CN116392327A - Mobile medical robot - Google Patents
Mobile medical robot Download PDFInfo
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- CN116392327A CN116392327A CN202310388118.5A CN202310388118A CN116392327A CN 116392327 A CN116392327 A CN 116392327A CN 202310388118 A CN202310388118 A CN 202310388118A CN 116392327 A CN116392327 A CN 116392327A
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- stretcher
- assembly
- connecting rod
- rod
- connecting cylinder
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- 230000005540 biological transmission Effects 0.000 claims abstract description 40
- 230000000712 assembly Effects 0.000 claims abstract description 27
- 238000000429 assembly Methods 0.000 claims abstract description 27
- 230000003247 decreasing effect Effects 0.000 claims abstract description 4
- 238000007789 sealing Methods 0.000 claims description 53
- 210000000078 claw Anatomy 0.000 claims description 20
- 230000003139 buffering effect Effects 0.000 claims description 2
- 238000000034 method Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 238000004804 winding Methods 0.000 description 5
- 230000004907 flux Effects 0.000 description 4
- 230000007423 decrease Effects 0.000 description 3
- 230000001174 ascending effect Effects 0.000 description 2
- 239000004744 fabric Substances 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001502 supplementing effect Effects 0.000 description 1
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G1/00—Stretchers
- A61G1/02—Stretchers with wheels
- A61G1/0293—Stretchers with wheels stretcher supports with wheels, e.g. used for stretchers without wheels
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G1/00—Stretchers
- A61G1/04—Parts, details or accessories, e.g. head-, foot-, or like rests specially adapted for stretchers
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G1/00—Stretchers
- A61G1/04—Parts, details or accessories, e.g. head-, foot-, or like rests specially adapted for stretchers
- A61G1/052—Struts, spars or legs
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a mobile medical robot, which relates to the technical field of medical instruments and comprises a robot body, wherein two vertical air pressure connecting rod assemblies are arranged on the inner side of the robot body, a stretcher frame for connecting a stretcher is commonly connected between the two air pressure connecting rod assemblies, a horizontally distributed rod transmission part is arranged in the robot body, the upper ends of the two air pressure connecting rod assemblies are in transmission connection with the rod transmission part through a buffer adjusting assembly, the air pressure connecting rod assemblies are used for limiting the lifting speed of the frame, and the rod transmission part is in transmission with the buffer adjusting assembly to enable the speed limited by the air pressure connecting rod assemblies to be increased or decreased.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a mobile medical robot.
Background
The stretcher is a medical instrument for rapidly moving a patient by manpower, is particularly used for moving a patient lying, mainly comprises a cloth for bearing the patient and two connecting rods, and has the advantages of folding and portability.
When using stretcher transportation personnel, need two at least personnel to rise the both ends of two connecting rods of stretcher respectively to lift the patient that will lie on cloth and remove, at accident place, the accident personnel who moves inconvenient generally need people to use the stretcher to remove, lift two people who send the stretcher and operate for a long time can make physical power run off fast, if on-the-spot personnel are insufficient and when the patient that needs to remove is more, double use stretcher to remove patient's efficiency can reduce fast.
In addition, when the stretcher is used for moving a patient, the stability of the movement needs to be kept as much as possible, secondary injury to the patient caused by excessive movement is prevented, and particularly, in the process of lifting the patient from the ground to a high position and lowering the height back to the ground, the lifting process needs personnel to apply large force to realize, so that the stability of the patient lifting process is difficult to guarantee.
Disclosure of Invention
The invention aims to provide a mobile medical robot, which solves the problem that the process of lifting a patient by using a stretcher is difficult to keep stable in the prior art.
