CN107443394A - A kind of robot for being used for medical treatment and accompanying and attending to - Google Patents
A kind of robot for being used for medical treatment and accompanying and attending to Download PDFInfo
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- CN107443394A CN107443394A CN201710690156.0A CN201710690156A CN107443394A CN 107443394 A CN107443394 A CN 107443394A CN 201710690156 A CN201710690156 A CN 201710690156A CN 107443394 A CN107443394 A CN 107443394A
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- medical treatment
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- 239000000203 mixture Substances 0.000 claims description 22
- 241000219098 Parthenocissus Species 0.000 claims description 16
- 230000008878 coupling Effects 0.000 claims description 7
- 238000010168 coupling process Methods 0.000 claims description 7
- 238000005859 coupling reaction Methods 0.000 claims description 7
- 230000033228 biological regulation Effects 0.000 claims description 6
- 239000000853 adhesive Substances 0.000 claims description 3
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- 230000006698 induction Effects 0.000 claims description 3
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- 238000005096 rolling process Methods 0.000 claims description 3
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Classifications
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- 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
-
- 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
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- 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
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Nursing (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of robot for being used for medical treatment and accompanying and attending to,Including I-shaped chassis,The I-shaped chassis is made up of two longerons and cross-brace plate,It is by track frame that the I-shaped chassis both sides, which are provided with crawler-tread device and its,,Directive wheel and driving wheel,Tensioning apparatus,Upper track wheel,Crawler belt,Support wheel forms,Robot body is provided with seat by lowering or hoisting gear,The lowering or hoisting gear is by support base and motor connecting plate,Guide rail,Motor,Screw mandrel,Nut,Slide forms,The seat lower end is provided with cushioning device,The cushioning device is by telescopic connecting pole,Fixed plate,Compression spring and gripper shoe groups into,The seat both sides are provided with handrail,Guidance panel and medicine storage box are respectively equipped with handrail,The robot body top is provided with human-computer interaction device,The robot body upper end is provided with camera,GPS locator and alarm.The invention has the advantages that it is simple in construction, it is practical.
Description
Technical field
The present invention relates to medical robot field, particularly a kind of robot for being used for medical treatment and accompanying and attending to.
Background technology
As Chinese society constantly enters the aging stage, some the elderlys can not only take part in the work, and some is very
To the self-care ability lost, it is necessary to which people looks after, this adds increased his children and the burden of society.Hospital is that a flow of the people is big
Place, many patients, which enter hospital, needs substantial amounts of medical personnel to go to look after, and the personnel of hospital are limited, it is impossible to accomplishes comprehensively
Treatment, the time for not only wasting patient also add the burden of hospital.Therefore need one kind full-automatic now, it is intelligentized to accompany
Protect robot, it is impossible to can be ridden instead of walk to old man or patient, old man or patient's feelings can also be paid close attention to by the remote terminal unit moment
Condition, the position of old man or patient are understood by the GPS locator moment, not only can be very good to play work of accompanying and attending to old man or patient
With also greatly reducing the burden of hospital, household and society.
The content of the invention
The invention aims to solve the above problems, a kind of robot for being used for medical treatment and accompanying and attending to is devised.
