阅读说明：本技术 一种医疗病床运输机器人的伸缩爪 (Telescopic claw of medical sickbed transportation robot ) 是由 胡伟琳 于 2021-07-21 设计创作，主要内容包括：本发明提供一种医疗病床运输机器人的伸缩爪,其结构包括：驱动架、支撑机构、转盘、底座,驱动架的下端嵌入于转动盘的内侧,支撑架构的一端与驱动架的内侧进行活动卡合,转盘与底座为一体化结构,本发明在病床夹持的过程中,利用支撑架与驱动架的活动配合,从而对连接机构起到支撑作用,避免病床上的重力增大,从而导致设备侧翻的现象,且设备在运行时,利用驱动端带动伸缩杆的伸缩与收缩,而夹持装置随着伸缩杆的收缩而收缩,以致于伸缩杆的收缩量能够减少夹持装置伸出的量,且伸缩杆能够对夹持装置起到支撑作用,因此避免在运输的过程中,由于重力的作用病床向下沉,从而导致夹持装置伸出部位发生晃动,造成形变从而无法收缩的现象。(The invention provides a telescopic claw of a medical sickbed transportation robot, which structurally comprises: the invention relates to a sickbed, which comprises a driving frame, a supporting mechanism, a turntable and a base, wherein the lower end of the driving frame is embedded into the inner side of a rotating disc, one end of a supporting framework is movably clamped with the inner side of the driving frame, the turntable and the base are of an integrated structure, thereby supporting the connecting mechanism, avoiding the phenomenon that the equipment turns on one side due to the increase of gravity on the sickbed, and when the equipment runs, the driving end is utilized to drive the telescopic rod to extend and contract, the clamping device contracts along with the contraction of the telescopic rod, so that the contraction amount of the telescopic rod can reduce the extending amount of the clamping device, and the telescopic rod can support the clamping device, thereby avoiding the phenomenon that in the transportation process, because the sickbed sinks under the action of gravity, the extending part of the clamping device is rocked, and the sickbed deforms and cannot contract.)

1. The utility model provides a flexible claw of medical sick bed transportation robot, its structure includes: drive frame (1), supporting mechanism (2), carousel (3), base (4), the lower extreme embedding of drive frame (1) is in the inboard of rolling disc (3), the inboard of one end and drive frame (1) of supporting mechanism (2) carries out the activity block, carousel (3) and base (4) structure as an organic whole, its characterized in that:

the supporting framework (2) comprises a rotating shaft (21), a connecting mechanism (22) and a supporting frame (23), wherein the outer ring of the rear end of the rotating shaft (21) is movably clamped with the inner side of the connecting mechanism (22), the outer ring of the front end of the rotating shaft (21) is embedded into the inner side of the driving frame (1), the inner side of the lower end of the connecting mechanism (22) is movably clamped with one end of the supporting frame (23), and the other end of the supporting frame (23) is movably clamped with the inner side of the driving frame (1).

2. The telescopic claw of a medical sickbed transportation robot according to claim 1, characterized in that: the connecting mechanism (22) comprises a driving end (221), a connecting rod (222), a limiting ring (223) and a movable mechanism (224), the inner side of the driving end (221) is connected with the outer ring of the left end of the connecting rod (222) in a nested mode, the right end of the connecting rod (222) penetrates through the limiting ring (223), the limiting ring (223) is installed at the left end of the movable mechanism (224), and the inner side of the movable mechanism (224) is nested with the outer ring of the connecting rod (222).

3. The telescopic claw of a medical sickbed transportation robot according to claim 2, characterized in that: the movable mechanism (224) comprises an expansion rod (241), a sliding rail (242), a swinging mechanism (243), a movable cavity (244) and a supporting plate (245), the left end of the expansion rod (241) is embedded into the inner side of the supporting plate (245), the sliding rail (242) and the movable cavity (244) are of an integrated structure, the left end of the swinging mechanism (243) is fixedly connected with the right end of the expansion rod (241), and the left end of the movable cavity (244) is embedded into the inner side of the supporting plate (245).

