CN115154113B

CN115154113B - Postoperative patient transfer robot

Info

Publication number: CN115154113B
Application number: CN202210818453.XA
Authority: CN
Inventors: 林盛; 柴超凡; 李刚
Original assignee: Dalian Jiaotong University
Current assignee: Dalian Jiaotong University
Priority date: 2022-07-13
Filing date: 2022-07-13
Publication date: 2023-09-22
Anticipated expiration: 2042-07-13
Also published as: CN115154113A

Abstract

The invention relates to the field of soft robots, and particularly discloses a post-operation patient transfer robot which comprises a plurality of soft driving devices, a bed body, an air channel device, an air pump and a power supply, wherein the soft driving devices are vertically arranged above the bed body, each soft driving device comprises a plurality of soft driving units which are connected with each other, each soft driving unit comprises a deformation body capable of overturning relative to the transverse direction of the bed body and a base connected below the deformation body, an air inflation cavity is arranged in the base, each deformation body is of a cavity type structure and is communicated with the corresponding air inflation cavity, and the air pump is connected with the corresponding soft driving device through the air channel device. The invention can improve the comfort of the patient in the process of being carried, avoid secondary injury to the patient in the carrying process, and in addition, the controller can drive the single-group driver to move independently or the multiple groups of drivers to move simultaneously, thereby realizing stable and safe carrying and automatic carrying of the postoperative patient and relieving the problem that the postoperative patient in a hospital needs to be carried but has insufficient hands.

Description

Postoperative patient transfer robot

Technical Field

The invention relates to the field of soft robots.

Background

After operation or operation is finished, the patient needs to be transferred between sickbeds, and the patient is limited due to anesthesia, trauma and the like and cannot move by himself or herself, so that a plurality of medical staff are required to carry the patient at the same time, but the hand is insufficient, jolt is easy to generate due to uneven manpower, and secondary injury is caused to the patient. 2017 Li Zhenzhe et al in patent CN106943246a discloses a postoperative patient transferring stretcher, which can scoop a patient into a stretcher without moving the patient by matching the transferring stretcher with a telescopic rotary stretcher, and then transfer the patient away from an operating table by the transferring stretcher, but the scooping device of the device is a mechanical device, and needs to be inserted between the patient and a sickbed, so that the device has a certain potential safety hazard. In 2020, bai, CN112057275A, a post-operative patient handling device is disclosed which uses two sets of connected handling pallets to hold a patient and then moves the patient through a roller hauling mechanism, but requires the patient to be moved onto the handling pallet before use, and still requires human involvement. Therefore, the prior art still has the problems of lack of hands and easy secondary injury to patients. Aiming at the problems, the novel post-operation patient transfer robot is designed, and the problem existing in the prior post-operation transfer of the patient is very necessary to overcome.

Disclosure of Invention

In order to solve the problems in the prior art of postoperative transfer of patients, the invention provides a postoperative patient transfer robot.

The technical scheme adopted by the invention for achieving the purpose is as follows: the utility model provides a postoperative patient transfer robot, includes software drive arrangement, the bed body, gas circuit device, air pump and power, software drive arrangement be a plurality of and a plurality of software drive arrangement vertical set up in bed body top, software drive arrangement includes a plurality of interconnect's software drive unit, software drive unit includes the deformation body that can overturn for the horizontal direction of bed body and connects in the base of deformation body below, be equipped with the inflation chamber in the base, the deformation body be cavity type structure and with the inflation chamber intercommunication, the deformation body include interconnect's limiting layer and expansion layer just the ductility of limiting layer is less than expansion layer's ductility, the air pump pass through gas circuit device with software drive arrangement connects for the interior inflation chamber through the base is for the deformation body is inflated, the power is used for supplying power for whole device.

Preferably, the bed body is equipped with installing support, middle part platform and mounting panel, the installing support is two, sets up in fixing at bed body one end middle part, the installing support is used for fixing the gas circuit device, the middle part platform sets up in the bed body below is inside, the middle part platform is used for fixing the air pump, the mounting panel set up in the bed body side, the mounting panel is used for fixing power and hardware circuit module.

Preferably, the deformation body is further provided with two side walls, and the limiting layer, the expansion layer and the two side walls enclose a closed cavity type structure.

Preferably, the deformation body is arranged in the middle above the base.

Preferably, the soft driving device further comprises a bracket, and the soft driving unit is connected with the bed body through the bracket.

