CN116533263B - Intelligent medicine feeding robot - Google Patents
Intelligent medicine feeding robot Download PDFInfo
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- CN116533263B CN116533263B CN202310556346.9A CN202310556346A CN116533263B CN 116533263 B CN116533263 B CN 116533263B CN 202310556346 A CN202310556346 A CN 202310556346A CN 116533263 B CN116533263 B CN 116533263B
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- 239000003814 drug Substances 0.000 title claims abstract description 245
- 230000007246 mechanism Effects 0.000 claims abstract description 49
- 229940079593 drug Drugs 0.000 claims abstract description 34
- 238000005303 weighing Methods 0.000 claims description 35
- 238000012377 drug delivery Methods 0.000 claims description 16
- 238000004891 communication Methods 0.000 claims description 12
- 238000001514 detection method Methods 0.000 claims description 12
- 238000000034 method Methods 0.000 claims description 11
- 230000001133 acceleration Effects 0.000 claims description 8
- 230000005484 gravity Effects 0.000 claims description 3
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 238000005096 rolling process Methods 0.000 claims description 3
- 239000007779 soft material Substances 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 7
- 230000009286 beneficial effect Effects 0.000 description 10
- 230000008569 process Effects 0.000 description 10
- 230000001815 facial effect Effects 0.000 description 8
- 238000009434 installation Methods 0.000 description 5
- 230000007306 turnover Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 239000011521 glass Substances 0.000 description 2
- 230000036541 health Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000000739 chaotic effect Effects 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000004134 energy conservation Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Medical Preparation Storing Or Oral Administration Devices (AREA)
Abstract
The invention provides an intelligent medicine delivery robot, which relates to the technical field of mechanical arms and comprises a machine body, a traveling mechanism for driving the machine body to move, a controller and a positioning mechanism, wherein the controller and the positioning mechanism are arranged on the machine body, the traveling mechanism is arranged at the bottom of the machine body, a medicine outlet is formed in one side of the machine body, a plurality of medicine delivery drawers are arranged at the medicine outlet, the medicine delivery drawers are distributed in a rectangular array, a first electric push rod is arranged at one side, far away from the medicine outlet, of the medicine delivery drawers, the output end of the first electric push rod is connected with one side, far away from the medicine outlet, of the medicine delivery drawers, and the controller is electrically connected with the first electric push rod. According to the invention, the medicine delivery drawers are arranged at the medicine outlet, each medicine delivery drawer corresponds to one bed, when the controller controls the travelling mechanism to drive the machine body to travel to a certain bed, the controller controls the first electric push rod at the medicine delivery drawer of the corresponding bed to extend out, so that a patient can take out medicines in the medicine delivery drawers, the problem of medicine mixing is avoided, the safety is improved, and the rehabilitation effect of the patient is enhanced.
Description
Technical Field
The invention relates to the technical field of manipulators, in particular to an intelligent medicine feeding robot.
Background
It is a very common matter to send out oral medicine for each patient in a hospital, and after three or seven pairs of nurses are finished, the oral medicine can be distributed to each patient, and the medicine distribution is a relatively mechanical work and consumes great manpower, so that the medicine distribution of each patient can be more accurately and rapidly finished, and the medicine can be conveyed to the position required by the patient through the robot.
The authorized bulletin number is: the invention of "CN114770563B" discloses an AI intelligent drug delivery robot, comprising: a base, a fixing plate mounted on the base, and a recognizer; the drug taking device comprises a base, and is characterized in that a lifting mechanism is arranged on the fixed plate, a turnover mechanism connected with the lifting mechanism is arranged on the base, a first hinge rod and a second hinge rod which are symmetrically arranged are hinged on the turnover mechanism, a clamping groove connected with the turnover mechanism is formed in the second hinge rod, a first connecting rod hinged with the second hinge rod is hinged on the first hinge rod, a clamping plate is fixed on the first connecting rod, a carrying component used for containing drugs is arranged on the base, the turnover mechanism drives the clamping plate to move through the second hinge rod, and the drugs fixed on the clamping plate are conveyed to the carrying component, a triggering mechanism connected with the carrying component is further arranged on the base, the carrying component comprises a placing box fixedly installed on the base, and when the drugs are required to be taken, the triggering mechanism moves to enable the carrying component to be opened.
Above-mentioned AI intelligence send medicine robot can replace artifical medicine, however, this send medicine robot only sets up one and places the box, places all medicines in one and places the box, causes the medicine to take chaotic easily, if the patient mistakenly eats the medicine and can harm patient health, influences patient's recovered effect.