Realize above-mentioned purpose the technical scheme is that, it is a kind of to be used for the robot accompanied and attended to of medical treatment, including I-shaped bottom
Disk, the cross-brace plate that the I-shaped chassis is connected by two longerons and two longeron centers forms, described
I-shaped chassis both sides are provided with crawler-tread device, and short under long on the crawler-tread device is in ladder shape, the crawler-tread
Device is the guiding being respectively equipped with by the track frame that is respectively fixedly connected with two longerons, corresponding crawler belt rack position front and back end
Wheel and driving wheel, it is connected with directive wheel and is located at the tensioning apparatus of track frame upper surface, is connected with driving wheel and is located at track frame
It is equidistant between creeper tread below the upper track wheel of upper surface, the crawler belt being enclosed on directive wheel and driving wheel, track frame and crawler belt
The multiple support wheels composition being provided with, the cross-brace plate top are provided with robot body, and the robot body front end face is set
Have and lowering or hoisting gear is provided between seat and the seat and the robot body, the lowering or hoisting gear is by being separately fixed at
The support base and motor connecting plate of stating robot body surface top and the bottom, the guide rail connected between support base and motor connecting plate,
The motor and the rotary shaft of motor being provided with the outside of motor connecting plate are arranged on support through motor connecting plate by shaft coupling connection
The slide that nut, the nut that screw mandrel, screw mandrel between seat and motor connecting plate are provided with are provided with forms, the seat back plate
Be fixedly connected with the slide, be provided with cushioning device between the seat and the cross-brace plate, the cushioning device be by
It is arranged on the telescopic connecting pole between the seat and the cross-brace plate, the fixation that connecting pole inner chamber bottom surface is provided with
Plate, dead plate upper end by the gripper shoe groups that more compression springs connect into, the robot body inner chamber be provided with control cabinet and
Battery and its rear end outer wall are provided with outlet, and the seat both sides are provided with handrail, the upper surface of the side handrail of seat one
Medicine storage box is provided with provided with guidance panel and another side handrail upper end inner chamber, the medicine storage box upper end is set to electronic box
Lid, the seat two side are respectively equipped with safety belt lock catch and safety belt, and the robot body top fills provided with man-machine interaction
Put, the human-computer interaction device be by be arranged on display device above the robot body front end face and the seat and
The input unit composition of the robot body rear end face is arranged on, robot body upper end outer wall is provided with and rotatably taken the photograph
As head and its inwall are provided with GPS locator and alarm, in the control cabinet provided with wireless signal system, signal emission module,
Signal receiving module, signal processing module and control module, the control cabinet control terminal are filled with crawler-tread respectively by wire
Put, the connection of lowering or hoisting gear, guidance panel, electronics lid, human-computer interaction device, GPS locator, warning device and camera.
Described crawler belt creeper tread and track pin etc. form.Each creeper tread is connected composition track link by track pin.Carry out
There is hole at the both ends of band plate, are engaged with driving wheel, and there is induction tooth at middle part, for advising positive crawler belt, and prevent service robot turn to or
Crawler belt comes off when rolling traveling, has in the one side contacted with ground and strengthens anti-skidding muscle（Abbreviation decorative pattern）, to improve the heavily fortified point of creeper tread
Solidity and crawler belt and the adhesive force on ground.
The driving wheel with it is described guiding wheel surface be provided with the crawler belt meshed gears block, and the driving wheel be by
Sprocket wheel and electric rotating machine composition.
The tensioning apparatus is by being arranged on the fixed support of the crawler rack upper end, fixed support away from the guiding
The regulation spring being connected with adjusting nut adjustable side and regulation that adjusting nut, the fixed support opposite side that wheel side is provided with are provided with
The directive wheel fixed support composition of spring other end connection.
Be provided with PLC system in the control cabinet, the control cabinet passes through signal emission module, signal receiving module and wirelessly
Signal system is connected with extraneous RTU, then is handled by signal processing module, is set finally by control panel control
Received shipment is made.
The GPS locators are handled by wireless signal system by signal processing module to be launched by signal emission module again,
The RTU is launched signal by wireless signal system reception and received by signal receiving module again, signal transacting mould
Alarm is transferred to after block processing.
The warning device is made up of signal conversion module and alarming horn.
By power line external power supply device, the battery is electrically connected outlet the outlet, on the handrail
Provided with power switch, the power switch is electrically connected the battery, and the control cabinet power input port connects the power supply and opened
Close.
The camera can circular-rotation, be directly connected by wireless signal system with remote terminal unit, respectively medical care
Personnel's moment observes patient's condition.
Slide rail is provided with the guide rail along its length, the slide can be realized by slide rail and moved up and down, the electricity
Machine is electric rotating machine.
The robot for being used for medical treatment and accompanying and attending to made using technical scheme, it is impossible to old man or patient's generation can be given
Step, old man or patient's condition can also be paid close attention to by the remote terminal unit moment, old man or disease are understood by the GPS locator moment
The position of people, it not only can be very good to play the effect of accompanying and attending to old man or patient, also greatly reduce hospital, household and society
Burden.
