CN114795750A - Transfer nursing device - Google Patents
Transfer nursing device Download PDFInfo
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- CN114795750A CN114795750A CN202210585952.9A CN202210585952A CN114795750A CN 114795750 A CN114795750 A CN 114795750A CN 202210585952 A CN202210585952 A CN 202210585952A CN 114795750 A CN114795750 A CN 114795750A
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- 238000012546 transfer Methods 0.000 title claims abstract description 29
- 230000000474 nursing effect Effects 0.000 title claims abstract description 18
- 238000005452 bending Methods 0.000 claims abstract description 83
- 238000013016 damping Methods 0.000 claims abstract description 34
- 230000005540 biological transmission Effects 0.000 claims description 29
- 230000035939 shock Effects 0.000 claims description 21
- 239000006096 absorbing agent Substances 0.000 claims description 12
- 238000010521 absorption reaction Methods 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 abstract description 11
- 230000009286 beneficial effect Effects 0.000 description 6
- 230000005484 gravity Effects 0.000 description 6
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000013519 translation Methods 0.000 description 3
- 230000001174 ascending effect Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- 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
- A61G7/1013—Lifting of patients by
- A61G7/1017—Pivoting arms, e.g. crane type mechanisms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
- A61G7/1025—Lateral movement of patients, e.g. horizontal transfer
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
- A61G7/104—Devices carried or supported by
- A61G7/1046—Mobile bases, e.g. having wheels
- A61G7/1048—Mobile bases, e.g. having wheels having auxiliary drive means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
- A61G7/1049—Attachment, suspending or supporting means for patients
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
- A61G7/1073—Parts, details or accessories
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/04—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means
- F16F15/06—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means with metal springs
- F16F15/067—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means with metal springs using only wound springs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/70—General characteristics of devices with special adaptations, e.g. for safety or comfort
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/70—General characteristics of devices with special adaptations, e.g. for safety or comfort
- A61G2203/72—General characteristics of devices with special adaptations, e.g. for safety or comfort for collision prevention
- A61G2203/723—Impact absorbing means, e.g. bumpers or airbags
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- Health & Medical Sciences (AREA)
- Veterinary Medicine (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Nursing (AREA)
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Invalid Beds And Related Equipment (AREA)
Abstract
The invention discloses a transfer nursing device, comprising: the robot comprises a robot trunk, a pitching unit, a side bending unit, a bottom bracket and wheels; the robot trunk is fixedly connected with the pitching unit; the pitching unit is connected with the side bending unit; the side bending unit is fixedly connected with the bottom bracket; the bottom bracket is connected with the wheels through a damping module and a universal wheel driving module; the invention solves the problems of complex structure, poor bearing capacity, poor stability and poor flexibility of the existing transfer nursing device adopting Mecanum wheels or omnidirectional wheels at the bottom, the problem that the existing transfer nursing device can only realize single-degree-of-freedom pitching motion at the waist, and the problem that the existing transfer nursing device has poor safety and stability at the waist.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a transfer nursing device.
Background
According to the transfer nursing device in the prior art, the chassis of the transfer nursing device adopts Mecanum wheels or omni wheels as wheels of a robot, the structure is complex, the bearing capacity is poor, the requirement on the flatness of the ground is high, most of the devices do not have movable universal wheel structures, and the overall stability and flexibility are poor. The waist part of the robot can only realize single-degree-of-freedom pitching motion, and the robot has a simple structure and poor safety and stability.
Disclosure of Invention
Aiming at the defects in the prior art, the transfer nursing device provided by the invention solves the following problems:
1. the problems of complex structure, poor bearing capacity and poor stability and flexibility of the conventional transfer nursing device due to the fact that Mecanum wheels or omnidirectional wheels are adopted at the bottom of the conventional transfer nursing device;
2. the waist of the existing transfer nursing device has the problem that the pitching motion with single degree of freedom can be realized only;
3. the waist of the existing transfer nursing device has the problems of poor safety and stability.
In order to achieve the purpose of the invention, the invention adopts the technical scheme that: a transfer care device comprising: the robot comprises a robot trunk, a pitching unit, a side bending unit, a bottom bracket and wheels;
the robot trunk is fixedly connected with the pitching unit; the pitching unit is connected with the side bending unit; the side bending unit is fixedly connected with the bottom bracket; the bottom support is connected with the wheels through the damping module and the universal wheel driving module.