Disclosure of Invention
The invention provides an intelligent medicine delivery robot which is used for solving the technical problems that medicines are placed in a single placement box at present, so that the taking of the medicines is easy to be disordered, and if patients eat the medicines by mistake, the health of the patients can be harmed, and the rehabilitation effect of the patients is affected.
In order to solve the technical problems, the invention discloses an intelligent medicine feeding robot, which comprises: organism, drive running gear and the controller and the positioning mechanism of setting on the organism that the organism moved, positioning mechanism is used for confirming the robot position in real time, running gear sets up in the bottom of the body, organism one side sets up out the medicine mouth, it sets up a plurality of medicine drawers to send out medicine mouth department, a plurality of medicine drawers that send are rectangular array and distribute, medicine drawer is kept away from out medicine mouth one side and is set up first electric putter, first electric putter output is kept away from out medicine mouth one side with medicine drawer and is connected, controller and first electric putter electric connection, controller is based on the robot position control running gear and the work of first electric putter that positioning mechanism confirmed in real time.
Preferably, the travelling mechanism comprises four brackets, the four brackets are respectively arranged at four corners of the bottom of the machine body, the brackets are fixedly connected with the bottom of the machine body, the side wall of each bracket is provided with a driving motor, the output end of each driving motor is provided with a travelling wheel, and the driving motors are electrically connected with the controller.
Preferably, the upper end of the machine body is provided with a display screen, the display screen is a touch screen type display, the display screen is electrically connected with the controller, the machine body is provided with a sound box, and the sound box is electrically connected with the display screen.
Preferably, the positioning mechanism comprises a multi-axis gyroscope, a Beidou positioning module and a wireless communication module, wherein the multi-axis gyroscope is used for detecting the angular acceleration, the angular speed and the movement direction machine height of the robot, the Beidou positioning module is used for detecting the position information of the robot, the wireless communication module is in wireless communication connection with a remote terminal, and the multi-axis gyroscope, the Beidou positioning module and the wireless communication module are respectively in electric connection with the controller.
Preferably, the robot walking system further comprises a vision acquisition device, wherein the vision acquisition device is used for acquiring images in front of the robot on a robot walking path, and the vision acquisition device is electrically connected with the controller.
Preferably, the medicine feeding drawer is close to the first electric putter one side bottom inner wall and sets up first recess, and medicine feeding drawer is kept away from first electric putter one side bottom inner wall and sets up the second recess, sets up weighing sensor in the second recess, and weighing sensor is used for weighing the quality of the interior medicine of medicine feeding drawer, weighing sensor and controller electric connection.
Preferably, the lower surface of the first electric push rod is provided with a first rack, one end of the first rack, which is far away from the first electric push rod, penetrates through the rear side wall of the medicine delivery drawer and extends into the medicine delivery drawer, the first rack is connected with the rear side wall of the medicine delivery drawer in a penetrating way, the first rack is far away from one end of the first electric push rod, a push plate is arranged, and the push plate is located above the weighing sensor.
Preferably, set up first pivot and second pivot in the first recess, first pivot and second pivot rotate with first recess diapire respectively and are connected, set up first gear in the first pivot, first gear and first rack engagement, set up the second gear in the second pivot, second gear and first gear engagement, first recess diapire sets up the spout, spout length direction perpendicular to first rack length direction, slide in the spout and set up the slider, slider is close to second pivot one side and sets up the second rack, second rack and second gear engagement, slider is kept away from second rack one side and sets up splint, splint are kept away from slider one end and are extended to weighing sensor top, splint are close to first rack one side and set up the anticollision pad, the anticollision pad adopts soft material to make.
Preferably, a mounting cavity is formed in the push plate, a sliding plate is arranged in the mounting cavity, a second electric push rod is arranged on one side of the sliding plate, which is close to the first electric push rod, of the sliding plate, a third electric push rod is further arranged on the inner wall of the rear side of the mounting cavity, the third electric push rod is fixedly connected with the inner wall of the rear side of the mounting cavity, the output end of the third electric push rod is fixedly connected with one end of the second electric push rod, which is far away from the sliding plate, the second electric push rod is electrically connected with the controller, a plurality of deflector rods are arranged on one side, far away from the first electric push rod, of the sliding plate, a plurality of strip through holes are formed in one side, which is communicated with the inside of the mounting cavity, of the strip through holes are in one-to-one correspondence with the deflector rods, a third rotating shaft is arranged in the strip through holes, the upper end and the lower end of the third rotating shaft are respectively connected with the inner walls of the upper side and the lower sides of the strip through holes, a swinging plate is arranged on the third rotating shaft, one end of the swinging plate extends into the mounting cavity, the swinging plate extends to the outside of the push plate, a spring is sleeved on the third rotating shaft, one end of the spring is connected with the third rotating shaft, and the other end of the spring is connected with the strip through holes.
