A turntable-type flexible mechanical arm that can be rolled and retracted

Abstract

The present invention relates to a turntable-type flexible mechanical arm that can be rolled and retracted, comprising a base, on which are arranged more than two flexible mechanical arm mechanisms arranged at intervals, the flexible mechanical arm mechanism comprising a shell, a turntable, a motor and a chain-type mechanical arm; the shell is fixedly mounted on the base, the turntable is a circular turntable or a polygonal turntable, the turntable is rotatably mounted in the shell, the motor is mounted on the shell and connected to the turntable drive, the chain-type mechanical arm is wound on the turntable, and the inner end of the chain-type mechanical arm is rotatably connected to the turntable, and the outer end is horizontally forward. When working, the chain-type mechanical arm can be extended forward horizontally and inserted into the gap between the human body and the bed surface of the nursing bed or the seat surface of the wheelchair without any distance, so as to lift and transfer the human body, laying a foundation for realizing automated human body transfer, preventing cross infection, having a strong vertical load-bearing capacity, and meeting the safety protection requirements of patient transfer; and the chain-type mechanical arm extended forward horizontally is curled and stored, occupying a small space.

Description

Technical Field

[0001] The invention belongs to the technical field of medical equipment and nursing equipment, and in particular relates to a turntable-type flexible mechanical arm that can be rolled and retracted. Background Art

[0002] The applicant found that the most difficult problem in caring for disabled people is the transfer of patients. Currently, there is no medical equipment that can automatically transfer the human body. Either the transfer method adopted is that multiple medical staff work together to move the patient, which requires a large number of medical staff and places high physical demands on the medical staff. Or special transfer machines are used to complete the task, but these transfer machines are relatively large and are not suitable for use in limited spaces. Summary of the invention

[0003] In order to solve the above-mentioned problems existing in the prior art, the present invention provides a chain-type robotic arm that can be extended forward horizontally and curled up for storage, which can be inserted into the gap between the human body and the bed surface of a nursing bed or the seat surface of a wheelchair without any distance, laying a foundation for realizing automated human body transfer, saving manpower, and preventing cross infection. It also has a strong vertical load-bearing capacity, occupies a small space, is flexible and convenient to use, and has a strong applicability. It is a turntable-type, curlable and retractable flexible robotic arm.

[0004] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0005] A turntable-type flexible mechanical arm that can be rolled and retracted includes a base, on which are provided more than two flexible mechanical arm mechanisms spaced apart from each other, the flexible mechanical arm mechanism comprising a shell, a turntable, a motor and a chain-type mechanical arm; wherein the shell is fixedly mounted on the base, the turntable is a circular turntable or a polygonal turntable, the turntable is vertically and rotatably mounted on the shell, the motor is mounted on the shell and is drivingly connected to the turntable, the chain-type mechanical arm is wound on the turntable, and the inner end of the chain-type mechanical arm is rotationally connected to the turntable, and the outer end is horizontally forward.

[0006] Furthermore, the flexible robotic arm mechanism also includes a gear plate, which is mounted on the rotating shaft of the turntable and is coaxial with the turntable, and a driving gear is mounted on the driving shaft of the motor, and the driving gear is meshingly connected to the gear plate; or a driving pulley is mounted on the driving shaft of the motor, and the flexible robotic arm mechanism is provided with a coaxial driven pulley and a driven gear, the driving pulley is driven and connected to the driven pulley through a transmission belt, and the driven gear is meshingly connected to the gear plate.

[0007] Furthermore, the flexible mechanical arm mechanism also includes a damper, and the damper is installed on the rotating shaft of the turntable.

[0008] Furthermore, the chain-type robotic arm is composed of a plurality of robotic arm monomers, and the head and tail ends of two adjacent robotic arm monomers are connected as one body so as to be rotatable upwards.

[0009] Furthermore, the front and rear ends of the robotic arm monomer are respectively provided with a horizontally arranged lower connecting part and an upper connecting part, and the lower connecting parts and the upper connecting parts of two adjacent sections of the robotic arm monomer are matched and overlapped together, and the end of the upper connecting part is rotatably connected to the robotic arm monomer of the lower connecting part.

