Transfer robot and its control device

Abstract

The present application provides a displacement robot and a control device thereof, and relates to the technical field of nursing equipment. The displacement robot in the present application can displace people who are inconvenient to move autonomously. The device has a simple structure, short preparation time, and is easy to operate, and can be convenient for the person being cared for to operate by themselves or controlled by the nursing staff. The main load-bearing arm can drive the supporting structure to rise or fall, and the person being cared for can lie prone in the supporting space formed by the supporting structure, and rise or fall with the supporting structure. During the displacement process of the person being cared for, the displacement robot does not need to apply external force to support the person being cared for, nor does it need the person being cared for to rely on his or her own leg strength, which reduces the difficulty of nursing work. The displacement robot has a compact structure and can be used in a smaller space, thereby improving the nursing level of the person being cared for.

Description

Technical Field

[0001] The present application relates to the technical field of nursing equipment, and in particular to a transfer robot and a control device thereof. Background Art

[0002] As the phenomenon of population aging intensifies, the situation of elderly care is becoming increasingly severe. Some elderly people cannot move independently due to physical reasons, or it is difficult for them to move, and they need caregivers to help them move. When helping the cared person move from the original position, due to their own weight, it is often difficult for caregivers to help them move with manpower alone, resulting in a decline in the quality of care for the cared elderly. At the same time, when the caregivers are helping the cared person to move, unpredictable dangerous situations may also occur. Summary of the invention

[0003] In order to at least overcome the above-mentioned deficiencies in the prior art, one of the objectives of the present application is to provide a transfer robot and a control device thereof.

[0004] The technical solutions provided by this application are as follows:

[0005] A displacement robot comprises: a base, a main load-bearing arm, a supporting structure, a first drive motor, a lifting arm, and a second drive motor, wherein:

[0006] One end of the main load-bearing arm is rotatably connected to the base via a first rotating shaft, and a roller is provided on the base;

[0007] The first driving motor is fixed on the base, and the driving motor comprises a first driving arm, one end of which is connected to the main load-bearing arm, and is used to drive the main load-bearing arm to rotate around the first rotating shaft;

[0008] The supporting structure is connected to the other end of the main load-bearing arm, and the supporting structure includes a bottom plate, side plates arranged on both sides of the bottom plate, and a handle connected to the bottom plate, and the bottom plate and the side plates are connected to enclose a supporting space for supporting a human body trunk;

[0009] One end of the lifting arm is rotatably connected to the main load-bearing arm via a second rotating shaft, and a cushion is provided at the other end of the lifting arm;

[0010] The second driving motor is fixed on the main load-bearing arm. The second driving motor includes a second driving arm. The second driving arm is connected to the lifting arm and is used to drive the lifting arm to rotate around the second rotating shaft.

[0011] Furthermore, the displacement robot further comprises: a knee protection pad, one end of the knee protection pad is connected to the main load-bearing arm, and a gap is provided on the knee protection pad for the lifting arm to pass through.

[0012] Furthermore, the seat cushion includes two sub-seat cushions arranged on both sides of the lifting arm, the sub-seat cushions are rotatably connected to the lifting arm, and the two sub-seat cushions are rotated to the same plane and fixed to form a seat cushion plane for a human body to sit on.

[0013] Furthermore, the transfer robot also includes a seat cushion drive motor for driving the two sub-seat cushions to rotate.

[0014] Furthermore, the displacement robot also includes a support rod, one end of which is rotatably connected to the lifting arm, and the other end of which is used to fix the sub-cushions after the two sub-cushions are rotated to the same plane.

[0015] Furthermore, the transfer robot also includes: an electrocardiogram detection module arranged on the handle for detecting the heart rate of the holder.

[0016] Furthermore, the transfer robot also includes: a camera module arranged on the bottom plate and used for capturing surrounding images.