Preferably, the automatic adjusting mechanism is further included, and the automatic adjusting mechanism includes: the utility model provides a wind pressure measuring apparatu and motor power regulator, wind pressure measuring apparatu sets up on the organism for detect the wind pressure that the organism direction of advance received in the organism motion process, motor power regulator and driving motor electric connection, motor power regulator are used for adjusting driving motor's output, wind pressure measuring apparatu, motor power regulator respectively with controller electric connection, the work of controller control motor power regulator based on the detected value of wind pressure measuring apparatu and weighing sensor, include the following step:
step 1: based on the detection values of the wind pressure measuring instrument and the weighing sensor, calculating the target output power of the driving motor according to the following formula:
wherein P is 1 For driving the target output power of the motor, m J M is the total mass of the organism i For the detection value of the ith weighing sensor, n is the total number of medicine feeding drawers, g is the gravity acceleration, mu is the rolling friction coefficient of the travelling wheel, S is the windward area of one side of the advancing direction of the machine body, q is the detection value of a wind pressure measuring instrument, B is the wind power coefficient, v 1 For the preset walking speed of the medicine delivery robot, X is the total number of driving motors, and eta is the working efficiency of the driving motors;
step 2: based on the calculation result of step 1, the controller controls the motor power regulator to regulate the output power of the driving motor to the target output power of the driving motor.
The technical scheme of the invention has the following advantages: the invention provides an intelligent medicine delivery robot, which relates to the technical field of mechanical arms and comprises a machine body, a traveling mechanism for driving the machine body to move, a controller and a positioning mechanism, wherein the controller and the positioning mechanism are arranged on the machine body, the traveling mechanism is arranged at the bottom of the machine body, a medicine outlet is formed in one side of the machine body, a plurality of medicine delivery drawers are arranged at the medicine outlet, the medicine delivery drawers are distributed in a rectangular array, a first electric push rod is arranged at one side, far away from the medicine outlet, of the medicine delivery drawers, the output end of the first electric push rod is connected with one side, far away from the medicine outlet, of the medicine delivery drawers, and the controller is electrically connected with the first electric push rod. According to the invention, the medicine delivery drawers are arranged at the medicine outlet, each medicine delivery drawer corresponds to one bed, when the controller controls the travelling mechanism to drive the machine body to travel to a certain bed, the controller controls the first electric push rod at the medicine delivery drawer of the corresponding bed to extend out, so that a patient can take out medicines in the medicine delivery drawers, the problem of medicine mixing and taking can be avoided, the intelligence and safety of the intelligent medicine delivery robot are improved, and the rehabilitation effect of the patient is enhanced.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention may be realized and attained by the structure particularly pointed out in the written description and drawings hereof.
The technical scheme of the invention is further described in detail through the drawings and the embodiments.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention. In the drawings:
FIG. 1 is a schematic diagram of the overall structure of an intelligent drug delivery robot;
FIG. 2 is a front view of an intelligent drug delivery robot according to the present invention;
FIG. 3 is a side view of the internal structure of the intelligent drug delivery robot;
FIG. 4 is a top view of the drug delivery drawer of the present invention positioned inside the body;
FIG. 5 is a top view of the drug delivery drawer of the present invention positioned outside the body;
FIG. 6 is a schematic diagram showing the internal structure of a push plate when no medicine exists in a medicine feeding drawer according to the present invention;
FIG. 7 is a schematic diagram showing the internal structure of the push plate when medicines are contained in the medicine-feeding drawer.
In the figure: 1. a body; 2. a medicine feeding drawer; 3. a first electric push rod; 4. a bracket; 5. a driving motor; 6. a walking wheel; 7. a display screen; 8. a sound box; 9. a first groove; 10. a weighing sensor; 11. a first rack; 12. a push plate; 13. a first rotating shaft; 14. a second rotating shaft; 15. a first gear; 16. a second gear; 17. a chute; 18. a slide block; 19. a second rack; 20. a clamping plate; 21. a crash pad; 22. a sliding plate; 23. a second electric push rod; 24. a third electric push rod; 25. a deflector rod; 26. a long through hole; 27. a third rotating shaft; 28. and (5) swinging the plate.
