A patient automatic transport system and method

Abstract

The present invention provides an automatic patient transfer system, which relates to the field of patient transportation technology, including an automatic patient transfer vehicle and an automatic patient transfer robot; the automatic patient transfer vehicle includes a base, casters and a bracket, the casters are installed at the bottom of the base, the bracket is installed on the base, and the automatic patient transfer robot is arranged on the bracket; the automatic patient transfer robot includes a first motion mechanism, a second motion mechanism, at least one first support plate and at least one second support plate; the first motion mechanism is suitable for controlling the first support plate and the second support plate to alternately move forward when the second motion mechanism controls the first support plate and the second support plate to alternately perform closing and opening actions. The present invention also provides an automatic patient transfer method. The automatic patient transfer system and method provided by the present invention not only saves the time of medical workers, reduces the labor intensity of medical workers and patients' families, but also avoids causing secondary injuries to the transported person.

Description

Technical Field

[0001] The present invention relates to the technical field of patient transportation, and in particular to an automatic patient transportation system and method. Background Art

[0002] In the prior art, when patients with severe illness or other mobility impairments are transferred to a new bed for examination or surgery, they are manually lifted to an operating bed or an examination bed, and then lifted from the operating bed or the examination bed to a hospital bed. This will increase the labor intensity of medical staff, and on the other hand, if the patient has an infectious disease, it will increase the risk of infection for medical staff and lay a hidden danger for the community spread of infectious diseases. Summary of the invention

[0003] The problem solved by the present invention is that the labor intensity of medical staff is high during the patient bed transfer process, and when the patient suffers from an infectious disease, the risk of infection for medical staff is increased, and a hidden danger of community transmission of the infectious disease is laid.

[0004] In order to solve the above problems, the present invention provides an automatic patient transport system, including an automatic patient transport vehicle and an automatic patient transport robot; the automatic patient transport vehicle includes a base, casters and a bracket, the casters are installed at the bottom of the base, the bracket is installed on the base, and the automatic patient transport robot is arranged on the bracket; the automatic patient transport robot includes a first motion mechanism, a second motion mechanism, at least one first support plate and at least one second support plate; each first support plate includes two first support sub-plates, the two first support sub-plates of each first support plate move toward each other to realize the closing action of the first support plate, and the two first support sub-plates of each first support plate move toward each other to realize the closing action of the first support plate. The supporting sub-plates move in opposite directions to realize the opening action of the first supporting plate; each second supporting plate includes two second supporting sub-plates, and the two second supporting sub-plates of each second supporting plate move toward each other to realize the closing action of the second supporting plate, and the two second supporting sub-plates of each second supporting plate move in opposite directions to realize the opening action of the second supporting plate; the second motion mechanism is suitable for driving the first supporting plate and the second supporting plate to alternately perform closing action and opening action; the first motion mechanism is suitable for driving the first supporting plate and the second supporting plate to alternately move forward when the second motion mechanism drives the first supporting plate and the second supporting plate to alternately perform closing action and opening action.

[0005] Preferably, the first motion mechanism is suitable for driving the first support plate to move forward when the distance between the two first support sub-plates of the first support plate is smaller than the distance between the two second support sub-plates of the second support plate; the first motion mechanism is also suitable for driving the second support plate to move forward when the distance between the two second support sub-plates of the second support plate is smaller than the distance between the two first support sub-plates of the first support plate.

[0006] Preferably, the automatic patient transfer system includes multiple first support plates and multiple second support plates, the multiple first support plates and the multiple second support plates are arranged at intervals, a second support plate is arranged between two adjacent first support plates, and a first support plate is arranged between two adjacent second support plates.

[0007] Preferably, the first motion mechanism includes a first push rod, a second push rod and a screw module, the first push rod is connected to multiple first support plates, the first push rod is suitable for driving the multiple first support plates to move, the second push rod is connected to multiple second support plates, the second push rod is suitable for driving the multiple second support plates to move, and the screw module is connected to the first push rod and the second push rod, and the screw module is suitable for driving the first push rod to reciprocate relative to the second push rod.

[0008] Preferably, a plurality of first columns are fixedly provided on the first push rod, two first movement holes are provided on each first supporting sub-plate, and each first column cooperates with a first movement hole; a plurality of second columns are fixedly provided on the second push rod, two second movement holes are provided on each second supporting sub-plate, and each second column cooperates with a second movement hole.

[0009] Preferably, the screw module includes a first motor and a first screw, the second push rod is fixedly connected to the first motor, one end of the first screw is arranged on the first motor, and the other end of the first screw is rotatably connected to the first push rod, and the first motor is suitable for driving the first screw to extend and retract by rotation to realize reciprocating motion of the first push rod relative to the second push rod.

[0010] Preferably, the second motion mechanism includes a camshaft, a first cam and a second cam, the first cam and the second cam are arranged on the camshaft, the camshaft drives the first cam and the second cam to rotate, each first cam is arranged between two first supporting sub-plates of a first supporting plate, and each second cam is arranged between two second supporting sub-plates of a second supporting plate. When the camshaft drives the first cam and the second cam to rotate, the long axis of the first cam is always perpendicular to the long axis of the second cam.