[0017] Furthermore, the displacement robot further comprises: the displacement robot further comprises: a distance detection module arranged on the base, the distance detection module being used to detect the distance between the base and an obstacle;

[0018] The displacement robot also includes: a third drive motor for driving the roller to rotate and a processor connected to the distance detection module, wherein the processor is used to control the third drive motor to stop driving the roller to move when the distance between the base and the obstacle is less than a preset distance.

[0019] Furthermore, the transfer robot also includes: a battery module for supplying power to the transfer robot.

[0020] The present application also provides a control device of a shifting robot, which is applied to the above-mentioned shifting robot, and the control device is used to control the first driving motor to start or stop.

[0021] The displacement robot in the embodiment of the present application can be used to displace people who are inconvenient to move autonomously. The device has a simple structure, short preparation time, and is easy to operate, and can be convenient for the person being cared for to operate by themselves or controlled by the caregiver. The main load-bearing arm can drive the supporting structure to rise or fall, and the person being cared for can lie prone in the supporting space formed by the supporting structure, and rise or fall with the supporting structure. During the displacement of the person being cared for, the displacement robot does not need to apply external force to support the person being cared for, nor does it need the person being cared for to rely on his or her own leg strength, thereby reducing the difficulty of care in the nursing work. The displacement robot has a compact structure and can be used in a smaller space, thereby improving the care level of the person being cared for. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0023] Figure 1 A schematic structural diagram of a transfer robot provided in an embodiment of the present application.

[0024] Figure 2 Another structural schematic diagram of a transfer robot provided in an embodiment of the present application.

[0025] Figure 3 A schematic structural diagram of a transfer robot in a supporting state provided in an embodiment of the present application.

[0026] Figure 4 An oblique schematic diagram of a transfer robot provided in an embodiment of the present application.

[0027] Figure 5 This is a schematic diagram of the structure of a lifting arm and a seat cushion in a transfer robot provided in an embodiment of the present application when they are not unfolded.

[0028] Figure 6 This is a schematic diagram of the structure of a lifting arm and a seat cushion after unfolding in a transfer robot provided in an embodiment of the present application.

[0029] Figure 7 This is a schematic diagram of the side view structure of a lifting arm and a seat cushion after unfolding in a transfer robot provided in an embodiment of the present application.

[0030] Icons: 100-transfer robot; 101-base; 111-roller; 102-main load-bearing arm; 103-supporting structure; 131-handle; 132-side panel; 104-lifting arm; 141-seat cushion; 142-sub-seat cushion; 143-support rod; 105-knee protection pad; 106-distance detection module. DETAILED DESCRIPTION

[0031] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0032] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0033] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0034] In the description of this application, it should also be noted that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0035] like Figure 1 As shown, an embodiment of the present application provides a displacement robot 100, comprising: a base 101, a main load-bearing arm 102, a supporting structure 103, a first driving motor, a lifting arm 104 and a second driving motor.

[0036] One end of the main load-bearing arm 102 is rotatably connected to the base 101 through a first rotating shaft, and a roller 111 is provided on the base 101. The base 101 is a component that supports other structures. At the same time, in order to ensure the stability during the transportation of the human body, a counterweight of a certain weight can be configured in the base 101 according to actual needs to lower the center of gravity of the entire device and enhance the stability of the transfer robot 100 during the movement. The position of the roller 111 provided on the base 101 can be determined according to actual needs. The roller 111 at the front end of the movement direction can be a universal wheel, and the roller 111 at the rear end of the movement direction can be a one-way wheel with a fixed movement direction.

[0037] A third drive motor for driving the roller 111 can also be provided in the base 101. The third drive motor can drive the roller 111 to move, so that the displacement robot 100 does not need external force to push and can move by itself. One end of the main load-bearing arm 102 connected to the base 101 is rotatable, and the main load-bearing arm 102 can be rotated under the drive of the first drive motor. The first drive arm of the first drive motor can support the main load-bearing arm 102 to rotate around the first rotation axis, and fix the main load-bearing arm 102 after rotating to a certain angle, so that the main load-bearing arm 102 is stationary relative to the base 101.