Further, the pitching unit includes: the device comprises a pitching frame, a pitching driving module and a first flange;
the first flange is fixedly connected with the pitching frame; and a transmission shaft of the pitching driving module is fixedly connected with the first flange to drive the first flange and the pitching frame to rotate.
Further, the pitching frame comprises: a support plate, a first support side frame and a second support side frame;
the supporting plate is fixedly connected with the trunk of the robot; one end of the first supporting side frame is fixedly connected with one end of the supporting plate; one end of the second supporting side frame is fixedly connected with one end of the supporting plate; the other end of the first supporting side frame is provided with an auxiliary rotating part; and the other end of the second support side frame is provided with a flange fixing part.
Further, the lateral bending unit includes: the lateral bending device comprises a lateral bending frame, a first fixing frame, a second fixing frame, a lateral bending driving module, a first gear, a second flange, a third flange and a transmission rod;
the side bending frame is movably connected with the first fixing frame and the second fixing frame respectively; the lateral bending driving module is fixedly connected with the first gear through a second flange; one end of the transmission rod is fixedly connected with the side bending frame, and the other end of the transmission rod is fixedly connected with the second gear and the third flange respectively; the third flange is fixedly connected with the second gear and the side bending frame respectively; the first gear is engaged with the second gear.
The beneficial effects of the above further scheme are: according to the invention, the lateral bending driving module drives the first gear to drive the second gear, so that the driving rod and the lateral bending frame are driven to rotate.
Further, the side bent frame includes: the device comprises a first lateral bending upper supporting frame, a second lateral bending upper supporting frame, a first lateral bending lower supporting frame, a second lateral bending lower supporting frame, a limiting column and a connecting block;
one end of the first lateral bending upper supporting frame is fixedly connected with one end of the second lateral bending upper supporting frame through a connecting block on one side; the other end of the first side-bent upper supporting frame is fixedly connected with the other end of the second side-bent upper supporting frame through a connecting block on the other side; one end of the first lateral bending lower support frame is fixedly connected with the connecting block on one side; one end of the second side-bent lower supporting frame is fixedly connected with the connecting block on the other side; the other end of the first side-bent lower supporting frame and the other end of the second side-bent lower supporting frame are both provided with a limiting column; one end of the limiting frame is fixedly connected with the connecting block on one side, and the other end of the limiting frame is fixedly connected with the connecting block on the other side; a pitching driving module of a pitching unit is fixed between the first lateral bending upper supporting frame and the second lateral bending upper supporting frame and is fixedly connected with a shell of the pitching driving module; the other end of the first support side frame extends into a space formed by the limiting frame and the first side-bending upper support frame, and the auxiliary rotating part of the first support side frame extends into the first side-bending upper support frame and is rotatably connected with the first side-bending upper support frame.
Furthermore, a first limit area is arranged on the first fixing frame, and a second limit area is arranged on the second fixing frame;
the first limiting area is used for inserting a limiting column of the first side-bent lower supporting frame; the second limiting area is used for inserting a limiting column of the second lateral bending lower supporting frame; the first fixing frame is rotationally connected with the first side-bent lower supporting frame; the second fixing frame is rotatably connected with the second lateral bending lower supporting frame.
The beneficial effects of the above further scheme are: the limit frame of the lateral bending frame can limit the rotation range of the pitching unit, and the limit column can limit the rotation range of the lateral bending unit.
Further, the bottom bracket includes: the upper bottom plate, the lower bottom plate and the bottom plate support frame;
the upper bottom plate is fixedly connected with the first fixing frame and the second fixing frame respectively;
one end of the bottom plate supporting frame is fixedly connected with the upper bottom plate, and the other end of the bottom plate supporting frame is fixedly connected with the lower bottom plate.
Further, the wheels comprise driving wheels and universal wheels;
the driving wheel includes: a drive wheel drive unit and a vacuum tire;
the driving wheel driving unit is embedded into the vacuum tire and fixedly connected with the vacuum tire.
The beneficial effects of the above further scheme are: the invention adopts the mode of combining the driving wheel driving unit with the vacuum tire, and has the advantages of simple structure, convenient motion control, high flexibility and high bearing capacity. And is provided with universal wheels, thereby further improving the stability and the strength of the device structure.
