CN108381567A - Service robot for patient transfer - Google Patents
Service robot for patient transfer Download PDFInfo
- Publication number
- CN108381567A CN108381567A CN201810472553.5A CN201810472553A CN108381567A CN 108381567 A CN108381567 A CN 108381567A CN 201810472553 A CN201810472553 A CN 201810472553A CN 108381567 A CN108381567 A CN 108381567A
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- Prior art keywords
- roller
- motor
- carrying
- plate
- shaped side
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- 238000012546 transfer Methods 0.000 title abstract description 10
- 238000013519 translation Methods 0.000 claims abstract description 36
- 238000004891 communication Methods 0.000 claims description 32
- 230000005611 electricity Effects 0.000 claims description 20
- 230000001105 regulatory effect Effects 0.000 claims description 13
- 230000001276 controlling effect Effects 0.000 claims 1
- 230000003068 static effect Effects 0.000 abstract description 3
- 230000004630 mental health Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 4
- 201000010099 disease Diseases 0.000 description 3
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 3
- 238000001802 infusion Methods 0.000 description 3
- 238000003780 insertion Methods 0.000 description 3
- 230000037431 insertion Effects 0.000 description 3
- 238000007689 inspection Methods 0.000 description 2
- 208000012802 recumbency Diseases 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000002513 implantation Methods 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
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
- B25J11/008—Manipulators for service tasks
- B25J11/009—Nursing, e.g. carrying sick persons, pushing wheelchairs, distributing drugs
Landscapes
- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Nursing (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Invalid Beds And Related Equipment (AREA)
Abstract
The invention provides a service robot for transferring patients, which comprises a walking mechanism, an auxiliary bracket, a translation mechanism and a carrying mechanism, wherein the walking mechanism is arranged on the auxiliary bracket; the translation mechanism is arranged below the carrying mechanism and used for horizontally moving the carrying mechanism; the auxiliary support is arranged below the translation mechanism and used for vertically supporting the translation mechanism; the walking mechanism is arranged below the auxiliary bracket and used for moving the auxiliary bracket. The service robot has better mobility and flexibility, realizes relative rest when the carrying mechanism is contacted with a patient by utilizing the carrying belt, realizes safe and comfortable transfer of the patient under the static lying condition, has high degree of automation, reduces the labor intensity of medical personnel and the influence of physical and mental health, and is simple and convenient to operate.
Description
Technical field
The present invention relates to a kind of medical auxiliary apparatus, especially a kind of service robot of transportation of patients.
Background technology
Hospital patient be especially hospitalized the inspection of severe case, rotated bed, perioperatively to pick be one breakneck
Work.Transhipment of the patient in hospital between bed and bed, which mostly uses greatly, embraces a lift mode, firmly or mismate, can cause the two of patient
Secondary damage or even life-threatening.Traditional embraces lift mode, and the safety of patient and comfort are difficult to be protected, require simultaneously
Medical staff pays great manual labor, influences the physical and mental health of medical staff.In addition, hospital limited in view of medical resource
Overstaffed, the phenomenon that hospital corridors extra bed position, is commonplace, and channel is narrow sometimes, can influence traditional transhipment hand push
Vehicle passes through.
Invention content
The technical problem to be solved by the present invention is to existing transportation of patients methods to take time and effort, and can cause that patient's is secondary
Damage.
In order to solve the above technical problem, the present invention provides a kind of service robots of transportation of patients, including vehicle with walking machine
Structure, auxiliary stand, translation mechanism and carrying mechanism；Translation mechanism is mounted below carrying mechanism, is carried for moving horizontally
Mechanism；Auxiliary stand is mounted below translation mechanism, for carrying out vertical supporting to translation mechanism；Walking mechanism is mounted on auxiliary
The lower section of holder, for moving auxiliary stand.
