A liftable chassis structure suitable for a displacement robot

Abstract

The utility model provides a kind of liftable chassis structure suitable for shifting robot, for the existing shifting robot structure is mostly single-layer chassis design, limited to its rear structure is higher, it is difficult to seamlessly dock with different height sickbed, this paper designs a kind of new liftable chassis structure suitable for shifting robot to effectively conquer existing robot rear structure is too high, difficult to insert bed body and other difficult problems.When shifting robot moves to patient bedside, under the drive of vertical motor, the seat plate is located on the bed surface, which facilitates nursing staff to place the patient on the shifting robot, while ensuring the balance of the robot;When the shifting robot is running on a smooth road, under the drive of the horizontal motor, the seat plate is smoothly docked through the horizontal movement of the first chassis, effectively improving the convenience and comfort of patient transfer.The rear wheel and the horizontal shifting mechanism are fixed on the second chassis, which improves the driving stability and structural reliability.

Description

Technical Field

[0001] This utility model belongs to the field of transfer robot technology, and in particular relates to a liftable chassis structure suitable for transfer robots. Background Technology

[0002] Existing transfer robots mostly feature a single-layer chassis design, which, due to their relatively high rear structure, makes seamless docking with beds of varying heights difficult, especially when inserted under the bed for horizontal transfer. Furthermore, existing products lack sufficient structural support and center-of-gravity maintenance during horizontal transfer, easily leading to robot tipping or operational difficulties, impacting patient safety and nursing efficiency. Therefore, there is an urgent need for a transfer robot design that is structurally sound, highly adaptable, and extremely safe. Utility Model Content

[0003] This invention provides a liftable chassis structure suitable for transfer robots, aiming to solve the problems mentioned in the background art.

[0004] This utility model is implemented as follows: a liftable chassis structure suitable for a transfer robot, including a vertical lead screw transmission mechanism and a horizontal lead screw transmission mechanism.

[0005] The vertical screw transmission mechanism includes a second vertical screw support, a vertical guide rail slider, a vertical connecting piece, a seat plate, a seat plate horizontal support beam, a vertical rolling screw auxiliary slider, a vertical screw, a vertical screw guide rail, a first vertical screw support, a battery, a vertical motor mounting base, a vertical rigid coupling, and a vertical motor. The seat plate can move up and down along the extension direction of the vertical screw.

[0006] The horizontal lead screw transmission mechanism includes a horizontal motor mounting base, a horizontal motor, a horizontal rigid coupling, a horizontal lead screw, a first chassis, a first support base for the horizontal lead screw, a second chassis, a horizontal connecting piece, a horizontal guide rail slider, a horizontal lead screw guide rail, and a caster wheel. The horizontal motor drives the horizontal lead screw to move the first chassis back and forth on the second chassis.

[0007] Preferably, the vertical lead screw guide rail is fixed to the top of the vertical motor mounting base by bolts, the vertical rigid coupling connects the vertical motor and the vertical lead screw, and the vertical rolling lead screw auxiliary slider is connected to the horizontal support beam of the base plate.

[0008] Preferably, the seat plate is fixed to the horizontal support beam of the seat plate by bolts, the vertical connecting piece connects the horizontal support beam of the seat plate and the vertical guide rail slider, the straight guide rail slider is fixed to the vertical guide rail slider by bolts, and the first support seat and the second support seat of the vertical lead screw are respectively installed at the bottom and the head of the vertical lead screw by fixed bearings.

[0009] Preferably, the horizontal motor mounting base is fixed to the second chassis by bolts, and the horizontal motor is also fixed by bolts. The rotating shaft of the horizontal motor is connected to the horizontal lead screw through the horizontal rigid coupling.

[0010] Preferably, the horizontal lead screw has a lead screw slider that is connected to the first chassis by bolts, and the four corners of the first chassis are respectively connected to the horizontal guide rail slider by the horizontal connecting piece.

[0011] Preferably, the horizontal guide rail slider is fixed to the second chassis by bolts, the front end of the horizontal lead screw guide rail is connected to the first support seat of the horizontal lead screw by a fixed bearing, the first support seat of the horizontal lead screw is fixed to the second chassis by bolts, and the universal wheel is fixed to the first chassis.

[0012] Compared with the prior art, the beneficial effects of this utility model are:

[0013] To address the limitations of existing single-layer chassis designs in patient transfer robots, which are often restricted by their high rear structures and cannot seamlessly connect with beds of varying heights, this paper presents a novel height-adjustable chassis structure for transfer robots. This effectively overcomes the challenges of excessive rear structure height and difficulty in bed insertion in existing robots. When the transfer robot moves to the patient's bedside, the vertical motor drives the seat to be positioned on the bed surface, facilitating patient placement by caregivers while maintaining the robot's balance. When the transfer robot is traveling on a smooth surface, the horizontal motor drives the horizontal movement of the first chassis, achieving smooth seat docking and significantly improving the convenience and comfort of patient transfer. The rear wheels are fixed to the horizontal transfer mechanism on the second chassis, enhancing drive stability and structural reliability. Attached Figure Description

[0014] Figure 1 This is a three-dimensional perspective view of the overall structure of this utility model;

[0015] Figure 2 This is a three-dimensional view of the overall structure of this utility model;

[0016] Figure 3 This is a schematic diagram of the horizontal lead screw transmission mechanism in this utility model;

[0017] Figure 4 This is a schematic diagram of the vertical lead screw transmission mechanism in this utility model;

[0018] Figure 5 This is a schematic diagram showing the structural changes of this utility model in use.

