CN109330799A - The intelligent medical robot of drug can accurately be distributed - Google Patents
The intelligent medical robot of drug can accurately be distributed Download PDFInfo
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- CN109330799A CN109330799A CN201811168630.4A CN201811168630A CN109330799A CN 109330799 A CN109330799 A CN 109330799A CN 201811168630 A CN201811168630 A CN 201811168630A CN 109330799 A CN109330799 A CN 109330799A
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- drug
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- hydraulic stem
- control processor
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G12/00—Accommodation for nursing, e.g. in hospitals, not covered by groups A61G1/00 - A61G11/00, e.g. trolleys for transport of medicaments or food; Prescription lists
- A61G12/001—Trolleys for transport of medicaments, food, linen, nursing supplies
Abstract
The present invention relates to robotic technology fields, and in particular to one kind can accurately distribute the intelligent medical robot of drug, comprising: shell, front side and rear side are respectively arranged with medicine outlet and feeding opening；Walking mechanism is set to housing bottom；Medicine storage device is set to enclosure interior；Human-computer interaction device is set on front side of shell；Control processor is set in the appliance case of housing tip, is connected with the walking mechanism, the medicine storage device, the diostribution device, the human-computer interaction device；Timing module is set in the appliance case, is connected with the control processor, gives the control processor for sending time signal；Communication device is set in the appliance case, establishes the communication connection of the control processor and remote computer host.The present invention can be realized it is on time automatic, accurately distribute drug, and provide the medical robot of the function of administrated method and points for attention, alleviate the operating pressure of medical worker, improve efficiency of service.
Description
Technical field
The present invention relates to robotic technology fields, and in particular to one kind can accurately distribute the intelligent medical machine of drug
People.
Background technique
Medical robot refers to the robot for hospital, the medical treatment of clinic or medical assistance, is a kind of Intelligent service
Robot.There are many Medical Robot's type, different depending on the application, and medical robot can substantially be divided into diagnosing machinery people, operation
Navigating robot operating robot, transport robot, tele-medicine robot, injector robot of taking a blood sample, robot of accompanying and attending to, is
Services for the disabled robot, healing robot, hospital automation robot and Medical teaching robot etc..
Patient be hospitalized during, need to take various drugs daily, need by medical staff by the medicine distribution prepared to
Every patient, some older patients, due to can usually forget method of administration, it is necessary to which medical staff pinpoints daily will be every
After the drug of position patient is distributed by method of administration, then it is successively distributed to every patient, this is not only time-consuming and laborious, increases medical care
The working strength of personnel, it is also possible to because patient's number is more, need by multidigit medical staff while be distributed, to increase
The investment of hospital human resources.And in existing medical robot, few robots can be realized on time automatically, accurately
Distribute drug, and the function of administrated method and points for attention is provided, therefore reduces the practicability of existing medical robot.
Summary of the invention
The present invention provides a kind of intelligent medical robot that can accurately distribute drug, can be realized to provide one kind
It is on time automatic, accurately distribute drug, and provide the medical robot of the function of administrated method and points for attention.
The present invention provides a kind of intelligent medical robot that can accurately distribute drug, comprising:
Shell, front side and rear side are respectively arranged with medicine outlet and feeding opening；
Walking mechanism is set to the housing bottom, has laser navigation module and ultrasonic sensor, is used for carrying institute
Shell is stated according to the walking of specified track route and avoiding barrier；
Medicine storage device is set to the enclosure interior, for storing drug；
Human-computer interaction device is set on front side of the shell, for prompting the application method and points for attention of Patient drug
And the identity information of confirmation user；
Control processor is set in the appliance case of the housing tip, with the walking mechanism, the medicine storage device,
The diostribution device, the human-computer interaction device are connected；
Timing module is set in the appliance case, is connected with the control processor, is given for sending time signal
The control processor；
Communication device is set in the appliance case, and the communication for establishing the control processor and remote computer host connects
It connects.
Preferably, the human-computer interaction device includes that display screen, loudspeaker, Fingerprint Identification Unit and ID card information are read
Device is connected with the control processor.
Preferably, the medicine storage device includes, the first explosive box and the second explosive box are symmetrical set respectively in institute
Enclosure interior two sides are stated, spaced among it, first explosive box and second explosive box are cube structure, and inside is logical
The partition for crossing longitudinal and transverse direction is provided with several matter storage lattices being evenly arranged, and the feeding opening and medicine outlet are set to described first
The middle position being spaced between explosive box and second explosive box, first explosive box and second explosive box are opposite
Side is provided with opening, and the interior one side wall opposite with the opening of each matter storage lattice is provided with the first electric telescopic rod, the electricity
The top of dynamic telescopic rod is provided with push plate, and the side lower that the matter storage lattice is located at the opening is provided with first laser transmitting
Device and second laser transmitter, the electric telescopic rod, the first laser transmitter and the second laser transmitter with
The control processor is connected.