Detailed Description
The preferred embodiments of the present invention will be described below with reference to the accompanying drawings, it being understood that the preferred embodiments described herein are for illustration and explanation of the present invention only, and are not intended to limit the present invention.
In addition, the descriptions of the "first," "second," and the like, herein are for descriptive purposes only and are not intended to be specifically construed as order or sequence, nor are they intended to limit the invention solely for distinguishing between components or operations described in the same technical term, but are not to be construed as indicating or implying any relative importance or order of such features. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, technical solutions and technical features between the embodiments may be combined with each other, but it is necessary to base that a person skilled in the art can implement the combination of technical solutions, when the combination of technical solutions contradicts or cannot be implemented, should be considered that the combination of technical solutions does not exist, and is not within the scope of protection claimed by the present invention.
Example 1:
the embodiment of the invention provides an intelligent medicine delivery robot, as shown in fig. 1-7, comprising: organism 1, drive running gear and the controller and the positioning mechanism of setting on organism 1 of organism 1 motion, positioning mechanism is used for confirming the robot position in real time, running gear sets up in organism 1 bottom, organism 1 one side sets up the medicine outlet, medicine outlet department sets up a plurality of medicine feed drawers 2, a plurality of medicine feed drawers 2 are rectangular array and distribute, medicine feed drawers 2 keep away from medicine outlet one side and set up first electric putter 3, first electric putter 3 output is connected with medicine feed drawers 2 keep away from medicine outlet one side, controller and first electric putter 3 electric connection, the controller is based on the robot position control running gear and the work of first electric putter 3 that positioning mechanism confirmed in real time.
The working principle and the beneficial effects of the technical scheme are as follows: the medicine outlet is formed in one side of the machine body 1, the medicine outlet is provided with the medicine delivery drawers 2, each medicine delivery drawer 2 corresponds to one bed, one bed corresponds to a corresponding patient, patient information is stored in the controller, the patient information comprises patient names, patient sexes, medicines required to be taken by the patient and medicine taking amounts, each medicine delivery drawer 2 corresponds to the corresponding patient information, the bottom of the machine body 1 is provided with the traveling mechanism, a preset route is arranged in the controller, the controller can control the traveling mechanism to drive the machine body 1 to move based on the preset route, the positioning mechanism is arranged on the machine body 1, the position of the robot can be determined in real time, the controller can control the traveling mechanism to work according to the position of the robot determined in real time, thereby driving the machine body 1 to move to the preset bed, then the controller controls the first electric push rod 3 corresponding to the preset bed, the first electric push rod 3 pushes the medicine delivery drawer 2 to pop out from the medicine outlet, the patient can take out the medicines in the medicine delivery drawers 2, the problem of mixed taking cannot occur, the patient cannot take the medicines by mistake, the safety of the medicine delivery robot is improved, the automatic bed can be controlled by the controller, the intelligent medicine delivery drawer can not be controlled by the intelligent push rod 2, and the intelligent medicine delivery machine can not be controlled according to the position of the medicine delivery drawer.
Example 2
On the basis of the above embodiment 1, as shown in fig. 2, the travelling mechanism includes four brackets 4, the four brackets 4 are respectively disposed at four corners of the bottom of the machine body 1, the brackets 4 are fixedly connected with the bottom of the machine body 1, the side wall of the bracket 4 is provided with a driving motor 5, the output end of the driving motor 5 is provided with travelling wheels 6, and the driving motor 5 is electrically connected with the controller.
The working principle and the beneficial effects of the technical scheme are as follows: the bottom of the machine body 1 is provided with four brackets 4, the four brackets 4 are provided with driving motors 5, the output ends of the driving motors 5 are provided with travelling wheels 6, and the controller can control the single or multiple driving motors 5 to rotate so as to drive the machine body 1 to move, so that the machine body 1 moves to a preset bed.
Example 3
On the basis of embodiment 1 or 2, as shown in fig. 1, a display screen 7 is disposed at the upper end of the body 1, the display screen 7 is a touch screen type display, the display screen 7 is electrically connected with the controller, a sound box 8 is disposed on the body 1, and the sound box 8 is electrically connected with the display screen 7.