[0010] Furthermore, the lower connecting part and the upper connecting part are an integrated structure with the robot arm.

[0011] Furthermore, a guide wheel is provided at the front end of a mechanical arm unit located at the outermost end of the chain-type mechanical arm.

[0012] Furthermore, when the chain-type robotic arm is wound on the polygonal turntable, at least one section of the robotic arm monomer is closely attached to the side surface of the polygonal turntable.

[0013] Furthermore, an extension line of a line connecting the center of the turntable and the vertices of the connection between two adjacent side surfaces passes through the axis of the rotating connection shaft between the two robot arm monomers.

[0014] Furthermore, the base is provided with more than two roller output mechanisms, and the roller output mechanism includes a support base installed on the base, and the support base is provided with a horizontal output channel running through the front and rear ends, the shape and size of the horizontal output channel are adapted to the chain-type robotic arm, and a guide roller is provided at the bottom of the horizontal output channel; the outer ends of the chain-type robotic arms of the two or more flexible robotic arm mechanisms pass through the horizontal output channel of the roller output mechanism one by one, and the axial surface of the guide roller is connected to the chain-type robotic arm.

[0015] Furthermore, the front end of the shell is provided with a positioning bayonet, and the base is provided with a fixed beam, a positioning beam and a load-bearing beam. During assembly, the positioning bayonet is clamped on the positioning beam, and the front and rear ends of the shell are respectively installed and fixed on the load-bearing beam and the fixed beam.

[0016] The present invention mainly has the following beneficial effects:

[0017] Through the above technical scheme, the chain-type mechanical arm of the present invention can extend forward horizontally and be inserted into the gap between the human body and the bed surface of the nursing bed or the gap between the human body and the seat surface of the wheelchair that can be laid flat without any distance, so as to lift the human body and realize the transfer, effectively save manpower, and lay the foundation for realizing automatic human body transfer, thereby realizing non-contact remote control operation, and can effectively prevent cross infection caused by multiple people working together to move the patient. At the same time, the chain-type mechanical arm withstands 200KG of gravity in the vertical direction, and the force intensity on the horizontal plane is large, which meets the safety protection requirements of patient transfer; and after the human body is transferred, the chain-type mechanical arm extended forward horizontally is curled and stored, occupying a small space, and is flexible and convenient to assemble and use with nursing equipment such as nursing beds, and has strong applicability. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a structural schematic diagram of a first embodiment of a turntable-type flexible mechanical arm that can be rolled and retracted according to the present invention;

[0019] Figure 2 It is a structural schematic diagram of a flexible mechanical arm mechanism in Embodiment 1 of a turntable-type flexible mechanical arm that can be rolled and retracted according to the present invention;

[0020] Figure 3 It is a cross-sectional structural schematic diagram of a first embodiment of a turntable-type rollable and retractable flexible mechanical arm according to the present invention;

[0021] Figure 4 It is a structural schematic diagram of a working state of a turntable-type flexible mechanical arm that can be rolled and retracted according to an embodiment of the present invention;

[0022] Figure 5 It is a structural schematic diagram of a second embodiment of a turntable-type flexible mechanical arm that can be rolled and retracted according to the present invention;

[0023] Figure 6 It is a structural schematic diagram of the flexible mechanical arm mechanism in Embodiment 2 of a turntable-type rollable and retractable flexible mechanical arm described in the present invention. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0025] Embodiment 1:

[0026] like Figures 1 to 4As shown in , a turntable-type, rollable and retractable flexible robotic arm described in Embodiment 1 of the present invention includes a base 1, on which are provided more than two spaced-apart flexible robotic arm mechanisms 2 (in this embodiment, the number of flexible robotic arm mechanisms 2 is shown as only two, and in actual applications, the number of flexible robotic arm mechanisms 2 is not limited to two, and can be realized by applying multiple flexible robotic arm mechanisms 2 to work simultaneously according to user needs), and the flexible robotic arm mechanism 2 includes a housing 3, a turntable 4, a motor 5 and a chain-type robotic arm 6. The housing 3 is mounted and fixed on the base 1, and the turntable 4 can be a polygonal turntable (of course, it can also be a circular turntable), and the turntable 4 can be rotatably mounted in the housing 3, and the motor 5 is mounted on the housing 3 and is drivingly connected to the turntable 4, and the chain-type robotic arm 6 is wound on the turntable 4 (as shown in FIG. 1 ). Figure 2 and 3 , when the chain type robot arm 6 is wound on the polygonal turntable, at least one section of the robot arm monomer 61 is closely attached to the side of the polygonal turntable, and preferably, the extension line of the line connecting the center of the turntable 4 and the vertices of the connection between the two adjacent side surfaces passes through the axis of the rotation connection shaft between the two sections of the robot arm monomer 61. ), the inner end of the chain type robot arm 6 is rotationally connected to the turntable 4, and the outer end is horizontally forward.

