。本发明实施例中，倾斜电动推杆333与平移电动推杆331共同驱动控制托架350在倾斜方向上平移。
本发明较佳实施例中，倾斜电动推杆333的远离与托架350连接的一端与平台座313连接。具体地，倾斜电动推杆333的远离与托架350连接的一端与平台框313b的底部连接。
本发明较佳实施例中，倾斜电动推杆333的远离与车体310连接的一端与托架底座351连接。具体地，倾斜电动推杆333的远离与车体310连接的一端与托架横板351b连接。较佳地，倾斜电动推杆333的远离与车体310连接的一端与托架横板351b的中部连接。
可以理解，倾斜电动推杆333可以由电机调整倾斜电动推杆333的伸缩，倾斜电动推杆333也可以由液压缸或者气缸调整倾斜电动推杆333的伸缩。
请结合图5-图10，本发明实施例中，患者自动转运机器人500包括骨架510、第一运动机构530、第二运动机构550、至少一第一支撑板570和至少一第二支撑板590。
本发明实施例中，骨架510包括多个横梁511和多个纵梁513，多个横梁511和多个纵梁513组成网格结构。第一运动机构530、第二运动机构550、第一支撑板570和第二支撑板590均设置在骨架510上。
本发明实施例中，每一第一支撑板570包括两个第一支撑子板571。两个 第一支撑子板571分别设置于骨架510两侧。每一第一支撑板570的两个第一支撑子板571相向运动实现第一支撑板570的合拢动作，每一第一支撑板570的两个第一支撑子板571反向运动实现第一支撑板570的张开动作。
本发明实施例中，每一第二支撑板590包括两个第二支撑子板591。两个第二支撑子板591分别设置于骨架510两侧。每一第二支撑板590的两个第二支撑子板591相向运动实现第二支撑板590的合拢动作，每一第二支撑板590的两个第二支撑子板591反向运动实现第二支撑板590的张开动作。
本发明较佳实施例中，患者自动转运系统100包括多个第一支撑板570和多个第二支撑板590。多个第一支撑板570和多个第二支撑板590间隔设置，两个相邻的第一支撑板570之间设置有一第二支撑板590，两个相邻的第二支撑板590之间设置有一第一支撑板570。
本发明实施例中，第二运动机构550适于驱动第一支撑板570和第二支撑板590交替进行合拢动作和张开动作。
具体地，本发明实施例中，第二运动机构550包括凸轮轴551、第一凸轮552和第二凸轮553。凸轮轴551转动设置于横梁511上，第一凸轮552和第二凸轮553设置于凸轮轴551上，较佳地，第一凸轮552和第二凸轮553固定设置于凸轮轴551上。凸轮轴551适于带动第一凸轮552和第二凸轮553转动。每一第一凸轮552设置于一第一支撑板570的两个第一支撑子板571之间，每一第二凸轮553设置于一第二支撑板590的两个第二支撑子板591之间。第一凸轮552和第二凸轮553均呈椭圆形，凸轮轴551带动第一凸轮552和第二凸轮553转动，从而驱动第一支撑板570和第二支撑板590交替进行合拢动作和张开动作。
较佳地，第一凸轮552的长轴设置为与第二凸轮553的长轴相互垂直。通过将第一凸轮552的长轴设置为在转动过程中始终与第二凸轮553的长轴相互垂直，第一支撑板570在进行合拢动作时，第二支撑板590在进行张开动作；第一支撑板570在进行张开动作时，第二支撑板590在进行合拢动作。如此一来，记第一支撑板570的两个第一支撑子板571之间的距离小于第二支撑板590的两个第二支撑子板591之间的距离的时间为t1，记第一支撑板570的两个第一支撑子板571之间的距离大于第二支撑板590的两个第二支撑子板591之间 的距离的时间为t2，则t1和t2相等。
本发明较佳实施例中，第二运动机构550包括多个凸轮轴551，多个凸轮轴551等间距地转动设置于横梁511上。
本发明实施例中，第二运动机构550还包括第二电机555、第二丝杠556、凸轮联动杆557和多个摇杆558。第二电机555固定设置在骨架510上，第二丝杠556一端设置在第二电机555上，第二丝杠556另一端与凸轮联动杆557连接，每一摇杆558的一端可转动地连接在凸轮联动杆557上，每一摇杆558的另一端与一凸轮轴551固定连接。第二电机555适于驱使第二丝杠556做往复运动，第二丝杠556适于通过往复运动驱使凸轮联动杆557做往复运动，凸轮联动杆557适于通过往复运动驱使摇杆558绕凸轮轴551转动，摇杆558适于通过绕凸轮轴551转动驱使凸轮轴551转动。