The working principle and the beneficial effects of the technical scheme are as follows: set up voice receiving module, voice playing module and voice processing module in the audio amplifier 8, voice receiving module can receive user's voice input, voice receiving module and voice processing module electric connection, voice processing module can receive voice receiving module's user's voice input, and convert voice input into text message and throw in on the display screen 7, so that the user obtains, voice playing module is used for playing the pronunciation, voice processing module also can convert voice that voice playing module broadcast into text message and throw in on the display screen 7, when a certain medicine drawer 2 of sending out, controller control voice playing module broadcast patient's information, remind the patient to get medicine and correctly take medicine, the accuracy of getting medicine has been improved, further improved patient's security of taking medicine, patient's medicine all need not artifical the warning, thereby improve work efficiency, medicine feeding robot is located the starting point through a plurality of first electric putter 3 individual motion of a plurality of medicine drawers 2 of controller control, initially, medicine feeding robot is located the starting point, corresponding first electric putter 3 of medicine drawer 2 control is released through display screen 7 control, with medicine feeding drawer 2 is put into medicine drawer 2 by medical personnel and is controlled to be pulled out through electric drawer 7, the medicine drawer 2 is pulled out through the electric drawer control operation control, the drawer 3 is pulled out to the medicine drawer control is directly is provided and is convenient for the body of the medical personnel to be pulled out, the medicine is pulled back to the drawer is set up to the medicine is pulled back through the drawer 2, the medicine drawer is pulled out to be controlled and is directly to be pulled out to the medicine drawer is convenient to be provided, the medicine is convenient to be pulled out to the medicine is directly to the drawer is provided to the medicine drawer is convenient to the medicine is directly to the drawer is pulled to the medicine drawer.
Example 4
On the basis of any one of embodiments 1 to 3, the positioning mechanism comprises a multi-axis gyroscope, a Beidou positioning module and a wireless communication module, wherein the multi-axis gyroscope is used for detecting angular acceleration, angular velocity and movement direction machine height of the robot, the Beidou positioning module is used for detecting position information of the robot, the wireless communication module is in wireless communication connection with a remote terminal, and the multi-axis gyroscope, the Beidou positioning module and the wireless communication module are respectively and electrically connected with the controller.
The working principle and the beneficial effects of the technical scheme are as follows: the positioning mechanism can acquire the real-time position of the drug delivery robot in real time, and send the real-time position of the drug delivery robot to the remote terminal, the remote terminal can be a mobile phone, medical staff can confirm the position of the drug delivery robot according to the remote terminal, so that the position of the drug delivery robot is more visual, the medical staff can grasp the drug delivery condition conveniently, and specifically, the multi-axis gyroscope can detect the angular acceleration, the angular velocity and the movement direction machine height of the robot, the Beidou positioning module can detect the position information of the robot, and the position of the drug delivery robot can be accurately acquired by combining the multi-axis gyroscope with the Beidou positioning module, so that the drug delivery robot is monitored in real time.
Example 5
The base of any one of embodiments 1-4, further comprising a vision collection device, the vision collection device being configured to collect images of a robot in front of a robot path, the vision collection device being electrically connected to the controller.
The working principle and the beneficial effects of the technical scheme are as follows: the vision acquisition equipment can be a CCD industrial camera, the vision acquisition equipment can acquire images in front of a robot in a robot walking route, when the robot reaches a certain bed, the vision acquisition equipment can acquire the actual facial image of a corresponding patient on the bed, the preset facial image of the patient on the bed is prestored in the controller, the controller can compare the actual facial image of the patient with the preset facial image and calculate the actual similarity of the actual facial image and the preset facial image, when the actual similarity is within a preset range, the controller controls the first electric push rod 3 to push out the corresponding medicine delivery drawer 2 so as to facilitate medicine taking of the patient, when the actual similarity is not within the preset range, the controller controls the driving motor 5 to rotate so as to control the machine body 1 to deflect by a preset angle, the actual facial image of the corresponding patient on the bed is acquired again through the vision acquisition equipment after the deflection is completed, until the actual similarity is within a preset range, the problem that the position of the medicine delivery drawer 2 is not opposite because the first electric push rod 3 is pushed out at will, the medicine delivery drawer 2 is convenient for a patient to take medicine, the problem that the patient is knocked out because the medicine delivery drawer 2 is pushed out is avoided, if the body 1 deflects more than 360 degrees, the actual similarity is still not within the preset range, at the moment, the controller judges that the patient on the bed is not in the preset range, the controller controls the travelling mechanism to move so that the robot moves to the next bed, after the medicine delivery of the robot according to the preset route is finished, the robot returns in the direction opposite to the preset route, in the returning process, the robot acquires medicine information which is not delivered in the medicine delivery drawer 2 and moves to the position which is not delivered to the medicine bed, the actual facial image acquisition of the patient is carried out again, and the actual similarity is calculated, if the body 1 is still deflected more than 360 degrees, the actual similarity is not within the preset range, at this time, the controller judges that the patient is not present, records the patient information and the undelivered information of the patient and sends the record to the display screen 7, and after the robot returns to the starting point, the medical staff can confirm the undelivered information.