In order to achieve the above purpose, the present invention provides the following technical solutions:
the movable medical robot comprises a robot body, wherein two vertical air pressure connecting rod assemblies are arranged on the inner side of the robot body, a stretcher frame for connecting a stretcher is commonly connected between the two air pressure connecting rod assemblies, a horizontally distributed rod transmission piece is arranged in the robot body, the upper ends of the two air pressure connecting rod assemblies are in transmission connection with the rod transmission piece through a buffer adjusting assembly, the air pressure connecting rod assemblies are used for limiting the lifting speed of the frame, and the rod transmission piece is in transmission with the buffer adjusting assembly to enable the speed limited by the air pressure connecting rod assemblies to be increased or decreased;
the movable pulley assembly connected with the pneumatic connecting rod assembly is arranged on the rod transmission member, the rod transmission member controls the stretcher frame to ascend and descend through the movable pulley assembly, the buckling assembly is arranged at the upper end of the stretcher frame, and the buckling assembly is buckled with the movable pulley assembly when the stretcher frame ascends to the highest point.
Preferably, the pneumatic connecting rod assembly comprises an outer connecting cylinder fixedly connected to the robot body, an inner connecting rod is connected in a sliding manner in the outer connecting cylinder, the upper end of the inner connecting rod is positioned in the outer connecting cylinder and is connected with a first sealing sliding block, the lower end of the inner connecting rod is positioned outside the outer connecting cylinder and is connected with the stretcher frame, and a plurality of air holes communicated with the inner part of the outer connecting cylinder are formed in the side wall of the outer connecting cylinder;
the air holes are distributed at equal intervals along the length direction of the outer connecting cylinder, the air holes are distributed at positions, close to the movable pulley assembly, on the outer connecting cylinder, the first sealing sliding block is always lower than any air hole in the outer connecting cylinder, and the movable pulley assembly is lifted in the outer connecting cylinder to cover and seal the corresponding air hole.
Preferably, the buffering adjusting component comprises a second sealing sliding block which is slidably connected in an upper port of the outer connecting cylinder, the second sealing sliding block is in threaded connection with a threaded rod, the outer part of the threaded rod is rotationally connected with the robot body through a first bearing, and the upper end of the threaded rod is in transmission connection with the rod transmission part through a spiral gear.
Preferably, the second sealing slide block is provided with a plurality of through holes which are longitudinally communicated, and an elastic covering component which is used for elastically covering the plurality of through holes on the second sealing slide block is arranged between the second sealing slide block and the first bearing on the threaded rod;
the elastic covering assembly comprises a sealing cover and a spring which are movably sleeved on the threaded rod, and a nut which is sleeved on the threaded rod through threads, wherein the sealing cover closes a plurality of through holes on the second sealing slide block when being attached to the upper end face of the second sealing slide block, and the spring is positioned between the sealing cover and the nut.
Preferably, the rod transmission member comprises a rotating shaft transversely distributed on the inner side of the robot body, the rotating shaft is rotatably connected with the robot body through two second bearings in a sleeved mode, one end of the rotating shaft is connected to a motor for driving the rotating shaft to rotate, the rotating shaft is in transmission connection with the outer sides of spiral gears of the two buffer adjusting assemblies through two external threads, and the middle position of the rotating shaft is used for connecting the movable pulley assemblies.
Preferably, the movable pulley assembly comprises a wire spool sleeved on the rotating shaft through a solid, and a steering wheel connected to the stretcher frame, wherein a connecting rope is wound on the outer side of the wire spool, and extends downwards to be connected with the steering wheel and then upwards to be connected with the robot body;
the wire spool is characterized in that clamping sinking grooves are formed in two side faces of the wire spool, and through grooves extending to the outer circumferential face of the wire spool are formed in the clamping sinking grooves.
Preferably, the fastening assembly comprises a sliding rail fixed at the upper end of the air pressure connecting rod assembly, the upper end of the sliding rail is connected with two sliding claws in a sliding manner, and elastic rings are sleeved on the outer sides of the two sliding claws together;
the two sliding claws are symmetrically distributed about the central axis of the sliding rail, the inner sides of the two sliding claws can be clamped into the clamping sinking grooves on the two sides of the wire spool, and the two sliding claws can penetrate through the through grooves to be separated from the clamping sinking grooves.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the invention, one end of the stretcher is lifted by using the movable machine, the rescue personnel can lift the scene accident personnel by matching with the machine and lifting the stretcher at the same time, and the rescue personnel can move together with the machine by pulling the two rods of the stretcher by a single person, so that the purpose of transporting the accident personnel by the single person is realized, and the physical strength of the scene rescue personnel is effectively saved.