[0027] Among them, the flexible robotic arm mechanism 2 also includes a gear plate 7, which is installed on the rotating shaft of the turntable 4 and is coaxial with the turntable 4, and a driving gear 8 is installed on the driving shaft of the motor 5, and the driving gear 8 is meshed and connected with the gear plate 7; the specific structure can be: the gear plate 7 is arranged on a side surface of the outer shell 3, and is connected and fixed to the rotating shaft of the turntable 4, the motor 5 is installed on the outer shell 3 through a connecting seat 51, and the driving gear 8 on the driving shaft of the motor 5 is meshed and connected with the gear plate 7. The chain-type robotic arm 6 is composed of a plurality of robotic arm monomers 61, and the head and tail ends of two adjacent robotic arm monomers 61 can be connected together by being rotatable upwards. The specific structure can be: the front and rear ends of the robotic arm monomer 61 are respectively provided with a horizontally arranged lower connecting part 62 and an upper connecting part 63, and the lower connecting part 62 and the upper connecting part 63 are an integrated structure with the robotic arm monomer 61 (for example: the robotic arm monomer 61, the upper connecting part 63 and the lower connecting part 62 are machined from metal materials), and the lower connecting part 62 and the upper connecting part 63 of two adjacent robotic arm monomers 61 are matched and overlapped up and down, and the end of the upper connecting part 63 is rotatably connected to the robotic arm monomer 61 of the lower connecting part 62.

[0028] When the flexible mechanical arm of the present invention is working, Figure 4, the motor 5 of the flexible mechanical arm mechanism 2 drives the turntable 4 to rotate, so that the chain-type mechanical arm 6 wound on the turntable 4 extends forward horizontally and is inserted into the gap between the human body and the bed surface of the nursing bed or the gap between the human body and the seat surface of the wheelchair that can be laid flat without any distance, so as to lift the human body and realize the transfer, effectively save manpower, and lay the foundation for realizing the automatic human body transfer, thereby realizing non-contact remote control operation, which can effectively prevent cross infection caused by multiple people working together to move patients (for example: a group of medical staff were infected in this global new coronavirus epidemic). At the same time, the turntable-type flexible mechanical arm that can be rolled and retracted can withstand 200KG gravity in the vertical direction by adopting the chain-type mechanical arm 6, and the horizontal force strength is large, which can meet the safety protection requirements of patient transfer; when the human body is transferred, the motor 5 drives the turntable 4 to rotate in the opposite direction, so that the chain-type mechanical arm 6 extending forward horizontally is wound on the turntable 4 for storage, such as Figure 1 , effectively reducing the occupied space, and it is more flexible and convenient to assemble with nursing beds and other nursing equipment, and has strong applicability.

[0029] In addition, a positioning bayonet 31 is provided at the front end of the shell 3, and the base 1 is provided with a fixed beam 10, a positioning beam 11 and a load-bearing beam 12. During assembly, the positioning bayonet 31 is clamped on the positioning beam 11, and the front and rear ends of the shell 3 are respectively installed and fixed on the load-bearing beam 12 and the fixed beam 10, so that the flexible robotic arm mechanism 2 is easy and firm to install.