Further, the driving wheel side is provided with a damping module, which includes: a damping spring shock absorber and an L-shaped fixing plate;
the L-shaped fixing plate is fixedly connected with the driving wheel and fixedly connected with the damping spring shock absorber; the damping spring shock absorber includes: the damping device comprises a damping lower fixing plate, a damping upper fixing plate, a first limiting block, a second limiting block, a third limiting block, a stud and a spring; one surface of the lower damping fixing plate is fixedly connected with the L-shaped fixing plate, and the other surface of the lower damping fixing plate is fixedly connected with the first limiting block and one end of the spring; one surface of the upper damping fixing plate is fixedly connected with the other end of the spring, the second limiting block and the third limiting block respectively, and the other surface of the upper damping fixing plate is fixedly connected with the stud; the shock absorption upper fixing plate and the bottom bracket are fixed by the stud; the first limiting block surrounds the spring; the second limiting block and the third limiting block are distributed between the first limiting block and the spring.
The beneficial effects of the above further scheme are: the drive wheel is when surmounting the obstacle, and the barrier can give the drive wheel ascending power, and the shock attenuation bottom plate transmits this ascending power for the spring, and the shock attenuation bottom plate can one section distance of rebound simultaneously, and the spring is compressed, can apply a reaction force for the drive wheel, pushes down the drive wheel to play a effect that reduces the chassis height, realize the shock attenuation. According to the invention, each driving wheel is provided with the damping spring shock absorber, so that the safety of the robot in the processes of carrying out embracing and carrying out translation of the robot is improved, and the stability of the whole robot on an uneven road surface is also improved.
Further, be equipped with universal wheel drive module on the universal wheel, universal wheel drive module includes: the universal wheel driving device comprises a universal wheel connecting rod, a sliding block, a sliding rail, a universal wheel motor, a third gear, a first short driving rod, a second short driving rod, a first long driving rod, a second long driving rod and a transmission shaft;
one end of the universal wheel connecting rod is fixedly connected with the universal wheel, and the other end of the universal wheel connecting rod is fixedly connected with the bottom of the sliding block; the sliding block is connected with a sliding rail in a sliding manner, and the sliding rail is fixed on the bottom bracket; the universal wheel motor and the third gear are both fixed on the bottom bracket; the gear of the universal wheel motor is meshed with the third gear; the transmission shaft penetrates through the third gear and is fixedly connected with the third gear, one end of the transmission shaft is fixedly connected with one end of the first short driving rod, and the other end of the transmission shaft is fixedly connected with one end of the second short driving rod; one end of the first long driving rod is rotatably connected with the other end of the first short driving rod, and the other end of the first long driving rod is fixedly connected with the universal wheel connecting rod; one end of the second long driving rod is rotatably connected with the other end of the second short driving rod, and the other end of the second long driving rod is fixedly connected with the universal wheel connecting rod.
The beneficial effects of the above further scheme are: when the universal wheel motor drives the transmission shaft to rotate, the first short driving rod and the second short driving rod are driven to rotate, so that the first long driving rod and the second long driving rod apply thrust to the universal wheel connecting rod, and the universal wheel moves forwards. When the device holds a person, the gravity center of the upper half of the device moves forwards, and the gravity center of the device is stable through the movement of the sliding block on the sliding rail, so that the safety and the stability of the device are improved; meanwhile, in the driving process, the gravity center of the device can be stable through the reciprocating movement of the sliding block on the sliding rail.
In conclusion, the beneficial effects of the invention are as follows:
1. the invention adopts the mode of combining the driving wheel driving unit with the vacuum tire, and has the advantages of simple structure, convenient motion control, high flexibility and high bearing capacity. And is provided with universal wheels, thereby further improving the stability and the strength of the device structure.
2. The invention has the wheel type driving module which can be freely stretched, the stress area of the chassis is increased, the stability and the safety of the structure of the machine body are further improved, meanwhile, an independent damping unit is added in the structural design of each wheel, the impact vibration caused by uneven ground is filtered, the comfort of the transfer nursing device in the process of carrying out embracing and carrying out translation of the embracing person is improved, and the stability of the whole robot on uneven ground is also improved.
3. The waist of the device adopts a structural form with two degrees of freedom, and a lateral bending limiting mechanism and a pitching limiting mechanism are added in a lateral bending and pitching structure of the waist, so that the safety and the stability are improved. Meanwhile, the driving unit adopts a servo motor with a band-type brake, so that the safety and the stability of the transfer nursing robot in emergency situations such as power failure and the like in the process of holding a person are improved.