Preferably, the intelligent medical robot that can accurately distribute drug further includes the diostribution device, packet
It includes, two guide rails, the guide rail is set to the shell bottom surface between first explosive box and second explosive box
Inside, the both ends of the guide rail are respectively facing front side and the rear side of the shell, and driving trolley is provided on the guide rail, including
Chassis, the chassis bottom surface are symmetrically arranged with several idler wheels by shaft, and the idler wheel rolls on the guide rail, wherein one
First motor is provided on a idler wheel as driving wheel, the chassis top is connected with load by the second electric telescopic rod
Platform is provided with electric turntable on the microscope carrier, is provided with conveying device on the electric turntable, including the second motor, driving wheel,
Belt and driven wheel, second motor are connect with the capstan drive, the driving wheel by the belt and it is described from
Driving wheel is sequentially connected, and limiting device is provided on the belt of top, and the limiting device includes the first limit being vertically arranged
Position plate, extending direction is vertical with the extending direction of the guide rail, is disposed in proximity to the side of the feeding opening, and described first
The second limit plate that is perpendicular and being vertically arranged, the extension side of second limit plate are provided at left and right sides of limit plate
To identical as the extending direction of the guide rail, the microscope carrier outer side edges are provided with the corresponding first laser transmitter and described the
The first laser receiver and second laser receiver of dual-laser transmitter, the first motor, second motor, described
One laser pickoff and the second laser receiver are connected with the control processor.
Preferably, bottom surface is provided with several round rollers being laterally arranged, axial ends on the inside of each matter storage lattice
It is connected respectively with two sidewalls other in the matter storage lattice, the top of first electric telescopic rod is provided with electromagnet, described
Medicine storage device further includes drug placement rack, including square floor, and the bottom panel side is vertically arranged with stringer board, outside the stringer board
Side is provided with magnetic sticker, is provided with top plate at the top of four pieces of stringer boards, the ceiling center position be provided with it is medical
The compatible putting hole through the top plate of drug dispensing cup outer profile, the bottom plate, the stringer board and the top plate are all made of doctor
With antibiotic plastic material, matter storage lattice inside top is provided with RFID reader, and the cover top surface is provided with electricity
Subtab, the e-tag reader reads information in the electronic tag and is connected with the control processor, described
Pressure sensor is connected with the control processor.
Preferably, the medicine outlet and the feeding opening are provided with baffle, the bottom end of the baffle by hinge with
The shell is connected, and the limit hinge that the hinge opening and closing degree is 90 degree, the upper end of the baffle is provided with electronic lock, with institute
It states shell to be connected, the microscope carrier front and rear sides are respectively arranged with the electronic tag, corresponding position setting on the inside of the baffle
Have and is provided with pressure sensitive device between electric turntable described in the e-tag reader and the conveying device.
Preferably, the human-computer interaction device device further includes camera, the camera and the control processor
It is connected, is connected by the communication device with the host computer of doctor's office or nurse station, is used for and doctor and shield
Direct exchange between scholar.
Preferably, the walking mechanism includes the walking arm that several uniform rings are arranged around the shell, including described
Running gear includes damping spring, bracket and walking hydraulic stem, and one end of the damping spring is fixed by bolts in shell
Outer surface, the other end of the damping spring have been bolted bracket, and the side in bracket has been bolted
The other end of walking hydraulic stem, the walking hydraulic stem is connected to telescope support, bracket side table by hydraulic stem interior bar
Face is equipped with the long hydraulic stem of control, and one side of the long hydraulic stem of control is equipped with the long telescope support of control, the long flexible branch of the control
The other side of frame is rack-mount, and the other side of the long hydraulic stem of control passes through in screw connection to screw rod, on the screw rod
Convex rollers are installed, the convex rollers run through and are fixed on screw rod, and the other side of the convex rollers is by being welded with
High telescope support is controlled, the side for controlling high telescope support is equipped with control height hydraulic stem and function hydraulic stem, the control
Height hydraulic stem and function hydraulic stem are fixed to the concave surface slot of stabilizer blade idler wheel by the top bolt of hydraulic stem interior bar, described
The other side for controlling high telescope support is bolted on the concave surface slot of stabilizer blade idler wheel, the lower end peace of the stabilizer blade idler wheel
Equipped with stabilizer blade, the other side of the stabilizer blade is equipped with sucker, and the sucker is solid by the concave surface slot of screw thread and stabilizer blade idler wheel
It is fixed.