4. The telescopic claw of a medical sickbed transport robot according to claim 3, characterized in that: the swing mechanism (243) comprises a fixed cavity (431), a clamping device (432), a positioning rod (433), a middle penetrating rod (434) and a connecting block (435), wherein the connecting block (435) is arranged on two sides of the fixed cavity (431), the inner side of the clamping device (432) is movably clamped with the outer ring of the middle penetrating rod (434), the outer ring of the positioning rod (433) is movably clamped with the inner ring of the middle penetrating rod (434), and the middle penetrating rod (434) penetrates through the fixed cavity (431).

5. The telescopic claw of a medical sickbed transportation robot according to claim 4, characterized in that: clamping device (432) are including laminating mechanism (321), connecting rod (322), shift ring (323), movable rod (324), swinging arms (325), the activity block is carried out to the one end of laminating mechanism (321) and the one end of movable rod (324), connecting rod (322) are installed between laminating mechanism (321), the inner ring of shift ring (323) carries out sliding connection with the outer loop of well penetrating rod (434), the other end of movable rod (324) carries out the activity block with the outer loop of well penetrating rod (434), the one end of swinging arms (325) carries out the activity block with the inlayer of movable rod (324), and the other end of swinging arms (325) carries out the activity block with shift ring (323).

6. The telescopic claw of a medical sickbed transportation robot according to claim 5, wherein: laminating mechanism (321) is including supplementary chamber (211), bracing piece (212), inner chamber (213), installation piece (214), the upper end in supplementary chamber (211) is embedded in the inboard of inner chamber (213), bracing piece (212) are installed between supplementary chamber (211) and inner chamber (213), be equipped with installation piece (214) in inner chamber (213), the rear end face of installation piece (214) carries out nested connection with the preceding terminal surface in supplementary chamber (211).

7. The telescopic claw of a medical sickbed transportation robot according to claim 6, wherein: supplementary chamber (211) include arc pole (111), joint board (112), gasbag (113), complementary unit (114), arc pole (111) are installed between gasbag (113), joint board (112) and supplementary chamber (211) structure as an organic whole, the upper end of gasbag (113) carries out fixed connection with the lower extreme of joint board (112), the upper end of complementary unit (114) is connected with the lower extreme of gasbag (113) is inlayed admittedly.

8. The telescopic claw of a medical sickbed transportation robot according to claim 7, wherein: the auxiliary mechanism (114) comprises a flexible plate (141), a central shaft (142), an attaching block (143) and a fixing plate (144), the flexible plate (141) and the fixing plate (144) are of an integrated structure, an outer ring of the central shaft (142) is movably clamped with the inner side of the flexible plate (141), and the upper end face of the attaching block (143) is fixedly connected with the lower end face of the fixing plate (144).

Technical Field

The invention relates to the field of robots, in particular to a telescopic claw of a medical sickbed transportation robot.

Background

Along with the development of science and technology, the robot is applied gradually among each field trade, wherein, the transport of robot in the medical industry plays important role, the robot can be with patient from nursing bed commentaries on classics removal ct machine etc. on equipment, consequently, can realize the transport work through mechanical device such as robot, thereby alleviate medical personnel's burden, but the flexible claw of medical sickbed transportation robot among the prior art, thereby stretch out to the support frame outside through flexible claw and carry out the centre gripping to the sick bed both sides, so that carry the sick bed, and because there is the patient in the sick bed, and the sick bed lower extreme does not have the strong point, consequently at the in-process of transportation, under the effect of gravity, the sick bed will sink, thereby lead to flexible claw to stretch out the position and take place to rock with the support frame, so that support frame and flexible claw take place to warp, thereby cause the unable phenomenon of contracting of flexible claw.

Disclosure of Invention

Aiming at the defects in the prior art, the invention aims to provide a telescopic claw of a medical sickbed transportation robot, which is used for transporting a sickbed, and because a patient is in the sickbed and the lower end of the sickbed is not provided with a supporting point, the sickbed sinks downwards under the action of gravity in the transportation process, so that the extending part of the telescopic claw shakes with a supporting frame, and the supporting frame and the telescopic claw deform, so that the telescopic claw cannot contract.