Drawings
FIG. 1 is a schematic view of the overall structure of a transfer nursing device;
FIG. 2 is a schematic structural diagram of a pitch unit;
FIG. 3 is a schematic structural diagram of a pitching frame;
FIG. 4 is a front structural view of the side bending unit;
FIG. 5 is a schematic diagram of a back structure of a lateral bending unit;
FIG. 6 is a schematic structural view of a side bent frame;
FIG. 7 is a schematic structural view of the bottom bracket;
FIG. 8 is a schematic structural view of a shock module;
FIG. 9 is a schematic structural view of a damping spring shock absorber;
FIG. 10 is a schematic structural diagram of a universal wheel drive module;
wherein, 1, the robot trunk; 2. a pitching unit; 3. a lateral bending unit; 4. a bottom bracket; 5. a wheel; 21. a pitching frame; 22. a pitch drive module; 23. a first flange; 211. a support plate; 212. a first support side frame; 213. a second support sideframe; 31. a side bending frame; 32. a first fixing frame; 33. a second fixing frame; 34. a lateral bending driving module; 35. a first gear; 36. a second gear; 37. a second flange; 38. a third flange; 39. a transmission rod; 311. the first lateral bend is provided with a support frame; 312. the second side bends the upper supporting frame; 313. the first side is bent to lower the support frame; 314. the second side bends the lower support frame; 315. a limiting frame; 316. a limiting column; 317. connecting blocks; 321. a first limiting region; 331. a second confinement region; 41. an upper base plate; 42. a lower base plate; 43. a bottom plate support frame; 44. a battery holder; 45. a drive module fixing frame; 46. a driver mount; 47. a wheel motor fixing frame; 48. a gear fixing frame; 51. a drive wheel; 52. a universal wheel; 551. a drive wheel drive unit; 552. vacuum tire; 61. a damping spring shock absorber; 62. an L-shaped fixing plate; 611. a shock-absorbing lower fixing plate; 612. a shock-absorbing upper fixing plate; 613. a first stopper; 614. a second limiting block; 615. a third limiting block; 616. a stud; 617. a spring; 71. a universal wheel connecting rod; 72. a slider; 73. a slide rail; 74. a universal wheel motor; 75. a third gear; 76. a first short drive rod; 77. a second short drive rod; 78. a first long drive lever; 79. a second long drive lever; 80. a drive shaft; 2121. an auxiliary rotating part; 2131. and a flange fixing part.
Detailed Description
The following description of the embodiments of the present invention is provided to facilitate the understanding of the present invention by those skilled in the art, but it should be understood that the present invention is not limited to the scope of the embodiments, and it will be apparent to those skilled in the art that various changes may be made without departing from the spirit and scope of the invention as defined and defined in the appended claims, and all matters produced by the invention using the inventive concept are protected.
Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments described below and the individual features of the embodiments can be combined with one another without conflict.
As shown in fig. 1, a transfer care apparatus includes: the robot comprises a robot trunk 1, a pitching unit 2, a side bending unit 3, a bottom bracket 4 and wheels 5;
the robot trunk 1 is fixedly connected with the pitching unit 2; the pitching unit 2 is connected with the side bending unit 3; the side bending unit 3 is fixedly connected with the bottom bracket 4; the bottom bracket 4 is connected with the wheels 5 through a damping module and a universal wheel driving module.
As shown in fig. 2, the pitching unit 2 includes: a pitch frame 21, a pitch drive module 22 and a first flange 23;
the first flange 23 is fixedly connected with the pitching frame 21; the transmission shaft of the pitching driving module 22 is fixedly connected with the first flange 23, and drives the first flange 23 and the pitching frame 21 to rotate.
As shown in fig. 3, the pitching frame 21 includes: a support plate 211, a first support side frame 212, and a second support side frame 213;
the supporting plate 211 is fixedly connected with the robot trunk 1; one end of the first supporting side frame 212 is fixedly connected with one end of the supporting plate 211; one end of the second supporting side frame 213 is fixedly connected with one end of the supporting plate 211; the other end of the first support side frame 212 is provided with an auxiliary rotating part 2121; the other end of the second support side frame 213 is provided with a flange fixing portion 2131.