2. According to the invention, the machine body is used as an installation body which is in direct contact with the ground, the movable pulley is installed on the frame body for fastening the stretcher, and the connecting rope bypasses the movable pulley through the roll paper structure to be connected with the machine body, so that a labor-saving movable pulley structure is formed, and the power requirement on the driving device is reduced.
3. According to the invention, the fastening structure is arranged on the stretcher frame body, so that the stretcher can be automatically fastened with the machine body after being lifted to the highest position of the machine, the lifted end part of the stretcher is prevented from falling, and the safety coefficient is improved.
4. According to the invention, the telescopic structures are connected to the two sides of the stretcher frame body, the lifting of the stretcher frame body and the interaction of the inner cavity of the telescopic structure with the outside air are limited, the automatic falling speed of the stretcher frame body from a high place is limited by limiting the inner cavity air flux of the telescopic structure, and the inner cavity air flux of the telescopic structure is further reduced along with the continuous falling of the stretcher frame body, so that the stepwise slow falling of the stretcher which is closer to the ground is realized.
Drawings
Fig. 1 is a schematic view of the overall structure of the device of the present invention.
Fig. 2 is an overall cross-sectional view of the device of the present invention.
Fig. 3 is a connection cross-sectional view of the pneumatic connecting rod assembly of the present invention.
FIG. 4 is a schematic view of the elastic covering assembly of the present invention.
Fig. 5 is a schematic view of a lever actuator of the present invention.
FIG. 6 is a schematic view of a fastening assembly according to the present invention.
Fig. 7 is a schematic structural view of a wire spool according to the present invention.
In the figure: 1. a robot body; 2. a pneumatic link assembly; 3. a stretcher frame; 4. a lever transmission member; 5. a buffer adjustment assembly; 6. a movable pulley assembly; 7. a fastening assembly;
21. an outer connecting cylinder; 22. connecting rods internally; 23. a first sealing slider; 24. air holes;
41. a rotating shaft; 42. a second bearing; 43. a motor; 44. an external thread;
51. a second sealing slider; 52. a threaded rod; 53. a first bearing; 54. a helical gear; 55. an elastic cover assembly;
551. sealing cover; 552. a spring; 553. a nut;
61. a wire spool; 62. a steering wheel; 63. a connecting rope;
611. clamping the sinking groove; 612. a through groove;
71. a slide rail; 72. a sliding jaw; 73. an elastic ring.
Detailed Description
The invention is further described in connection with the following detailed description, in order to make the technical means, the creation characteristics, the achievement of the purpose and the effect of the invention easy to understand.
Referring to fig. 1-7, the present invention provides a mobile medical robot technical scheme:
the movable medical robot comprises a robot body 1, wherein two vertical air pressure connecting rod assemblies 2 are arranged on the inner side of the robot body 1, a stretcher frame 3 for connecting a stretcher is commonly connected between the two air pressure connecting rod assemblies 2, a horizontally distributed rod transmission piece 4 is arranged in the robot body 1, the upper ends of the two air pressure connecting rod assemblies 2 are in transmission connection with the rod transmission piece 4 through a buffer adjusting assembly 5, the air pressure connecting rod assemblies 2 are used for limiting the lifting speed of the frame 3, and the rod transmission piece 4 is in transmission with the buffer adjusting assembly 5 to enable the speed limited by the air pressure connecting rod assemblies 2 to be increased or decreased;
the movable pulley assembly 6 connected with the air pressure connecting rod assembly 2 is arranged on the rod transmission member 4, the rod transmission member 4 controls the stretcher frame 3 to lift through the movable pulley assembly 6, the buckling assembly 7 is arranged at the upper end of the stretcher frame 3, and the buckling assembly 7 is buckled with the movable pulley assembly 6 when the stretcher frame 3 rises to the highest point.
According to the invention, one end of the stretcher is lifted by using the movable machine, the rescue personnel can lift the scene accident personnel by matching with the machine and lifting the stretcher at the same time, and the rescue personnel can move together with the machine by pulling the two rods of the stretcher by a single person, so that the purpose of transporting the accident personnel by the single person is realized, and the physical strength of the scene rescue personnel is effectively saved.