Brief description of the drawings
Fig. 1 is the side view of the present invention for being used for the robot that medical treatment is accompanied and attended to；
Fig. 2 is the front view of the present invention for being used for the robot that medical treatment is accompanied and attended to；
Fig. 3 is I-shaped chassis plane figure of the present invention；
Fig. 4 is Athey wheel conveyer structural representation of the present invention；
Fig. 5 is lifting device structure schematic diagram of the present invention；
Fig. 6 is robot body inner chamber of the present invention schematic diagram；
Fig. 7 is GPS locator signal transmission route figure of the present invention；
Fig. 8 is armchair structure plan of the present invention；
In figure, 1, I-shaped chassis；2nd, longeron；3rd, cross-brace plate；4th, Athey wheel conveyer；5th, track frame；6th, directive wheel；
7th, driving wheel；8th, tensioning apparatus；9th, upper track wheel；10th, crawler belt；11st, creeper tread；12nd, support wheel；13rd, robot body；14th, seat
Chair；15th, lowering or hoisting gear；16th, support base；17th, motor connecting plate；18th, guide rail；19th, motor；20th, shaft coupling；21st, screw mandrel；22、
Nut；23rd, slide；24th, cushioning device；25th, connecting pole；26th, fixed plate；27th, compression spring；28th, supporting plate；29th, control cabinet；
30th, battery；31st, outlet；32nd, handrail；33rd, guidance panel；34th, medicine storage box；35th, electronics lid；36th, safety belt
Lock；37th, safety belt；38th, human-computer interaction device；39th, display device；40th, input unit；41st, camera；42nd, GPS location
Device；43rd, alarm；44th, wireless signal system；45th, signal emission module；46th, signal receiving module；47th, signal processing module；
48th, control module；49th, fixed support；50th, adjusting nut；51st, spring is adjusted；52nd, directive wheel fixed support；53rd, remote terminal
Equipment；54th, power switch；55th, slide rail.
Embodiment
The present invention is specifically described below in conjunction with the accompanying drawings, as shown in figures 1-8, a kind of machine for being used for medical treatment and accompanying and attending to
People, including I-shaped chassis 1, the I-shaped chassis 1 are connected by two longerons 2 and two centers of longeron 2
Cross-brace plate 3 forms, and the I-shaped both sides of chassis 1 are provided with crawler-tread device 4, under being grown on the crawler-tread device 4
Short is in ladder shape, and the crawler-tread device 4 is track frame 5, the corresponding crawler belt by being respectively fixedly connected with two longerons 2
Directive wheel 6 and driving wheel 7 that the position front and back end of frame 5 is respectively equipped with, it is connected and positioned at of the upper surface of track frame 5 with directive wheel 6
Tight device 8, it is connected with driving wheel 7 and is located at the upper track wheel 9 of the upper surface of track frame 5, the shoe being enclosed on directive wheel 6 and driving wheel 7
The equidistant multiple support wheels 12 being provided with form between creeper tread 11 with 10, track frame 5 and the lower section of crawler belt 10, the laterally branch
The top of fagging 3 is provided with robot body 13, the front end face of robot body 13 provided with seat 14 and the seat 14 with it is described
Lowering or hoisting gear 15 is provided between robot body 13, the lowering or hoisting gear 15 is by being separately fixed at the table of robot body 13
The support base 16 and motor connecting plate 17 of face top and the bottom, guide rail 18, the motor connected between support base 16 and motor connecting plate 17
The motor 19 and the rotary shaft of motor 19 that the outside of connecting plate 17 is provided with are connected through motor connecting plate 17 by shaft coupling 20 to be set
The slide being provided with the nut 22 that is provided with screw mandrel 21, screw mandrel 21 between support base 16 and motor connecting plate 17, nut 22
23 compositions, the postnotum of seat 14 are fixedly connected with the slide 23, set between the seat 14 and the cross-brace plate 3
There is cushioning device 24, the cushioning device 24 is scalable between the seat 14 and the cross-brace plate 3 by being arranged on
Connecting pole 25, the fixed plate 26 that is provided with of the inner chamber bottom surface of connecting pole 25, the upper end of fixed plate 26 connected by more compression springs 27
The supporting plate 28 connect forms, and the inner chamber of robot body 13 is provided with control cabinet 29 and battery 30 and its rear end outer wall is provided with electricity
Source socket 31, the both sides of seat 14 are provided with handrail 32, the upper surface of the side handrail of seat 14 1 be provided with guidance panel 33 and
Another side handrail upper end inner chamber is provided with medicine storage box 34, and the upper end of medicine storage box 34 is set to electronics lid 35, the seat
The two side of chair 14 is respectively equipped with safety belt lock catch 36 and safety belt 37, and the top of robot body 13 is provided with human-computer interaction device
38, the human-computer interaction device 38 is the display by being arranged on the front end face of robot body 13 and the top of the seat 14
Device 39 forms with the input unit 40 for being arranged on the rear end face of robot body 13, the upper end outer wall of robot body 13
GPS locator 42 and alarm 43 are provided with provided with rotatable camera 41 and its inwall, is provided with the control cabinet 29 wireless
Signal system 44, signal emission module 45, signal receiving module 46, signal processing module 47 and control module 48, the control
The control terminal of case 29 by wire respectively with crawler-tread device 4, lowering or hoisting gear 15, guidance panel 33, electronics lid 35, man-machine friendship
Mutual device 38, GPS locator 42, warning device 43 and camera 41 connect；The described creeper tread of crawler belt 10 and track pin etc. form.