As shown in fig. 4 to 5, the lateral bending unit 3 includes: the lateral bending device comprises a lateral bending frame 31, a first fixed frame 32, a second fixed frame 33, a lateral bending driving module 34, a first gear 35, a second gear 36, a second flange 37, a third flange 38 and a transmission rod 39;
the side bent frame 31 is movably connected with a first fixed frame 32 and a second fixed frame 33 respectively; the lateral bending driving module 34 is fixedly connected with the first gear 35 through a second flange 37; one end of the transmission rod 39 is fixedly connected with the side bent frame 31, and the other end of the transmission rod is fixedly connected with the second gear 36 and the third flange 38 respectively; the third flange 38 is fixedly connected with the second gear 36 and the side bent frame 31 respectively; the first gear 35 meshes with the second gear 36.
In this embodiment, the pitch driving module 22 and the lateral bending driving module 34 are integrated machines of a reducer, a torque sensor, an encoder, and a band-type brake servo ac motor. Accurate position control and speed control can be realized, and different torque outputs can be realized, thereby having different load capacities, realizing the lateral bending and pitching motion of the device through the matching of the structures of the pitching unit 2 and the lateral bending unit 3, and simultaneously improving the safety and stability of the device under the abnormal conditions of power failure and the like.
The invention drives the first gear 35 through the lateral bending driving module 34 to drive the second gear 36, thereby driving the transmission rod 39 and the lateral bending frame 31 to rotate.
As shown in fig. 6, the side bent frame 31 includes: a first side-bent upper support frame 311, a second side-bent upper support frame 312, a first side-bent lower support frame 313, a second side-bent lower support frame 314, a limiting frame 315, a limiting column 316 and a connecting block 317;
one end of the first side-bent upper support frame 311 is fixedly connected with one end of the second side-bent upper support frame 312 through a connecting block 317 at one side; the other end of the first side-bent upper support frame 311 is fixedly connected with the other end of the second side-bent upper support frame 312 through a connecting block 317 on the other side; one end of the first side-bent lower support frame 313 is fixedly connected with the connecting block 317 on one side; one end of the second side-bent lower support frame 314 is fixedly connected with the connecting block 317 on the other side; the other end of the first side-bent lower support frame 313 and the other end of the second side-bent lower support frame 314 are both provided with a limiting column 316; one end of the limiting frame 315 is fixedly connected with the connecting block 317 on one side, and the other end of the limiting frame is fixedly connected with the connecting block 317 on the other side; a pitching driving module 22 of the pitching unit 2 is fixed between the first side-bending upper support frame 311 and the second side-bending upper support frame 312, and is fixedly connected with a shell of the pitching driving module 22; the other end of the first support side frame 212 extends into the space formed by the limiting frame 315 and the first side-bent upper support frame 311, and the auxiliary rotating part 2121 thereof extends into the first side-bent upper support frame 311 and is rotatably connected with the first side-bent upper support frame 311.
A first limiting area 321 is arranged on the first fixing frame 32, and a second limiting area 331 is arranged on the second fixing frame 33;
the first limiting region 321 is used for inserting the limiting column 316 of the first lateral bending lower supporting frame 313; the second limiting area 331 is used for inserting the limiting column 316 of the second lateral bending lower supporting frame 314; the first fixing frame 32 is rotatably connected with the first lateral bending lower supporting frame 313; the second fixing frame 33 is rotatably connected to the second lateral bending lower supporting frame 314.
In this embodiment, when the first fixing frame 32 and the second fixing frame 33 are respectively connected to the lateral bending frame 31, a bearing may be used to facilitate the rotation of the lateral bending frame 31.
The stopper 315 of the lateral bending bracket 31 may limit the rotation range of the pitch unit 2, and the stopper post 316 may limit the rotation range of the lateral bending unit 3.
As shown in fig. 7, the bottom bracket 4 includes: an upper base plate 41, a lower base plate 42 and a base plate support frame 43;
the upper bottom plate 41 is fixedly connected with the first fixing frame 32 and the second fixing frame 33 respectively;
one end of the bottom plate support 43 is fixedly connected with the upper bottom plate 41, and the other end thereof is fixedly connected with the lower bottom plate 42.
The upper surface of the lower bottom plate 42 is also fixed with a battery fixing frame 44, a driving module fixing frame 45, two wheel motor fixing frames 47 and two sets of gear fixing frames 48, and the lower surface is fixed with two driver fixing frames 46.
The battery holder 44 is used for holding the battery of the device, and the battery is fixedly arranged on the lower bottom plate 42 and used as the energy of the chassis of the device and also used as a heavy object for preventing the device from falling and being pressed when in operation. When selecting, the battery with long cycle life, small internal resistance, good safety and long power supply time is adopted.