[0011] Preferably, the second motion mechanism includes a plurality of camshafts, and the plurality of camshafts are distributed at equal intervals.

[0012] Preferably, the second motion mechanism also includes a second motor, a second lead screw, a cam linkage rod and a plurality of rocker arms, one end of the second lead screw is arranged on the second motor, the other end of the second lead screw is connected to the cam linkage rod, one end of each rocker arm is rotatably connected to the cam linkage rod, the other end of each rocker arm is fixedly connected to a camshaft, the second motor is suitable for driving the second lead screw to perform reciprocating motion, the second lead screw is suitable for driving the cam linkage rod to perform reciprocating motion by reciprocating motion, the cam linkage rod is suitable for driving the rocker arm to rotate around the camshaft by reciprocating motion, and the rocker arm is suitable for driving the camshaft to rotate by rotating around the camshaft.

[0013] The present invention also provides a patient automatic transfer method, which uses the patient automatic transfer system provided by the present invention to transfer a person being transferred from a first bed to a second bed, comprising: when the patient automatic transfer robot of the patient automatic transfer system is placed on the bracket of the patient automatic transfer vehicle of the patient automatic transfer system, the patient automatic transfer vehicle is pushed close to the first bed; the bracket is driven to move to the first bed by the patient automatic transfer vehicle; the first support plate and the second support plate of the patient automatic transfer robot are driven to alternately close and open by the second movement mechanism of the patient automatic transfer robot, and at the same time, the first movement mechanism of the patient automatic transfer robot drives the first support plate and the second support plate to alternately move in a direction close to the person being transferred until the patient automatic transfer robot climbs under the person being transferred; the patient automatic transfer vehicle drives the bracket to fork under the patient automatic transfer robot, and carries the patient automatic transfer robot and the person being transferred away from the first bed; when the patient automatic transfer vehicle approaches the second bed, the bracket is driven to move to the second bed by the patient automatic transfer vehicle; the bracket is driven to fork out from under the patient automatic transfer robot by the patient automatic transfer vehicle; and the patient automatic transfer robot is controlled to move away from under the person being transferred and to the bracket.

[0014] The automatic patient transport system and method provided by the present invention are as follows: the automatic patient transport robot moves under the person being transported through a crawling motion, the automatic patient transport vehicle forks the automatic patient transport robot and the person being transported back, and the automatic patient transport vehicle carries the person being transported. This saves the time of medical workers, reduces the labor intensity of medical workers and patients' families, and avoids causing secondary injuries to the person being transported. At the same time, in the case where the person being transported suffers from an infectious disease, the infection of medical staff can be avoided, the risk of infection of medical staff can be reduced, and the risk of further community transmission of infectious diseases can be eliminated. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 A schematic diagram of the operation of the automatic patient transport system for transporting a patient provided by an embodiment of the present invention;

[0016] Figure 2 for Figure 1 Schematic diagram of the three-dimensional structure of the automatic patient transport vehicle;

[0017] Figure 3 for Figure 1 A schematic diagram of the three-dimensional structure of the automatic patient transport vehicle from another perspective;

[0018] Figure 4 for Figure 3 Schematic diagram of the three-dimensional structure of the middle platform seat;

[0019] Figure 5 for Figure 1 Left view of the automatic patient transfer robot;

[0020] Figure 6 for Figure 5 Schematic diagram of the three-dimensional structure of the automatic patient transport robot;

[0021] Figure 7 for Figure 6 The enlarged schematic diagram of the middle part Ⅰ;

[0022] Figure 8 for Figure 5 A top view of the automatic patient transfer robot;

[0023] Fig. 9 for Figure 5 Rear view of the automatic patient transfer robot;

[0024] Fig.10 for Fig. 9 Enlarged schematic diagram of the middle part II.

[0025] Description of reference numerals:

[0026] 100-Automatic patient transport system;

[0027] 300-automatic patient transport vehicle, 310-vehicle body, 311-base, 313-platform seat, 313a-lifting platform, 313b-platform frame, 315-lifting mechanism, 317-castors, 331-translational electric push rod, 333-tilting electric push rod, 335-support arm, 350-bracket, 351-bracket base, 351a-bracket slide, 351b-bracket cross plate, 353-bracket plate, 353a-bracket slide plate, 353b-armrest;

[0028] 500-automatic patient transport robot, 510-skeleton, 511-crossbeam, 511a-motion slot, 513-longitudinal beam, 530-first motion mechanism, 531-first push rod, 533-second push rod, 535-screw module, 550-second motion mechanism, 551-camshaft, 552-first cam, 553-second cam, 555-second motor, 556-second screw, 557-cam linkage rod, 558-rocker, 570-first support plate, 571-first support sub-plate, 573-first motion hole, 590-second support plate, 591-second support sub-plate, 593-second motion hole;

[0029] 701-the person being transported, 703-the first bed. DETAILED DESCRIPTION

[0030] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0031] In the description of the present invention, it should be noted that the terminology nouns in the various embodiments, such as words indicating directions such as "upper", "lower", "front", and "back", are only for simplifying the description of the positional relationship based on the drawings in the specification, and do not mean that the referred elements and devices must be operated according to the specific directions and defined operations and methods and structures in the specification. Such directional nouns do not constitute limitations to the present invention.