[0030] like Figure 1 , 3 and 4, the base 1 is provided with more than two roller output mechanisms 9, the roller output mechanisms 9 include a support seat 91 installed on the base 1 (specifically: the lower surface of the load-bearing beam 12 is provided with more than two roller output mechanisms 9, and the support seat 91 is installed on the lower surface of the load-bearing beam 12), the support seat 91 is provided with a horizontal output channel 92 running through the front and rear ends, the shape and size of the horizontal output channel 92 are adapted to the chain-type mechanical arm 6, and a guide roller 93 is provided at the bottom of the horizontal output channel 92; the outer ends of the chain-type mechanical arms 6 of the two or more flexible mechanical arm mechanisms 2 pass through the horizontal output channels 92 of the roller output mechanisms 9 in a one-to-one correspondence, and the axial surface of the guide roller 93 is connected to the chain-type mechanical arm 6. In this way, the smoothness of the horizontal extension and storage of the chain-type mechanical arm 6 and the vertical load-bearing capacity of the flexible mechanical arm can be further improved, and the performance is more stable and reliable.

[0031] Moreover, a guide wheel 64 is provided at the front end of a robot arm monomer 61 at the outermost end of the chain-type robot arm 6, which effectively enhances the smoothness of the chain-type robot arm 6 in horizontal extension and storage.

[0032] Embodiment 2:

[0033] like Figure 5 and 6 As shown in the figure, a turntable type flexible mechanical arm that can be rolled and retracted described in the second embodiment of the present invention has a structure that is basically the same as that of the first embodiment, and includes a base 1, on which are provided two or more flexible mechanical arm mechanisms 2 that are spaced apart, and the flexible mechanical arm mechanism 2 includes a housing 3, a turntable 4, a motor 5, and a chain-type mechanical arm 6. The housing 3 is fixedly mounted on the base 1, the turntable 4 is rotatably mounted in the housing 3, the motor 5 is mounted on the housing 3 and is drivingly connected to the turntable 4, the chain-type mechanical arm 6 is wound on the turntable 4, the inner end of the chain-type mechanical arm 6 is rotatably connected to the turntable 4, and the outer end is horizontally forward. The difference is that: a driving pulley 13 is installed on the driving shaft of the motor 5, a coaxial driven pulley 14 and a driven gear 15 are provided on the flexible mechanical arm mechanism 2, the driving pulley 13 is connected to the driven pulley 14 through a transmission belt 16, and the driven gear 15 is meshed with the gear plate 7. The specific structure can be: a fixed bracket 18 is provided on the outer side of the housing 3, one end of the rotating shaft of the turntable 4 passes through the housing 3 and the end is rotatably mounted on the fixed bracket 18, and the gear plate 7 is mounted on the rotating shaft of the turntable 4 and is located between the fixed bracket 18 and the housing 3; the driven gear 15 is rotatably mounted on the fixed bracket 18 through a rotating shaft 19 and meshed with the gear plate 7, and a driven pulley 14 is provided on the rotating shaft 19, and the driving pulley 13 of the motor 5 is connected to the driven pulley 14 through a transmission belt 16. In this way, the stability of the operation of the flexible mechanical arm can be further improved, and the noise can be effectively reduced.

[0034] In addition, the flexible mechanical arm mechanism 2 further comprises a damper 17, and the damper 17 is mounted on the rotating shaft of the turntable 4. In this way, shaking can be prevented, and the stability of the operation of the flexible mechanical arm can be effectively improved, and the performance is better.

[0035] Of course, the flexible mechanical arm mechanism 2 of a turntable-type flexible mechanical arm that can be rolled and retracted described in the first embodiment of the present invention can also be provided with the damper 17 of the second embodiment on the rotating shaft of the turntable 4.

[0036] The above is a preferred embodiment of the present invention. It should be pointed out that a person skilled in the art can make several improvements and modifications without departing from the principle of the present invention. These improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A turntable-type flexible mechanical arm that can be rolled and retracted, characterized in that: The invention comprises a base (1), on which are arranged more than two flexible mechanical arm mechanisms (2) spaced apart from each other, and the flexible mechanical arm mechanism (2) comprises a housing (3), a turntable (4), a motor (5) and a chain-type mechanical arm (6); wherein the housing (3) is fixedly mounted on the base (1), the turntable (4) is a circular turntable or a polygonal turntable, the turntable (4) is rotatably mounted in the housing (3), the motor (5) is mounted on the housing (3) and is drivingly connected to the turntable (4), the chain-type mechanical arm (6) is wound on the turntable (4), and the inner end of the chain-type mechanical arm (6) is rotationally connected to the turntable (4), and the outer end is horizontally forward.