Each creeper tread is connected composition track link by track pin.There is hole at the both ends of creeper tread, are engaged with driving wheel, and there is induction at middle part
Tooth, for advising positive crawler belt, and prevent service robot from turning to or rolling crawler belt when travelling and coming off, have in the one side contacted with ground
Strengthen anti-skidding muscle abbreviation decorative pattern, to improve the adhesive force of the robustness of creeper tread and crawler belt and ground；The driving wheel 7 with it is described
The surface of directive wheel 6 be provided with the meshed gears block of crawler belt 10, and the driving wheel 7 is made up of sprocket wheel and electric rotating machine；
The tensioning apparatus 8 is by being arranged on the fixed support 49 of the upper end of track frame 5, fixed support 49 away from the directive wheel 6
The regulation spring 51 being connected with the adjustable side of adjusting nut 50 that adjusting nut 50 that side is provided with, the opposite side of fixed support 49 are provided with
And the directive wheel fixed support 52 of regulation spring 51 other end connection forms；PLC system, the control are provided with the control cabinet 29
Case 29 processed is connected by signal emission module 45, signal receiving module 46 and wireless signal system 44 and extraneous RTU 53
Connect, then handled by signal processing module 47, operated finally by the control device of control panel 33；The GPS locators 42 are logical
Cross wireless signal system 44 and handled by signal processing module 47 and launched again by signal emission module 45, the RTU 53
Received by wireless signal system 44 and launch signal again and received by signal receiving module 46, passed after the processing of signal processing module 47
It is defeated by alarm 43；The warning device 43 is made up of signal conversion module and alarming horn；The outlet 31 passes through
Power line external power supply device, the battery 30 are electrically connected outlet 31, and the handrail 32 is provided with power switch 54, described
Power switch 54 is electrically connected the battery 30, and the power input port of control cabinet 29 connects the power switch 54；It is described to take the photograph
As first 41 can circular-rotation, be directly connected by wireless signal system 44 with remote terminal unit 53, respectively medical personnel's moment
Observe patient's condition；Slide rail 55 is provided with the guide rail 18 along its length, the slide 23 can be realized by slide rail 55
Lower movement, the motor 19 are electric rotating machine.