[0038] The supporting structure 103 is connected to the other end of the main load-bearing arm 102. The supporting structure 103 includes a base plate, side plates 132 arranged on both sides of the base plate, and a handle 131 connected to the base plate. The base plate and the side plates 132 are connected to enclose a supporting space for supporting a human body trunk.

[0039] The supporting structure 103 is the main component for supporting the human body. The distance between the two side panels 132 can be determined according to the size of the supported human body. The handle 131 can be convenient for the person being transferred to hold. The bottom plate and the side panels 132 can be covered with thicker soft materials to improve the comfort of the person being supported. When the person is supported by the supporting structure 103, the person can hold the handle 131 with both hands and lie prone on the bottom plate. The bottom plate supports the torso, and the person's armpits can be fixed on the edge of the side panels 132 to prevent slipping from the bottom plate. After lying prone, the person can control the first drive motor to drive the main load-bearing arm 102 to rotate, and the angle between the main load-bearing arm 102 and the plane where the base 101 is located can gradually increase. The supporting structure 103 also moves in the direction away from the base 101 driven by the main load-bearing arm 102, thereby driving the supported human body to be lifted.

[0040] One end of the lifting arm 104 is rotatably connected to the main load-bearing arm 102 via a second rotating shaft, and a cushion 141 is disposed at the other end of the lifting arm 104 .

[0041] The second driving motor is fixed on the main load-bearing arm 102 . The second driving motor includes a second driving arm. The second driving arm is connected to the lifting arm 104 and is used to drive the lifting arm 104 to rotate around the second rotating shaft.

[0042] The supporting structure 103 supports the human torso, and the lifting arm 104 can serve as a structure for supporting the buttocks of the human body. The lifting arm 104 can rotate under the drive of the second drive motor. After the supporting structure 103 completes supporting the human torso and the main load-bearing arm 102 lifts the supporting structure 103 to a certain height, the second drive motor can drive the lifting arm 104 to rotate, so that the seat cushion 141 set at one end of the lifting arm 104 moves toward the direction close to the buttocks of the human body, and when the seat cushion 141 moves to contact the human body, the lifting arm 104 is driven to maintain the relative position with the main load-bearing arm 102 unchanged, and the supported person can sit on the seat cushion 141.

[0043] In another embodiment, the transfer robot 100 further includes an electrocardiogram detection module for detecting the heart rate of the holder, which is arranged on the handle 131. The heart rate of the holder can be detected in real time by the electrocardiogram detection module, so as to monitor the physical condition of the person being transported during the transport process.

[0044] In addition, the transfer robot 100 may also include a camera module disposed on the bottom plate for capturing surrounding images. The camera module can capture not only images of the person being transferred, but also surrounding images during the transfer process, thereby facilitating the retention of transfer evidence.

[0045] In another embodiment, if Figure 2 , Figure 3 and Figure 4As shown, the displacement robot 100 further includes: a knee protection pad 105, one end of which is connected to the main load-bearing arm 102, and a gap is provided on the knee protection pad 105 for the lifting arm 104 to pass through. After the main load-bearing arm 102 lifts the supporting structure 103 to a certain height, the torso of the supported person is supported by the supporting structure 103, and the supported person sits on the cushion 141 of the lifting arm 104. However, since the movement trajectory of the main load-bearing arm 102 lifting the supporting structure 103 is not perpendicular to the ground, the movement trajectory of the supporting structure 103 is an arc with the first rotating shaft as the center, so that the supported person faces the ground. At this time, if the knees of the supported person are not fixed, the person may slide off the cushion 141. The knee protection pad 105 in the embodiment of the present application can be a soft protection pad. The knees of the supported person can be in contact with the knee protection pad 105. The knee protection pad 105 can apply force to the supported person through the knees of the supported person, so that the body of the supported person will not slide toward the ground, so that the supported person can be more stably supported by the displacement robot 100.