Preferably, the soft driving unit is made of silicone, and a sheet-shaped non-stretchable substance is arranged in the limiting layer.

Preferably, the air path device is arranged at one side of the bed body, the air path device comprises an air pipe connected with the soft driving device and an electromagnetic valve connected with the air pipe, and the air pump is connected with the electromagnetic valve.

Preferably, the air pipe is connected with the base through a branch air pipe, the number of the air pipe and the electromagnetic valve is the same as that of the software driving device, and the number of the branch air pipe is the same as that of the base.

Preferably, the air pump control device further comprises a hardware circuit module and a controller, wherein the hardware circuit module is connected with the air circuit device and the air pump, and the controller is connected with the hardware circuit module and used for controlling the air circuit device and the air pump.

Preferably, the controller is provided with a start button, a stop button and an air passage selection button, and the air passage selection button is used for selecting the number of on-off of the air passage device.

According to the postoperative patient carrying robot, the patient is supported and moved through the gas in the cavity of the soft driving device, so that comfort of the patient in the carrying process can be improved, secondary damage to the patient in the carrying process is avoided, in addition, the controller can drive a single-group driver to move independently or multiple groups of drivers to move simultaneously, convenience is provided for carrying the patient only by one hand, stable and safe carrying and automatic carrying of the postoperative patient are realized, and the problem that the postoperative patient in a hospital needs to be carried but has insufficient hands can be solved.

Drawings

FIG. 1 is a schematic view of a front view of a post-operative patient handling robot according to an embodiment of the present invention;

FIG. 2 is a schematic perspective view of a post-operative patient handling robot according to an embodiment of the present invention;

FIG. 3 is a schematic view of a gas circuit device according to an embodiment of the present invention;

FIG. 4 is a schematic diagram of a software driving device according to an embodiment of the invention;

FIG. 5 is a schematic view of a variant of an embodiment of the invention in a relaxed state;

FIG. 6 is a schematic diagram showing a structure of a separation state of a confining layer and an expanding layer according to an embodiment of the invention;

FIG. 7 is a schematic view showing a deformation body in a bending starting state according to an embodiment of the present invention;

fig. 8 is a schematic view of a structure of an article to be carried after being moved laterally according to an embodiment of the present invention.

In the figure: 1. 1-1 parts of software driving device, 1-2 parts of base, 1-3 parts of limiting layer, 1-4 parts of expansion layer, 1-4 parts of support, 2 parts of bed body, 2-1 parts of mounting support, 2-2 parts of middle platform, 2-3 parts of mounting plate, 3 parts of air pump, 4 parts of power supply, 5 parts of hardware circuit module, 6 parts of air circuit device, 6-1 parts of air pipe, 6-2 parts of electromagnetic valve group, 7 parts of controller, 8 parts of article to be carried.

Detailed Description

Embodiments of the present invention are described in further detail below with reference to the accompanying drawings and examples. The following examples are illustrative of the invention but are not intended to limit the scope of the invention.

In the description of the present invention, it should be noted that the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, merely to facilitate description of the present invention and simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. The terms "mounted," "connected," "coupled," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art. Furthermore, in the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more.

As shown in FIG. 1-3, the post-operation patient handling robot of the embodiment comprises a plurality of soft driving devices 1, a bed body 2, an air channel device 6, an air pump 3 and a power supply 4, wherein the soft driving devices 1 are vertically arranged above the bed body 2, the soft driving devices 1 comprise a plurality of soft driving units which are mutually connected, each soft driving unit comprises a deformation body capable of overturning relative to the transverse direction of the bed body 2 and a base 1-1 connected below the deformation body, an air inflation cavity is arranged in the base 1-1, the deformation body is of a cavity type structure and is communicated with the air inflation cavity, the deformation body comprises a limiting layer 1-2 and an expansion layer 1-3 which are mutually connected, the ductility of the limiting layer 1-2 is smaller than the ductility of the expansion layer 1-3, the soft driving devices 1 are used for handling patients through the deformation body, the air pump 3 is connected with the soft driving devices 1 through the air channel device 6 and is used for inflating the deformation body through the inner air inflation cavity of the base 1-1, and the power supply 4 is used for supplying power for the whole device.