Further, carrying mechanism includes upper plate, L-shaped side plate, carries belt, live-roller, guide roller, regulating roller, two
Root rotary roller and carrying driving motor；Vertically interval is mounted on upper plate each L-shaped side plate；Two rotary rollers are rotatably pacified
Mounted in the vertical plate top of each L-shaped side plate, live-roller is rotatably mounted in the middle part of the vertical plate of each L-shaped side plate, guide roller
It is rotatably mounted on the vertical plate lower part of each L-shaped side plate；Bar shaped tune there are one being all provided in the vertical plate lower part of each L-shaped side plate
Knothole, regulating roller are rotatably mounted on each bar shaped adjustment hole；It is spaced laterally apart and sets on the level board of each L-shaped side plate
It is equipped with carrying roller；Rotary roller, live-roller, guide roller, regulating roller and carrying roller are mutually parallel；Carry downside of the belt by guide roller
It rotates upwards, then by rotating on the upside of the rotary roller on top downwards, then by rotating upwards, then by top on the downside of the live-roller at middle part
It rotates on the upside of another rotary roller downwards, then by being centered around on the carrying roller of each cross direction profiles after rotating on the downside of regulating roller；It removes
Fortune driving motor be fixedly mounted in the vertical plate of end L-shaped side plate, and carry driving motor output shaft on be equipped with it is small
Gear；The gear wheel being meshed with pinion gear is equipped on the spindle nose of live-roller.
Further, stripe board is supported there are one being all provided between the level board of two neighboring L-shaped side plate；Each carrying roller rotation
It is rotatable to be mounted in support stripe board.
Further, translation mechanism include top plate, two tracks, two blocks of bar shaped side plates, drive belt, driving pulley and
Pan drive motor；Top plate level is fixedly mounted on the top of auxiliary stand；Two tracks are fixedly mounted on top plate, and two
Track is mutually parallel；Two blocks of bar shaped side plates are fixedly mounted on the middle part of top plate by the mounting plate that side is wholely set, and with
Parallel track；Each driving pulley is rotatably mounted between two blocks of bar shaped side plates, and drive belt is around setting in each driving
On belt wheel；Pan drive motor drives one of driving pulley rotation；Slidingtype respectively is equipped on the downside of upper plate
Buckle is mounted on the sliding block on two tracks；The upper belt of drive belt has one section of downside for being fixedly mounted on upper plate
On.
Further, auxiliary stand is the rectangular frame that cradling piece is constituted；Top plate level is fixedly mounted on auxiliary branch
The top of frame.
Further, walking mechanism includes support baseboard, four omnidirectional's electricity drive wheels, four movable motor drive modules, controls
Case and accumulator processed；It is equipped with controller, wireless communication module, translation motor driving circuit in control cabinet and carries motor
Driving circuit；Four omnidirectional's electricity drive the edge that wheel is separately mounted to support baseboard, and rectangular distribution；Auxiliary stand fixes peace
On support baseboard；Four motor drive modules are fixedly mounted on support baseboard, and drive take turns with four omnidirectional's electricity respectively
Driving motor electrical connection；Translation motor driving circuit and carrying motor-drive circuit drive with pan drive motor and carrying respectively
Dynamic motor electrical connection；Controller respectively with wireless communication module, four motor drive modules, translation motor driving circuit and remove
Transport motor-drive circuit electrical connection；Accumulator is respectively controller, wireless communication module, four motor drive modules, translation electricity
Drive circuit and carrying motor-drive circuit power supply.
The beneficial effects of the present invention are：The omnidirectional's electricity independently driven using four is driven wheel and robot original place rotation may be implemented
Turn, moved on any direction in transverse direction, the planes such as longitudinal direction and oblique movement, greatly improves the mobility and flexibly of transfer device
Property；Carrying mechanism constitutes in-line structure using the horizontal component of carrying mechanism, and carrying mechanism and disease are realized using belt is carried
Opposing stationary when people contacts, patient realizes the transfer of safety and comfort in quiet lie；With it is existing with pure manual operation or pure
Transfer instrument based on mechanically actuated is compared, and the quantity of pain and medical staff during transportation of patients, medical staff can be reduced
It only needs through remote control control robot, you can realize that moving for patient is moved with robot；The transportation of patients service-delivery machine
People's mobility strong, high degree of automation can greatly reduce the safety during transferring of patient and comfort, while reduce doctor
The labor intensity of shield personnel and physically and mentally healthy influence, and it is easy to operate.