According to the invention, the machine body is used as an installation body which is in direct contact with the ground, the movable pulley is installed on the frame body for fastening the stretcher, and the connecting rope bypasses the movable pulley through the roll paper structure to be connected with the machine body, so that a labor-saving movable pulley structure is formed, and the power requirement on the driving device is reduced.
According to the invention, the fastening structure is arranged on the stretcher frame body, so that the stretcher can be automatically fastened with the machine body after being lifted to the highest position of the machine, the lifted end part of the stretcher is prevented from falling, and the safety coefficient is improved.
According to the invention, the telescopic structures are connected to the two sides of the stretcher frame body, the lifting of the stretcher frame body and the interaction of the inner cavity of the telescopic structure with the outside air are limited, the automatic falling speed of the stretcher frame body from a high place is limited by limiting the inner cavity air flux of the telescopic structure, and the inner cavity air flux of the telescopic structure is further reduced along with the continuous falling of the stretcher frame body, so that the stepwise slow falling of the stretcher which is closer to the ground is realized.
The pneumatic connecting rod assembly 2 comprises an outer connecting cylinder 21 fixedly connected to the robot body 1, an inner connecting rod 22 is connected in a sliding manner in the outer connecting cylinder 21, the upper end of the inner connecting rod 22 is positioned in the outer connecting cylinder 21 and is connected with a first sealing sliding block 23, the lower end of the inner connecting rod 22 is positioned outside the outer connecting cylinder 21 and is connected with the stretcher frame 3, and a plurality of air holes 24 communicated with the inner part of the outer connecting cylinder 21 are formed in the side wall of the outer connecting cylinder 21;
the air holes 24 are equidistantly distributed along the length direction of the outer connecting cylinder 21, the air holes 24 are distributed at positions, close to the movable pulley assembly 6, on the outer connecting cylinder 21, the first sealing sliding block 23 is always lower than the height of any air hole 24 in the outer connecting cylinder 21, and the movable pulley assembly 6 is lifted in the outer connecting cylinder 21 to cover and seal the corresponding air hole 24.
The buffer adjusting assembly 5 comprises a second sealing sliding block 51 which is slidably connected in the upper port of the outer connecting cylinder 21, the second sealing sliding block 51 is in threaded connection with a threaded rod 52, the outer part of the threaded rod 52 is rotationally connected with the robot body 1 through a first bearing 53, and the upper end of the threaded rod 52 is in transmission connection with the rod transmission part 4 through a spiral gear 54.
The second sealing slide block 51 is provided with a plurality of through holes which are longitudinally communicated, and an elastic covering component 55 which is used for elastically covering the plurality of through holes on the second sealing slide block 51 is arranged between the second sealing slide block 51 and the first bearing 53 on the threaded rod 52;
the elastic covering assembly 55 comprises a sealing cover 551 and a spring 552 movably sleeved on the threaded rod 52, and a nut 553 sleeved on the threaded rod 52 through threads, wherein when the sealing cover 551 is attached to the upper end surface of the second sealing slide block 51, a plurality of through holes on the second sealing slide block 51 are closed, and the spring 552 is positioned between the sealing cover 551 and the nut 553.
The rod transmission part 4 comprises a rotating shaft 41 transversely distributed on the inner side of the robot body 1, the rotating shaft 41 is rotatably connected with the robot body 1 through two second bearings 42 in a sleeved mode, one end of the rotating shaft 41 is connected to a motor 43 for driving the rotating shaft 41 to rotate, the rotating shaft 41 is in transmission connection with the outer sides of spiral gears 54 of the two buffer adjusting assemblies 5 through two external threads 44, and the middle position of the rotating shaft 41 is used for being connected with the movable pulley assembly 6.