本发明其他实施例中，也可以通过其他机构驱动凸轮轴551转动。例如，第二运动机构550包括电机和皮带轮，电机驱使皮带轮转动，从而带动凸轮轴551转动。
本发明实施例中，第一运动机构530适于当第二运动机构550驱动第一支撑板570和第二支撑板590交替进行合拢动作和张开动作时，驱动第一支撑板570和第二支撑板590交替向前运动。
本发明较佳实施例中，第一运动机构530适于当第一支撑板570的两个第一支撑子板571之间的距离小于第二支撑板590的两个第二支撑子板591之间的距离时，驱动第一支撑板570向前运动。
本发明较佳实施例中，第一运动机构530还适于当第二支撑板590的两个第二支撑子板591之间的距离小于第一支撑板570的两个第一支撑子板571之间的距离时，驱动第二支撑板590向前运动。第一支撑板570和第二支撑板590“向前”运动是指，当患者自动转运机器人500朝向被运者701运动时，趋近于被运者701的方向；当患者自动转运机器人500远离被运者701运动时，远离被运者701的方向。
本发明实施例中，第一运动机构530包括第一推杆531、第二推杆533和丝杠模组535。第一推杆531和第二推杆533设置于横梁511上，丝杠模组535与第一推杆531和第二推杆533连接，丝杠模组535适于驱动第一推杆531相 对于第二推杆533做往复运动。优选地，第一运动机构530包括两个丝杠模组535。
具体地，本发明较佳实施例中，横梁511上设置有运动槽511a，第一推杆531和第二推杆533设置于运动槽511a中，第一推杆531适于在运动槽511a中相对于第二推杆533做直线往复运动。
本发明实施例中，第一推杆531与多个第一支撑板570连接，第一推杆531适于带动多个第一支撑板570移动。具体地，本发明较佳实施例中，第一推杆531上固定设置有多个第一立柱(图未示)，每一第一支撑子板571上设置有两个第一运动孔573，每一第一立柱与一第一运动孔573配合。具体地，第一立柱呈圆柱体状，第一运动孔573为圆柱孔，第一运动孔573的半径大于第一立柱的半径，第一支撑子板571可相对于第一推杆531运动，第一立柱与第一运动孔573配合将第一支撑子板571相对于第一推杆531的运动限定为第一支撑板570的合拢动作和张开动作，每一第一支撑子板571由两个相邻的第一立柱限定其运动。
本发明实施例中，第二推杆533与多个第二支撑板590连接，第二推杆533适于带动多个第二支撑板590移动。具体地，本发明较佳实施例中，第二推杆533上固定设置有多个第二立柱(图未示)，每一第二支撑子板591上设置有两个第二运动孔593，每一第二立柱与一第二运动孔593配合。第二立柱呈圆柱体状，第二运动孔593为圆柱孔，第二运动孔593的半径大于第二立柱的半径。第二支撑子板591可相对于第二推杆533运动，第二立柱与第二运动孔593配合将第二支撑子板591相对于第二推杆533的运动限定为第二支撑板590的合拢动作和张开动作。
本发明较佳实施例中，丝杠模组535包括第一电机和丝杠，丝杠安装在第一电机上，第一电机适于通过转动带动丝杠伸缩。丝杠一端设置在第一电机上，丝杠另一端可转动地连接第一推杆531上，第二推杆533与第一电机固定连接，第一电机适于通过转动带动丝杠伸缩从而实现第一推杆531相对于第二推杆533做往复运动。
具体地，本发明较佳实施例中，当第一支撑板570的两个第一支撑子板571之间的距离小于第二支撑板590的两个第二支撑子板591之间的距离时，丝杠 模组535驱动第一推杆531远离第二推杆533。由于第一支撑板570的两个第一支撑子板571之间的距离小于第二支撑板590的两个第二支撑子板591之间的距离，多个第二支撑板590与第一床703或第二床或被运者701接触，多个第一支撑板570处于悬空状态。在摩擦力的作用下，多个第二支撑板590处于静止状态，第一推杆531在丝杠模组535的作用下带动多个第一支撑板570和骨架510向前运动。
本发明较佳实施例中，当第二支撑板590的两个第二支撑子板591之间的距离小于第一支撑板570的两个第一支撑子板571之间的距离时，丝杠模组535驱动第一推杆531靠近第二推杆533。由于第二支撑板590的两个第二支撑子板591之间的距离小于第一支撑板570的两个第一支撑子板571之间的距离，多个第一支撑板570与第一床703或第二床或被运者701接触，多个第二支撑板590处于悬空状态。在摩擦力的作用下，多个第一支撑板570处于静止状态，第二推杆533在丝杠模组535的作用下带动多个第二支撑板590和丝杠模组535向前运动。