In order to achieve the purpose, the invention is realized by the following technical scheme: the utility model provides a flexible claw of medical sick bed transportation robot, its structure includes: the lower end of the driving frame is embedded into the inner side of the rotating disc, one end of the supporting framework is movably clamped with the inner side of the driving frame, and the rotating disc and the base are of an integrated structure;

the supporting framework comprises a rotating shaft, a connecting mechanism and a supporting frame, wherein the outer ring of the rear end of the rotating shaft is movably clamped with the inner side of the connecting mechanism, the outer ring of the front end of the rotating shaft is embedded into the inner side of the driving frame, the inner side of the lower end of the connecting mechanism is movably clamped with one end of the supporting frame, and the other end of the supporting frame is movably clamped with the inner side of the driving frame.

Preferably, the connecting mechanism comprises a driving end, a connecting rod, a limiting ring and a movable mechanism, the inner side of the driving end is connected with the outer ring of the left end of the connecting rod in a nested manner, the right end of the connecting rod penetrates through the limiting ring, the limiting ring is installed at the left end of the movable mechanism, the inner side of the movable mechanism is nested with the outer ring of the connecting rod, and the connecting rod and the movable mechanism are located on the same axis.

Preferably, the movable mechanism comprises a telescopic rod, a sliding rail, a swinging mechanism, a movable cavity and a supporting plate, the left end of the telescopic rod is embedded into the inner side of the supporting plate, the sliding rail and the movable cavity are of an integrated structure, the left end of the swinging mechanism is fixedly connected with the right end of the telescopic rod, the left end of the movable cavity is embedded into the inner side of the supporting plate, and the diameter of the left end of the movable cavity is larger than the distance between the swinging mechanisms.

Preferably, the swing mechanism comprises a fixed cavity, a clamping device, a positioning rod, a middle through rod and connecting blocks, wherein the connecting blocks are arranged on two sides of the fixed cavity, the inner side of the clamping device is movably clamped with the outer ring of the middle through rod, the outer ring of the positioning rod is movably clamped with the inner ring of the middle through rod, the middle through rod penetrates through the fixed cavity, and the positioning rod and the middle through rod are located on the same axis and are in a shape like a Chinese character 'hui'.

Preferably, clamping device includes laminating mechanism, connecting rod, shift ring, movable rod, swinging arms, laminating mechanism's one end carries out the activity block with the one end of movable rod, the connecting rod is installed between laminating mechanism, the inner ring of shift ring carries out sliding connection with well outer loop of wearing the pole, the other end of movable rod carries out the activity block with the outer loop of wearing the pole in, the one end of swinging arms carries out the activity block with the inlayer of movable rod, and the other end of swinging arms carries out the activity block with the shift ring, laminating mechanism ring-type distribution is in the outside of shift ring, and is equipped with threely altogether.

As preferred, laminating mechanism includes supplementary chamber, bracing piece, inner chamber, installation piece, the upper end in supplementary chamber is embedded in the inboard of inner chamber, the bracing piece is installed between supplementary chamber and inner chamber, the intracavity is equipped with the installation piece, the rear end face of installation piece carries out nested connection with the preceding terminal surface in supplementary chamber, the bracing piece equidistance distributes in the top in supplementary chamber, and is equipped with five altogether.

Preferably, the auxiliary chamber includes arc pole, linkage plate, gasbag, complementary unit, the arc pole is installed between the gasbag, linkage plate and auxiliary chamber structure as an organic whole, fixed connection is carried out with the lower extreme of linkage plate to the upper end of gasbag, complementary unit's upper end is connected with the lower extreme of gasbag is inlayed admittedly, gasbag symmetric distribution is in complementary unit's both sides, complementary unit static state is circular-arc, and three fourths are located the outside in complementary chamber.