Example 6
On the basis of any one of the embodiments 2-5, as shown in fig. 4 and 5, a first groove 9 is formed in the inner wall of the bottom of one side of the medicine delivery drawer 2, which is close to the first electric push rod 3, a second groove is formed in the inner wall of the bottom of one side, which is far away from the first electric push rod 3, of the medicine delivery drawer 2, a weighing sensor 10 is arranged in the second groove, the weighing sensor 10 is used for weighing the medicine in the medicine delivery drawer 2, and the weighing sensor 10 is electrically connected with a controller.
The working principle and the beneficial effects of the technical scheme are as follows: set up the second recess in the medicine feed drawer 2, set up weighing sensor 10 in the second recess, weighing sensor 10 can weigh the quality of the interior medicine of medicine feed drawer 2, can confirm that this medicine feed drawer 2 is interior to have placed the medicine according to the quality of the interior medicine of medicine feed drawer 2, then the controller can confirm whether to pass through this bed according to whether there is the medicine in the medicine feed drawer 2, if have the medicine in the medicine feed drawer 2 then control the robot to stop at this bed, if there is not the medicine in the medicine feed drawer 2, then control the robot and directly pass through, thereby optimize the robot walking route, save the medicine feed time, the drug feed efficiency has been improved, the intelligent of this intelligent medicine feed robot has been strengthened.
Example 7
On the basis of embodiment 6, as shown in fig. 4 and 5, a first rack 11 is disposed on the lower surface of the first electric push rod 3, one end, away from the first electric push rod 3, of the first rack 11 penetrates through the rear side wall of the medicine delivery drawer 2 and extends into the medicine delivery drawer 2, the first rack 11 is slidably connected with the rear side wall penetrating position of the medicine delivery drawer 2, a push plate 12 is disposed on one end, away from the first electric push rod 3, of the first rack 11, and the push plate 12 is located above the weighing sensor 10.
The working principle and the beneficial effects of the technical scheme are as follows: when medical staff puts medicine, the controller controls the first electric putter 3 to stretch out, make medical staff put medicine into send medicine drawer 2, when first electric putter 3 is released, send medicine drawer 2 to the outside motion of organism 1 from the medicine outlet, because first rack 11 one end is fixed at first electric putter 3 stiff end, when send medicine drawer 2 motion, first rack 11 and push pedal 12 slide relatively in send medicine drawer 2, make push pedal 12 keep away from send medicine drawer 2 front side wall, when medicine is put into send medicine drawer 2, the medicine falls on weighing sensor 10, weighing sensor 10 weighs the medicine, the controller obtains the weighing result and confirms that this send medicine drawer 2 exists medicine, then controller control first electric putter 3 is retracted, send medicine drawer 2 to retract into organism 1, push pedal 12 draws near with send medicine drawer 2 front side wall distance, thereby reduced medicine space, prevent that medicine in send medicine drawer 2 is violent when organism 1 moves, to place medicine in the glass bottle, can prevent that glass bottle from knocking into bad, have the effect of protection.
Example 8
On the basis of embodiment 7, as shown in fig. 4 and 5, a first rotating shaft 13 and a second rotating shaft 14 are arranged in a first groove 9, the first rotating shaft 13 and the second rotating shaft 14 are respectively connected with the bottom wall of the first groove 9 in a rotating way, a first gear 15 is arranged on the first rotating shaft 13, the first gear 15 is meshed with a first rack 11, a second gear 16 is arranged on the second rotating shaft 14, the second gear 16 is meshed with the first gear 15, a sliding groove 17 is arranged on the bottom wall of the first groove 9, the length direction of the sliding groove 17 is perpendicular to the length direction of the first rack 11, a sliding block 18 is arranged in the sliding groove 17 in a sliding way, a second rack 19 is arranged on one side, close to the second rotating shaft 14, of the sliding block 18, and is meshed with the second gear 16, a clamping plate 20 is arranged on one side, far away from the second rack 19, of the clamping plate 20 extends to the upper part of the weighing sensor 10, a crash pad 21 is arranged on one side, close to the first rack 11, of the clamping plate 20, and the crash pad 21 is made of soft materials.