本发明实施例还提供一种患者自动转运方法，采用本发明实施例提供患者自动转运系统100将被运者701从第一床703转移至第二床，包括：
当患者自动转运系统100的患者自动转运机器人500放置于患者自动转运系统100的患者自动转运车300的托架350上时，推动患者自动转运车300靠近第一床703；
通过患者自动转运车300的平移电动推杆331驱动患者自动转运车300的支撑臂335进行转动以驱动控制托架350平移至第一床703；
通过患者自动转运机器人500的第二运动机构550控制患者自动转运机器人500的第一支撑板570和患者自动转运机器人500的第二支撑板590交替进行合拢动作和张开动作，同时通过患者自动转运机器人500的第一运动机构530控制第一支撑板570和第二支撑板590交替向靠近被运者701的方向运动直至患者自动转运机器人500运动至被运者701身下；
通过平移电动推杆331控制支撑臂335的转动来控制托架350叉入患者自动转运机器人500下；
通过平移电动推杆331控制支撑臂335的转动来控制托架350载着患者自 动转运机器人500和被运者701离开第一床703；
当患者自动转运车300靠近第二床时，通过平移电动推杆331控制支撑臂335的转动来控制托架350移动至第二床；
通过平移电动推杆331控制支撑臂335的转动来控制托架350从患者自动转运机器人500下叉出；
控制患者自动转运机器人500运动离开被运者701身下并返回托架350；
通过平移电动推杆331控制支撑臂335的转动来控制托架350离开第二床。
本发明实施例提供的患者自动转运系统及患者自动转运方法，患者自动转运机器人通过爬行动作运动到被运者身下，患者自动转运车将患者自动转运机器人与被运者叉回，患者自动转运车运载被运者。既节省了医务工作者的时间，降低了医务工作者和病患家属的劳动强度，又避免给被运者造成二次伤害。同时，在被运者患有传染病的情况下，可以避免医护人员的感染，降低医护人员感染的风险，消弭进一步导致传染病社区传播的风险。
本发明实施例提供的患者自动转运车，通过平移电动推杆控制支撑臂的转动从而控制托架的平移，从而可以配合患者自动转运机器人上下患者自动转运车，同时节省了医务工作者的时间，降低了医务工作者和病患家属的劳动强度，避免给被运者造成二次伤害。
本发明实施例提供的患者自动转运机器人，当第二运动机构控制第一支撑板和第二支撑板交替进行合拢动作和张开动作时，第一运动机构控制第一支撑板和第二支撑板交替向前运动，从而实现患者自动转运机器人的爬行动作，爬行机器人可以爬行到被运者身下，可以实现机械化转运被运者，在被运者患有传染病的情况下，可以避免医护人员的感染，降低医护人员感染的风险，消弭进一步导致传染病社区传播的风险。
虽然本公开披露如上，但本公开的保护范围并非仅限于此。本领域技术人员在不脱离本公开的精神和范围的前提下，可进行各种变更与修改，这些变更与修改均将落入本发明的保护范围。

Claims (10)

  1. 一种患者自动转运车，用于配合患者自动转运机器人(500)转运被运者(701)，其中，包括车体(310)、平移电动推杆(331)、支撑臂(335)和托架(350)，所述托架(350)适于放置所述患者自动转运机器人(500)，所述支撑臂(335)一端与所述车体(310)铰接，所述支撑臂(335)另一端与所述托架(350)铰接，所述平移电动推杆(331)一端与所述车体(310)连接，所述平移电动推杆(331)另一端与所述支撑臂(335)连接，所述平移电动推杆(331)适于通过驱动所述支撑臂(335)进行转动以驱动控制所述托架(350)进行平移，所述托架(350)适于通过平移以取放所述患者自动转运机器人(500)。
  2. 根据权利要求1所述的患者自动转运车，其中，还包括倾斜电动推杆(333)，所述倾斜电动推杆(333)一端与所述车体(310)连接，所述倾斜电动推杆(333)另一端与所述托架(350)连接，所述倾斜电动推杆(333)适于控制所述托架(350)的倾斜程度。
  3. 根据权利要求2所述的患者自动转运车，其中，所述托架(350)包括托架底座(351)和托架板(353)，所述支撑臂(335)的远离与所述车体(310)铰接的一端与所述托架底座(351)铰接，所述倾斜电动推杆(333)的远离与所述车体(310)连接的一端与所述托架底座(351)连接，所述托架板(353)适于相对于所述托架底座(351)滑动，所述托架板(353)适于放置所述患者自动转运机器人(500)。