The wheels 5 comprise a driving wheel 51 and a universal wheel 52; the drive wheel 51 includes: a drive wheel drive unit 551 and a vacuum tire 552; the driving wheel driving unit 551 is embedded in the vacuum tire 552 and is fixedly connected to the vacuum tire 552.
The invention adopts a mode of combining the driving wheel driving unit 551 and the vacuum tire 552, and has simple structure, convenient motion control, high flexibility and high bearing capacity. And is provided with universal wheels 52, further improving the stability and strength of the device structure.
In this embodiment, the drive wheel driving unit 551 employs a dc servo hub motor.
Drive wheel 51 side is equipped with the shock attenuation module, as shown in fig. 8 ~ 9, the shock attenuation module includes: a damping spring damper 61 and an L-shaped fixing plate 62;
the L-shaped fixing plate 62 is fixedly connected with the driving wheel 51 and fixedly connected with the damping spring shock absorber 61; the damping spring absorber 61 includes: a shock-absorbing lower fixing plate 611, a shock-absorbing upper fixing plate 612, a first limiting block 613, a second limiting block 614, a third limiting block 615, a stud 616 and a spring 617; one surface of the shock-absorbing lower fixing plate 611 is fixedly connected with the L-shaped fixing plate 62, and the other surface thereof is fixedly connected with the first limiting block 613 and one end of the spring 617; one surface of the shock-absorbing upper fixing plate 612 is fixedly connected with the other end of the spring 617, the second limiting block 614 and the third limiting block 615 respectively, and the other surface thereof is fixedly connected with the stud 616; the stud 616 fixes the shock-absorbing upper fixing plate 612 and the bottom bracket 4; the first stopper 613 surrounds the spring 617; the second stopper 614 and the third stopper 615 are disposed between the first stopper 613 and the spring 617.
In this embodiment, the studs 616 secure the shock absorbing upper mounting plate 612 and the lower plate 42.
When the driving wheel 51 gets over an obstacle, the obstacle gives an upward force to the driving wheel 51, the damping lower fixing plate 611 transmits the upward force to the spring 617, and meanwhile, the damping lower fixing plate 611 moves upwards for a certain distance, the spring 617 is compressed, a reaction force is applied to the driving wheel 51, the driving wheel 51 is pressed downwards, and therefore the effect of reducing the height of the chassis is achieved, and the damping is achieved. According to the invention, each driving wheel 51 is provided with the damping spring shock absorber 61, so that the safety of the device in the processes of embracing and carrying out translation of the embracing person is improved, and the stability of the whole device on uneven road surfaces is also improved.
The universal wheel 52 is provided with a universal wheel driving module, as shown in fig. 10, the universal wheel driving module includes: universal wheel connecting rod 71, sliding block 72, sliding rail 73, universal wheel motor 74, third gear 75, first short driving rod 76, second short driving rod 77, first long driving rod 78, second long driving rod 79 and transmission shaft 80;
one end of the universal wheel connecting rod 71 is fixedly connected with the universal wheel 52, and the other end of the universal wheel connecting rod is fixedly connected with the bottom of the sliding block 72; the sliding block 72 is connected with a sliding rail 73 in a sliding manner, and the sliding rail 73 is fixed on the bottom bracket 4; the universal wheel motor 74 and the third gear 75 are both fixed on the bottom bracket 4; the gear of the universal wheel motor 74 is meshed with a third gear 75; the transmission shaft 80 passes through the third gear 75 and is fixedly connected with the third gear 75, one end of the transmission shaft is fixedly connected with one end of the first short driving rod 76, and the other end of the transmission shaft is fixedly connected with one end of the second short driving rod 77; one end of the first long driving rod 78 is rotatably connected with the other end of the first short driving rod 76, and the other end thereof is fixedly connected with the universal wheel connecting rod 71; one end of the second long driving rod 79 is rotatably connected to the other end of the second short driving rod 77, and the other end thereof is fixedly connected to the universal wheel connecting rod 71.
When the universal wheel motor 74 drives the transmission shaft 80 to rotate, the first short driving rod 76 and the second short driving rod 77 are driven to rotate, so that the first long driving rod 78 and the second long driving rod 79 apply thrust to the universal wheel connecting rod 71, and the universal wheel 52 advances. When the device holds a person, the gravity center of the upper half of the device moves forwards, and the gravity center of the device is stable through the movement of the sliding block 72 on the sliding rail 73, so that the safety and the stability of the device are improved; meanwhile, during driving, the gravity center of the device can be stabilized through the back and forth movement of the sliding block 72 on the sliding rail 73.