[0019] In the picture:

[0020] 1. Hand steering wheel; 2. Second support seat for vertical lead screw; 3. Vertical guide rail slider; 4. Vertical connecting piece; 5. Seat plate; 6. Seat plate horizontal support beam; 7. Auxiliary slider for vertical rolling lead screw; 8. Vertical lead screw; 9. Vertical lead screw guide rail; 10. First support seat for vertical lead screw; 11. Battery; 12. Second chassis; 13. Horizontal connecting piece; 14. Casters; 15. Drive wheel; 16. Horizontal guide rail slider; 17. Horizontal lead screw guide rail; 18. First chassis; 19. First support seat for horizontal lead screw; 20. Horizontal motor mounting base; 21. Vertical motor mounting base; 22. Horizontal rigid coupling; 23. Horizontal motor; 24. Vertical rigid coupling; 25. Horizontal lead screw; 26. Vertical motor. Detailed Implementation

[0021] The technical solution of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of this utility model, but not all embodiments.

[0022] The components of the present invention embodiments described and shown in the accompanying drawings can typically be arranged and designed in a variety of different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention.

[0023] Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0024] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0025] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0026] Please see Figures 1 to 5 This utility model provides a technical solution: a liftable chassis structure suitable for a transfer robot, including a hand steering plate 1, a second vertical lead screw support 2, a vertical guide rail slider 3, a vertical connecting piece 4, a seat plate 5, a seat plate horizontal support beam 6, a vertical rolling lead screw auxiliary slider 7, a vertical lead screw 8, a vertical lead screw guide rail 9, a first vertical lead screw support 10, a battery 11, a second chassis 12, a horizontal connecting piece 13, a universal wheel 14, a drive wheel 15, a horizontal guide rail slider 16, a horizontal lead screw guide rail 17, a first chassis 18, a first horizontal lead screw support 19, a horizontal motor mounting base 20, a vertical motor mounting base 21, a horizontal rigid coupling 22, a horizontal motor 23, a vertical rigid coupling 24, a horizontal lead screw 25, and a vertical motor 26;

[0027] The transmission mechanism mainly consists of two parts: a vertical lead screw transmission mechanism and a horizontal lead screw transmission mechanism;

[0028] Combined with appendix Figure 2 and attached Figure 4 The vertical screw drive mechanism consists of a second vertical screw support 2, a vertical guide rail slider 3, a vertical connecting piece 4, a seat plate 5, a seat plate horizontal support beam 6, a vertical rolling screw auxiliary slider 7, a vertical screw 8, a vertical screw guide rail 9, a first vertical screw support 10, a battery 11, a vertical motor fixing seat 21, a vertical rigid coupling 24, and a vertical motor 26. The vertical lead screw guide rail 9 is fixed to the top of the vertical motor mounting base 21 by bolts. The vertical rigid coupling 24 connects the vertical motor 26 to the vertical lead screw 8. The vertical rolling lead screw auxiliary slider 7 on the lead screw is connected to the seat plate horizontal support beam 6. The seat plate 5 is fixed to the seat plate horizontal support beam 6 by bolts. The vertical connecting piece 4 connects the seat plate horizontal support beam 6 and the vertical guide rail slider 3. The vertical guide rail slider 3 is fixed to the vertical guide rail slider 3 by bolts. The first vertical lead screw support base 10 and the second vertical lead screw support base 2 are respectively installed at the bottom and head of the vertical lead screw 8 by fixed bearings. Driven by the vertical motor 26, the seat plate 5 moves up and down to adapt to different bed heights and users of different heights.

[0029] Combined with appendix Figure 2 and attached Figure 3The horizontal lead screw transmission mechanism consists of a horizontal motor mounting base 20, a horizontal motor 23, a horizontal rigid coupling 22, a horizontal lead screw 25, a first chassis 18, a first support base 19 for the horizontal lead screw, a second chassis 12, a horizontal connecting piece 13, a horizontal guide rail slider 16, a horizontal lead screw guide rail 17, and a caster wheel 14. The horizontal motor mounting base 20 is bolted to the second chassis 12, and the horizontal motor 23 is also bolted to it. The rotating shaft of the horizontal motor 23 is connected to the horizontal lead screw 25 via the horizontal rigid coupling 22. A lead screw slider is connected to the first chassis 18 by bolts. The four corners of the first chassis 18 are connected to the horizontal guide rail slider 16 by horizontal connecting pieces 13. The horizontal guide rail slider 16 is fixed to the second chassis 12 by bolts. The front end of the horizontal lead screw guide rail 17 is connected to the first support seat 19 of the horizontal lead screw by a fixed bearing. The first support seat 19 of the horizontal lead screw is fixed to the second chassis 12 by bolts. The caster wheel 14 is fixed to the first chassis 18. Driven by the horizontal motor 23, the first chassis 18 can move back and forth within the second chassis 12.