  4. 根据权利要求3所述的患者自动转运车，其中，包括两个所述支撑臂(335)，所述托架底座(351)包括两个托架滑道(351a)和一托架横板(351b)，所述托架横板(351b)两端分别连接两个所述托架滑道(351a)，所述倾斜电动推杆(333)的远离与所述车体(310)连接的一端与所述托架横板(351b)连接，两个所述支撑臂(335)的远离与所述车体(310)铰接的一端分别与两个所述托架滑道(351a)铰接。
  5. 根据权利要求4所述的患者自动转运车，其中，所述托架板(353)包括两个托架滑板(353a)，每一所述托架滑板(353a)可滑动地设置于一所述托架滑道(351a)上，所述托架滑板(353a)适于放置所述患者自动转 运机器人(500)。
  6. 根据权利要求5所述的患者自动转运车，其中，所述托架板(353)包括扶手(353b)和锁止机构，所述扶手(353b)两端分别与两个所述托架滑板(353a)连接，所述扶手(353b)适于推动所述托架滑板(353a)相对于所述托架底座(351)滑动，所述锁止机构适于限制所述托架滑板(353a)相对于所述托架底座(351)滑动。
  7. 根据权利要求2所述的患者自动转运车，其中，所述车体(310)包括底座(311)、平台座(313)和升降机构(315)，所述升降机构(315)的下端与所述底座(311)相连，所述升降机构(315)的上端与所述平台座(313)相连，所述升降机构(315)适于驱动所述平台座(313)相对于所述底座(311)升降，所述支撑臂(335)的远离与所述托架(350)铰接的一端与所述平台座(313)铰接，所述平移电动推杆(331)的远离与所述支撑臂(335)连接的一端与所述平台座(313)连接，所述倾斜电动推杆(333)的远离与所述托架(350)连接的一端与所述平台座(313)连接。
  8. 根据权利要求7所述的患者自动转运车，其中，所述平台座(313)包括升降台(313a)和平台框(313b)，所述升降机构(315)的上端与所述升降台(313a)相连，所述升降台(313a)与所述平台框(313b)的顶端连接，所述升降台(313a)与所述平台框(313b)一体成型，所述支撑臂(335)的远离与所述托架(350)铰接的一端与所述平台框(313b)铰接，所述平移电动推杆(331)的远离与所述支撑臂(335)连接的一端与所述平台框(313b)连接，所述倾斜电动推杆(333)的远离与所述托架(350)连接的一端与所述平台框(313b)连接。
  9. 根据权利要求7所述的患者自动转运车，其中，所述车体(310)还包括脚轮(317)，所述脚轮(317)设置于所述底座(311)的底部。
  10. 一种患者自动转运方法，采用如权利要求1-9任一条所述的患者自动转运车(300)配合患者自动转运机器人(500)将被运者(701)从第一床(703)转移至第二床，其中，包括：
    当所述患者自动转运车(300)靠近所述第一床(703)时，通过所述患者自动转运车(300)的平移电动推杆(331)驱动所述患者自动转运车(300) 的支撑臂(335)进行转动以驱动所述患者自动转运车(300)的托架(350)平移至所述第一床(703)以叉入载着所述被运者(701)的所述患者自动转运机器人(500)下；
    通过所述平移电动推杆(331)驱动所述支撑臂(335)进行转动以驱动所述托架(350)离开所述第一床(703)；
    当所述患者自动转运车(300)靠近所述第二床时，通过所述平移电动推杆(331)驱动所述支撑臂(335)进行转动以驱动所述托架(350)平移至所述第二床，并从所述患者自动转运机器人(500)下叉出。
PCT/CN2021/088499 2020-04-21 2021-04-20 一种患者自动转运车及患者自动转运方法 WO2021213406A1 (zh)

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CN111419552A (zh) * 2020-04-21 2020-07-17 哈尔滨思哲睿智能医疗设备有限公司 一种患者自动转运车及患者自动转运方法
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