[0046] When the lifting arm 104 is not supporting the human body, it can be stored on one side of the main load-bearing arm 102 under the drive of the second drive motor. After the knee protection pad 105 is set, the lifting arm 104 can move to a position in contact with the supported human body through the gap opened on the knee protection pad 105.

[0047] The seat cushion 141 provided on the lifting arm 104 can be used for people to sit on. In order to improve the supporting effect of the seat cushion 141 on people, the seat cushion 141 needs to be configured with a larger area so that the area of ​​contact between the seat cushion 141 and the human body is larger, thereby achieving effective and comfortable support. However, if the seat cushion 141 is large in area, it is fixed at one end of the lifting arm 104, which will not only affect the movement of the lifting arm 104, but also make it difficult to store the large seat cushion 141 when the lifting arm 104 is stored on the side of the main load-bearing arm 102. Therefore, in another embodiment, Figures 5 to 7 As shown, the seat cushion 141 may include two sub-seat cushions 142 respectively arranged on both sides of the lifting arm 104, and the sub-seat cushions 142 are rotatably connected to the lifting arm 104, so that the two sub-seat cushions 142 can be fixed after being rotated to a certain angle, such as Figure 7As shown, a support rod 143 can also be provided to fix the sub-seat cushion 142 to the lifting arm 104. Since the sub-seat cushion 142 can rotate freely around the rotation axis, the two sub-seat cushions 142 can be rotated to a position parallel to each other when not in use, that is, they can be stored in an upright state on both sides of the lifting arm 104. At this time, the space occupied by the cushion 141 can be reduced, and the lifting arm 104 can be stored on one side of the main load-bearing arm 102. When the lifting arm 104 is driven by the second drive motor to contact the supported human body, the two sub-seat cushions 142 in the stored state can be rotated and unfolded, and the state of being parallel to each other is changed to a state of being in the same plane. After unfolding, the sub-seat cushion 142 is fixed to the lifting arm 104 using the support rod 143, so that the two sub-seat cushions 142 are spliced ​​to form a cushion 141 for human body to sit on, providing a seat for the supported human body. In addition, the two sub-cushions 142 can also be automatically opened and closed by providing a cushion drive motor. The cushion drive motor can be provided in the lifting arm 104 and can drive the sub-cushions 142 to unfold or fold under the control of a control instruction.

[0048] In another embodiment, Figure 2 As shown, the transfer robot 100 further includes: a distance detection module 106 disposed on the base 101, for detecting the distance between the base 101 and an obstacle. The transfer robot 100 may also include a third drive motor for driving the roller 111 to rotate and a battery module for powering the transfer robot 100. In addition, the transfer robot 100 may further include: a processor connected to the distance detection module 106, the processor being used to control the third drive motor to stop driving the roller 111 to move when the distance between the base 101 and the obstacle is less than a preset distance.

[0049] In order to improve the safety of the transfer robot 100 in transporting personnel, the movement of the transfer robot 100 can be carried out by manual operation, and the forward or backward movement of the transfer robot 100 can be controlled by controlling the work of the third drive motor, and the movement direction of the transfer robot 100 can be controlled by controlling the movement direction of the roller 111. The control panel can be integrated with the functions of controlling the third drive motor and controlling the movement direction of the roller 111 to facilitate the operation of the staff. After the transfer robot 100 completes the support of the human body, it can move under the control of the operator so as to transport the supported person to the designated location. During the movement, the movement route of the transfer robot 100 may be close to obstacles. If it cannot be avoided in time, it may cause harm to the transported person. The distance detection module 106 in the embodiment of the present application can use ultrasonic waves, millimeter waves, lasers or other forms of detection media to detect the distance between the obstacle. When the distance detection module 106 detects that the distance to the obstacle is close, the processor can control the movement of the robot by controlling the third drive motor to stop working to ensure the safety of the personnel during the transfer process.