The features of the present invention is, a kind of robot for being used for medical treatment and accompanying and attending to, including I-shaped chassis, I-shaped chassis be by
The cross-brace plate composition that two longerons and two longeron centers are connected, I-shaped chassis both sides are provided with crawler-tread
Device, short under long on crawler-tread device is in ladder shape, and crawler-tread device is the shoe by being respectively fixedly connected with two longerons
Directive wheel and driving wheel that tape holder, corresponding crawler belt rack position front and back end are respectively equipped with, with directive wheel it is connected and is located on track frame
The tensioning apparatus of end face, it is connected with driving wheel and is located at the upper track wheel of track frame upper surface, is enclosed on directive wheel and driving wheel
The equidistant multiple support wheels composition being provided between creeper tread below crawler belt, track frame and crawler belt, cross-brace plate top is set
There is robot body, robot body front end face is provided with and lowering or hoisting gear is provided between seat and seat and robot body, lifts
Device is support base and motor connecting plate, the support base and motor connecting plate by being separately fixed at robot body surface top and the bottom
Between the rotary shaft of the guide rail connected, the motor that is provided with the outside of motor connecting plate and motor pass through shaft coupling through motor connecting plate
The slide composition that nut, the nut that screw mandrel, the screw mandrel being arranged between support base and motor connecting plate are provided with are provided with is connected,
Seat back plate is fixedly connected with slide, and cushioning device is provided between seat and cross-brace plate, and cushioning device is by being arranged on
Fixed plate, the dead plate upper end that telescopic connecting pole, connecting pole inner chamber bottom surface between seat and cross-brace plate are provided with
The gripper shoe groups connected by more compression springs are into robot body inner chamber is provided with control cabinet and battery and its rear end outer wall
Provided with outlet, seat both sides are provided with handrail, and the upper surface of the side handrail of seat one is provided with guidance panel and another side handrail
End inner chamber is provided with medicine storage box, and medicine storage box upper end is set to electronics lid, and seat two side is respectively equipped with safety belt lock catch
And safety belt, robot body top are provided with human-computer interaction device, human-computer interaction device is by being arranged on robot body front end
Display device and the input unit composition for being arranged on robot body rear end face, robot body upper end above face and seat
Outer wall is provided with rotatable camera and its inwall and is provided with GPS locator and alarm, in control cabinet provided with wireless signal system,
Signal emission module, signal receiving module, signal processing module and control module, control cabinet control terminal by wire respectively with shoe
Band conveyer, lowering or hoisting gear, guidance panel, electronics lid, human-computer interaction device, GPS locator, warning device and camera
Connection, it is impossible to can be ridden instead of walk to old man or patient, old man or patient's condition can also be paid close attention to by the remote terminal unit moment, led to
The position of GPS locator moment understanding old man or patient are crossed, not only can be very good to play the effect of accompanying and attending to old man or patient, also
Greatly reduce the burden of hospital, household and society.
In the present invention, outlet is charged a battery, is provided with handrail by power line external power supply device
Power switch controls the energization of whole equipment, and the guidance panel on handrail passes through the running that control cabinet controls whole equipment.Curing
Treatment is accompanied and attended to and is provided with I-shaped chassis below robot, and crawler-tread device is provided with the side girder of chassis two.Crawler-tread device
It is the directive wheel and driving being respectively equipped with by the track frame that is respectively fixedly connected with two longerons, corresponding crawler belt rack position front and back end
Wheel, it is connected with directive wheel and is located at the tensioning apparatus of track frame upper surface, is connected with driving wheel and positioned at track frame upper surface
Between creeper tread below upper track wheel, the crawler belt being enclosed on directive wheel and driving wheel, track frame and crawler belt it is equidistant be provided with it is more
Individual support wheel composition, the movement of medical robot of accompanying and attending to is realized by this device.Robot body, machine are provided with the transverse slat of chassis
Device human body front end face is provided with seat, and inner chamber is provided with battery and control cabinet.Seat lower surface passes through scalable connecting pole and bottom
Disk connects, and connecting pole inner bottom surface is provided with fixed plate, and dead plate upper end face is connected with supporting plate by compression spring.Seat and machine
Human body is connected by lowering or hoisting gear, and lowering or hoisting gear is the support base and horse by being separately fixed at robot body surface top and the bottom
Up to the rotation of the guide rail connected between connecting plate, support base and motor connecting plate, the motor and motor that are provided with the outside of motor connecting plate
Screw mandrel, the screw mandrel that rotating shaft is arranged between support base and motor connecting plate through motor connecting plate by shaft coupling connection are provided with
Nut, the slide composition that is provided with of nut, seat back plate is fixedly connected with slide.Handrail, handrail are provided with seat both sides
On be respectively equipped with guidance panel and medicine storage box, user is directly stored by the running of guidance panel control device, medicine
Medicine is put into box, old man or the timely medication of patient can be facilitated.Safety belt lock catch and safety belt are respectively equipped with seat both sides, is used
To protect old man or patient.Camera, human-computer interaction device, GPS locator and warning device are provided with robot body top.