[0032] In addition, the terms "first" and "second" mentioned in the embodiments of the present invention are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features.

[0033] Please combine Figure 1 The embodiment of the present invention provides an automatic patient transfer system 100 for transferring a person to be transferred 701 (e.g., a sick person or animal, a person or animal who is too fat to move by himself, a person or animal who is too lazy to move by himself, or goods that need to be transferred). This embodiment is described by taking the automatic patient transfer system 100 as an example of transferring a sick person from a first bed 703 (e.g., a hospital bed) to a second bed (e.g., an examination bed or an operating bed).

[0034] The patient automatic transport system 100 provided in the embodiment of the present invention comprises an automatic patient transport vehicle 300 and an automatic patient transport robot 500. The automatic patient transport robot 500 is placed on the automatic patient transport vehicle 300 in a detachable manner, the automatic patient transport vehicle 300 is suitable for placing the automatic patient transport robot 500 on the first bed 703, the automatic patient transport robot 500 is suitable for moving from the automatic patient transport vehicle 300 to under the body of the person 701 placed on the first bed 703 through a crawling action, and the automatic patient transport vehicle 300 is also suitable for transporting and placing the automatic patient transport robot 500 on the second bed.

[0035] Please combine Figure 2 and Figure 3 In the embodiment of the present invention, the automatic patient transport vehicle 300 includes a vehicle body 310 , a translation electric push rod 331 , a tilting electric push rod 333 , a support arm 335 and a bracket 350 .

[0036] In the embodiment of the present invention, the vehicle body 310 includes a base 311, a platform seat 313 and a lifting mechanism 315. The lower end of the lifting mechanism 315 is connected to the base 311, and the upper end of the lifting mechanism 315 is connected to the platform seat 313. The lifting mechanism 315 is suitable for driving the platform seat 313 to rise and fall relative to the base 311. The "upper end" of the lifting mechanism 315 refers to the end of the lifting mechanism 315 facing upward when the automatic patient transporter 300 is in use. The "lower end" of the lifting mechanism 315 refers to the end of the lifting mechanism 315 facing downward when the automatic patient transporter 300 is in use.

[0037] In a preferred embodiment of the present invention, the base 311 includes a rectangular frame and two bottom plates, the two bottom plates are respectively arranged at two ends of the rectangular frame, a hollow area is formed in the middle of the rectangular frame, and the two bottom plates are integrally formed with the rectangular frame.

[0038] Please combine Figure 4 In a preferred embodiment of the present invention, the platform seat 313 includes a lifting platform 313a and a platform frame 313b, the lifting platform 313a is connected to the top of the platform frame 313b, and the lifting platform 313a and the platform frame 313b are integrally formed. Specifically, the platform seat 313 includes two lifting platforms 313a, and the two lifting platforms 313a are respectively arranged on both sides of the platform frame 313b. The platform frame 313b can pass through the hollow area formed in the middle of the rectangular frame of the base 311. The "top" of the platform frame 313b refers to the end of the platform frame 313b facing upward when the patient automatic transporter 300 is in use.

[0039] In a preferred embodiment of the present invention, the vehicle body 310 includes two lifting mechanisms 315. The lower ends of the two lifting mechanisms 315 are respectively fixedly connected to the two bottom plates of the base 311, and the upper ends of the two lifting mechanisms 315 are respectively fixedly connected to the two lifting platforms 313a. The lifting mechanisms 315 are suitable for driving the platform seat 313 to rise and fall relative to the base 311 by adjusting the length of the lifting mechanisms 315.

[0040] It can be understood that the length of the lifting mechanism 315 can be adjusted by a motor, or the length of the lifting mechanism 315 can be adjusted by a hydraulic cylinder or a pneumatic cylinder.

[0041] Please combine again Figure 1 In the embodiment of the present invention, the vehicle body 310 further includes casters 317, which are disposed at the bottom of the base 311. Preferably, the vehicle body 310 includes four casters 317, which are respectively disposed at the four corners of the rectangular frame of the base 311. The automatic patient transport vehicle 300 can be pushed to move by the casters 317.

[0042] In the embodiment of the present invention, the bracket 350 is suitable for placing the automatic patient transport robot 500. Specifically, the bracket 350 includes a bracket base 351 and a bracket plate 353, the bracket plate 353 is suitable for sliding relative to the bracket base 351, and the bracket plate 353 is suitable for placing the automatic patient transport robot 500.

[0043] In a preferred embodiment of the present invention, the bracket base 351 includes two bracket slides 351a and a bracket cross plate 351b, the two ends of the bracket cross plate 351b are respectively connected to the two bracket slides 351a, and the two ends of the bracket cross plate 351b are respectively connected to one end of the two bracket slides 351a.

[0044] In a preferred embodiment of the present invention, the bracket plate 353 includes two bracket slides 353a, each bracket slide 353a is slidably disposed on a bracket slide 351a, and the bracket slide 353a is suitable for placing the patient automatic transfer robot 500.