The present invention provide one kind can be realized it is on time automatic, accurately distribute drug, and administrated method is provided and pays attention to thing
The medical robot of the function of item, alleviates the operating pressure of medical worker, improves efficiency of service.
Other features and advantages of the present invention will be illustrated in the following description, also, partly becomes from specification
It obtains it is clear that understand through the implementation of the invention.The objectives and other advantages of the invention can be by written explanation
Specifically noted structure is achieved and obtained in book, claims and attached drawing.
Below by drawings and examples, technical scheme of the present invention will be described in further detail.
Detailed description of the invention
Attached drawing is used to provide further understanding of the present invention, and constitutes part of specification, with reality of the invention
It applies example to be used to explain the present invention together, not be construed as limiting the invention.In the accompanying drawings:
Fig. 1 is the intelligent medical robot structural schematic diagram that can accurately distribute drug in one embodiment of the invention；
Fig. 2 is medicine storage device structural schematic diagram in one embodiment of the invention；
Fig. 3 is medicine storage device side view in one embodiment of the invention；
Fig. 4 is diostribution device structural schematic diagram in one embodiment of the invention；
Fig. 5 is structural schematic diagram in matter storage lattice in one embodiment of the invention；
Fig. 6 is drug placement rack structural schematic diagram in one embodiment of the invention；
Fig. 7 is diostribution device structural schematic diagram in one embodiment of the invention；
Fig. 8 is baffle arrangement schematic diagram in one embodiment of the invention；
Fig. 9 is human-computer interaction device connection schematic diagram in one embodiment of the invention；
Figure 10 is people's walking mechanism structure chart in one embodiment of the invention.
Specific embodiment
Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings, it should be understood that preferred reality described herein
Apply example only for the purpose of illustrating and explaining the present invention and is not intended to limit the present invention.
As shown in Figure 1, the embodiment of the invention provides the intelligent medical robot that one kind can accurately distribute drug, packet
It includes:
Shell 1, front side and rear side are respectively arranged with medicine outlet and feeding opening；
Walking mechanism 2 is set to 1 bottom of shell, has laser navigation module and ultrasonic sensor, is used for carrying
The shell 1 has route rule using existing according to the walking of specified track route and avoiding barrier, the present embodiment walking mechanism 2
Draw function and can voluntarily obstacle mobile device, details are not described herein；
Medicine storage device 3 is set to inside the shell 1, for storing drug；
Human-computer interaction device 5 is set to 1 front side of shell, for prompting the application method of Patient drug and paying attention to thing
Item and the identity information of confirmation user；
Control processor 6 is set in the appliance case on 1 top of shell, is filled with the walking mechanism 2, the drug storage
Set the 3, diostribution device 4, the human-computer interaction device 5 is connected；
Timing module 7 is set in the appliance case, is connected with the control processor 6, and sending time signal is used for
To the control processor 6；
Communication device 8 is set in the appliance case, establishes the communication of the control processor 6 and remote computer host
Connection, in the present embodiment, communication device 8 use WIFI wireless communication apparatus.
The working principle of above-mentioned technical proposal are as follows:
When in use, the drug of sufferer is put into the medicine storage device 3 by feeding opening first, and will corresponding sufferer
People's information, fingerprint, bed information, administration time and administrated method and points for attention input host computer, and host computer passes through
Administration time information is passed to control processor 6 by communication device 8, and control processor 6 inputs data information into timing module
7, when timing module 7 monitors to have timed out the administration time of setting, pass information to control processor 6, control processor 6
By communication device 8 and host computer telecommunication, obtains the location information of sufferer and pass to walking mechanism 2, walking mechanism 2
Automatic moving confirms patient information to sufferer position, by human-computer interaction device 5, after determining, by diostribution device 4 by medicine
Object is transported to medicine outlet, and plays administrated method and points for attention by human-computer interaction device 5, after finishing, returns initial
Homeposition.
Above-mentioned technical proposal has the beneficial effect that this can accurately distribute the intelligent medical robot of drug, compared to
Artificial distribution, it is not only time saving and energy saving, the labor intensity of medical staff is alleviated, the investment of human resources is also reduced, alleviates
The operating pressure of medical worker, improves work efficiency, while when distributing drug, moreover it is possible to play the application method and note of drug
Meaning item, improves practicability.