User can input instructions operable by human-computer interaction device to whole equipment, control whole equipment to transport by control cabinet
Make.Camera is connected by wireless signal system in control cabinet with remote terminal unit, can facilitate medical personnel or family members
Moment pays close attention to the situation of old man or patient.GPS locator by signal emission module in control cabinet by wireless signal system with
Remote terminal unit connects, then the signal sent by signal receiving module reception remote terminal unit, through signal processing module
Processing is in transmission warning device, and by this device, family members or medical personnel can know the position of old man or patient the moment, when old
People or patient run into emergency case, can be seen a doctor in time by warning device.
In the present invention, crawler-tread device is track frame, the corresponding track frame by being respectively fixedly connected with two longerons
Directive wheel and driving wheel that position front and back end is respectively equipped with, be connected with directive wheel and the tensioning apparatus positioned at track frame upper surface,
It is connected with driving wheel and is located at the upper track wheel of track frame upper surface, the crawler belt being enclosed on directive wheel and driving wheel, track frame and shoe
The equidistant multiple support wheels composition being provided with, the movement of machine is realized by Athey wheel, not only may be used between creeper tread with lower section
It is steady to ride instead of walk and move.
In the present invention, lowering or hoisting gear is the support base by being separately fixed at robot body surface top and the bottom and motor company
The rotary shaft of the guide rail, the motor that motor connecting plate outside is provided with and the motor that are connected between fishplate bar, support base and motor connecting plate
The spiral shell that screw mandrel, the screw mandrel being arranged on through motor connecting plate by shaft coupling connection between support base and motor connecting plate are provided with
The slide composition that female, nut is provided with, the upper downward of seat is realized by lowering or hoisting gear, facilitates different bodily form old men or patient
Use.
Above-mentioned technical proposal only embodies the optimal technical scheme of technical solution of the present invention, those skilled in the art
Some variations that some of which part may be made are embodied the present invention principle, belong to protection scope of the present invention it
It is interior.
Claims (10)
1. a kind of robot for being used for medical treatment and accompanying and attending to, including I-shaped chassis（1）, it is characterised in that the I-shaped chassis（1）
It is by two longerons（2）And two longerons（2）The cross-brace plate that center is connected（3）Composition, the I-shaped bottom
Disk（1）Both sides are provided with crawler-tread device（4）, the crawler-tread device（4）Short under upper length is in ladder shape, the crawler-tread
Device（4）Be by with two longerons（2）The track frame being respectively fixedly connected with（5）, corresponding track frame（5）Position front and back end point
The directive wheel not being provided with（6）And driving wheel（7）With directive wheel（6）Connect and be located at track frame（5）The tensioning apparatus of upper surface
（8）With driving wheel（7）Connect and be located at track frame（5）The upper track wheel of upper surface（9）, be enclosed on directive wheel（6）And driving wheel（7）
On crawler belt（10）, track frame（5）With crawler belt（10）The creeper tread of lower section（11）Between the equidistant multiple support wheels being provided with
（12）Composition, the cross-brace plate（3）Top is provided with robot body（13）, the robot body（13）Front end face is provided with
Seat（14）And the seat（14）With the robot body（13）Between be provided with lowering or hoisting gear（15）, the lowering or hoisting gear
（15）It is by being separately fixed at the robot body（13）The support base of surface top and the bottom（16）With motor connecting plate（17）, branch
Support seat（16）With motor connecting plate（17）Between the guide rail that connects（18）, motor connecting plate（17）The motor that outside is provided with（19）And
Motor（19）Rotary shaft pass through motor connecting plate（17）Pass through shaft coupling（20）Connection is arranged on support base（16）Connect with motor
Fishplate bar（17）Between screw mandrel（21）, screw mandrel（21）The nut being provided with（22）, nut（22）The slide being provided with（23）Composition,
The seat（14）Postnotum and the slide（23）It is fixedly connected, the seat（14）With the cross-brace plate（3）Between
Provided with cushioning device（24）, the cushioning device（24）It is by being arranged on the seat（14）With the cross-brace plate（3）It