The movable pulley assembly 6 comprises a wire spool 61 which is sleeved on the rotating shaft 41 through a solid body and a steering wheel 62 which is connected to the stretcher frame 3, a connecting rope 63 is wound on the outer side of the wire spool 61, and the connecting rope 63 extends downwards to be connected with the steering wheel 62 and then extends upwards to be connected with the robot body 1;
the wire spool 61 has engaging recess 611 formed on both sides, and through-grooves 612 extending to the outer circumferential surface of the wire spool 61 are formed in the engaging recess 611.
The connecting rope 63 is upwards connected to the robot body 1 after bypassing the stretcher frame 3, and the robot body 1 directly contacts with the ground, so that when the winding reel 61 winds the winding connecting rope 63, the movable pulley assembly 6 integrally forms a movable pulley structure, and the force required for lifting the stretcher frame 3 is reduced.
The buckling assembly 7 comprises a sliding rail 71 fixed at the upper end of the air pressure connecting rod assembly 2, the upper end of the sliding rail 71 is connected with two sliding claws 72 in a sliding manner, and the outer sides of the two sliding claws 72 are sleeved with an elastic ring 73;
the two sliding claws 72 are symmetrically distributed about the central axis of the slide rail 71, the inner sides of the two sliding claws 72 can be clamped into the clamping and sinking grooves 611 on both sides of the wire spool 61, and the two sliding claws 72 can pass through the through grooves 612 to be separated from the clamping and sinking grooves 611.
The principle of lifting one end of the stretcher is as follows:
the stretcher frame 3 can descend to be close to the ground at the inner side of the robot body 1, so that the end parts of two connecting rods of the stretcher can be placed on the stretcher frame 3, the corresponding positions on the stretcher frame 3 can be connected with the connecting rods through the conventional connecting devices, the connecting rods start to rotate along with the rotating shaft 41 through the control rod transmission piece 4, the wire reel 61 synchronously rotates and starts to wind the winding connecting rope 63, the steering wheel 62 starts to ascend along with the stretcher frame 2 and one end of the stretcher, and in the process, the two connecting rods at the other end of the stretcher can be matched with the robot to lift a patient together by controlling the rescue personnel.
When the stretcher frame 3 rises to the highest position, the inclined structures on the opposite sides of the two sliding claws 71 are in contact with the outer edges of the wire spool 61, and the two sliding claws 72 prop up the elastic ring 73 along with the continuous rising of the stretcher frame 3, so that the two sliding claws 72 are buckled into the buckling sinking grooves 611 on the two sides of the wire spool 61, the buckling assembly 7 at the upper end of the stretcher frame 3 is buckled with the movable pulley assembly 6, the control motor 43 stops running at the moment, the buckling assembly 7 needs to be separated from the movable pulley assembly 6 when the subsequent control stretcher frame 3 descends, and the two sliding claws 72 can be separated from the buckling sinking grooves 611 at the moment after the wire spool 61 is reversed until the two through grooves 612 on the wire spool 61 move to the right lower parts of the two sliding claws 72.
When the descending height of the stretcher needs to be controlled, the motor 43 needs to be controlled to rotate reversely, so that the winding reel 61 continuously releases the winding connecting rope 63, the stretcher frame 3 continuously descends under the action of gravity, when the stretcher frame 3 descends, the two inner connecting rods 22 connected with the two ends of the stretcher frame 3 synchronously descend, the inner connecting rods 22 and the first sealing sliding blocks 23 slide downwards in the inner cavity of the outer connecting cylinder 21, the air pressure in the inner cavity of the outer connecting cylinder 21 can be quickly reduced due to the sliding of the first sealing sliding blocks 23, and the balance needs to be realized through the air supplementing of the plurality of air holes 24 arranged on the outer connecting cylinder 21, but the air inflow of the air holes limits the speed of the air entering the inner cavity of the outer connecting cylinder 21, so that the speed of the first sealing sliding blocks 23 sliding downwards in the outer connecting cylinder 21 is limited, and the descending speed of the stretcher frame 3 and the stretcher is stable and slow.