[0045] Preferably, the bracket plate 353 further comprises an armrest 353b, and the two ends of the armrest 353b are respectively connected to the two bracket slides 353a. The armrest 353b is suitable for pushing the bracket slide 353a to slide relative to the bracket base 351, and specifically, the armrest 353b is suitable for pushing the bracket slide 353a to slide in the bracket slideway 351a.

[0046] Preferably, the bracket plate 353 further includes a locking mechanism (not shown), which is suitable for limiting the sliding movement of the bracket slide 353a relative to the bracket base 351. It can be understood that when the locking mechanism is in an unlocked state, the bracket slide 353a can slide relative to the bracket base 351; when the locking mechanism is in a locked state, the bracket slide 353a cannot slide relative to the bracket base 351.

[0047] In the embodiment of the present invention, one end of the support arm 335 is hinged to the vehicle body 310, and the other end of the support arm 335 is hinged to the bracket 350. The support arm 335 is suitable for rotating relative to the vehicle body 310, and the support arm 335 is also suitable for rotating relative to the bracket 350.

[0048] In a preferred embodiment of the present invention, one end of the support arm 335 away from the hinged connection with the bracket 350 is hinged to the platform seat 313. Specifically, one end of the support arm 335 away from the hinged connection with the bracket 350 is hinged to the bottom of the platform frame 313b.

[0049] In a preferred embodiment of the present invention, the automatic patient transporter 300 includes two support arms 335, and one end of the two support arms 335 away from the hinged connection with the vehicle body 310 is hinged to the bracket base 351. Specifically, one end of the two support arms 335 away from the hinged connection with the vehicle body 310 is respectively hinged to two bracket slideways 351a. Preferably, one end of the two support arms 335 away from the hinged connection with the vehicle body 310 is respectively hinged to the middle of the two bracket slideways 351a.

[0050] In the embodiment of the present invention, one end of the translation electric push rod 331 is connected to the vehicle body 310 , and the other end of the translation electric push rod 331 is connected to the support arm 335 .

[0051] In a preferred embodiment of the present invention, one end of the translation electric push rod 331 away from the connection with the support arm 335 is connected to the platform seat 313. Preferably, one end of the translation electric push rod 331 away from the connection with the support arm 335 is connected to the bottom of the platform frame 313b.

[0052] Preferably, one end of the translation electric push rod 331 away from the connection with the support arm 335 is connected to the platform seat 313 through a pin 337. Specifically, the pin 337 is fixedly connected to the platform seat 313, and the translation electric push rod 331 is rotatably connected to the pin 337.

[0053] In a preferred embodiment of the present invention, the automatic patient transporter 300 includes two translation electric push rods 331 , and ends of the two translation electric push rods 331 away from the connection with the vehicle body 310 are respectively connected to two support arms 335 .

[0054] Preferably, the other end of the translation electric push rod 331 away from the connection with the vehicle body 310 is connected to the support arm 335 through a pin 337. Specifically, the pin 337 is fixedly connected to the support arm 335, and the translation electric push rod 331 is rotatably connected to the pin 337.

[0055] It can be understood that the translation electric push rod 331 is suitable for driving the support arm 335 to rotate by controlling the extension and retraction of the translation electric push rod 331 to drive the control bracket 350 to translate, and the bracket 350 is suitable for taking and placing the patient automatic transport robot 500 by translation.

[0056] It can be understood that the extension and retraction of the translational electric push rod 331 can be adjusted by a motor, or the extension and retraction of the translational electric push rod 331 can be adjusted by a hydraulic cylinder or a pneumatic cylinder.

[0057] In the embodiment of the present invention, one end of the tilt electric push rod 333 is connected to the vehicle body 310, and the other end of the tilt electric push rod 333 is connected to the bracket 350. The tilt electric push rod 333 is suitable for driving and controlling the tilt degree of the bracket 350 by adjusting the extension and contraction of the tilt electric push rod 333. In the embodiment of the present invention, the tilt electric push rod 333 and the translation electric push rod 331 jointly drive and control the translation of the bracket 350 in the tilt direction.

[0058] In a preferred embodiment of the present invention, one end of the tilt electric push rod 333 away from the connection with the bracket 350 is connected to the platform seat 313. Specifically, one end of the tilt electric push rod 333 away from the connection with the bracket 350 is connected to the bottom of the platform frame 313b.

[0059] In a preferred embodiment of the present invention, the end of the tilt electric push rod 333 away from the connection with the vehicle body 310 is connected to the bracket base 351. Specifically, the end of the tilt electric push rod 333 away from the connection with the vehicle body 310 is connected to the bracket cross plate 351b. Preferably, the end of the tilt electric push rod 333 away from the connection with the vehicle body 310 is connected to the middle of the bracket cross plate 351b.

[0060] It can be understood that the extension and retraction of the tilt electric push rod 333 can be adjusted by a motor, and the extension and retraction of the tilt electric push rod 333 can also be adjusted by a hydraulic cylinder or a pneumatic cylinder.

[0061] Please combine Figure 5-Figure 10 In the embodiment of the present invention, the automatic patient transport robot 500 includes a skeleton 510, a first motion mechanism 530, a second motion mechanism 550, at least one first support plate 570 and at least one second support plate 590.