The working principle and the beneficial effects of the technical scheme are as follows: when the medicine delivery drawer 2 is pushed out, the first gear 11 drives the first gear 15 to rotate, the first gear 15 drives the second gear 16 to rotate, the second gear 16 drives the second gear 19 to move towards the direction away from the first gear 11, thereby driving the sliding block 18 to move towards the direction away from the first gear 11 in the sliding groove 17, the sliding block 18 drives the clamping plate 20 and the anti-collision pad 21 to move towards the direction away from the first gear 11, at the moment, medicines are convenient to be put into the medicine delivery drawer 2, the medicines smoothly fall on the weighing sensor 10, after the medicines are placed, the medicine delivery drawer 2 is retracted into the machine body 1, in the retraction process of the medicine delivery drawer 2, the second gear 16 drives the second gear 19 to move towards the direction close to the first gear 11, the clamping plate 20 and the anti-collision pad 21 move towards the direction close to the medicines, the anti-collision pad 21 is contacted with the medicines, and limit protection is carried out on the medicines, the medicines can be prevented from violently shaking in the medicine delivery drawer 2 in the movement process of the machine body 1, the stability of the medicines in the medicine delivery drawer 2 is improved, and good dispensing is facilitated.
Example 9
On the basis of embodiment 7 or 8, as shown in fig. 4-7, a mounting cavity is arranged in the push plate 12, a sliding plate 22 is arranged in the mounting cavity, a second electric push rod 23 is arranged on one side of the sliding plate 22 close to the first electric push rod 3, the rear end of the second electric push rod 23 is in sliding connection with the inner wall of the rear side of the mounting cavity, a third electric push rod 24 is also arranged on the inner wall of the rear side of the mounting cavity, the third electric push rod 24 is fixedly connected with the inner wall of the rear side of the mounting cavity, the output end of the third electric push rod 24 is fixedly connected with one end of the second electric push rod 23 far away from the sliding plate 22, both the second electric push rod 23 and the third electric push rod 24 are electrically connected with a controller, a plurality of deflector rods 25 are arranged on one side of the sliding plate 22 far away from the first electric push rod 3, the push pedal 12 is kept away from first electric putter 3 one side and is set up a plurality of rectangular through-holes 26, rectangular through-hole 26 and the inside intercommunication of installation cavity, rectangular through-hole 26 and driving lever 25 one-to-one, set up third pivot 27 in the rectangular through-hole 26, both ends are connected with rectangular through-hole 26 upper and lower both sides inner wall rotation about respectively about the pivot 27, set up swing board 28 in the pivot 27, swing board 28 slope sets up, swing board 28 one end extends to the installation intracavity, the swing board 28 other end extends to the push pedal 12 outside, the spring is established to the cover on the pivot 27 of third, spring one end is connected with the pivot 27 lateral wall of third, the spring other end is connected with rectangular through-hole 26 inner wall.
The working principle and the beneficial effects of the technical scheme are as follows: if no medicine exists in the medicine delivery drawer 2, the second electric push rod 23 and the third electric push rod 24 are in a retracted state, at this time, the deflector rod 25 is not contacted with the swinging plate 28, the swinging plate 28 is in an inclined state under the action of the clockwork spring, when the medicine delivery drawer 2 with the medicine placed therein is retracted into the machine body 1, the controller can control the second electric push rod 23 to extend so that the deflector rod 25 contacts with the inner wall of the installation cavity close to the medicine, then the controller controls the third electric push rod 24 to push out, the third electric push rod 24 pushes the second electric push rod 23 to slide along the rear side wall of the installation cavity, the second electric push rod 23 drives the sliding plate 22 to slide in the installation cavity, the sliding plate 22 drives the deflector rod 25 to move, the deflector rod 25 dials the swinging plate 28 so that the angle of the swinging plate 28 is changed, the swinging plate 28 is located at one end outside the push plate 12 and moves towards the direction close to the anti-collision pad 21, the swinging plate 28 is provided with a pressure sensor at one end far away from the sliding plate 22, when the actual pressure value of one of the pressure sensors reaches a preset pressure value, the controller controls the third electric push rod 24 to stop extending, the preset pressure value is set by medical staff by the self, so that medicines or medicine packages are not damaged, at the moment, under the combined action of the swinging plate 28 and the anti-collision pad 21, the medicines can be fixed inside the medicine delivery drawer 2, the stability of the medicines is improved, the medicines are prevented from being optionally shaken inside the medicine delivery drawer 2 to be damaged in the walking process of the robot, the anti-collision pad 21 can provide enough buffering and damping for the medicine shaking, the medicines are effectively protected, and the accurate and perfect dispensing of the medicines is ensured.