As shown in Figures 2 and 3, in one embodiment, the medicine storage device 3 includes the storage of the first explosive box 3-1 and second
Medicine-chest 3-2 is symmetrical set respectively in the 1 inside two sides of shell, in-between spaced, the first explosive box 3-1
It is cube structure with the second explosive box 3-2, inside is provided with several storages being evenly arranged by the partition of longitudinal and transverse direction
Object lattice 3-3, the feeding opening and medicine outlet are set between the first explosive box 3-1 and the second explosive box 3-2 and are spaced
Middle position, the first explosive box 3-1 and the opposite side the second explosive box 3-2 are provided with opening, each storing
The one side wall opposite with the opening is provided with the first electric telescopic rod 3-4, the top of the electric telescopic rod 3-4 in lattice 3-3
It is provided with push plate, the side lower that the matter storage lattice 3-3 is located at the opening is provided with first laser transmitter 9 and second and swashs
Optical transmitting set 10, the electric telescopic rod 3-4, the first laser transmitter 9 and the second laser transmitter 10 are and institute
Control processor 6 is stated to be connected.
The intelligent medical robot that drug can accurately be distributed further includes diostribution device 4, including, two guide rails
4-1, the guide rail 4-1 are set to the bottom of the shell 1 between the first explosive box 3-1 and the second explosive box 3-2
On the inside of face, the both ends of the guide rail 4-1 are respectively facing front side and the rear side of the shell 1, are provided with driving on the guide rail 4-1
Trolley 4-2, including chassis 4-21, the chassis 4-21 bottom surface are symmetrically arranged with several idler wheel 4-23, institute by shaft 4-22
It states idler wheel 4-23 to roll on the guide rail 4-1, first motor 4-24 is provided on one of them described idler wheel 4-23 as drive
Driving wheel, the top chassis 4-21 are connected with microscope carrier 4-26 by the second electric telescopic rod 4-25, are arranged on the microscope carrier 4-26
There is electric turntable 4-27, conveying device 4-28, including the second motor 4-281, driving wheel are provided on the electric turntable 4-27
4-282, belt 4-283 and driven wheel 4-284, the second motor 4-281 and the driving wheel 4-282 transmission connection, it is described
Driving wheel 4-282 is sequentially connected by the belt 4-283 and driven wheel 4-284, is set on the belt 4-283 of top
It is equipped with limiting device 4-29, the limiting device 4-29 includes the first limit plate 4-291 being vertically arranged, extending direction and institute
The extending direction for stating guide rail 4-1 is vertical, is disposed in proximity to the side of the feeding opening, a left side of the first limit plate 4-291
Right two sides are provided with the second limit plate 4-292 that is perpendicular and being vertically arranged, the extension side of the second limit plate 4-292
To identical as the extending direction of the guide rail 4-1, the microscope carrier 4-26 outer side edges are provided with the corresponding first laser transmitter 9
With the first laser receiver 13 and second laser receiver 14 of the second laser transmitter 10, the first motor 4-24,
The second motor 4-281, the first laser receiver 13 and the second laser receiver 14 are handled with the control
Device 6 is connected.
The working principle of above-mentioned technical proposal are as follows:
In the present embodiment, with origin at the feeding opening, it is laterally X-axis, front-rear direction is Z axis, often that longitudinal, which is Y-axis,
A matter storage lattice is a measurement unit.
When placing the drug into medicine storage device, at the first successive step microscope carrier 4-26 to origin, make first laser receiver 13
The laser letter that first laser transmitter 9 and second laser transmitter 10 issue corresponding can be received with second laser receiver 14
Number；Drug is placed in Medical medicine distribution cup and is placed on belt 4-283 by second step, third step, which is corresponded to sufferer
Bed information, administration time, the coordinate information for the matter storage lattice 3-3 to be placed and administrated method and points for attention input computer
The coordinate information for the matter storage lattice 3-3 to be placed and administration time are passed to control by communication device 8 by host, host computer
Processor 6, control processor 6 control the second electric telescopic rod 4-25 according to Y axis coordinate information first and stretch, when Y-axis is positive number
When stretch out upwards, retracted downward when for negative, first laser receiver 13 often receives first laser transmitter 9 and issues
Signal when count 1, when counting down to the absolute value of coordinate value, stop motion, then control processor 6 according to Z axis coordinate believe
Breath control first motor 4-24 rotation, drives driving trolley 4-2 to move on guide rail 4-1, whenever second laser receiver 14 connects
1 is counted when receiving the signal of a second laser transmitter 10 sending, when counting down to the absolute value of coordinate value, stop motion,
Then control processor 6 is controlled according to X axis coordinate information, and control electric turntable 4-27 rotation is turned left when X-coordinate is negative value
It is dynamic, it turns right when for positive value, then controls the rotation of the second motor -281 for Medical medicine distribution cup and be delivered to corresponding matter storage lattice
In 3-3, then diostribution device 4 returns to initial position.