As shown in fig. 2, the bed body 2 is provided with two mounting brackets 2-1, a middle platform 2-2 and mounting plates 2-3, the two mounting brackets 2-1 are arranged at the middle part of one end of the bed body 2, the mounting brackets 2-1 are used for fixing the air circuit device 6, the air circuit device 6 is fixed more firmly and is not easy to fall off, the middle platform 2-2 is arranged inside the lower part of the bed body 2, the middle platform 2-2 is used for fixing the air pump 3, the air pump 3 is fixed inside the bed body 2, the external space is not occupied, the air pump 3 is prevented from being knocked, the mounting plates 2-3 are arranged on the side surface of the bed body 2, and the mounting plates 2-3 are used for fixing the power supply 4 and the hardware circuit module 5.

As shown in fig. 3 and 4, the width of the expansion layer 1-3 in the deformation body may be larger than the width of the limiting layer 1-2, the deformation body is further provided with two side walls, the limiting layer 1-2, the expansion layer 1-3 and the two side walls enclose a closed cavity type structure, and the deformation body is arranged in the middle above the base 1-1. The soft driving device 1 also comprises a bracket 1-4, the soft driving unit is connected with the bed body 2 through the bracket 1-4, the soft driving unit is made of silicon resin, and a sheet-shaped non-stretchable substance is arranged in the limiting layer 1-2. During manufacturing, the base 1-1, the limiting layer 1-2 and the expansion layer 1-3 can be poured into a printed mold through silicone rubber to be integrally formed, wherein a sheet-shaped non-stretchable substance is placed in the limiting layer 1-2, plastic non-stretchability of the limiting layer 1-2 is guaranteed, an inner concave square hole with the same shape as that of the base 1-1 is formed in the upper end of the support 1-4, the base 1-1 is placed in the inner concave square hole of the support 1-4, the bottom of the base 1-1 is directly fixed on the support 1-4 through an adhesive, relative movement cannot occur, holes are formed in four corners of the support 1-4, and the base is fixed on the upper portion of the bed body 2 through bolts and nuts.

As shown in fig. 3, the air path device 6 is disposed on one side of the bed 2, the air path device 6 includes an air pipe 6-1 connected with the soft driving device 1 and an electromagnetic valve 6-2 connected with the air pipe 6-1, the air pump 3 is connected with the electromagnetic valve 6-2, the air pipe 6-1 is connected with the base 1-1 through a branched air pipe, the number of the air pipe 6-1 and the electromagnetic valve 6-2 is the same as that of the soft driving device 1, and the number of the branched air pipes is the same as that of the base.

In addition, the air pump device further comprises a hardware circuit module 5 and a controller 7, wherein the hardware circuit module 5 is connected with the air circuit device 6 and the air pump 3, and the controller 7 is connected with the hardware circuit module 5 and is used for controlling the air circuit device 6 and the air pump 3. The controller 7 is provided with a start button, a stop button and an air passage selection button, and the air passage selection button is used for selecting the on-off quantity of the electromagnetic valve 6-2.

The number of rows and the number of columns of the software driving device 1 in the device can be increased and decreased according to the requirements, the layout of the software driving device 1 can be automatically combined according to the requirements, the lengths of the limiting layer 1-2 and the expansion layer 1-3 can be further prolonged according to the actual carrying requirements, in the carrying process, two or more groups of software driving devices 1 can be started to carry out carrying operation according to the carrying requirements, the shape of the bed body 2 can be deformed according to the requirements, and other accessories and devices can be added, connected, fixed and installed to realize the required functions.

Fig. 5-8 are simplified schematic diagrams of the patient handling process of the device, in the automatic patient handling process, the start button on the controller 7 is first pressed, and by increasing the air pressure in the deformation body, the lateral swinging displacement of the article 8 to be handled on the platform is realized through the combined action of the expansion layer 1-3 and the limiting layer 1-2.

Taking the operation of a train of software drivers 1 as an example: 1. as shown in fig. 5, firstly, the deformation body is in a relaxed state, the article 8 to be carried is flatly placed on the soft driving device 1, and the limiting layer 1-2, the expansion layer 1-3 and the base 1-1 are pressed and tightly attached;

2. as shown in fig. 6, the start button on the controller 7 is pressed, at this time, the air pump 3 starts to pump air into the deformed body through the branch air pipe, and as the air flows in, the expansion layer 1-3 is expanded under pressure, so that the volume of the deformed body is continuously expanded, the inner surface of the limiting layer 1-2 is gradually separated from the inner surface of the expansion layer 1-3, and the object 8 to be transported is gradually lifted;