[0062] In the embodiment of the present invention, the frame 510 includes a plurality of cross beams 511 and a plurality of longitudinal beams 513, which form a grid structure. The first motion mechanism 530, the second motion mechanism 550, the first support plate 570 and the second support plate 590 are all disposed on the frame 510.

[0063] In the embodiment of the present invention, each first support plate 570 includes two first support sub-plates 571. The two first support sub-plates 571 are respectively arranged on both sides of the frame 510. The two first support sub-plates 571 of each first support plate 570 move toward each other to realize the closing action of the first support plate 570, and the two first support sub-plates 571 of each first support plate 570 move in the opposite direction to realize the opening action of the first support plate 570.

[0064] In the embodiment of the present invention, each second support plate 590 includes two second support sub-plates 591. The two second support sub-plates 591 are respectively arranged on both sides of the frame 510. The two second support sub-plates 591 of each second support plate 590 move toward each other to realize the closing action of the second support plate 590, and the two second support sub-plates 591 of each second support plate 590 move in the opposite direction to realize the opening action of the second support plate 590.

[0065] In a preferred embodiment of the present invention, the automatic patient transport system 100 includes a plurality of first support plates 570 and a plurality of second support plates 590. The plurality of first support plates 570 and the plurality of second support plates 590 are arranged at intervals, a second support plate 590 is arranged between two adjacent first support plates 570, and a first support plate 570 is arranged between two adjacent second support plates 590.

[0066] In the embodiment of the present invention, the second motion mechanism 550 is suitable for driving the first support plate 570 and the second support plate 590 to perform closing and opening actions alternately.

[0067] Specifically, in the embodiment of the present invention, the second motion mechanism 550 includes a camshaft 551, a first cam 552, and a second cam 553. The camshaft 551 is rotatably disposed on the crossbeam 511, and the first cam 552 and the second cam 553 are disposed on the camshaft 551. Preferably, the first cam 552 and the second cam 553 are fixedly disposed on the camshaft 551. The camshaft 551 is suitable for driving the first cam 552 and the second cam 553 to rotate. Each first cam 552 is disposed between two first supporting sub-plates 571 of a first supporting plate 570, and each second cam 553 is disposed between two second supporting sub-plates 591 of a second supporting plate 590. The first cam 552 and the second cam 553 are both elliptical in shape, and the camshaft 551 drives the first cam 552 and the second cam 553 to rotate, thereby driving the first supporting plate 570 and the second supporting plate 590 to alternately perform closing and opening actions.

[0068] Preferably, the long axis of the first cam 552 is set to be perpendicular to the long axis of the second cam 553. By setting the long axis of the first cam 552 to be perpendicular to the long axis of the second cam 553 during the rotation process, when the first support plate 570 is closing, the second support plate 590 is opening; when the first support plate 570 is opening, the second support plate 590 is closing. This ensures that the time when the distance between the two first support sub-plates 571 of the first support plate 570 is smaller than the distance between the two second support sub-plates 591 of the second support plate 590 is equal to the time when the distance between the two first support sub-plates 571 of the first support plate 570 is larger than the distance between the two second support sub-plates 591 of the second support plate 590.

[0069] In a preferred embodiment of the present invention, the second motion mechanism 550 includes a plurality of cam shafts 551 , and the plurality of cam shafts 551 are rotatably disposed on the crossbeam 511 at equal intervals.

[0070] In the embodiment of the present invention, the second motion mechanism 550 further includes a second motor 555, a second lead screw 556, a cam linkage rod 557 and a plurality of rocking arms 558. The second motor 555 is fixedly arranged on the frame 510, one end of the second lead screw 556 is arranged on the second motor 555, the other end of the second lead screw 556 is connected to the cam linkage rod 557, one end of each rocking arm 558 is rotatably connected to the cam linkage rod 557, and the other end of each rocking arm 558 is fixedly connected to a cam shaft 551. The second motor 555 is suitable for driving the second lead screw 556 to reciprocate, the second lead screw 556 is suitable for driving the cam linkage rod 557 to reciprocate by reciprocating motion, the cam linkage rod 557 is suitable for driving the rocking arm 558 to rotate around the cam shaft 551 by reciprocating motion, and the rocking arm 558 is suitable for driving the cam shaft 551 to rotate by rotating around the cam shaft 551.

[0071] In other embodiments of the present invention, the camshaft 551 may also be driven to rotate by other mechanisms. For example, the second motion mechanism 550 includes a motor and a pulley, and the motor drives the pulley to rotate, thereby driving the camshaft 551 to rotate.

[0072] In the embodiment of the present invention, the first motion mechanism 530 is suitable for driving the first support plate 570 and the second support plate 590 to move forward alternately when the second motion mechanism 550 drives the first support plate 570 and the second support plate 590 to alternately close and open.

[0073] In a preferred embodiment of the present invention, the first motion mechanism 530 is suitable for driving the first support plate 570 to move forward when the distance between the two first support sub-plates 571 of the first support plate 570 is smaller than the distance between the two second support sub-plates 591 of the second support plate 590 .