Description of the drawings
Fig. 1 is the overall structure diagram of the present invention；
Fig. 2 is the carrying mechanism partial structural diagram of the present invention；
Fig. 3 is the carrying belt mounting structure schematic diagram of the present invention；
Fig. 4 is the translation mechanism overlooking structure diagram of the present invention；
Fig. 5 is the translation mechanism partial structural diagram of the present invention；
Fig. 6 is the walking mechanism structural schematic diagram of the present invention.
Specific implementation mode
As shown in figures 1 to 6, the service robot of transportation of patients disclosed by the invention includes：Walking mechanism, is put down at auxiliary stand
Telephone-moving structure and carrying mechanism；Translation mechanism is mounted below carrying mechanism, for moving horizontally carrying mechanism；Auxiliary stand is pacified
Below translation mechanism, for carrying out vertical supporting to translation mechanism；Walking mechanism is mounted on the lower section of auxiliary stand, is used for
Mobile auxiliary stand.
Wherein, carrying mechanism includes upper plate 3, L-shaped side plate 1, carries belt 2, live-roller 13, guide roller 11, regulating roller
17, two rotary rollers 12 and carrying driving motor 26；Vertically interval is mounted on upper plate 3 each L-shaped side plate 1；Two are returned
Transfer roller 12 is rotatably mounted on the vertical plate top of each L-shaped side plate 1, and live-roller 13 is rotatably mounted on each L-shaped side plate 1
In the middle part of vertical plate, guide roller 11 is rotatably mounted on the vertical plate lower part of each L-shaped side plate 1；In the vertical of each L-shaped side plate 1
Plate lower part is all provided with there are one bar shaped adjustment hole 16, and regulating roller 17 is rotatably mounted on each bar shaped adjustment hole 16；In each L-shaped
It is spaced laterally apart on the level board of side plate 1 and is provided with carrying roller 18；Rotary roller 12, live-roller 13, guide roller 11, regulating roller 17 with
And carrying roller 18 is mutually parallel；Belt 2 is carried to be rotated upwards by the downside of guide roller 11, then by the upside of the rotary roller 12 on top around
Under steering, then it is downward by rotating upwards on the downside of the live-roller 13 at middle part, then by rotating on the upside of another rotary roller 12 on top, then
It is centered around after being rotated by the downside of regulating roller 17 on the carrying roller 18 of each cross direction profiles；It carries driving motor 26 and is fixedly mounted on end
In the vertical plate of portion's L-shaped side plate 1, and pinion gear 14 is installed on the output shaft for carrying driving motor 26；In live-roller 13
Spindle nose is equipped with the gear wheel 15 being meshed with pinion gear 14.Using regulating roller 17 can facilitate adjust carry belt 2 into
Degree.
Stripe board 19 is supported there are one being all provided between the level board of two neighboring L-shaped side plate 1；Each carrying roller 18 is rotary
In support stripe board 19.Preferable centre position support effect can be played using support stripe board 19.
Translation mechanism include 4, two, top plate, 25, two blocks of track bar shaped side plate 20, drive belt 23, driving pulley 22 and
Pan drive motor 21；4 level of top plate is fixedly mounted on the top of auxiliary stand；Two tracks 25 are fixedly mounted on the top plate 4,
And two tracks 25 are mutually parallel；The mounting plate 24 that two blocks of bar shaped side plates 20 are wholely set by side is fixedly mounted on top plate 4
Middle part, and it is parallel with track 25；Each driving pulley 22 is rotatably mounted between two blocks of bar shaped side plates 20, drive belt
23 surround setting on each driving pulley 22；Pan drive motor 21 drives one of driving pulley 22 to rotate；At upper bottom
The downside of plate 3 is equipped with slidingtype buckle respectively and is mounted on the sliding block on two tracks 25；The upper belt of drive belt 23
Have on one section of downside for being fixedly mounted on upper plate 3.