After drug is all placed, when timing module 7 monitors to have timed out the administration time of setting, information is passed
Control processor 6 is passed, control processor 6 obtains the location information of sufferer by communication device 8 and host computer telecommunication
And walking mechanism 2 is passed to, 2 automatic moving of walking mechanism to sufferer position confirms patient's letter by human-computer interaction device 5
Breath after determining, starts to distribute operation by diostribution device 4.
Microscope carrier 4-26 is moved at corresponding matter storage lattice 3-3, and adjust by diostribution device 4 in distribution by coordinate information
The position turn over disk 4-27, this operation is consistent with the process of drug storage, is not repeating herein, the then control of control processor 6 the
One electric telescopic rod 3-4, stretching are pushed to Medical medicine distribution cup at belt using push plate, and control processor controls the second motor 4-
281 rotation Medical medicine distribution cup is operated to belt, and by the coordinate points of subsequent movement be set as medicine outlet coordinate (0,0,
MAX), the wherein coordinate of Z axis is the maximum value of matter storage lattice 3-3 columns, after patient takes drug away, just returns to initial position.
Above-mentioned technical proposal has the beneficial effect that the present embodiment is utilized from a feeding opening, is put into drug, is filled using distribution
Setting 4 can be by matter storage lattice 3-3 corresponding in drug transport to medicine storage device 3, when needing to distribute, then by drug from matter storage lattice 3-
Medicine outlet is transported in 3, compared with the prior art, the setting can be achieved a variety of drugs be automatically stored and automatic distributing, greatly
Improve service efficiency, the setting of belt position limit device, but also when the first electric telescopic rod 3-4 pushes drug, Neng Gouzhun
Really in place.
As shown in Figures 4 to 6, in one embodiment,
Bottom surface is provided with several round roller 3-6 being laterally arranged, axial ends difference on the inside of each matter storage lattice 3-3
It is connected with two sidewalls other in the matter storage lattice 3-3, the top of the first electric telescopic rod 3-4 is provided with electromagnetism patch 3-5,
The medicine storage device 3 further includes drug placement rack 3-7, including the side square floor 3-71, the bottom plate 3-71 is vertically arranged
There is stringer board 3-72, the stringer board lateral surface is provided with magnetic sticker, is provided with top plate 3-73 at the top of four pieces of stringer board 3-72,
The central location the top plate 3-73 is provided with putting hole 3-74 through the top plate compatible with Medical medicine distribution cup outer profile,
The bottom plate 3-71, the stringer board 3-72 and the top plate 3-73 are all made of medical antibacterial plastic material, in the matter storage lattice 3-3
Side top is provided with RFID reader 11, and the cover top surface is provided with electronic tag 12, and the electronic tag is read
Device 11 reads information in the electronic tag 12 and is connected with the control processor 6.
The medicine outlet and the feeding opening are provided with baffle 16, and the bottom end of the baffle 16 passes through hinge and the shell
Body 1 is connected, and the hinge opening and closing degree is 90 degree of limit hinge, and the upper end of the baffle 16 is provided with electronic lock, and described
Shell 1 is connected, and the front and rear sides the microscope carrier 4-26 are respectively arranged with the electronic tag 12, corresponds to position on the inside of the baffle 16
It installs and is equipped with the e-tag reader 11, be provided with pressure between the electric turntable 4-27 and the conveying device 4-28
Sensing device 15, the pressure sensitive device are connected with the control processor 6.
The human-computer interaction device 5 includes display screen 5-1, loudspeaker 5-2, Fingerprint Identification Unit 5-3, ID card information reading
Device 5-4 and camera 5-5 is connected with the control processor 6, and the camera 5-5 passes through the communication device 8 and doctor
The computer of raw office or nurse station is connected, and exchanges for direct between doctor and nurse.
