WO2021213408A1 - Robot de transport automatique de patient et procédé de transport automatique de patient - Google Patents

Robot de transport automatique de patient et procédé de transport automatique de patient Download PDF

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Publication number
WO2021213408A1
WO2021213408A1 PCT/CN2021/088506 CN2021088506W WO2021213408A1 WO 2021213408 A1 WO2021213408 A1 WO 2021213408A1 CN 2021088506 W CN2021088506 W CN 2021088506W WO 2021213408 A1 WO2021213408 A1 WO 2021213408A1
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WO
WIPO (PCT)
Prior art keywords
supporting
plates
push rod
patient transfer
automatic patient
Prior art date
Application number
PCT/CN2021/088506
Other languages
English (en)
Chinese (zh)
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 WO2021213408A1 publication Critical patent/WO2021213408A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • 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
    • A61G7/1001—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto specially adapted for specific applications
    • 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
    • A61G7/1025—Lateral movement of patients, e.g. horizontal transfer
    • A61G7/1036—Lateral movement of patients, e.g. horizontal transfer facilitating loading and unloading of the patient, e.g. using flaps or additional tilting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/008—Manipulators for service tasks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/008—Manipulators for service tasks
    • B25J11/009—Nursing, e.g. carrying sick persons, pushing wheelchairs, distributing drugs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels

Definitions

  • the present invention relates to the technical field of patient handling, in particular to an automatic patient transfer robot and an automatic patient transfer method.
  • the problem solved by the present invention is that when the patient suffers from an infectious disease, the risk of infection of medical staff is increased during the bed transfer and transportation of the patient, and hidden dangers are laid for the spread of the infectious disease in the community.
  • an automatic patient transfer robot which 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 second support plates. A 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 reverse to realize 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-boards 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 close and expand. Opening action; the first movement mechanism is adapted to drive the first support plate and the second support plate to move forward alternately when the second movement mechanism drives the first support plate and the second support plate to alternate
  • 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.
  • the automatic patient transfer robot includes a plurality of first support plates and a plurality of second support plates.
  • a second supporting plate is provided, and a first supporting plate is provided between two adjacent second supporting plates.
  • the automatic patient transfer robot further includes a skeleton, the first movement mechanism is arranged on the skeleton, the first movement mechanism includes a first push rod, a second push rod and a screw module, the first push rod and a plurality of first push rods
  • the support plates are connected, the first push rod is adapted to drive the multiple first support plates and the skeleton to move, the second push rod is connected to the multiple second support plates, and the second push rod is adapted to drive the multiple second support plates to move.
  • the rod module is connected with the first push rod and the second push rod, and the screw module is suitable for driving the first push rod and the skeleton to reciprocate relative to the second push rod.
  • 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.
  • 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
  • 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.
  • 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, and the long axis of the first cam is set to The long axes of the second cam are perpendicular to each other.
  • the second movement mechanism includes a plurality of camshafts, and the plurality of camshafts are distributed at equal intervals.
  • the second motion 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 adapted to drive the cam linkage rod to reciprocate through reciprocating motion
  • the cam linkage rod is adapted to drive the rocker to rotate around the camshaft through the reciprocating motion
  • the rocker is adapted to drive the camshaft to rotate by turning around the cam shaft.
  • the present invention also provides an automatic patient transfer method, using the automatic patient transfer robot provided by the present invention to cooperate with the automatic patient transfer vehicle to transport the transported person, including:
  • the second motion mechanism of the transfer robot drives the first support plate of the automatic patient transfer robot and the second support plate of the automatic patient transfer robot to alternately close and open.
  • the first motion mechanism of the automatic patient transfer robot drives the first The support plate and the second support plate alternately move in the direction close to the person being transported until the automatic patient transfer robot climbs under the person being transported;
  • the automatic patient transfer vehicle controls the bracket of the automatic patient transfer vehicle to fork under the patient automatic transfer robot and The automatic transfer robot carrying the patient and the transported person leave the first bed.
  • the first motion mechanism controls the first support plate and the second support plate.
  • the two supporting plates move forward alternately, so as to realize the crawling action of the automatic patient transfer robot.
  • the crawling robot can crawl under the transported person and carry the transported person. It can realize the mechanized transport of the transported person, and the transported person suffers from infectious diseases. Under the circumstance, infection of medical staff can be avoided, the risk of infection of medical staff can be reduced, and the risk of further spread of infectious diseases in the community can be eliminated.
  • 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 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.
  • 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 arranged 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 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.
  • 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.

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  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • General Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Nursing (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Invalid Beds And Related Equipment (AREA)

Abstract

La présente invention concerne le domaine technique du transport de patient et concerne un robot de transport automatique de patient, comprenant un premier mécanisme de déplacement, un second mécanisme de déplacement, au moins une première plaque de support et au moins une seconde plaque de support. Le second mécanisme de déplacement est approprié pour commander les premières plaques de support et les secondes plaques de support afin qu'elles se ferment et s'ouvrent en alternance. Le premier mécanisme de déplacement est approprié pour commander les premières plaques de support et les secondes plaques de support afin qu'elles se déplacent en alternance vers l'avant lorsque le second mécanisme de déplacement commande les premières plaques de support et les secondes plaques de support afin qu'elles se ferment et s'ouvrent en alternance. La présente invention concerne également un procédé de transport automatique de patient. Selon le robot de transport automatique de patient et le procédé de transport automatique de patient, le temps des travailleurs médicaux est économisé, l'intensité de travail des professionnels médicaux et des membres de la famille des patients est réduite et des lésions secondaires sont évitées pour un patient transporté.
PCT/CN2021/088506 2020-04-21 2021-04-20 Robot de transport automatique de patient et procédé de transport automatique de patient WO2021213408A1 (fr)

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CN202010317239.7A CN111390931B (zh) 2020-04-21 2020-04-21 一种患者自动转运机器人及患者自动转运方法
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CN114259342A (zh) * 2021-12-31 2022-04-01 昆明优楚商贸有限公司 一种医疗转运床
CN115231222A (zh) * 2022-07-25 2022-10-25 燕山大学 一种适应于受伤人员的拖拽运输中避免二次损伤的方法

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CN111390931B (zh) * 2020-04-21 2023-03-28 哈尔滨思哲睿智能医疗设备股份有限公司 一种患者自动转运机器人及患者自动转运方法
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CN115231222A (zh) * 2022-07-25 2022-10-25 燕山大学 一种适应于受伤人员的拖拽运输中避免二次损伤的方法
CN115231222B (zh) * 2022-07-25 2024-01-09 燕山大学 一种适应于受伤人员的拖拽运输中避免二次损伤的方法

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