PATIENT LIFTING ROBOT

Abstract

There is provided a lifting robot suitable for lifting and transferring a person. Especially there is provided a patient lift apparatus with collapsible vertical and horizontal columns that allows the apparatus to change its height and width. Specifically there is provided a patient lifting robot having a frame for lifting and carrying persons. The frame has adjustable length and width, since the frame comprises two vertically collapsible columns for adjusting the height of the frame, and one horizontally collapsible beam for adjusting the width of the frame.

Claims

1. A patient lifting robot having a frame for lifting and carrying persons, said frame having adjustable length and width, wherein the frame comprises: two vertical telescopically collapsible columns for adjusting the height of the frame with electrical and/or hydraulic actuators, one horizontal telescopically collapsible beam for adjusting the width of the frame with electrical and/or hydraulic actuators; and a base assembly below both collapsible columns that is comprised of a omni-directional driving mechanism for actively moving the robot in any direction on a surface; wherein the robot is controlled by one or more of load sensors, potentiometers, strain gauges, capacitive sensors, piezoresistive or piezoelectric sensors, or any other types of sensors that are capable of detecting forces exerted by a user.

2. The patient lifting robot of claim 1, wherein said vertically collapsible columns are comprised of a sliding trolley with a hoist system connected to the horizontally collapsible beam.

3. The patient lifting robot of claim 1, wherein the load sensors, potentiometers, strain gauges, capacitive sensors, piezoresistive or piezoelectric sensors, or any other types of sensors that are capable of detecting forces exerted by a user are arranged along the collapsible columns.

4. The patient lifting robot of claim 1, further comprising an interface for human-robot interaction, enabling the user to inter alia adjust height, width of collapsible expandable columns and beam, set/reset movement speed.

5. The patient lifting robot of claim 1 having a battery charging module that mates with a mobile robot battery plug module, and an alignment system that aligns the battery plug module with the battery charging module.

6. The patient lifting robot claimed in claim 1, in which the frame can be collapsed by means that elevates the base from the ground in the docking or storage mode.

7. The patient lifting robot claimed in claim 1, which is provided with means for autonomous driving.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0012] FIG. 1 is a schematic diagram illustrating the structure of the telescopic collapsible column, the sliding trolley, interchangeable hook and the telescopic collapsible beam.

[0013] FIG. 2 is the side view structure showing the position of force control sensing, human-robot interaction device and the battery housing.

[0014] FIG. 3 is a top-view representing footprint of the multi-tower.

[0015] FIG. 4 is a three-dimensional schematic diagram illustrating the location and structure of the omni-directional driving mechanism and the interface on the sliding trolley where a plurality of hooks may be attached.

[0016] FIG. 5 is a three-dimensional schematic diagram illustrating interface on the sliding trolley where a plurality of hooks may be attached.

[0017] FIG. 6 is a three-dimensional schematic diagram illustrating the smallest length of the telescopic collapsible column and the location and structure of battery plug and charging module.

[0018] FIG. 7 is a three-dimensional view illustrating the largest width of telescopic collapsible beam.

[0019] FIG. 8 is a front view illustrating largest width of telescopic collapsible beam.

[0020] FIG. 9 is front view illustrating largest height of the telescopic collapsible columns.

[0021] FIG. 10 is a three-dimensional view illustrating the largest height of telescopic collapsible columns.

DETAILED DESCRIPTION OF THE INVENTION

[0022] Below the invention is described in more detail with reference to preferred aspects and embodiments thereof.

[0023] The present invention as shown in FIG. 1, includes a patient lifting robot with two telescopic collapsible columns 1 and one telescopic collapsible beam 2, sliding trolley 3 with an interchangeable hook 4, base with omni-directional driving mechanism 5 that have capacity for moving in any direction on a surface, base assembly 6, battery housing 7, an interface allowing human-robot interaction 8 and force control sensing 9.

[0024] Telescopic columns 1 are generally formed from several tubes of different sections, adapted to slide in each other through the presence of linear guide means disposed over the length of these tubes between each of them. The present invention is comprised of two vertical telescopic collapsible columns, and one horizontal telescopic collapsible beam 2 which collapse and expand to a plurality of heights and widths.

[0025] An omni-directional driving mechanism 5 and its position within the base assembly 6 for movement of mobile robot of the invention can be seen in FIG. 4 that enable the robot to have capacity for moving in any direction on a surface using multiple rollers that when used in pairs, allows vehicle motion in any direction (i.e., holonomic motion). Omni-directional driving is so as to enable effective and efficient movement of the robots on a work surface. Such movement is made possible through the wheels being individually driven.

[0026] The patient lifting robot is controlled by force sensing control 9. The user can move the robot forwardly with a forward force and backwardly with a rearward force. This action may be detected by one or more of load sensors, potentiometers, strain gauges, capacitive sensors, piezoresistive or piezoelectric sensors, or any other types of sensors that are capable of detecting forces exerted by a user, and used to control the powered movement of patient lifting robot.

[0027] As was noted above, force sensors may include load cells, potentiometers, strain gauges, capacitive, piezoresistive or piezoelectric sensors, or any other types of sensing structures that are capable of detecting forces exerted by a user thereon. Typically such force sensors are arranged or configured so as to detect any and all force components that are exerted in generally any horizontal orientation, or that have any horizontal components to them.

[0028] In one exemplary embodiment the patient lifting robot further includes an intuitive interface for human-robot interaction 8 that may be a touch display module, providing an easy-to-use interface without significant preparation time.

[0029] Hoisting systems for internally moving persons is an important part of the equipment in e.g. a hospital or a nursing home. These enable moving entirely or partially immobile persons or inhabitants between their bed, toilet, bath or other place of stay, without the care assistants having to do heavy lifting. Hoisting systems of this type often consist of an overhead rail system with a trolley that enables horizontal displacement, and a hoisting system suspended from the trolley that enables vertical displacement. The disclosed invention contains a sliding trolley allowing horizontal movement and a hoisting function carried out by the vertical telescopic collapsible columns 1 allowing vertical movement with an interchangeable hook 4.

[0030] The patient lifting robot is wireless and thus must operate on battery power. The system also includes a battery charging module 10 that mate with the mobile robot battery plug module, and an alignment system that aligns the battery plug module with the battery charging module.