A human body lifting robot

Abstract

A human body lifting robot is characterized by: an AGV chassis device (100), a load-bearing shaft mechanism (200), a lifting mechanism (300), a rake-type support (400), and an intelligent control system (500). The robot is used as an intelligent device for lifting patients between stretchers, beds, operating tables, and examination equipment in hospitals, nursing institutions, and retirement institutions. The beneficial effects of the present invention are as follows: 1. Intelligent technology is used to solve the problem that medical units have long relied on manpower to lift patients. 2. The labor intensity of medical staff is reduced and the employment cost is reduced. 3. The number of times medical staff directly contact patients is reduced, and the risk of infection for medical staff and patients' families is reduced. 4. It is widely used in hospitals, nursing institutions, retirement institutions, etc. to lift and transport patients between stretchers, beds, and medical equipment.

Description

Technical Field

[0001] The invention relates to the fields of hospitals, nursing institutions and elderly care institutions, and is a human body lifting robot. Background Art

[0002] At present, most hospitals, nursing institutions, and elderly care institutions at home and abroad carry and move patients between stretchers, beds, operating tables, and examination equipment. Basically, several people carry and lift the patient together or wrap the patient in a bed sheet. A small number of hospitals use a lifting and sliding device to lift and slide the patient with a sling. However, the above methods have the following defects:

[0003] 1. Waste manpower and increase the labor intensity of medical staff.

[0004] 2. Especially when lifting patients with infectious diseases, close contact greatly increases the risk of medical staff being infected.

[0005] 3. Lifting by a crowd, wrapping the patient in a sheet, or lifting the patient by a machine. These can easily cause secondary injuries to the patient due to uneven force. Summary of the invention

[0006] In view of the above problems, the present invention proposes a human body lifting robot, which can well solve the above problems.

[0007] To achieve the above technical objectives, the technical solution of the present invention is implemented as follows:

[0008] As stated Figure 1 , 2, 3, which is characterized by including an AGV chassis device (100), a load-bearing shaft mechanism (200), a lifting mechanism (300), a rake-type support (400), and an intelligent control system (500).

[0009] further

[0010] As stated Figure 1 , 2, 3 The AGV chassis device (100) is characterized by comprising an AGV chassis mounting frame (101), a motor drive wheel module (102), a differential steering power device (103), a battery module (104), and an AGV chassis mounting frame cover (105).

[0011] further

[0012] As stated Figure 1 , 2,3 The load-bearing rotating shaft mechanism (200) is characterized by comprising a lower bearing module (201), a coupling (202), a synchronizer (203), a driving motor (204), an upper bearing module (205), a rotating shaft (206), and a lifting mechanism connecting plate (207).

[0013] further

[0014] As stated Figure 1 , 4, 5, 6 The lifting mechanism (300) is characterized by including a lifting mechanism mounting frame (301), an upper slide rail (302), a lower slide rail (303), an upper moving crossbar (304), a lower moving crossbar (305), an upper synchronous belt shaft (306), an upper synchronous belt pulley shaft (307), a lower synchronous belt shaft (308), a lower synchronous belt pulley shaft (309), an upper moving crossbar transmission servo motor (310), and a lower moving crossbar transmission servo motor (311).

[0015] further

[0016] As stated Figure 1 , 5, 6, 7 The rake-type support (400) is characterized by comprising an upper rake-type support (416), a lower rake-type support (401), an upper rake-type support upper lifting servo electric cylinder (402), an upper rake-type support copper sleeve guide rail (403), an upper rake-type support load-bearing crossbar (404), an upper rake-type support L-shaped bionic finger (405), a lower rake-type support upper lifting servo electric cylinder (406), a lower rake-type support copper sleeve guide rail (407), a lower rake-type support load-bearing crossbar (408), a lower rake-type support L-shaped bionic finger (409), a bionic finger main rod (410), a bionic finger main rod slideway (411), a bionic finger pressure sensor (412), a bionic finger main rod slideway spring (413), a bionic finger slideway bolt (414), and a bionic finger latex sleeve (415).

[0017] further

[0018] As stated Figure 8 The intelligent control system (500) is characterized by comprising a laser radar recognition device (501) and a visual recognition device (502).

[0019] Beneficial effects of the present invention:

[0020] 1. Apply intelligent technology to solve the problem that medical units have long relied on manpower to lift and move patients.

[0021] 2. Reduce the labor intensity of medical staff and reduce employment costs.

[0022] 3. Reduce the number of times medical staff come into direct contact with patients, thereby reducing the risk of infection for medical staff and patients’ families.

[0023] 4. Widely used in hospitals, nursing institutions, retirement homes, etc. to lift and transport patients between stretchers, beds, and medical equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0025] Figure 1 .Schematic diagram of the human body lifting robot structure.

[0026] Figure 2 .Schematic diagram of the AGV chassis structure.

[0027] Figure 3 .Schematic diagram of the load-bearing shaft mechanism.