2. The turntable-type retractable flexible mechanical arm according to claim 1, characterized in that: The flexible mechanical arm mechanism (2) further comprises a gear plate (7), wherein the gear plate (7) is mounted on the rotating shaft of the rotating disk (4) and is coaxial with the rotating disk (4), a driving gear (8) is mounted on the driving shaft of the motor (5), and the driving gear (8) is meshingly connected with the gear plate (7); or a driving pulley (13) is mounted on the driving shaft of the motor (5), and a coaxial driven pulley (14) and a driven gear (15) are provided on the flexible mechanical arm mechanism (2), the driving pulley (13) is drivingly connected with the driven pulley (14) via a transmission belt (16), and the driven gear (15) is meshingly connected with the gear plate (7).

3. The turntable-type retractable flexible mechanical arm according to claim 2, characterized in that: The flexible mechanical arm mechanism (2) further comprises a damper (17), wherein the damper (17) is mounted on the rotating shaft of the rotating disk (4).

4. The turntable-type retractable flexible mechanical arm according to claim 1, 2 or 3, characterized in that: The chain-type mechanical arm (6) is composed of a plurality of mechanical arm monomers (61), and the head and tail ends of two adjacent mechanical arm monomers (61) are connected as one body so as to be rotatable upwards.

5. The turntable-type flexible mechanical arm that can be rolled and extended according to claim 4 is characterized in that: The front and rear ends of the mechanical arm monomer (61) are respectively provided with a lower connecting portion (62) and an upper connecting portion (63) arranged horizontally, and the lower connecting portions (62) and the upper connecting portions (63) of two adjacent sections of the mechanical arm monomer (61) are matched and overlapped up and down, and the end of the upper connecting portion (63) is rotatably connected to the mechanical arm monomer (61) of the lower connecting portion (62).

6. The turntable-type flexible mechanical arm that can be rolled and extended according to claim 5 is characterized in that: A guide wheel (64) is provided at the front end of a mechanical arm unit (61) located at the outermost end of the chain-type mechanical arm (6).

7. The turntable-type retractable flexible mechanical arm according to claim 5 or 6, characterized in that: When the chain-type mechanical arm (6) is wound on the polygonal turntable, at least one section of the mechanical arm monomer (61) is closely attached to the side surface of the polygonal turntable.

8. The turntable-type flexible mechanical arm that can be rolled and extended according to claim 7 is characterized in that: The extension line of the line connecting the center of the rotating disk (4) and the vertices of the connection points of the two adjacent side surfaces passes through the axis of the rotating connection shaft between the two robot arm monomers (61).

9. The turntable-type flexible mechanical arm that can be rolled and extended according to claim 1 or 2 or 3 or 5 or 6 or 8, characterized in that: The base (1) is provided with more than two roller output mechanisms (9), and the roller output mechanism (9) comprises a support base (91) mounted on the base (1), and the support base (91) is provided with a horizontal output channel (92) penetrating the front and rear ends, and the shape and size of the horizontal output channel (92) are adapted to the chain-type mechanical arm (6), and a guide roller (93) is provided at the bottom of the horizontal output channel (92); the outer ends of the chain-type mechanical arms (6) of the more than two flexible mechanical arm mechanisms (2) pass through the horizontal output channel (92) of the roller output mechanism (9) in a one-to-one correspondence, and the axial surface of the guide roller (93) is connected to the chain-type mechanical arm (6).

10. The turntable-type flexible mechanical arm that can be rolled and extended according to claim 1 or 2 or 3 or 5 or 6 or 8, characterized in that: The front end of the housing (3) is provided with a positioning bayonet (31), and the base (1) is provided with a fixed crossbeam (10), a positioning crossbeam (11) and a load-bearing crossbeam (12). During assembly, the positioning bayonet (31) is clamped on the positioning crossbeam (11), and the front end and the rear end of the housing (3) are respectively mounted and fixed on the load-bearing crossbeam (12) and the fixed crossbeam (10).

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