[0074] In a preferred embodiment of the present invention, the first motion mechanism 530 is further adapted to drive the second support plate 590 to move forward when the distance between the two second support sub-plates 591 of the second support plate 590 is smaller than the distance between the two first support sub-plates 571 of the first support plate 570. The "forward" movement of the first support plate 570 and the second support plate 590 means that when the automatic patient transport robot 500 moves toward the transported person 701, they approach the direction of the transported person 701; when the automatic patient transport robot 500 moves away from the transported person 701, they move away from the direction of the transported person 701.

[0075] In the embodiment of the present invention, the first motion mechanism 530 includes a first push rod 531, a second push rod 533 and a lead screw module 535. The first push rod 531 and the second push rod 533 are arranged on the crossbeam 511, and the lead screw module 535 is connected with the first push rod 531 and the second push rod 533. The lead screw module 535 is suitable for driving the first push rod 531 to reciprocate relative to the second push rod 533. Preferably, the first motion mechanism 530 includes two lead screw modules 535.

[0076] Specifically, in a preferred embodiment of the present invention, a motion groove 511a is provided on the crossbeam 511, the first push rod 531 and the second push rod 533 are provided in the motion groove 511a, and the first push rod 531 is suitable for performing linear reciprocating motion relative to the second push rod 533 in the motion groove 511a.

[0077] In the embodiment of the present invention, the first push rod 531 is connected to a plurality of first support plates 570, and the first push rod 531 is suitable for driving the plurality of first support plates 570 to move. Specifically, in a preferred embodiment of the present invention, a plurality of first columns (not shown) are fixedly arranged on the first push rod 531, and two first movement holes 573 are arranged on each first support sub-plate 571, and each first column cooperates with a first movement hole 573. Specifically, the first column is cylindrical, and the first movement hole 573 is a cylindrical hole, and the radius of the first movement hole 573 is greater than the radius of the first column. The first support sub-plate 571 can move relative to the first push rod 531, and the first column cooperates with the first movement hole 573 to limit the movement of the first support sub-plate 571 relative to the first push rod 531 to the closing action and the opening action of the first support plate 570, and each first support sub-plate 571 is limited in its movement by two adjacent first columns.

[0078] In the embodiment of the present invention, the second push rod 533 is connected to a plurality of second support plates 590, and the second push rod 533 is suitable for driving the plurality of second support plates 590 to move. Specifically, in a preferred embodiment of the present invention, a plurality of second columns (not shown) are fixedly provided on the second push rod 533, and two second movement holes 593 are provided on each second support sub-plate 591, and each second column cooperates with a second movement hole 593. The second column is cylindrical, and the second movement hole 593 is a cylindrical hole, and the radius of the second movement hole 593 is greater than the radius of the second column. The second support sub-plate 591 can move relative to the second push rod 533, and the second column cooperates with the second movement hole 593 to limit the movement of the second support sub-plate 591 relative to the second push rod 533 to the closing action and the opening action of the second support plate 590.

[0079] In a preferred embodiment of the present invention, the lead screw module 535 includes a first motor and a first lead screw, the first lead screw is mounted on the first motor, and the first motor is suitable for driving the first lead screw to extend and retract by rotating. One end of the first lead screw is arranged on the first motor, and the other end of the first lead screw is rotatably connected to the first push rod 531, and the second push rod 533 is fixedly connected to the first motor, and the first motor is suitable for driving the first lead screw to extend and retract by rotating so as to realize the reciprocating motion of the first push rod 531 relative to the second push rod 533.

[0080] Specifically, in a preferred embodiment of the present invention, when the distance between the two first support sub-plates 571 of the first support plate 570 is smaller than the distance between the two second support sub-plates 591 of the second support plate 590, the lead screw module 535 drives the first push rod 531 away from the second push rod 533. Since the distance between the two first support sub-plates 571 of the first support plate 570 is smaller than the distance between the two second support sub-plates 591 of the second support plate 590, the plurality of second support plates 590 are in contact with the first bed 703 or the second bed or the transported person 701, and the plurality of first support plates 570 are in a suspended state. Under the action of friction, the plurality of second support plates 590 are in a stationary state, and the first push rod 531 drives the plurality of first support plates 570 and the skeleton 510 to move forward under the action of the lead screw module 535.

[0081] In a preferred embodiment of the present invention, when the distance between the two second support sub-plates 591 of the second support plate 590 is smaller than the distance between the two first support sub-plates 571 of the first support plate 570, the lead screw module 535 drives the first push rod 531 to approach the second push rod 533. Since the distance between the two second support sub-plates 591 of the second support plate 590 is smaller than the distance between the two first support sub-plates 571 of the first support plate 570, the plurality of first support plates 570 are in contact with the first bed 703 or the second bed or the transported person 701, and the plurality of second support plates 590 are in a suspended state. Under the action of friction, the plurality of first support plates 570 are in a stationary state, and the second push rod 533 drives the plurality of second support plates 590 and the lead screw module 535 to move forward under the action of the lead screw module 535.