Auxiliary stand is the rectangular frame that cradling piece 5 is constituted；4 level of top plate is fixedly mounted on the top of auxiliary stand
Portion.
Walking mechanism includes that 6, four omnidirectional's electricity of support baseboard drive wheel 7, four movable motor drive modules 10, control cabinets 8
And accumulator 9；It is equipped with controller, wireless communication module, translation motor driving circuit in control cabinet 8 and carries motor drive
Dynamic circuit；Four omnidirectional's electricity drive the edge that wheel 7 is separately mounted to support baseboard 6, and rectangular distribution；Auxiliary stand fixes peace
On support baseboard 6；Four motor drive modules 10 are fixedly mounted on support baseboard 6, and respectively with four omnidirectional's electricity
Drive the driving motor electrical connection of wheel 7；Translation motor driving circuit and carry motor-drive circuit respectively with pan drive motor 21
It is electrically connected with driving motor 26 is carried；Controller drives with wireless communication module, four motor drive modules 10, translation motor respectively
Dynamic circuit and carrying motor-drive circuit electrical connection；Accumulator 9 is respectively controller, wireless communication module, four motors drives
Dynamic model block 10, translation motor driving circuit and carrying motor-drive circuit power supply.Controller, wireless communication module, four electricity
Machine drive module 10, translation motor driving circuit and carrying motor-drive circuit are all made of the prior art；The control of robot
Device and remote controller are all made of microcontroller and its peripheral circuit is constituted, and can receive and dispatch control command.
The service robot of transportation of patients disclosed by the invention when in use, needs mating corresponding remote controler, remote controler
Including remote-control radio module, remote controller, forward key, Reverse keys, move to left button, move to right button, rotate in place button,
Button is taken, button, scram button is taken back, send button and button of taking；Remote controller respectively with remote-control radio module, advance
Button, Reverse keys move to left button, move to right button, rotate in place button, take button, take back button, scram button, send button
And button electrical connection of taking.Circuit structure involved by remote controler is the prior art, and remote-control radio module is used for and machine
The wireless communication module of people carries out wireless communication connection, can be infrared communication module or Zigbee wireless communications.
The service robot of transportation of patients disclosed by the invention needs medical staff's hand-held remote controller operation machine
People controls the movement of the robot by the button in remote controler, direction using one end where infusion support as direction of advance,
It is a left side with the vertical plate of L-shaped side plate 1.
When operating personnel pin forward key, which is sent to robot by the infrared communication module of remote controler
Infrared communication module drives corresponding omnidirectional's electricity by the controller of robot by two, four movable motor drive modules 10
It drives wheel 7 counterclockwise to rotate, realizes that working machines people alongst moves forward towards infusion support one end；Work as operator
When member pins Reverse keys, which is sent to the infrared communication module of robot by the infrared communication module of remote controler,
Corresponding omnidirectional's electricity is driven to drive the side clockwise of wheel 7 by two, four movable motor drive modules 10 by the controller of robot
To rotation, realizes and moved after robot is alongst done far from infusion support.
When operating personnel, which pin, moves to left button, which is sent to robot by the infrared communication module of remote controler
Infrared communication module, corresponding omnidirectional is driven by one, three movable motor drive module 10 by the controller of robot
Electricity drives wheel 7 and counterclockwise rotates, and realizes that robot laterally moves along width direction towards a left side；When operating personnel pin the right side
When moving button, which is sent to the infrared communication module of robot by the infrared communication module of distant remote controler, by machine
The controller of people drives corresponding omnidirectional's electricity to drive wheel 7 and is rotated clockwise by one, three movable motor drive module 10,
Realize that robot laterally moves along width direction away from left side.