[0030] Battery 11 supplies power to vertical motor 26 and horizontal motor 23. Three stroke slots are provided on the second chassis 12 to facilitate the horizontal movement of vertical lead screw 8, vertical lead screw guide rail 9 and hand steering plate 1 under the drive of the first chassis 18. Drive wheel 15 is fixed on the second chassis 12 to ensure that the second chassis 12 remains stationary when the first chassis 18 moves horizontally.

[0031] Combined with appendix Figure 5 This electrically controlled double-chassis moving robot supports operation via wireless remote control or mobile APP. The user first controls the robot to move to the bedside, adjusts the height of the seat 5 to be flush with the bed surface, and then starts the horizontal movement function in a sitting position. At this time, the seat 5, casters 14 and handrail 1 move forward synchronously, so that the seat 5 extends to the bed surface and is located directly under the crotch. After the seat 5 fully supports the body, it moves in the opposite direction to return to the initial position. Finally, the height of the seat 5 is adjusted according to the user's height so that both feet can be firmly placed on the second chassis 12. During horizontal movement, the system automatically locks the drive wheels 15 of the second chassis 12 to ensure stability, while the handrail 1 provides full support to ensure safe use.

[0032] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A liftable chassis structure suitable for a transfer robot, characterized in that: This includes vertical screw drive mechanisms and horizontal screw drive mechanisms; The vertical screw transmission mechanism includes a second vertical screw support (2), a vertical guide rail slider (3), a vertical connecting piece (4), a seat plate (5), a seat plate horizontal support beam (6), a vertical rolling screw auxiliary slider (7), a vertical screw (8), a vertical screw guide rail (9), a first vertical screw support (10), a battery (11), a vertical motor fixing seat (21), a vertical rigid coupling (24), and a vertical motor (26). The seat plate (5) can move up and down along the extension direction of the vertical screw (8). The horizontal lead screw transmission mechanism includes a horizontal motor mounting base (20), a horizontal motor (23), a horizontal rigid coupling (22), a horizontal lead screw (25), a first chassis (18), a first support base for the horizontal lead screw (19), a second chassis (12), a horizontal connecting piece (13), a horizontal guide rail slider (16), a horizontal lead screw guide rail (17), and a caster wheel (14). The horizontal motor (23) drives the horizontal lead screw (25) to drive the first chassis (18) to move back and forth on the second chassis (12).

2. The liftable chassis structure for a transfer robot according to claim 1, characterized in that: The vertical lead screw guide rail (9) is fixed to the top of the vertical motor mounting base (21) by bolts. The vertical rigid coupling (24) connects the vertical motor (26) and the vertical lead screw (8). The vertical rolling lead screw auxiliary slider (7) is connected to the horizontal support beam (6) of the seat plate.

3. The liftable chassis structure for a transfer robot according to claim 1, characterized in that: The seat plate (5) is fixed to the horizontal support beam (6) of the seat plate by bolts. The vertical connecting piece (4) connects the horizontal support beam (6) of the seat plate and the vertical guide rail slider (3). The straight guide rail slider (3) is fixed to the vertical guide rail slider (3) by bolts. The first support seat (10) and the second support seat (2) of the vertical screw are respectively installed at the bottom and head of the vertical screw (8) by fixed bearings.

4. The liftable chassis structure suitable for a transfer robot according to claim 1, characterized in that: The horizontal motor mounting base (20) is fixed to the second chassis (12) by bolts, and the horizontal motor (23) is also fixed by bolts. The rotating shaft of the horizontal motor (23) is connected to the horizontal lead screw (25) through the horizontal rigid coupling (22).

5. A liftable chassis structure suitable for a transfer robot according to claim 1, characterized in that: The horizontal lead screw (25) has a lead screw slider that is connected to the first chassis (18) by bolts. The four corners of the first chassis (18) are respectively connected to the horizontal guide rail slider (16) through the horizontal connecting piece (13).

6. The liftable chassis structure suitable for a transfer robot according to claim 1, characterized in that: The horizontal guide rail slider (16) is fixed to the second chassis (12) by bolts. The front end of the horizontal lead screw guide rail (17) is connected to the first support seat (19) of the horizontal lead screw by a fixed bearing. The first support seat (19) of the horizontal lead screw is fixed to the second chassis (12) by bolts. The universal wheel (14) is fixed to the first chassis (18).

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