In this embodiment, the universal wheel motor 74 is a band-type brake servo ac motor and is mounted on the wheel motor fixing frame 47. The gear fixing frame 48 is used for placing the third gear 75, when the third gear 75 is placed on the gear fixing frame 48, bearings can be placed on two sides of the gear fixing frame 48, and the transmission shaft 80 is inserted into the bearings, so that the third gear 75 can be placed. The drive mount 46 is used to house the drives of the universal wheel motors 74, one drive associated with each universal wheel motor 74.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed" and "connected" are to be interpreted broadly, e.g., as being either fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present application.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (10)
1. A transfer care device, comprising: the robot comprises a robot trunk (1), a pitching unit (2), a side bending unit (3), a bottom support (4) and wheels (5);
the robot trunk (1) is fixedly connected with the pitching unit (2); the pitching unit (2) is connected with the side bending unit (3); the side bending unit (3) is fixedly connected with the bottom bracket (4); the bottom support (4) is connected with the wheels (5) through a damping module and a universal wheel driving module.
2. Transfer care device according to claim 1, characterized in that the pitch unit (2) comprises: a pitching frame (21), a pitching driving module (22) and a first flange (23);
the first flange (23) is fixedly connected with the pitching frame (21); and a transmission shaft of the pitching driving module (22) is fixedly connected with the first flange (23) to drive the first flange (23) and the pitching frame (21) to rotate.
3. Transfer care device according to claim 2, characterized in that the pitching frame (21) comprises: a support plate (211), a first support side frame (212), and a second support side frame (213);
the supporting plate (211) is fixedly connected with the robot trunk (1); one end of the first supporting side frame (212) is fixedly connected with one end of the supporting plate (211); one end of the second supporting side frame (213) is fixedly connected with one end of the supporting plate (211); the other end of the first supporting side frame (212) is provided with an auxiliary rotating part (2121); the other end of the second support side frame (213) is provided with a flange fixing part (2131).
4. Transfer care device according to claim 3, characterized in that the lateral bending unit (3) comprises: the device comprises a lateral bending frame (31), a first fixing frame (32), a second fixing frame (33), a lateral bending driving module (34), a first gear (35), a second gear (36), a second flange (37), a third flange (38) and a transmission rod (39);
the side bending frame (31) is movably connected with the first fixing frame (32) and the second fixing frame (33) respectively; the lateral bending driving module (34) is fixedly connected with the first gear (35) through a second flange (37); one end of the transmission rod (39) is fixedly connected with the side bending frame (31), and the other end of the transmission rod is fixedly connected with the second gear (36) and the third flange (38) respectively; the third flange (38) is fixedly connected with the second gear (36) and the side bending frame (31) respectively; the first gear (35) is meshed with the second gear (36).
5. Transfer care device according to claim 4, characterized in that the sidecar frame (31) comprises: the device comprises a first side bending upper supporting frame (311), a second side bending upper supporting frame (312), a first side bending lower supporting frame (313), a second side bending lower supporting frame (314), a limiting frame (315), a limiting column (316) and a connecting block (317);
one end of the first lateral bending upper supporting frame (311) is fixedly connected with one end of the second lateral bending upper supporting frame (312) through a connecting block (317) at one side; the other end of the first side-bent upper supporting frame (311) is fixedly connected with the other end of the second side-bent upper supporting frame (312) through a connecting block (317) on the other side; one end of the first lateral bending lower support frame (313) is fixedly connected with the connecting block (317) on one side; one end of the second side-bent lower support frame (314) is fixedly connected with the connecting block (317) on the other side; the other end of the first side-bent lower support frame (313) and the other end of the second side-bent lower support frame (314) are both provided with a limiting column (316); one end of the limiting frame (315) is fixedly connected with the connecting block (317) at one side, and the other end of the limiting frame is fixedly connected with the connecting block (317) at the other side; a pitching driving module (22) of the pitching unit (2) is fixed between the first side-bending upper supporting frame (311) and the second side-bending upper supporting frame (312), and is fixedly connected with a shell of the pitching driving module (22); the other end of the first support side frame (212) extends into a space formed by the limiting frame (315) and the first side-bent upper support frame (311), and the auxiliary rotating part (2121) of the first support side frame extends into the first side-bent upper support frame (311) and is rotatably connected with the first side-bent upper support frame (311).