When operating personnel, which pin, rotates in place key, which is sent to machine by the infrared communication module of remote controler
The infrared communication module of people passes through the driving pair of one, two, three, four movable motor drive module 10 by the controller of robot
The omnidirectional's electricity answered drives wheel 7 and counterclockwise rotates, and realizes that robot using walking mechanism chassis center as the center of circle, rotates in place.Behaviour
Make personnel by the combination moved above, transportation of patients robot is moved to the bed side for needing to transfer patient, it is ensured that L-shaped side
The level board side of plate 1 close to bedside, meanwhile, transportation of patients robot is different from the bed aligning accuracy requirement residing for patient,
Gap between transport robot and bed side need not abut implantation side in 10mm.
After robot and sick bed align, patient is in the state that reposes, and operating personnel will observe transportation of patients robot
Whether the horizontal component of carrying mechanism is inserted under patient body, and after observation is verified, operating personnel, which pin, takes button, remote control
The control instruction is sent to the infrared communication module of robot by the infrared communication module of device, is passed through by the controller of robot flat
It moves motor-drive circuit driving pan drive motor 21 to rotate clockwise, will be removed in the case where drive belt 23 and two tracks 25 act on
The horizontal component of fortune mechanism, which starts to move towards patient direction, to be inserted into, and at the same time, the controller of robot is by carrying motor
Driving circuit control is carried driving motor 26 and is operated, and drives and carries belt 2 with the movement opposite with direction of insertion, insertion speed with
The velocity magnitude for carrying belt 2 is consistent, in the horizontal component insertion process of carrying mechanism, carry belt 2 and disease
The contact point of people does not change, and keeps a relative static conditions, reduces the pain of patient.
After patient body is moved to above the horizontal component of carrying mechanism, operating personnel, which unclamp, takes button, at this point, carrying
Driving motor 26 and pan drive motor 21 shut down, and patient is quiet to be lain on the horizontal component for moving mechanism；It presses again at this time
Button is firmly taken back, which is sent to the infrared communication module of robot by the infrared communication module of remote controler, by machine
The controller of people drives pan drive motor 21 to rotate counterclockwise by translation motor driving circuit, in drive belt 23 and two
Track 25 is close toward robot direction by quiet recumbency patient under acting on, and after carrying mechanism is restored to original position, button is taken back in release, grasps
After making personnel inspection verification, patient is sent to required destination by remote-controlled robot movement again.
Complete one take the process of patient after, reach purpose after, operating personnel further according to field condition by advance, after
Button is moved back, moved to left, moved to right and rotated in place, the contraposition of transferring of patient robot and bed is completed.
When being transported patient to bed from robot, operating personnel pin button of taking, the infrared communication of remote controler
The control instruction is sent to the infrared communication module of robot by module, and electricity is driven by translation motor by the controller of robot
Road driving pan drive motor 21 rotates clockwise, in the case where drive belt 23 and two tracks 25 are acted on by the past disease of quiet recumbency patient
Bed direction is close, and for the horizontal component of mechanism to be handled apart from sick bed other side distance in 40mm or so, operating personnel unclamp band
Button is removed, then pins and send button, which is sent to the infrared communication mould of robot by the infrared communication module of remote controler
Block drives pan drive motor 21 to rotate counterclockwise, carrying mechanism by the controller of robot by translation motor driving circuit
Toward robot direction movement, at the same time, the controller of robot carries driving motor by carrying motor-drive circuit control
26 operatings carry driving motor 26 and drive carrying belt 2 to be moved with carrying mechanism direction of motion opposite direction, carry belt 2
Speed be consistent with carrying mechanism horizontal movement velocity magnitude, to during component is withdrawn, carry belt 2 and patient
Contact point do not change, keep a relative static conditions, patient body slowly touches sick bed bed, mechanism to be handled
It after setting back, unclamps again and send button, so far, complete carrying of the patient from robot to bed.