Preferably, the auxiliary mechanism includes a flexible plate, a central shaft, a fitting block, and a fixing plate, the flexible plate and the fixing plate are integrated, an outer ring of the central shaft is movably engaged with an inner side of the flexible plate, an upper end surface of the fitting block is fixedly connected with a lower end surface of the fixing plate, the flexible plate is made of rubber, and a lower end surface of the fitting block is in a rugged pattern shape.

Compared with the prior art, the invention has the following advantagesAdvantageous effects：

1. In the sickbed clamping process, the movable fit of the support frame and the driving frame is utilized, so that the connecting mechanism is supported, the phenomenon that the equipment turns on the side due to the increase of gravity on the sickbed is avoided, the telescopic rod is driven to stretch and contract by the driving end when the equipment runs, the clamping device contracts along with the contraction of the telescopic rod, the stretching amount of the clamping device can be reduced by the contraction amount of the telescopic rod, and the telescopic rod can support the clamping device, so that the phenomenon that the stretching part of the clamping device is rocked and deformed to be incapable of contracting due to the fact that the sickbed sinks under the action of gravity in the transportation process is avoided.

2. In the process that the clamping device clamps the sickbed, the movable fit between the attaching block and the central shaft is utilized, so that the attaching block and the sickbed are mutually extruded, and meanwhile, the attaching block generates extrusion force on the air bag, so that the corner parts of the sickbed are clamped and fixed by utilizing the reaction force of the air bag, and the three attaching mechanisms are annularly distributed on the outer side of the movable ring, so that the contact area between the sickbed and the attaching mechanisms is increased, and the sickbed is prevented from being separated.

Drawings

Fig. 1 is a schematic structural view of a telescopic claw of a medical sickbed transportation robot according to the present invention.

Fig. 2 is a schematic structural view of a front view of the support frame of the present invention.

Fig. 3 is a schematic structural diagram of the refining mechanism of the present invention.

Fig. 4 is a schematic cross-sectional structure of the moving mechanism of the present invention.

Fig. 5 is a schematic structural diagram of the swing mechanism of the present invention.

FIG. 6 is a side view of the clamping device of the present invention.

FIG. 7 is a schematic structural diagram of a bonding mechanism according to the present invention.

FIG. 8 is a schematic cross-sectional view of an auxiliary chamber according to the present invention.

Fig. 9 is a schematic structural view of the auxiliary mechanism of the present invention.

In the figure: a driving frame-1, a supporting mechanism-2, a turntable-3, a base-4, a rotating shaft-21, a connecting mechanism-22, a supporting frame-23, a driving end-221, a connecting rod-222, a limiting ring-223, a movable mechanism-224, a telescopic rod-241, a sliding rail-242, a swinging mechanism-243, a movable cavity-244, a supporting plate-245, a fixed cavity-431, a clamping device-432, a positioning rod-433, a middle through rod-434, a connecting block-435, a fitting mechanism-321, a connecting rod-322, a movable ring-323, a movable rod-324, a swinging rod-325, an auxiliary cavity-211, a supporting rod-212, an inner cavity-213, a mounting block-214, an arc rod-111, a connecting plate-112, an air bag-113, a gas bag-213, a gas bag-2, a gas bag, Auxiliary mechanism-114, flexible plate-141, central shaft-142, joint block-143 and fixing plate-144.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Example 1

As shown in figures 1 to 6:

the invention provides a telescopic claw of a medical sickbed transportation robot, which structurally comprises: the device comprises a driving frame 1, a supporting mechanism 2, a rotary table 3 and a base 4, wherein the lower end of the driving frame 1 is embedded into the inner side of a rotating disc 3, one end of the supporting frame 2 is movably clamped with the inner side of the driving frame 1, and the rotary table 3 and the base 4 are of an integrated structure.

The support framework 2 comprises a rotating shaft 21, a connecting mechanism 22 and a support frame 23, wherein the outer ring of the rear end of the rotating shaft 21 is movably clamped with the inner side of the connecting mechanism 22, the outer ring of the front end of the rotating shaft 21 is embedded into the inner side of the driving frame 1, the inner side of the lower end of the connecting mechanism 22 is movably clamped with one end of the support frame 23, and the other end of the support frame 23 is movably clamped with the inner side of the driving frame 1.