In addition, in the process of controlling the stretcher frame 3 to descend, the rotating shaft 41 continuously rotates to drive the spiral gears 54 of the two buffer adjusting assemblies 5 through the two external threads 44, the spiral gears 54 rotate in the first bearings 53 together with the threaded rods 52, the threaded rods 52 control the second sealing sliding blocks 51 to slide downwards in the outer connecting cylinders 21 through threads, as the height of the second sealing sliding blocks 51 continuously decreases, more and more air holes 24 are blocked, the number of the air holes 24 continuously decreases, the descending speed of the first sealing sliding blocks 23 continuously decreases, and therefore the lower the ground speed of the stretcher frame 3 and the stretcher is, the lower the descending stability of the stretcher is further enhanced.
When the stretcher frame 3 ascends, the number of the air holes 24 communicated at this time is small, the ascending efficiency of the first sealing slide block 23 is low, and the slow ascending of the stretcher can cause the low rescue efficiency, so when the first sealing slide block 23 ascends in the outer connecting cylinder 21, on one hand, the spiral gear 54 reversely rotates, the second sealing slide block 51 is controlled to continuously ascend through the threaded rod 52 to be communicated with more and more air holes, on the other hand, the air pressure in the outer connecting cylinder 21 can be rapidly risen, so that the sealing cover 551 is propped up through a plurality of through holes on the second sealing slide block 51 to release pressure, and when the air pressure in the inner cavity of the outer connecting cylinder 21 is balanced with the outside, the sealing cover 551 elastically supported by the spring 552 is attached to the second sealing slide block 51 again, so that the through holes are blocked, and the strength of the sealing cover 551 is elastically pressed by the spring 552 is adjusted through the rotating nut 553.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (7)
1. A mobile medical robot, characterized in that: the stretcher comprises a robot body (1), wherein two vertical air pressure connecting rod assemblies (2) are arranged on the inner side of the robot body (1), stretcher frames (3) for connecting a stretcher are commonly connected between the two air pressure connecting rod assemblies (2), rod transmission pieces (4) which are horizontally distributed are arranged in the robot body (1), the upper ends of the two air pressure connecting rod assemblies (2) are in transmission connection with the rod transmission pieces (4) through buffer adjusting assemblies (5), the air pressure connecting rod assemblies (2) are used for limiting the lifting speed of the frame frames (3), and the rod transmission pieces (4) are in transmission with the buffer adjusting assemblies (5) so that the speed limited by the air pressure connecting rod assemblies (2) is increased or decreased;
the movable pulley assembly (6) connected with the pneumatic connecting rod assembly (2) is arranged on the rod transmission member (4), the rod transmission member (4) controls the stretcher frame (3) to ascend and descend through the movable pulley assembly (6), the buckling assembly (7) is arranged at the upper end of the stretcher frame (3), and the buckling assembly (7) is buckled with the movable pulley assembly (6) when the stretcher frame (3) ascends to the highest point.
2. A mobile medical robot according to claim 1, wherein: the pneumatic connecting rod assembly (2) comprises an outer connecting cylinder (21) fixedly connected to the robot body (1), an inner connecting rod (22) is connected in a sliding manner in the outer connecting cylinder (21), the upper end of the inner connecting rod (22) is positioned in the outer connecting cylinder (21) and is connected with a first sealing sliding block (23), the lower end of the inner connecting rod (22) is positioned outside the outer connecting cylinder (21) and is connected with the stretcher frame (3), and a plurality of air holes (24) communicated with the inner part of the outer connecting cylinder (21) are formed in the side wall of the outer connecting cylinder;
the air holes (24) are distributed at equal intervals along the length direction of the outer connecting cylinder (21), the air holes (24) are distributed at positions, close to the movable pulley assembly (6), on the outer connecting cylinder (21), the first sealing sliding block (23) is always lower than any air hole (24) in the outer connecting cylinder (21), and the movable pulley assembly (6) is lifted in the outer connecting cylinder (21) to cover and seal the corresponding air hole (24).
3. A mobile medical robot according to claim 1, wherein: the buffering adjusting assembly (5) comprises a second sealing sliding block (51) which is slidably connected in an upper port of the outer connecting cylinder (21), the second sealing sliding block (51) is in threaded connection with a threaded rod (52), the outer part of the threaded rod (52) is rotationally connected with the robot body (1) through a first bearing (53), and the upper end of the threaded rod (52) is in transmission connection with the rod transmission part (4) through a spiral gear (54).