The working principle and beneficial effect of above-mentioned technical proposal are as follows:
When the present embodiment is in use, 12 information of electronic tag on the top plate 3-73 on drug placement rack 3-7 is defeated together
Enter host computer, when transporting drug, Medical medicine distribution cup is placed in the putting hole of the top plate 3-73, this is arranged so that drug dispensing cup
It is more stable in transhipment to be not easy to topple over；When the present embodiment is conducted drugs to again in matter storage lattice 3-3, by electromagnet 3-5 with
Magnet on stringer board 3-72, which is wanted to attract, to be fixed, and more securely, is conveyed more steady；Enter corresponding matter storage lattice 3-3 in drug
Afterwards, e-tag reader 11 reads the information of the electronic tag 12 on top plate, and compares with the information of setting, and confirmation drug is
It is no to be put into corresponding position, in order not to make any any mistakes；The present embodiment identifies the finger of patient and medical worker by fingerprint identification device 5-3
Line more securely and reliably, avoids other personnel to control the unlatching of electronic lock on the baffle at medicine outlet and feeding opening
Drug is touched, the present embodiment can not also arrive the drug dispensing time, when being parked in initial position, hold patient identity card by family numbers of patients, main
It is dynamic to get drug, when getting, identity card is placed on ID card information reader 5-4 to read information and remote computer first
Information be compared, distribute drug after confirmation in the manner described above；The e-tag reader 11 of 16 inside of the baffle with
And on microscope carrier 4-26 electronic tag 11 setting so that e-tag reader 12 of the electronic lock only on baffle 16 is read
Electronic tag 11 and fingerprint recognition it is correct after can just open, avoid, after patient takes drug away, and to other matter storage lattice 3-3
The possibility that interior drug is touched；The present embodiment patient can also be directly long-range with doctor and nurse by human-computer interaction device 5
Dialogue, convenient for the further inquiry to drug application method and points for attention.
As shown in Figure 10, in one embodiment,
The walking arm that the walking mechanism 2 is arranged including six uniform rings around the shell 1, including damping spring 30,
Bracket 17 and walking hydraulic stem 18, one end of the damping spring 30 is fixed by bolts in the outer surface of shell 1, the damping
The other end of spring 30 has been bolted bracket 17, and the side in bracket 17 has been bolted walking hydraulic stem
18, the other end of the walking hydraulic stem 18 is connected to telescope support 20,17 1 side surface of bracket by hydraulic stem interior bar
The long hydraulic stem 29 of control is installed, one side of the long hydraulic stem 29 of control is equipped with the long telescope support 28 of control, and the control length is with stretching
The other side of contracting bracket 28 is mounted on bracket 17, and the other side of the long hydraulic stem 29 of control passes through screw connection to screw rod 19
On, convex rollers 21 are installed, the convex rollers 21 run through and are fixed on screw rod 19, the spill rolling on the screw rod 19
By being welded with control height telescope support 23, the control is high to be equipped with the high use of control with the side of telescope support 23 for the other side of wheel 21
Hydraulic stem 22 and function hydraulic stem 27, the high top spiral shell for passing through hydraulic stem interior bar with hydraulic stem 22 and function hydraulic stem 27 of the control
Bolt is fixed to the concave surface slot of stabilizer blade idler wheel 24, and the control height is bolted on stabilizer blade with the other side of telescope support 23
The concave surface slot of idler wheel 24, the lower end of the stabilizer blade idler wheel 24 are equipped with stabilizer blade 26, and the other side of the stabilizer blade 26 is equipped with
Sucker 25, the sucker 25 are fixed by the concave surface slot of screw thread and stabilizer blade idler wheel 24.
The working principle and beneficial effect of above-mentioned technical proposal are as follows: reason that the machine has used for reference what spider walked in design
It reads, is assembled with the stabilizer blade of six different directions in shell surrounding when designing installation, can be walked with 360 degree, before starting machine
The walking data of reply robot are programmed, and during startup, whenever all there are three stabilizer blades to locate simultaneously on the ground,
Other three stabilizer blades by the direction of the long hydraulic stem control stabilizer blade of walking hydraulic stem adjustment travel distance control and fall stabilizer blade respectively
Point；An adjustable control height adjusts height with hydraulic stem to ensure the balance of machine during going upstairs.
Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art
Mind and range.In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to include these modifications and variations.
Claims (7)
1. can accurately distribute the intelligent medical robot of drug characterized by comprising
Shell (1), front side and rear side are respectively arranged with medicine outlet and feeding opening；
Walking mechanism (2) is set to the shell (1) bottom；
Medicine storage device (3) is set to the shell (1) inside, for storing drug；
Human-computer interaction device (5) is set on front side of the shell (1), for confirming the identity information of user；
Control processor (6) is set in the appliance case on the shell (1) top, with the walking mechanism (2), the drug storage
Device (3), the diostribution device (4), the human-computer interaction device (5) are connected；
Timing module (7), is set in the appliance case, is connected with the control processor (6), is used for sending time signal
Give the control processor (6)；
Communication device (8), is set in the appliance case, establishes the communication of the control processor (6) and remote computer host
Connection.