The connecting mechanism 22 comprises a driving end 221, a connecting rod 222, a limiting ring 223 and a movable mechanism 224, wherein the inner side of the driving end 221 is connected with the outer ring of the left end of the connecting rod 222 in a nested manner, the right end of the connecting rod 222 penetrates through the limiting ring 223, the limiting ring 223 is mounted at the left end of the movable mechanism 224, the inner side of the movable mechanism 224 is nested with the outer ring of the connecting rod 222, and the connecting rod 222 and the movable mechanism 224 are located on the same axis, so that the movable mechanism 224 can be supported.

The movable mechanism 224 includes an expansion link 241, a slide rail 242, a swing mechanism 243, a movable cavity 244 and a support plate 245, the left end of the expansion link 241 is embedded into the inner side of the support plate 245, the slide rail 242 and the movable cavity 244 are integrated, the left end of the swing mechanism 243 is fixedly connected with the right end of the expansion link 241, the left end of the movable cavity 244 is embedded into the inner side of the support plate 245, and the diameter of the left end of the movable cavity 244 is greater than the distance between the swing mechanisms 243, so that the swing mechanism 243 can enter the inner side of the movable cavity 244.

The swing mechanism 243 comprises a fixed cavity 431, a clamping device 432, a positioning rod 433, a middle penetrating rod 434 and a connecting block 435, the connecting block 435 is arranged on two sides of the fixed cavity 431, the inner side of the clamping device 432 is movably clamped with the outer ring of the middle penetrating rod 434, the outer ring of the positioning rod 433 is movably clamped with the inner ring of the middle penetrating rod 434, the middle penetrating rod 434 penetrates through the fixed cavity 431, the positioning rod 433 and the middle penetrating rod 434 are located on the same axis and are in a shape of a Chinese character 'hui', and then the middle penetrating rod 434 can drive the clamping device 432 to move on the positioning rod 433.

Wherein, clamping device 432 includes laminating mechanism 321, connecting rod 322, shift ring 323, movable rod 324, swinging arms 325, laminating mechanism 321's one end and the one end of movable rod 324 carry out the activity block, connecting rod 322 is installed between laminating mechanism 321, shift ring 323's inner ring and well penetrating rod 434's outer loop carry out sliding connection, the other end of movable rod 324 and well penetrating rod 434's outer loop carry out the activity block, the one end of swinging arms 325 and the inlayer with movable rod 324 carry out the activity block, and the other end of swinging arms 325 and shift ring 323 carry out the activity block, laminating mechanism 321 annular distribution is in the outside of shift ring 323, and is equipped with threely altogether to increase the area of contact of sick bed and laminating mechanism 321.

The specific use mode and function of the embodiment are as follows:

the invention reduces labor force by controlling the driving frame 1, so that the supporting mechanism 2 extends outwards, and then the sickbed is clamped by the clamping device 432, so that the sickbed is transferred, and in the process of clamping the sickbed, because the supporting frame 23 is arranged below the connecting mechanism 22, and the supporting frame 23 is movably matched with the driving frame 1, the connecting mechanism 22 can drive the supporting frame 23 to move in the moving process, so that the connecting mechanism 22 can be supported by the supporting frame 23, the phenomenon that the equipment turns on one side due to the increase of gravity on the sickbed is avoided, and when the equipment runs, the driving end 221 drives the telescopic rod 241 to move towards the right side on the sliding rail 242, so that the telescopic rod 241 drives the middle penetrating rod 434 to move towards the right side, because the middle penetrating rod 434 is provided with the moving ring 323, and the right end of the moving ring 323 is provided with the swinging rod 325, therefore, when the middle rod 434 moves to the right, the moving ring 323 is driven to move, and the moving ring 323 drives the swing rod 325 to swing, thereby pushing the fitting mechanism 321 to the right end of the movable cavity 244, so that the fitting mechanism 321 can be fitted with the corner of the hospital bed, and then driving the telescopic rod 241 to move reversely, so that the attaching mechanism 321 can drive the diameter of the attaching mechanism 321 to gradually decrease along with the movement of the swing rod 325, so that the attaching mechanism 321 can clamp the corner of the patient's bed, the reverse movement of the telescopic rod 241 can reduce the movement amount of the clamping device 432, and the telescopic rod 241 can support the clamping device 432, thereby avoiding that during the transportation process, due to the action of gravity, the sickbed sinks downwards, so that the extending part of the clamping device 432 shakes, and the sickbed deforms and cannot contract.