[0082] The embodiment of the present invention further provides a method for automatically transferring a patient. The method uses the automatic patient transfer system 100 provided by the embodiment of the present invention to transfer a patient 701 from a first bed 703 to a second bed, including:

[0083] When the automatic patient transport robot 500 of the automatic patient transport system 100 is placed on the bracket 350 of the automatic patient transport vehicle 300 of the automatic patient transport system 100, the automatic patient transport vehicle 300 is pushed close to the first bed 703;

[0084] The support arm 335 of the automatic patient transporter 300 is driven to rotate by the translation electric push rod 331 of the automatic patient transporter 300 to drive the control bracket 350 to translate to the first bed 703;

[0085] The first support plate 570 and the second support plate 590 of the automatic patient transport robot 500 are controlled by the second motion mechanism 550 of the automatic patient transport robot 500 to alternately perform closing and opening actions, and at the same time, the first motion mechanism 530 of the automatic patient transport robot 500 controls the first support plate 570 and the second support plate 590 to alternately move toward the direction of the person being transported 701 until the automatic patient transport robot 500 moves under the person being transported 701;

[0086] The support arm 335 is controlled to rotate by translating the electric push rod 331 to control the bracket 350 to fork under the automatic patient transport robot 500;

[0087] The support arm 335 is controlled to rotate by translating the electric push rod 331 to control the bracket 350 to carry the patient automatic transport robot 500 and the person being transported 701 away from the first bed 703;

[0088] When the automatic patient transporter 300 approaches the second bed, the support arm 335 is rotated by translating the electric push rod 331 to control the bracket 350 to move to the second bed;

[0089] The support arm 335 is controlled to rotate by translating the electric push rod 331 to control the bracket 350 to fork out from under the automatic patient transport robot 500;

[0090] Control the automatic patient transport robot 500 to move away from under the person being transported 701 and return to the bracket 350;

[0091] The bracket 350 is controlled to leave the second bed by translating the electric push rod 331 to control the rotation of the support arm 335.

[0092] The automatic patient transport system and the automatic patient transport method provided by the embodiments of the present invention are as follows: the automatic patient transport robot moves under the person being transported through a crawling motion, the automatic patient transport vehicle forks the automatic patient transport robot and the person being transported back, and the automatic patient transport vehicle carries the person being transported. This saves the time of medical workers, reduces the labor intensity of medical workers and patients' families, and avoids causing secondary injuries to the person being transported. At the same time, in the case where the person being transported suffers from an infectious disease, the infection of medical staff can be avoided, the risk of infection of medical staff can be reduced, and the risk of further community transmission of infectious diseases can be eliminated.

[0093] The automatic patient transfer vehicle provided in the embodiment of the present invention controls the rotation of the support arm and thus controls the translation of the bracket by translating the electric push rod, so that the automatic patient transfer robot can get on and off the automatic patient transfer vehicle, while saving the time of medical workers, reducing the labor intensity of medical workers and patients' families, and avoiding secondary injuries to the transported persons.

[0094] The automatic patient transport robot provided by the embodiment of the present invention has a first motion mechanism that controls the first support plate and the second support plate to move forward alternately when the second motion mechanism controls the first support plate and the second support plate to alternately close and open, thereby realizing the crawling action of the automatic patient transport robot. The crawling robot can crawl under the person being transported, and can realize mechanized transport of the person being transported. In the case where the person being transported suffers from an infectious disease, the infection of medical staff can be avoided, the risk of infection of medical staff can be reduced, and the risk of further community transmission of infectious diseases can be eliminated.

[0095] Although the disclosure is disclosed as above, the protection scope of the disclosure is not limited thereto. Those skilled in the art may make various changes and modifications without departing from the spirit and scope of the disclosure, and these changes and modifications will fall within the protection scope of the present invention.

Claims

1. A patient automatic transport system, characterized in that: It comprises an automatic patient transport vehicle (300) and an automatic patient transport robot (500), The automatic patient transport robot (500) is arranged on the automatic patient transport vehicle (300); The patient automatic transport robot (500) comprises a first motion mechanism (530), a second motion mechanism (550), at least one first support plate (570) and at least one second support plate (590); each of the first support plates (570) comprises two first support sub-plates (571), the two first support sub-plates (571) of each of the first support plates (570) move towards each other to achieve a closing action of the first support plate (570), and the two first support sub-plates (571) of each of the first support plates (570) move in the opposite direction to achieve an opening action of the first support plate (570); each of the second support plates (590) comprises two second support sub-plates (591), the two first support sub-plates (591) of each of the second support plates (590) The two second support sub-plates (591) move toward each other to realize the closing action of the second support plate (590), and the two second support sub-plates (591) of each second support plate (590) move in opposite directions to realize the opening action of the second support plate (590); the second motion mechanism (550) is suitable for driving the first support plate (570) and the second support plate (590) to alternately perform closing action and opening action; the first motion mechanism (530) is suitable for driving the first support plate (570) and the second support plate (590) to alternately move forward when the second motion mechanism (550) drives the first support plate (570) and the second support plate (590) to alternately perform closing action and opening action.

2. The automatic patient transport system according to claim 1, characterized in that: The first motion mechanism (530) is suitable for driving the first support plate (570) to move forward when the distance between the two first support sub-plates (571) of the first support plate (570) is smaller than the distance between the two second support sub-plates (591) of the second support plate (590); the first motion mechanism (530) is also suitable for driving the second support plate (590) to move forward when the distance between the two second support sub-plates (591) of the second support plate (590) is smaller than the distance between the two first support sub-plates (571) of the first support plate (570).