2. the intelligent medical robot according to claim 1 that can accurately distribute drug, which is characterized in that the people
Machine interactive device (5) includes display screen (5-1), loudspeaker (5-2), Fingerprint Identification Unit (5-3) and ID card information reader (5-
4), it is connected with the control processor (6).
3. the intelligent medical robot according to claim 1 that can accurately distribute drug, which is characterized in that the storage
Medicine device (3) includes that the first explosive box (3-1) and the second explosive box (3-2) are symmetrical set respectively in the shell (1)
Internal two sides, spaced among it, first explosive box (3-1) and second explosive box (3-2) are cube structure, interior
Portion is provided with several matter storage lattices (3-3) being evenly arranged, the feeding opening and medicine outlet setting by the partition of longitudinal and transverse direction
The middle position being spaced between first explosive box (3-1) and second explosive box (3-2), first explosive box
The opposite side of (3-1) and second explosive box (3-2) is provided with opening, in each matter storage lattice (3-3) with the opening phase
Pair one side wall be provided with the first electric telescopic rod (3-4), the top of the electric telescopic rod (3-4) is provided with push plate, described
The side lower that matter storage lattice (3-3) is located at the opening is provided with first laser transmitter (9) and second laser transmitter
(10), the electric telescopic rod (3-4), the first laser transmitter (9) and the second laser transmitter (10) be and institute
Control processor (6) is stated to be connected.
4. the intelligent medical robot according to claim 3 that can accurately distribute drug, which is characterized in that further include
Diostribution device (4), including two guide rails (4-1), the guide rail (4-1) are set to first explosive box (3-1) and described
On the inside of the shell (1) bottom surface between two explosive boxs (3-2), the both ends of the guide rail (4-1) are respectively facing the shell
(1) front side and rear side are provided with driving trolley (4-2), including chassis (4-21), the chassis (4- on the guide rail (4-1)
21) bottom surface is symmetrically arranged with several idler wheels (4-23) by shaft (4-22), and the idler wheel (4-23) is at the guide rail (4-1)
Upper rolling is provided with first motor (4-24) on one of them described idler wheel (4-23) as driving wheel, the chassis (4-21)
Top is connected with microscope carrier (4-26) by the second electric telescopic rod (4-25), is provided with electric turntable on the microscope carrier (4-26)
(4-27) is provided with conveying device (4-28) on the electric turntable (4-27), including the second motor (4-281), driving wheel (4-
282), belt (4-283) and driven wheel (4-284), second motor (4-281) and the driving wheel (4-282) transmission connect
Connect, the driving wheel (4-282) is sequentially connected by the belt (4-283) and the driven wheel (4-284), top it is described
It is provided on belt (4-283) limiting device (4-29), the limiting device (4-29) includes the first limit plate being vertically arranged
(4-291), extending direction is vertical with the extending direction of the guide rail (4-1), is disposed in proximity to the side of the feeding opening,
The second limit plate (4-292) that is perpendicular and being vertically arranged is provided at left and right sides of first limit plate (4-291),
The extending direction of second limit plate (4-292) is identical as the extending direction of the guide rail (4-1), and the microscope carrier (4-26) is outside
Side is provided with the first laser receiver of corresponding the first laser transmitter (9) and the second laser transmitter (10)
(13) and second laser receiver (14), the first motor (4-24), second motor (4-281), the first laser
Receiver (13) and the second laser receiver (14) are connected with the control processor (6).
5. the intelligent medical robot according to claim 3 that can accurately distribute drug, which is characterized in that Mei Gesuo
State bottom surface on the inside of matter storage lattice (3-3) and be provided with several round rollers (3-6) being laterally arranged, axial ends respectively with the storing
Other two sidewalls are connected in lattice (3-3), and the end of first electric telescopic rod (3-4) is provided with electromagnet (3-5), described
Medicine storage device (3) further includes drug placement rack, including square floor (3-71), and bottom plate (3-71) side is vertically arranged with
Stringer board (3-72), the stringer board lateral surface are provided with magnetic sticker, are provided with top plate (3- at the top of four pieces of stringer boards (3-72)
73), top plate (3-73) central location is provided with the placement through the top plate compatible with Medical medicine distribution cup outer profile
Hole (3-74), the bottom plate (3-71), the stringer board (3-72) and the top plate (3-73) are all made of medical antibacterial plastic material,
Top is provided with RFID reader (11) on the inside of the matter storage lattice (3-3), and the cover top surface is provided with electronic tag
(12), the e-tag reader (11) read the interior information of the electronic tag (12) and with the control processor (6) phase
Connection.