6. Transfer nursing device according to claim 5, wherein the first fixing frame (32) is provided with a first limiting area (321), and the second fixing frame (33) is provided with a second limiting area (331);
the first limiting area (321) is used for being inserted into a limiting column (316) of the first side-bent lower supporting frame (313); the second limit area (331) is used for inserting a limit column (316) of the second side-bent lower support frame (314); the first fixing frame (32) is rotatably connected with the first side-bent lower supporting frame (313); the second fixed frame (33) is rotatably connected with the second lateral bending lower supporting frame (314).
7. Transfer care device according to claim 5, characterized in that the bottom bracket (4) comprises: an upper bottom plate (41), a lower bottom plate (42) and a bottom plate support frame (43);
the upper bottom plate (41) is fixedly connected with the first fixing frame (32) and the second fixing frame (33) respectively;
one end of the bottom plate supporting frame (43) is fixedly connected with the upper bottom plate (41), and the other end of the bottom plate supporting frame is fixedly connected with the lower bottom plate (42).
8. Transfer care device according to claim 1, characterized in that the wheels (5) comprise a drive wheel (51) and a universal wheel (52);
the drive wheel (51) includes: a drive wheel driving unit (551) and a vacuum tire (552);
the driving wheel driving unit (551) is embedded in the vacuum tire (552) and is fixedly connected with the vacuum tire (552).
9. Transfer care device according to claim 8, characterized in that the driving wheel (51) side is provided with a shock-absorbing module comprising: a damping spring shock absorber (61) and an L-shaped fixing plate (62);
the L-shaped fixing plate (62) is fixedly connected with the driving wheel (51) and is fixedly connected with the damping spring shock absorber (61); the damping spring shock absorber (61) includes: the damping device comprises a damping lower fixing plate (611), a damping upper fixing plate (612), a first limiting block (613), a second limiting block (614), a third limiting block (615), a stud (616) and a spring (617); one surface of the lower damping fixing plate (611) is fixedly connected with the L-shaped fixing plate (62), and the other surface of the lower damping fixing plate is fixedly connected with the first limiting block (613) and one end of the spring (617); one surface of the shock absorption upper fixing plate (612) is fixedly connected with the other end of the spring (617), the second limiting block (614) and the third limiting block (615) respectively, and the other surface of the shock absorption upper fixing plate is fixedly connected with the stud (616); the stud (616) fixes the shock-absorbing upper fixing plate (612) and the bottom bracket (4); the first limiting block (613) surrounds the spring (617); the second limiting block (614) and the third limiting block (615) are distributed between the first limiting block (613) and the spring (617).
10. Transfer care device according to claim 8, characterized in that the universal wheels (52) are provided with a universal wheel drive module comprising: the device comprises a universal wheel connecting rod (71), a sliding block (72), a sliding rail (73), a universal wheel motor (74), a third gear (75), a first short driving rod (76), a second short driving rod (77), a first long driving rod (78), a second long driving rod (79) and a transmission shaft (80);
one end of the universal wheel connecting rod (71) is fixedly connected with the universal wheel (52), and the other end of the universal wheel connecting rod is fixedly connected with the bottom of the sliding block (72); the sliding block (72) is connected with a sliding rail (73) in a sliding manner, and the sliding rail (73) is fixed on the bottom bracket (4); the universal wheel motor (74) and the third gear (75) are both fixed on the bottom bracket (4); the gear of the universal wheel motor (74) is meshed with a third gear (75); the transmission shaft (80) penetrates through the third gear (75) and is fixedly connected with the third gear (75), one end of the transmission shaft is fixedly connected with one end of the first short driving rod (76), and the other end of the transmission shaft is fixedly connected with one end of the second short driving rod (77); one end of the first long driving rod (78) is rotatably connected with the other end of the first short driving rod (76), and the other end of the first long driving rod is fixedly connected with the universal wheel connecting rod (71); one end of the second long driving rod (79) is rotatably connected with the other end of the second short driving rod (77), and the other end of the second long driving rod is fixedly connected with the universal wheel connecting rod (71).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210585952.9A CN114795750A (en) | 2022-05-26 | 2022-05-26 | Transfer nursing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210585952.9A CN114795750A (en) | 2022-05-26 | 2022-05-26 | Transfer nursing device |
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| CN114795750A true CN114795750A (en) | 2022-07-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210585952.9A Pending CN114795750A (en) | 2022-05-26 | 2022-05-26 | Transfer nursing device |
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Application publication date: 20220729 |