In the handling process, operating personnel will attentively observe the horizontal component of carrying mechanism and patient contacts situation, if
Emergency case is encountered, current button is unclamped, presses the scram button on remote controler, transportation of patients robot will keep emergency case
When state, it is stationary, wait for the next step of operating personnel to instruct.
The present invention provides transportation of patients service robot, and the omnidirectional's electricity independently driven using four is driven wheel 7 and machine may be implemented
It is moved on any direction in the planes such as device people rotates in place, transverse direction, longitudinal direction and oblique movement, greatly improves the machine of transfer device
Dynamic property and flexibility；Carrying mechanism constitutes in-line structure using the horizontal component of carrying mechanism, is removed using the realization of belt 2 is carried
Opposing stationary when fortune mechanism is contacted with patient, patient realizes the transfer of safety and comfort in quiet lie；With existing with pure people
Transfer instrument based on work operation or purely mechanic operation is compared, and the number of pain and medical staff during transportation of patients can be reduced
Amount, medical staff only need through remote control control robot, you can realize that moving for patient is moved with robot；The patient turns
Service robot mobility strong is transported, high degree of automation can greatly reduce the safety during transferring of patient and comfort, together
When reduce the labor intensity of medical staff and physically and mentally healthy influence, and it is easy to operate.
Claims (6)
1. a kind of service robot of transportation of patients, it is characterised in that：Including walking mechanism, auxiliary stand, translation mechanism and
Carrying mechanism；Translation mechanism is mounted below carrying mechanism, for moving horizontally carrying mechanism；Auxiliary stand is mounted on translation machine
Below structure, for carrying out vertical supporting to translation mechanism；Walking mechanism is mounted on the lower section of auxiliary stand, for mobile auxiliary branch
Frame.
2. the service robot of transportation of patients according to claim 1, it is characterised in that：Carrying mechanism includes upper plate
(3), L-shaped side plate (1), carry belt (2), live-roller (13), guide roller (11), regulating roller (17), two rotary rollers (12) with
And carry driving motor (26)；Vertically interval is mounted on upper plate (3) each L-shaped side plate (1)；Two rotary roller (12) rotations
Formula is mounted on the vertical plate top of each L-shaped side plate (1), and live-roller (13) is rotatably mounted on the vertical of each L-shaped side plate (1)
In the middle part of plate, guide roller (11) is rotatably mounted on the vertical plate lower part of each L-shaped side plate (1)；In the perpendicular of each L-shaped side plate (1)
It is all provided with to plate lower part there are one bar shaped adjustment hole (16), regulating roller (17) is rotatably mounted on each bar shaped adjustment hole (16)；
It is spaced laterally apart on the level board of each L-shaped side plate (1) and is provided with carrying roller (18)；Rotary roller (12), is led at live-roller (13)
It is mutually parallel to roller (11), regulating roller (17) and carrying roller (18)；Belt (2) is carried by the downside of guide roller (11) around steering
On, then by rotating on the upside of the rotary roller (12) on top downwards, then by rotating upwards, then by top on the downside of the live-roller (13) at middle part
Another rotary roller (12) on the upside of rotate downwards, then by being centered around each cross direction profiles after rotating on the downside of regulating roller (17)
On carrying roller (18)；It carries driving motor (26) to be fixedly mounted in the vertical plate of end L-shaped side plate (1), and is carrying driving electricity
Pinion gear (14) is installed on the output shaft of machine (26)；It is equipped on the spindle nose of live-roller (13) and is meshed with pinion gear (14)
Gear wheel (15).
3. the service robot of transportation of patients according to claim 2, it is characterised in that：In two neighboring L-shaped side plate (1)
Level board between be all provided with there are one support stripe board (19)；Each carrying roller (18) is rotatably mounted on support stripe board (19)
On.