4. A mobile medical robot according to claim 3, characterized in that: the second sealing slide block (51) is provided with a plurality of through holes which are longitudinally communicated, and an elastic covering component (55) which is used for elastically covering the plurality of through holes on the second sealing slide block (51) is arranged between the second sealing slide block (51) and the first bearing (53) on the threaded rod (52);
the elastic covering assembly (55) comprises a sealing cover (551) and a spring (552) which are movably sleeved on the threaded rod (52), and a nut (553) sleeved on the threaded rod (52) through threads, the sealing cover (551) closes a plurality of through holes on the second sealing slide block (51) when being attached to the upper end face of the second sealing slide block (51), and the spring (552) is located between the sealing cover (551) and the nut (553).
5. A mobile medical robot according to claim 3, characterized in that: the rod transmission piece (4) comprises rotating shafts (41) which are transversely distributed on the inner side of the robot body (1), the rotating shafts (41) are rotatably connected with the robot body (1) through two second bearings (42) in a sleeved mode, one end of each rotating shaft (41) is connected to a motor (43) used for driving the rotating shafts (41) to rotate, the rotating shafts (41) are in transmission connection with the outer sides of spiral gears (54) of the buffer adjusting assemblies (5) through two external threads (44), and the middle position of each rotating shaft (41) is used for being connected with the movable pulley assembly (6).
6. A mobile medical robot as defined in claim 5, wherein: the movable pulley assembly (6) comprises a wire spool (61) which is sleeved on the rotating shaft (41) and a steering wheel (62) which is connected to the stretcher frame (3), a connecting rope (63) is wound on the outer side of the wire spool (61), and the connecting rope (63) extends downwards to be connected with the steering wheel (62) and then extends upwards to be connected with the robot body (1);
both side surfaces of the wire spool (61) are provided with clamping sinking grooves (611), and through grooves (612) extending to the outer circumferential surface of the wire spool (61) are formed in the clamping sinking grooves (611).
7. The mobile medical robot of claim 6, wherein: the buckling assembly (7) comprises a sliding rail (71) fixed at the upper end of the air pressure connecting rod assembly (2), two sliding claws (72) are connected to the upper end of the sliding rail (71) in a sliding mode, and elastic rings (73) are sleeved on the outer sides of the two sliding claws (72) together;
the two sliding claws (72) are symmetrically distributed about the central axis of the sliding rail (71), the inner sides of the two sliding claws (72) can be clamped into clamping sinking grooves (611) on two sides of the wire spool (61), and the two sliding claws (72) can penetrate through the through grooves (612) to be separated from the clamping sinking grooves (611).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310388118.5A CN116392327A (en) | 2023-04-12 | 2023-04-12 | Mobile medical robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310388118.5A CN116392327A (en) | 2023-04-12 | 2023-04-12 | Mobile medical robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116392327A true CN116392327A (en) | 2023-07-07 |
Family
ID=87017660
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310388118.5A Pending CN116392327A (en) | 2023-04-12 | 2023-04-12 | Mobile medical robot |
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| Country | Link |
|---|---|
| CN (1) | CN116392327A (en) |