[0050] The operation flow of the transfer robot 100 is described below.

[0051] The person who needs to be transferred can first sit or stand at a certain position, and the staff can operate the transfer robot 100 to approach the person, so that the person faces the transfer robot 100, and the handle 131 in the supporting structure 103 is in a position away from the person. At this time, the transfer robot 100 can be in a Figure 2 The state shown. The staff can operate the main load-bearing arm 102 to rotate according to the position of the person waiting to be transferred, so that the supporting structure 103 rises or falls, and ensures that the position of the bottom plate corresponds to the torso position of the person being transferred. After the position of the supporting structure 103 is adjusted, the roller 111 can be controlled to be in a locked state to avoid sliding of the shift robot 100 during the supporting process. At the same time, the person being transferred can lie prone in the supporting space so that the torso part is located in the supporting space, and at the same time, the side of the side plate 132 close to the handle 131 is located under the armpit, and the hands of the person being transferred can hold the handle 131. Further, the staff can operate the first drive motor to drive the main load-bearing arm 102 to rotate, so that the supporting structure 103 is lifted. At this time, the person being transferred follows the supporting structure 103 and is lifted synchronously, and his lower limbs will gradually move away from the original sitting or standing position. When the person being transferred is lifted to a certain height, his knees can be against the knee protection pad 105 to prevent the lower limbs from sliding.

[0052] In order to prevent the lifting arm 104 from affecting the above-mentioned operation process, the lifting arm 104 is stored on one side of the main load-bearing arm 102 during the above-mentioned operation process. After the person being transported is lifted to a certain height, the lifting arm 104 can be controlled to rotate so that the seat cushion 141 provided at one end of the lifting arm 104 is between the legs of the human body and in contact with the human body. When the seat cushion 141 is in the form of two sub-seat cushions 142, after the lifting arm 104 contacts the human body, the two sub-seat cushions 142 can be opened and spliced ​​into a seat cushion 141 with a larger area, and the person being transported can sit on the seat cushion 141. At this time, the torso of the person being transported is supported by the supporting structure 103 in a prone position, the lower limbs are supported by the seat cushion 141 and the knee protection pad 105, and the feet of the person being transported can be placed on the base 101. At this time, the person being transported is supported by the transfer robot 100, and the transfer robot 100 can be in a prone position. Figure 3 In the state shown, the staff can operate the transfer robot 100 to move to the transfer location. During the transfer process, the heart rate sensor set on the handle 131 can detect the heart rate of the person being transferred, so that the staff can understand the physical condition of the person being transferred in real time. At the same time, during the transfer process, if the distance between the transfer robot 100 and the obstacle is close, the processor can control the roller 111 to stop rotating in time according to the distance data detected by the distance detection sensor to ensure that the person being transferred will not bump into the obstacle.

[0053] After the transfer robot 100 runs to the transfer destination, the transferee can be put down. The staff can first operate the seat cushion 141 to retract the lifting arm 104 to the side of the main load-bearing arm 102. At the same time, the lower limbs of the transferee are moved close to the position where they need to sit or lie down, and then the main load-bearing arm 102 is operated to move, so that the supporting structure 103 is lowered, and the transferee can be helped to sit on the seat. After that, the transferee can stand up from the supporting structure 103 and transfer the weight of the whole body to the seat. The staff can then operate the transfer robot 100 to evacuate and complete the transfer of the personnel.

[0054] In addition, for the transported person whose hands can move freely, he or she can also operate the movement of the transfer robot 100 by himself or herself without the help of other staff or caregivers, thus realizing autonomous transfer and self-care of the person's transfer, eliminating the psychological burden of the person being cared for, and there is no need to consider asking for help from others.

[0055] The present application also provides a control device of a shifting robot, which is applied to the above-mentioned shifting robot, and the control device is used to control the first driving motor to start or stop.