3. as shown in fig. 7, as the air continues to flow in, the volume of the deformed body further expands, the part of the expansion layer 1-3 longer than the restriction layer 1-2 begins to expand to a larger extent, the article 8 to be carried is jacked up to the other side, and as the stress of the article 8 to be carried changes, the junction of the restriction layer 1-2 and the expansion layer 1-3 receives a downward extrusion force which is not coplanar with the restriction layer 1-2, at this time, the middle partition of the restriction layer 1-2 cannot maintain a balanced state, and the restriction layer 1-2 rotates around the junction with the base 1-1 as an axis;

4. as shown in fig. 8, as the deformation body is continuously inflated, the final limiting layer 1-2 rotates 180 degrees around the joint with the base 1-1 as an axis, and under the pressure of the article 8 to be conveyed, the gas inflated inside the deformation body is slowly discharged through the electromagnetic valve group 6-2, and the limiting layer 1-2 is folded with the upper surface of the base 1-1, so that the article 8 to be conveyed is conveyed.

The embodiments of the invention have been presented for purposes of illustration and description, and are not intended to be exhaustive or limited to the invention in the form disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, and to enable others of ordinary skill in the art to understand the invention for various embodiments with various modifications as are suited to the particular use contemplated.

Claims

1. The utility model provides a postoperative patient transfer robot, its characterized in that includes software drive arrangement (1), the bed body (2), gas circuit device (6), air pump (3) and power (4), software drive arrangement (1) be a plurality of and a plurality of software drive arrangement (1) vertical set up in bed body (2) top, software drive arrangement (1) include a plurality of interconnect's software drive unit, software drive unit include can be for the deformation body of bed body (2) transverse direction upset and connect in the base (1-1) of deformation body below, be equipped with the inflating cavity in base (1-1), the deformation body be cavity type structure and with inflating cavity intercommunication, the deformation body includes interconnect's restrictive coating (1-2) and inflation layer (1-3) just the ductility of restrictive coating (1-2) is less than inflation layer (1-3), air pump (3) are passed through gas circuit device (6) with be connected for through in base (1-1) be for whole inflating cavity (4) is used for inflating cavity in the power supply.

2. The post-operation patient handling robot according to claim 1, wherein the bed body (2) is provided with a mounting bracket (2-1), a middle platform (2-2) and a mounting plate (2-3), the two mounting brackets (2-1) are respectively arranged at the middle part of one end of the bed body (2), the mounting bracket (2-1) is used for fixing the air passage device (6), the middle platform (2-2) is arranged inside the lower part of the bed body (2), the middle platform (2-2) is used for fixing the air pump (3), the mounting plate (2-3) is arranged on the side surface of the bed body (2), and the mounting plate (2-3) is used for fixing the power supply (4) and the hardware circuit module (5).

3. A post-operative patient handling robot according to claim 1, wherein the deformation body is further provided with two side walls, the confinement layer (1-2), the expansion layer (1-3) and the two side walls enclosing a closed cavity type structure.

4. A post-operative patient handling robot according to claim 1, wherein the deformation body is arranged in the middle above the base (1-1).

5. A post-operative patient handling robot according to claim 1, wherein the soft drive means (1) further comprises a support (1-4), the soft drive unit being connected to the bed (2) via the support (1-4).

6. A post-operative patient handling robot according to claim 1, wherein the soft drive unit is made of silicone, and wherein the restriction layer (1-2) is provided with a sheet-like non-stretchable material.

7. The post-operation patient handling robot according to claim 1, wherein the air path device (6) is disposed at one side of the bed body (2), the air path device (6) comprises an air pipe (6-1) connected with the soft driving device (1) and an electromagnetic valve (6-2) connected with the air pipe (6-1), and the air pump (3) is connected with the electromagnetic valve (6-2).

8. The post-operation patient handling robot according to claim 7, wherein the air pipe (6-1) is connected to the base (1-1) through a branched air pipe, the number of the air pipe (6-1) and the electromagnetic valve (6-2) is the same as the number of the soft driving device (1), and the number of the branched air pipe is the same as the number of the base (1-1).

9. The post-operative patient handling robot of claim 1, further comprising a hardware circuit module (5) and a controller (7), wherein the hardware circuit module (5) is connected to the air path device (6) and the air pump (3), and wherein the controller (7) is connected to the hardware circuit module (5) for controlling the air path device (6) and the air pump (3).

10. A post-operative patient handling robot according to claim 9, wherein the controller (7) is provided with a start button, a stop button and an air path selection button for selecting the number of on-off of the air path means (6).