6. the intelligent medical robot according to claim 4 that can accurately distribute drug, which is characterized in that it is described go out
Medicine mouth and the feeding opening are provided with baffle (16), and the bottom end of the baffle (16) is connected by hinge with the shell (1)
It connects, the limit hinge that the hinge opening and closing degree is 90 degree, the upper end of the baffle (16) is provided with electronic lock, with the shell
(1) it is connected, microscope carrier (4-26) front and rear sides are respectively arranged with the electronic tag (12), right on the inside of the baffle (16)
Position is answered to be provided with the e-tag reader (11), between the electric turntable (4-27) and the conveying device (4-28)
It is provided with pressure sensitive device (15), the pressure sensitive device (15) is connected with the control processor (6).
7. the intelligent medical robot according to claim 1 that can accurately distribute drug, which is characterized in that described
Walking mechanism (2) includes the walking arm that several uniform rings are arranged around the shell (1), including the running gear includes damping bullet
Spring (30), bracket (17) and walking hydraulic stem (18), one end of the damping spring (30) is fixed by bolts in shell (1)
The other end of outer surface, the damping spring (30) has been bolted bracket (17), and the side in bracket (17) is logical
It crosses bolt and is fixed with walking hydraulic stem (18), the other end of walking hydraulic stem (18) is connected to flexible by hydraulic stem interior bar
Bracket (20), (17) one side surface of bracket are equipped with the long hydraulic stem (29) of control, one side peace of the long hydraulic stem (29) of control
Equipped with long telescope support (28) is controlled, the control length is mounted on bracket (17) with the other side of telescope support (28), the control
The other side of long hydraulic stem (29) is by being equipped with convex rollers on the screw rod (19) in screw connection to screw rod (19)
(21), the convex rollers (21) are run through and are fixed on screw rod (19), and the other side of the convex rollers (21) passes through welding
There is the high telescope support (23) of control, the control is high to be equipped with the high hydraulic stem (22) of control and function with the side of telescope support (23)
Hydraulic stem (27), the control is high to be fixed to function hydraulic stem (27) by the top bolt of hydraulic stem interior bar with hydraulic stem (22)
Stabilizer blade idler wheel 24) concave surface slot, control height is bolted on stabilizer blade idler wheel with the other side of telescope support (23)
(24) lower end of concave surface slot, the stabilizer blade idler wheel (24) is equipped with stabilizer blade (26), the other side peace of the stabilizer blade (26)
Equipped with sucker (25), the sucker (25) passes through screw thread and stabilizer blade idler wheel 24) concave surface slot fix.
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| CN201811168630.4A CN109330799B (en) | 2018-10-08 | 2018-10-08 | Intelligent medical robot capable of accurately distributing medicine |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811168630.4A CN109330799B (en) | 2018-10-08 | 2018-10-08 | Intelligent medical robot capable of accurately distributing medicine |
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| CN109330799B CN109330799B (en) | 2020-12-08 |
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| CN110653830A (en) * | 2019-09-03 | 2020-01-07 | 南京美桥信息科技有限公司 | Automatic distribution robot system oriented to medical environment |
| CN110916953A (en) * | 2019-11-27 | 2020-03-27 | 南京市第一医院 | Intelligent medicine dispensing vehicle |
| CN111203882A (en) * | 2020-01-16 | 2020-05-29 | 广东蜻婷医疗科技有限公司 | Medical robot and control method thereof |
| CN112138237A (en) * | 2020-09-09 | 2020-12-29 | 华中科技大学同济医学院附属协和医院 | Robot capable of automatically hanging liquid medicine |
| CN112357427A (en) * | 2020-10-28 | 2021-02-12 | 田园园 | Non-contact transportation device for infectious department |
| CN112773645A (en) * | 2021-03-08 | 2021-05-11 | 右江民族医学院附属医院 | Medical medicine feeding nursing trolley |
| CN112999460A (en) * | 2021-02-20 | 2021-06-22 | 四川大学华西医院 | Intelligent infusion management system |
| CN113288664A (en) * | 2021-05-21 | 2021-08-24 | 熊阳阳 | Multifunctional chronic wound nursing dressing change cart |
| CN113581814A (en) * | 2021-07-30 | 2021-11-02 | 南华大学 | Vaccine distribution system |
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| CN113288664A (en) * | 2021-05-21 | 2021-08-24 | 熊阳阳 | Multifunctional chronic wound nursing dressing change cart |
| CN113581814A (en) * | 2021-07-30 | 2021-11-02 | 南华大学 | Vaccine distribution system |
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