[0056] In summary, the displacement robot 100 in the embodiment of the present application can be used to displace people who are inconvenient to move autonomously. The device has a simple structure, short preparation time, and is easy to operate, and can be convenient for the care recipient to operate by themselves or controlled by the caregiver. The main load-bearing arm 102 can drive the supporting structure 103 to rise or fall, and the care recipient can lie prone in the supporting space formed by the supporting structure 103, and rise or fall with the supporting structure 103. During the displacement of the care recipient by the displacement robot 100, no external force is required to support the care recipient, nor is the care recipient required to rely on leg strength, which reduces the difficulty of care in the nursing work. The displacement robot 100 has a compact structure and can be used in a smaller space, thereby improving the care level of the care recipient.

[0057] The above are only various implementations of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A transfer robot, characterized in that: include: A base, a main load-bearing arm, a supporting structure, a first drive motor, a lifting arm, and a second drive motor, wherein: One end of the main load-bearing arm is rotatably connected to the base via a first rotating shaft, and a roller is provided on the base; The first driving motor is fixed on the base, and the first driving motor includes a first driving arm, one end of which is connected to the main load-bearing arm, and is used to drive the main load-bearing arm to rotate around the first rotating shaft; The supporting structure is connected to the other end of the main load-bearing arm, and the supporting structure includes a bottom plate, side plates arranged on both sides of the bottom plate, and a handle connected to the bottom plate, and the bottom plate and the side plates are connected to enclose a supporting space for supporting a human body trunk; One end of the lifting arm is rotatably connected to the main load-bearing arm via a second rotating shaft, and a seat cushion is provided on the other end of the lifting arm; The second drive motor is fixed on the main load-bearing arm, and the second drive motor includes a second drive arm, which is connected to the lifting arm and is used to drive the lifting arm to rotate around the second rotating shaft; Wherein, when the supporting structure completes supporting the trunk of the human body and the main load-bearing arm raises the supporting structure, the lifting arm rotates around the second rotating shaft under the drive of the second driving motor, so that the seat cushion provided on one end of the lifting arm moves toward the direction close to the buttocks of the human body, and when the seat cushion moves to contact the human body, the second driving motor stops driving so that the relative position of the lifting arm and the main load-bearing arm remains unchanged; The transfer robot further comprises: a knee protection pad, one end of which is connected to the main load-bearing arm, and a gap is provided on the knee protection pad for the lifting arm to pass through; The transfer robot also includes: a battery module for supplying power to the transfer robot.

2. The transfer robot according to claim 1, characterized in that: The seat cushion comprises two sub-seat cushions arranged on both sides of the lifting arm, the sub-seat cushions are rotatably connected to the lifting arm, and the two sub-seat cushions are rotated to the same plane and fixed to form a seat cushion plane for a human body to sit on.

3. The transfer robot according to claim 2, characterized in that: The transfer robot also includes a seat cushion driving motor for driving the two sub-seat cushions to rotate.

4. The transfer robot according to claim 2, characterized in that: The shifting robot further comprises a support rod, one end of which is rotatably connected to the lifting arm, and the other end of which is used to fix the sub-cushions after the two sub-cushions are rotated to the same plane.

5. The transfer robot according to claim 1, characterized in that: The transfer robot further comprises: an electrocardiogram detection module arranged on the handle for detecting the heart rate of the holder.

6. The transfer robot according to claim 1, characterized in that: The transfer robot also includes: a camera module arranged on the bottom plate and used for shooting surrounding images.

7. The transfer robot according to claim 1, characterized in that: The displacement robot further comprises: a distance detection module disposed on the base, the distance detection module being used to detect the distance between the base and an obstacle; The displacement robot also includes: a third drive motor for driving the roller to rotate and a processor connected to the distance detection module, wherein the processor is used to control the third drive motor to stop driving the roller to move when the distance between the base and the obstacle is less than a preset distance.

8. A control device for a displacement robot, characterized in that: Applied to the transfer robot described in any one of claims 1 to 7, the control device is used to control the first drive motor to start or stop.

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