Example 2

As shown in fig. 7 to 9:

the invention provides a telescopic claw of a medical sickbed transportation robot, wherein a fitting mechanism 321 comprises an auxiliary cavity 211, a support rod 212, an inner cavity 213 and a mounting block 214, the upper end of the auxiliary cavity 211 is embedded into the inner side of the inner cavity 213, the support rod 212 is mounted between the auxiliary cavity 211 and the inner cavity 213, the mounting block 214 is arranged in the inner cavity 213, the rear end surface of the mounting block 214 is connected with the front end surface of the auxiliary cavity 211 in a nested manner, the support rods 212 are equidistantly distributed above the auxiliary cavity 211 and are provided with five support rods in total, so that the support 212 can support the auxiliary cavity 211 and avoid the phenomenon that the auxiliary cavity 211 falls off.

Wherein, supplementary chamber 211 includes arc pole 111, joint board 112, gasbag 113, complementary unit 114, arc pole 111 is installed between gasbag 113, joint board 112 and supplementary chamber 211 are the integral structure, fixed connection is carried out with the lower extreme of joint board 112 to the upper end of gasbag 113, complementary unit 114's upper end and the lower extreme of gasbag 113 are inlayed and are connected, 113 symmetric distribution of gasbag is in complementary unit 114's both sides, then complementary unit 114 can extrude gasbag 113 to carry out the centre gripping to the sick bed through gasbag 11's reaction force, complementary unit 114 is circular-arc during quiescent condition, and three quarters are located the outside of complementary unit 211, then the sick bed can extrude complementary unit 114.

Wherein, the auxiliary mechanism 114 includes flexible board 141, center pin 142, laminating piece 143, fixed plate 144, flexible board 141 and fixed plate 144 are integrated structure, the activity block is carried out to the outer loop of center pin 142 and the inboard of flexible board 141, the up end of laminating piece 143 carries out fixed connection with the lower terminal surface of fixed plate 144, flexible board 141 is made for rubber material and forms, and then flexible board 141 has elasticity, when consequently receiving the sick bed extrusion, can follow the shape change of sick bed along with it to laminate with the sick bed better, the lower extreme of laminating piece 143 is the rugged pattern form, then increases the frictional force between sick bed and the laminating piece 143, avoids the phenomenon that the sick bed breaks away from.

The specific use mode and function of the embodiment are as follows:

in the process of clamping the sickbed by the clamping device 432, the clamping device 432 is provided with the attaching mechanisms 321, the attaching mechanisms 321 are annularly distributed on the outer side of the movable ring 323, and three attaching mechanisms 321 are arranged, so that the contact area between the sickbed and the attaching mechanisms 321 is increased, when the attaching block 143 is attached to the sickbed, the airbag 113 is arranged in the auxiliary cavity 211, the lower end surface of the airbag 113 is embedded and fixed with the auxiliary mechanism 114, the flexible plate 141 is arranged above the attaching block 143 and is made of rubber, when the sickbed 143 extrudes the attaching block 143, the attaching block 143 can rotate around the central shaft 142 by utilizing extrusion force, so that the attaching block 143 can change along with the shape of the sickbed, so that the attaching block 143 is better attached to the sickbed, and the airbag 113 is extruded in the swinging process of the attaching block 143, so that the attaching block 143 can be driven to extrude with the sickbed by the reaction force of the airbag 113, thereby clamping and fixing the sickbed.

The embodiments of the present 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 embodiment was 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.