Between telescopic connecting pole（25）, connecting pole（25）The fixed plate that inner chamber bottom surface is provided with（26）, fixed plate（26）Upper end leads to
Excessive root compression spring（27）The supporting plate of connection（28）Composition, the robot body（13）Inner chamber is provided with control cabinet（29）With
Battery（30）And its rear end outer wall is provided with outlet（31）, the seat（14）Both sides are provided with handrail（32）, the seat
（14）The upper surface of one side handrail is provided with guidance panel（33）And another side handrail upper end inner chamber is provided with medicine storage box（34）, institute
State medicine storage box（34）Upper end is set to electronics lid（35）, the seat（14）Two side is respectively equipped with safety belt lock catch（36）
And safety belt（37）, the robot body（13）Top is provided with human-computer interaction device（38）, the human-computer interaction device（38）
It is by being arranged on the robot body（13）Front end face and the seat（14）The display device of top（39）Be arranged on
The robot body（13）The input unit of rear end face（40）Composition, the robot body（13）Upper end outer wall, which is provided with, to be turned
Dynamic camera（41）And its inwall is provided with GPS locator（42）And alarm（43）, the control cabinet（29）It is interior to be provided with wirelessly
Signal system（44）, signal emission module（45）, signal receiving module（46）, signal processing module（47）And control module
（48）, the control cabinet（29）Control terminal by wire respectively with crawler-tread device（4）, lowering or hoisting gear（15）, guidance panel
（33）, electronics lid（35）, human-computer interaction device（38）, GPS locator（42）, warning device（43）And camera（41）Even
Connect.
A kind of 2. robot for being used for medical treatment and accompanying and attending to according to claim 1, it is characterised in that the crawler belt（10）Crawler belt
Plate and track pin etc. form,
Each creeper tread is connected composition track link by track pin,
There is hole at the both ends of creeper tread, are engaged with driving wheel, and there is induction tooth at middle part, for advising positive crawler belt, and prevent service robot
Crawler belt comes off when turning to or rolling traveling, has in the one side contacted with ground and strengthens anti-skidding muscle（Abbreviation decorative pattern）, to improve crawler belt
The robustness and crawler belt of plate and the adhesive force on ground.
A kind of 3. robot for being used for medical treatment and accompanying and attending to according to claim 2, it is characterised in that the driving wheel（7）With
The directive wheel（6）Surface is provided with and the crawler belt（10）Meshed gears block, and the driving wheel（7）It is by sprocket wheel and rotation
Motor forms.
A kind of 4. robot for being used for medical treatment and accompanying and attending to according to claim 1, it is characterised in that the tensioning apparatus（8）
It is by being arranged on the track frame（5）The fixed support of upper end（49）, fixed support（49）Away from the directive wheel（6）Side is set
Some adjusting nuts（50）, fixed support（49）Opposite side is provided with and adjusting nut（50）The regulation spring of adjustable side connection
（51）And regulation spring（51）The directive wheel fixed support of other end connection（52）Composition.
A kind of 5. robot for being used for medical treatment and accompanying and attending to according to claim 1, it is characterised in that the control cabinet（29）It is interior
Provided with PLC system, the control cabinet（29）Pass through signal emission module（45）, signal receiving module（46）And wireless signal system
（44）With extraneous RTU（53）Connection, then by signal processing module（47）Processing, finally by control panel
（33）Control device operates.
A kind of 6. robot for being used for medical treatment and accompanying and attending to according to claim 1, it is characterised in that the GPS locators
（42）Pass through wireless signal system（44）By signal processing module（47）Processing is again by signal emission module（45）Transmitting, it is described remote
Journey terminal device（53）Pass through wireless signal system（44）Reception launches signal by signal receiving module again（46）Receive, signal
Processing module（47）Alarm is transferred to after processing（43）.
A kind of 7. robot for being used for medical treatment and accompanying and attending to according to claim 6, it is characterised in that the warning device（43）
It is made up of signal conversion module and alarming horn.
A kind of 8. robot for being used for medical treatment and accompanying and attending to according to claim 1, it is characterised in that the outlet（31）
By power line external power supply device, the battery（30）Be electrically connected outlet（31）, the handrail（32）It is provided with power supply
Switch（54）, the power switch（54）Be electrically connected the battery（30）, the control cabinet（29）Power input port connects institute
State power switch（54）.