[0028] Figure 4 .Schematic diagram of lifting and moving mechanism.

[0029] Figure 5 .Schematic diagram of the upper rake type support.

[0030] Figure 6 .Schematic diagram of the lower rake type support.

[0031] Figure 7 .Schematic diagram of the bionic finger.

[0032] Figure 8 .Schematic diagram of the intelligent control system.

[0033] Fig. 9 .Side view of the structure of the human body lifting robot.

[0034] 100.AGV chassis device.

[0035] 101.AGV chassis mounting frame.

[0036] 102. Motor driven wheel module.

[0037] 103. Differential steering power unit.

[0038] 104. Battery module.

[0039] 105.AGV chassis installation frame cover.

[0040] 200. Load-bearing pivot mechanism.

[0041] 201. Lower bearing module.

[0042] 202. Coupling.

[0043] 203. Synchronizer.

[0044] 204. Driving motor.

[0045] 205. Upper bearing module.

[0046] 206. Axis.

[0047] 207. Lifting mechanism connecting plate.

[0048] 300. Lifting and moving mechanism.

[0049] 301. Lifting mechanism installation frame.

[0050] 302. Upper slide rail.

[0051] 303. Down the slide rail.

[0052] 304. Move the horizontal bar upward.

[0053] 305. Move the horizontal bar down.

[0054] 306.Upper synchronous belt shaft.

[0055] 307.Upper synchronous pulley shaft.

[0056] 308.Lower synchronous belt shaft.

[0057] 309.Lower synchronous pulley shaft.

[0058] 310. The upper moving horizontal bar drives the servo motor.

[0059] 311. The lower moving horizontal bar drives the servo motor.

[0060] 400. Rake type handle.

[0061] 401. Downward raking type handle.

[0062] 402. Upper rake type support lifting servo cylinder.

[0063] 403.Upper rake type support copper sleeve guide rail.

[0064] 404. Upper rake type support handle load-bearing cross bar.

[0065] 405. Upper rake type support hand L-shaped bionic finger.

[0066] 406. Lower rake type support lifting servo cylinder.

[0067] 407. Lower rake type support copper sleeve guide rail.

[0068] 408. Lower rake type support handle load-bearing cross bar.

[0069] 409. Downward rake type support hand L-shaped bionic finger.

[0070] 410. Bionic finger main rod.

[0071] 411. Bionic finger main rod slide.

[0072] 412. Bionic finger pressure sensor.

[0073] 413.Bionic finger main rod slide spring.

[0074] 414. Bionic Finger Slide Pin.

[0075] 415. Bionic Finger Latex Gloves.

[0076] 416. Upper rake type handle support.

[0077] 500. Intelligent control system.

[0078] 501. Laser radar recognition device.

[0079] 502. Visual recognition device. DETAILED DESCRIPTION

[0080] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solution in the embodiment of a human body lifting robot of the present invention. Obviously, the described embodiment is only a part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field belong to the scope of protection of the present invention.

[0081] The human body lifting robot is composed as follows:

[0082] As stated Figure 1 , 2, 3 The AGV chassis device (100) is characterized in that the motor drive wheel module (102) is installed on the AGV chassis mounting frame (101) to provide power to drive the entire structure to move, the differential steering power device (103) is installed on the front drive module to achieve smooth steering, and the battery module (104) provides power for the entire system. The AGV chassis mounting frame cover (105) covers the AGV chassis mounting frame (101).

[0083] further

[0084] As stated Figure 1 , 2, 3 The load-bearing rotating shaft mechanism (200) is characterized in that: the driving motor (204) drives the synchronizer (203) to drive the coupling (202) to rotate. The rotating shaft (206) is installed between the upper bearing module (205) and the lower bearing module (201) and is connected to the coupling (202) and the lifting mechanism connecting plate (207). The rotation of the coupling (202) drives the rotating shaft (206) to rotate.

[0085] further

[0086] As stated Figure 1, 4, 5, 6 The lifting mechanism (300) is characterized by: an upper slide rail (302), a lower slide rail (303), an upper moving bar transmission servo motor (310), a lower moving bar transmission servo motor (311), an upper synchronous belt shaft (306), and a lower synchronous belt shaft (308) installed on the lifting mechanism installation frame (301). It includes an upper moving bar (304), a lower moving bar (305), an upper synchronous belt pulley shaft (307), and a lower synchronous belt pulley shaft (309).