4. the service robot of transportation of patients according to claim 2, it is characterised in that：Translation mechanism include top plate (4),
Two tracks (25), two pieces of bar shaped side plates (20), drive belt (23), driving pulley (22) and pan drive motor (21)；
Top plate (4) level is fixedly mounted on the top of auxiliary stand；Two tracks (25) are fixedly mounted on top plate (4), and two rails
Road (25) is mutually parallel；The mounting plate (24) that two pieces of bar shaped side plates (20) are wholely set by side is fixedly mounted on top plate (4)
Middle part, and it is parallel with track (25)；Each driving pulley (22) is rotatably mounted between two pieces of bar shaped side plates (20), drives
Dynamic belt (23) is around setting on each driving pulley (22)；Pan drive motor (21) drives one of driving pulley
(22) it rotates；It is equipped with slidingtype buckle respectively on the downside of upper plate (3) and is mounted on the sliding block on two tracks (25)；It drives
The upper belt of dynamic belt (23) has on one section of downside for being fixedly mounted on upper plate (3).
5. the service robot of transportation of patients according to claim 4, it is characterised in that：Auxiliary stand is cradling piece (5)
The rectangular frame of composition；Top plate (4) level is fixedly mounted on the top of auxiliary stand.
6. the service robot of transportation of patients according to claim 4, it is characterised in that：Walking mechanism includes support baseboard
(6), four omnidirectional's electricity drive wheel (7), four movable motor drive modules (10), control cabinet (8) and accumulator (9)；It is controlling
It is equipped with controller, wireless communication module, translation motor driving circuit in case (8) and carries motor-drive circuit；Four omnidirectionals
Electricity drives the edge that wheel (7) is separately mounted to support baseboard (6), and rectangular distribution；Auxiliary stand is fixedly mounted on support bottom
On plate (6)；Four motor drive modules (10) are fixedly mounted on support baseboard (6), and drive take turns with four omnidirectional's electricity respectively
(7) driving motor electrical connection；Translation motor driving circuit and carry motor-drive circuit respectively with pan drive motor (21)
It is electrically connected with driving motor (26) is carried；Controller is electric with wireless communication module, four motor drive modules (10), translation respectively
Drive circuit and carrying motor-drive circuit electrical connection；Accumulator (9) be respectively controller, wireless communication module, four
Motor drive module (10), translation motor driving circuit and carrying motor-drive circuit power supply.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810472553.5A CN108381567B (en) | 2018-05-17 | 2018-05-17 | Service robot for patient transfer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810472553.5A CN108381567B (en) | 2018-05-17 | 2018-05-17 | Service robot for patient transfer |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108381567A true CN108381567A (en) | 2018-08-10 |
| CN108381567B CN108381567B (en) | 2024-05-24 |
Family
ID=63071052
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810472553.5A Active CN108381567B (en) | 2018-05-17 | 2018-05-17 | Service robot for patient transfer |
Country Status (1)
| Country | Link |
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| CN (1) | CN108381567B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111390931A (en) * | 2020-04-21 | 2020-07-10 | 哈尔滨思哲睿智能医疗设备有限公司 | Automatic patient transfer robot and automatic patient transfer method |
| CN115698631A (en) * | 2021-05-25 | 2023-02-03 | 深圳市优必选科技股份有限公司 | Walking-aid robot navigation method, walking-aid robot and computer readable storage medium |
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|---|---|---|---|---|
| CN111390931A (en) * | 2020-04-21 | 2020-07-10 | 哈尔滨思哲睿智能医疗设备有限公司 | Automatic patient transfer robot and automatic patient transfer method |
| CN111390931B (en) * | 2020-04-21 | 2023-03-28 | 哈尔滨思哲睿智能医疗设备股份有限公司 | Automatic patient transfer robot and automatic patient transfer method |
| CN115698631A (en) * | 2021-05-25 | 2023-02-03 | 深圳市优必选科技股份有限公司 | Walking-aid robot navigation method, walking-aid robot and computer readable storage medium |
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| CN108381567B (en) | 2024-05-24 |
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