A kind of 9. robot for being used for medical treatment and accompanying and attending to according to claim 1, it is characterised in that the camera（41）Can
Circular-rotation, pass through wireless signal system（44）Directly and remote terminal unit（53）Connection, difference medical personnel's moment are observed
Patient's condition.
A kind of 10. robot for being used for medical treatment and accompanying and attending to according to claim 1, it is characterised in that the guide rail（18）On
Slide rail is provided with along its length（55）, the slide（23）Slide rail can be passed through（55）Realization moves up and down, the motor（19）
For electric rotating machine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710690156.0A CN107443394B (en) | 2017-08-14 | 2017-08-14 | A kind of robot for being used for medical treatment and accompanying and attending to |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710690156.0A CN107443394B (en) | 2017-08-14 | 2017-08-14 | A kind of robot for being used for medical treatment and accompanying and attending to |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107443394A true CN107443394A (en) | 2017-12-08 |
| CN107443394B CN107443394B (en) | 2018-05-15 |
Family
ID=60491037
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710690156.0A Expired - Fee Related CN107443394B (en) | 2017-08-14 | 2017-08-14 | A kind of robot for being used for medical treatment and accompanying and attending to |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107443394B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111216140A (en) * | 2019-11-27 | 2020-06-02 | 燕山大学 | Hold in palm formula multi-arm cooperation and transport nursing robot |
| CN114571434A (en) * | 2022-03-15 | 2022-06-03 | 山东新一代信息产业技术研究院有限公司 | Deformable multifunctional intelligent medical auxiliary robot |
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| CN202051917U (en) * | 2011-04-26 | 2011-11-30 | 谭先权 | Wheelchair with stair climbing function |
| CN106041956A (en) * | 2016-07-20 | 2016-10-26 | 河南工程学院 | Remote-controlled medical accompanying robot |
| CN106510991A (en) * | 2016-12-21 | 2017-03-22 | 王秀峰 | Multifunctional wheelchair |
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| US20060076748A1 (en) * | 2004-10-08 | 2006-04-13 | Sunrise Medical Hhg Inc. | Wheelchair with damping mechanism |
| CN200984292Y (en) * | 2006-12-15 | 2007-12-05 | 西安思源职业学院 | Obstacle-free automatic creeper vehicle |
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| CN106041956A (en) * | 2016-07-20 | 2016-10-26 | 河南工程学院 | Remote-controlled medical accompanying robot |
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| CN111216140A (en) * | 2019-11-27 | 2020-06-02 | 燕山大学 | Hold in palm formula multi-arm cooperation and transport nursing robot |
| CN114571434A (en) * | 2022-03-15 | 2022-06-03 | 山东新一代信息产业技术研究院有限公司 | Deformable multifunctional intelligent medical auxiliary robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107443394B (en) | 2018-05-15 |
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Effective date of registration: 20180205 Address after: No. 005, No. two, Xingang, Tianjin Binhai New Area Applicant after: Cui Dangying Address before: Urban and rural Xianyang city of Shaanxi province Qi Village 713300 Qianxian County week two group Applicant before: Han Weichao |
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| CB03 | Change of inventor or designer information | ||
| CB03 | Change of inventor or designer information |
Inventor after: Wan Shuqiong Inventor after: Gu Yuan Inventor after: Ju Airong Inventor after: Jiang Zhongjun Inventor after: Zou Ailing Inventor after: Xiong Li Inventor before: Request for anonymity |
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Effective date of registration: 20180412 Address after: Huangshi City, Hubei province xisaishanqu 435000 hospital Street Central Hospital of universal love hospital Applicant after: Gu Yuan Address before: No. 005, No. two, Xingang, Tianjin Binhai New Area Applicant before: Cui Dangying |
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Effective date of registration: 20190121 Address after: 435000 No. 141 Tianjin Road, Huangshigang District, Huangshi City, Hubei Province Patentee after: EDONG HEALTHCARE GROUP CITY CENTRAL Hospital Address before: 435000 Pu Ai Hospital District, Hospital Street Central Hospital, Xisaishan District, Huangshi City, Hubei Province Patentee before: Gu Yuan |
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Granted publication date: 20180515 |