3. The automatic patient transport system according to claim 1, characterized in that: It comprises a plurality of first support plates (570) and a plurality of second support plates (590), wherein the plurality of first support plates (570) and the plurality of second support plates (590) are arranged at intervals, one second support plate (590) is arranged between two adjacent first support plates (570), and one first support plate (570) is arranged between two adjacent second support plates (590).

4. The automatic patient transport system according to claim 3, characterized in that: The first motion mechanism (530) includes a first push rod (531), a second push rod (533) and a screw module (535), wherein the first push rod (531) is connected to a plurality of the first support plates (570), and the first push rod (531) is suitable for driving the plurality of the first support plates (570) to move, the second push rod (533) is connected to a plurality of the second support plates (590), and the second push rod (533) is suitable for driving the plurality of the second support plates (590) to move, and the screw module (535) is connected to the first push rod (531) and the second push rod (533), and the screw module (535) is suitable for driving the first push rod (531) to reciprocate relative to the second push rod (533).

5. The automatic patient transport system according to claim 4, characterized in that: A plurality of first columns are fixedly arranged on the first push rod (531), and each of the first supporting sub-plates (571) is provided with two first movement holes (573), and each of the first columns cooperates with one of the first movement holes (573); a plurality of second columns are fixedly arranged on the second push rod (533), and each of the second supporting sub-plates (591) is provided with two second movement holes (593), and each of the second columns cooperates with one of the second movement holes (593).

6. The automatic patient transport system according to claim 4, characterized in that: The screw module (535) includes a first motor and a first screw, the second push rod (533) is fixedly connected to the first motor, one end of the first screw is arranged on the first motor, and the other end of the first screw is rotatably connected to the first push rod (531), and the first motor is suitable for driving the first screw to extend and retract by rotating so as to realize the reciprocating motion of the first push rod (531) relative to the second push rod (533).

7. The automatic patient transport system according to claim 1, characterized in that: The second motion mechanism (550) comprises a camshaft (551), a first cam (552) and a second cam (553); the first cam (552) and the second cam (553) are arranged on the camshaft (551); the camshaft (551) drives the first cam (552) and the second cam (553) to rotate; each of the first cams (552) is arranged between two of the first supporting sub-plates (571) of a first supporting plate (570); each of the second cams (553) is arranged between two of the second supporting sub-plates (591) of a second supporting plate (590); when the camshaft (551) drives the first cam (552) and the second cam (553) to rotate, the long axis of the first cam (552) is always perpendicular to the long axis of the second cam (553).

8. The automatic patient transport system according to claim 7, characterized in that: The second motion mechanism (550) comprises a plurality of cam shafts (551), and the plurality of cam shafts (551) are distributed at equal intervals.

9. The automatic patient transport system according to claim 8, characterized in that: The second motion mechanism (550) further comprises a second motor (555), a second lead screw (556), a cam linkage rod (557) and a plurality of rocking rods (558), wherein one end of the second lead screw (556) is arranged on the second motor (555), the other end of the second lead screw (556) is connected to the cam linkage rod (557), one end of each rocking rod (558) is rotatably connected to the cam linkage rod (557), and the other end of each rocking rod (558) is connected to a The camshaft (551) is fixedly connected, the second motor (555) is suitable for driving the second lead screw (556) to make reciprocating motion, the second lead screw (556) is suitable for driving the cam linkage rod (557) to make reciprocating motion through reciprocating motion, the cam linkage rod (557) is suitable for driving the rocking arm (558) to rotate around the camshaft (551) through reciprocating motion, and the rocking arm (558) is suitable for driving the camshaft (551) to rotate by rotating around the camshaft (551).

10. A method for automatic patient transfer, using the automatic patient transfer system (100) as claimed in any one of claims 1 to 9 to transfer a person (701) from a first bed (703) to a second bed, characterized in that: include: When the automatic patient transport robot (500) of the automatic patient transport system (100) is placed on the bracket (350) of the automatic patient transport vehicle (300) of the automatic patient transport system (100), the automatic patient transport vehicle (300) is pushed close to the first bed (703); The bracket (350) is driven to move to the first bed (703) by the automatic patient transporter (300); The first support plate (570) and the second support plate (590) of the automatic patient transport robot (500) are driven to alternately perform closing and opening actions by the second motion mechanism (550) of the automatic patient transport robot (500); and at the same time, the first support plate (570) and the second support plate (590) are driven to alternately move toward the direction approaching the person being transported (701) by the first motion mechanism (530) of the automatic patient transport robot (500) until the automatic patient transport robot (500) climbs under the person being transported (701); The bracket (350) is driven by the automatic patient transport vehicle (300) to fork under the automatic patient transport robot (500), and the automatic patient transport robot (500) and the person being transported (701) are carried away from the first bed (703); When the automatic patient transporter (300) approaches the second bed, the automatic patient transporter (300) drives the bracket (350) to move to the second bed; The bracket (350) is driven to fork out from under the automatic patient transport robot (500) by the automatic patient transport vehicle (300); The automatic patient transport robot (500) is controlled to move away from under the person being transported (701) and move to the bracket (350).

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