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| GB0015583D0 (en) * | 2000-06-27 | 2000-08-16 | Frost Douglas R D | Dual discharge valve |
| TWM241411U (en) * | 2003-07-11 | 2004-08-21 | Kuen-Shan Shiu | Dual axle jack featured with buffered lowering action |
| CN101740449A (en) * | 2009-12-29 | 2010-06-16 | 浙江大学 | Vortex flow silicon slice holder |
| CN106691715A (en) * | 2016-12-30 | 2017-05-24 | 尹遵义 | Medical transfer cart |
| CN207213315U (en) * | 2017-08-16 | 2018-04-10 | 温州市海格阀门有限公司 | Docking valve is irrigated in a kind of self balancing gardens draining of air pressure |
| CN207519894U (en) * | 2017-05-15 | 2018-06-22 | 上海酬勤家俱有限公司 | Couch |
| CN109854482A (en) * | 2019-01-18 | 2019-06-07 | 宁波市爱托普气动液压有限公司 | A kind of gas-liquid booster pump |
| CN210164993U (en) * | 2019-07-01 | 2020-03-20 | 乐山市前沿油气设备制造有限公司 | Two-stage sleeve type high-pressure throttle valve |
| CN211535220U (en) * | 2020-01-16 | 2020-09-22 | 陈霞 | Medical stretcher device for emergency department |
| JP2021081064A (en) * | 2019-11-14 | 2021-05-27 | 株式会社アイシン | Rotary valve |
| CN214359828U (en) * | 2021-01-04 | 2021-10-08 | 上海久能机电制造有限公司 | Electric windproof pull rod |
| CN114104425A (en) * | 2021-11-30 | 2022-03-01 | 滁州优胜高分子材料有限公司 | Finished material packaging equipment for producing modified polyphenyl ether material |
| WO2022134223A1 (en) * | 2020-12-21 | 2022-06-30 | 江苏大学 | Fan-shaped air suction nozzle capable of automatically adjusting air suction speed |
| CN114688195A (en) * | 2022-04-29 | 2022-07-01 | 邵阳市通达汽车零部件制造有限公司 | Gas spring with adjustable stroke |
| CN114835050A (en) * | 2022-04-25 | 2022-08-02 | 南通市通州区吉安建筑机械有限公司 | Energy-saving self-speed-adjusting door type elevator |
| CN218305995U (en) * | 2022-03-22 | 2023-01-17 | 汪振 | Exercise device capable of protecting waist |
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2023
- 2023-04-12 CN CN202310388118.5A patent/CN116392327A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB0015583D0 (en) * | 2000-06-27 | 2000-08-16 | Frost Douglas R D | Dual discharge valve |
| TWM241411U (en) * | 2003-07-11 | 2004-08-21 | Kuen-Shan Shiu | Dual axle jack featured with buffered lowering action |
| CN101740449A (en) * | 2009-12-29 | 2010-06-16 | 浙江大学 | Vortex flow silicon slice holder |
| CN106691715A (en) * | 2016-12-30 | 2017-05-24 | 尹遵义 | Medical transfer cart |
| CN207519894U (en) * | 2017-05-15 | 2018-06-22 | 上海酬勤家俱有限公司 | Couch |
| CN207213315U (en) * | 2017-08-16 | 2018-04-10 | 温州市海格阀门有限公司 | Docking valve is irrigated in a kind of self balancing gardens draining of air pressure |
| CN109854482A (en) * | 2019-01-18 | 2019-06-07 | 宁波市爱托普气动液压有限公司 | A kind of gas-liquid booster pump |
| CN210164993U (en) * | 2019-07-01 | 2020-03-20 | 乐山市前沿油气设备制造有限公司 | Two-stage sleeve type high-pressure throttle valve |
| JP2021081064A (en) * | 2019-11-14 | 2021-05-27 | 株式会社アイシン | Rotary valve |
| CN211535220U (en) * | 2020-01-16 | 2020-09-22 | 陈霞 | Medical stretcher device for emergency department |
| WO2022134223A1 (en) * | 2020-12-21 | 2022-06-30 | 江苏大学 | Fan-shaped air suction nozzle capable of automatically adjusting air suction speed |
| CN214359828U (en) * | 2021-01-04 | 2021-10-08 | 上海久能机电制造有限公司 | Electric windproof pull rod |
| CN114104425A (en) * | 2021-11-30 | 2022-03-01 | 滁州优胜高分子材料有限公司 | Finished material packaging equipment for producing modified polyphenyl ether material |
| CN218305995U (en) * | 2022-03-22 | 2023-01-17 | 汪振 | Exercise device capable of protecting waist |
| CN114835050A (en) * | 2022-04-25 | 2022-08-02 | 南通市通州区吉安建筑机械有限公司 | Energy-saving self-speed-adjusting door type elevator |
| CN114688195A (en) * | 2022-04-29 | 2022-07-01 | 邵阳市通达汽车零部件制造有限公司 | Gas spring with adjustable stroke |
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