[0087] further

[0088] As stated Figure 1 , 5, 6, 7 The rake-type support (400) is characterized by an upper rake-type support (416), a lower rake-type support (401), an upper rake-type support upper lifting servo electric cylinder (402) installed on an upper moving horizontal bar (304), an upper rake-type support copper sleeve guide rail (403), an upper rake-type support load-bearing horizontal bar (404), an upper rake-type support L-shaped bionic finger (405) installed on the upper rake-type support load-bearing horizontal bar (404), and a lower rake-type support upper lifting servo electric cylinder installed on the lower moving horizontal bar (305). A cylinder (406), a lower rake-shaped hand support copper sleeve guide rail (407), a lower rake-shaped hand support load-bearing crossbar (408), a lower rake-shaped hand support L-shaped bionic finger (409) installed on the lower rake-shaped hand support load-bearing crossbar (408), and a bionic finger main rod (410) installed on each bionic finger, a bionic finger main rod slideway (411), a bionic finger pressure sensor (412), a bionic finger main rod slideway spring (413), a bionic finger slideway bolt (414), and a bionic finger latex sleeve (415).

[0089] As stated Figure 8 The intelligent control system (500) is characterized by comprising a laser radar recognition device (501) and a visual recognition device (502).

[0090] further

[0091] As stated Figure 1 , 9. Assembly method of human body lifting machine; the AGV chassis device (100) is connected to the load-bearing shaft mechanism (200) through a coupling (202). The load-bearing shaft mechanism (200) is connected to the lifting mechanism (300) through a lifting mechanism connecting plate (207). The rake-type support (400) is connected to the upper rake-type support (416) through an upper moving cross bar (304) and is connected to the lower rake-type support (401) through a lower moving cross bar (305). An intelligent control system (500) is installed on the AGV chassis device (100).

[0092] Working principle:

[0093] By utilizing the curvature of the human body and the elasticity of the cushions on the beds, stretchers and medical equipment, two sets of rake-shaped support arms are alternately pressed up and down to form a certain gap under the human body, and then two sets of bionic fingers are alternately inserted under the human body to lift the human body. The bionic fingers imitate the touch of human hands. When the end of the bionic fingers encounters a certain pressure, the sliding bolts in the fingers automatically retreat to trigger the pressure sensor to feedback the signal to the intelligent control system. The intelligent control system automatically adjusts the alternating angle and method of the support arms to avoid accidental injury to the human body and realize the function of lifting and moving the patient. The load-bearing shaft is used to adjust the support arm angle and lift and move the patient. The AGV device has the robot's own movement function and human transportation function, and the visual system is used to identify the precise position of the working object human body. Lidar is used for obstacle recognition during robot movement.

[0094] further

[0095] As described above, by means of the above technical solution of the present invention, the present invention has the following advantages:

[0096] 1. Apply intelligent technology to solve the problem that medical units have long relied on manpower to lift and move patients.

[0097] 2. Reduce the labor intensity of medical staff and reduce employment costs.

[0098] 3. Reduce the number of times medical staff come into direct contact with patients, thereby reducing the risk of infection for medical staff and patients’ families.

[0099] 4. Widely used in hospitals, nursing institutions, retirement homes, etc. to lift and transport patients between stretchers, beds, and medical equipment.

[0100] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A human body lifting robot, characterized in that: It comprises an AGV chassis device (100), a load-bearing rotating shaft mechanism (200), a lifting mechanism (300), a rake-type support handle (400), and an intelligent control system (500); The load-bearing rotating shaft mechanism (200) comprises a lower bearing module (201), a coupling (202), a synchronizer (203), a driving motor (204), an upper bearing module (205), a rotating shaft (206), and a lifting mechanism connecting plate (207); The rake-type support hand (400) comprises an upper rake-type support hand (416), a lower rake-type support hand (401), an upper rake-type support hand lifting servo electric cylinder (402), an upper rake-type support hand copper sleeve guide rail (403), an upper rake-type support hand load-bearing crossbar (404), an upper rake-type support hand L-shaped bionic finger (405), a lower rake-type support hand lifting servo electric cylinder (406), a lower rake-type support hand copper sleeve guide rail (407), a lower rake-type support hand load-bearing crossbar (408), a lower rake-type support hand L-shaped bionic finger (409), a bionic finger main rod (410), a bionic finger main rod slideway (411), a bionic finger pressure sensor (412), a bionic finger main rod slideway spring (413), a bionic finger slideway bolt (414), and a bionic finger latex sleeve (415).

2. The human body lifting robot according to claim 1, characterized in that: The AGV chassis device (100) comprises an AGV chassis mounting frame (101), a motor drive wheel module (102), a differential steering power device (103), a battery module (104), and an AGV chassis mounting frame cover plate (105).

3. The human body lifting robot according to claim 1, characterized in that: The lifting and moving mechanism (300) comprises a lifting and moving mechanism mounting frame (301), an upper slide rail (302), a lower slide rail (303), an upper moving crossbar (304), a lower moving crossbar (305), an upper synchronous belt rotating shaft (306), an upper synchronous belt pulley shaft (307), a lower synchronous belt rotating shaft (308), a lower synchronous belt pulley shaft (309), an upper moving crossbar transmission servo motor (310), and a lower moving crossbar transmission servo motor (311).

4. The human body lifting robot according to claim 1, characterized in that: The intelligent control system (500) comprises a laser radar recognition device (501) and a visual recognition device (502).

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