Example 10
The base of any of embodiments 6-9, further comprising an automatic adjustment mechanism, the automatic adjustment mechanism comprising: the utility model provides a wind pressure measuring apparatu and motor power regulator, wind pressure measuring apparatu sets up on organism 1 for detect the wind pressure that organism 1 advancing direction received in the organism 1 motion process, motor power regulator and driving motor 5 electric connection, motor power regulator are used for adjusting driving motor 5's output, wind pressure measuring apparatu, motor power regulator respectively with controller electric connection, the work of controller control motor power regulator based on the detected value of wind pressure measuring apparatu and weighing sensor 10, include the following steps:
step 1: based on the wind pressure measuring instrument and the detection value of the load cell 10, the target output power of the driving motor 5 is calculated by the following formula:
wherein P is 1 For the target output power of the drive motor 5, m J M is the total mass of the machine body 1 i For the detection value of the ith weighing sensor 10, n is the total number of the medicine feeding drawers 2, g is the gravity acceleration, mu is the rolling friction coefficient of the travelling wheel 6, S is the windward area of one side of the advancing direction of the machine body 1, q is the detection value of the wind pressure measuring instrument, B is the wind power coefficient, v 1 For the preset walking speed of the medicine feeding robot, X is the total number of the driving motors 5, and eta is the working efficiency of the driving motors 5;
step 2: based on the calculation result of step 1, the controller controls the motor power adjuster to adjust the output power of the drive motor 5 to the target output power of the drive motor 5.
The working principle and the beneficial effects of the technical scheme are as follows: with the dispensing of medicines one by one, the quality of medicines in the machine body 1 is gradually reduced, the resistance in the running process of the medicine delivery robot is also gradually reduced, but the power of the driving motor 5 is kept unchanged, the problem of electric energy waste exists, in order to achieve the effect of energy conservation, the medicine delivery robot is further provided with an automatic regulating mechanism, the output power of the driving motor 5 can be automatically regulated according to the total weight of medicines in the medicine delivery drawer 2 and the actual wind pressure in the running process, and particularly, the medicine delivery robot stably runs for delivering medicines according to the preset running speed, the problem of rapid acceleration or rapid deceleration does not occur, in the medicine delivery process, the controller can acquire the detection value of the weighing sensor 10, measure the wind pressure received by the machine body 1 in the running direction through the wind pressure measuring instrument, the target output power of the driving motor 5 can be accurately calculated through the formula, in the calculating process, the wind power coefficient value is dependent on the outline of the machine body 1, the wind power coefficient is 1.2-1.6 in the optional range, finally, the controller controls the motor 5 to stably run according to the calculated target output power of the driving motor according to the calculated driving motor 5, the detection value of the weighing sensor 10 and the detection value of the wind pressure measuring instrument, the intelligent medicine delivery rate is improved, the intelligent medicine delivery is achieved, and the intelligent medicine delivery effect of the medicine delivery is achieved, and the automatic delivery of the medicine delivery is achieved after the intelligent medicine delivery is achieved, and the medicine delivery is achieved.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (6)
1. An intelligent drug delivery robot, which is characterized by comprising: the robot comprises a machine body (1), a travelling mechanism driving the machine body (1) to move, and a controller and a positioning mechanism arranged on the machine body (1), wherein the positioning mechanism is used for determining the position of a robot in real time, the travelling mechanism is arranged at the bottom of the machine body (1), a medicine outlet is formed in one side of the machine body (1), a plurality of medicine delivery drawers (2) are arranged at the medicine outlet, the medicine delivery drawers (2) are distributed in a rectangular array, one side of each medicine delivery drawer (2) far away from the medicine outlet is provided with a first electric push rod (3), the output end of each first electric push rod (3) is connected with one side of each medicine delivery drawer (2) far away from the medicine outlet, the controller is electrically connected with the first electric push rod (3), and the controller controls the travelling mechanism and the first electric push rod (3) to work based on the robot position determined by the positioning mechanism in real time;
the walking mechanism comprises four brackets (4), the four brackets (4) are respectively arranged at four corners at the bottom of the machine body (1), the brackets (4) are fixedly connected with the bottom of the machine body (1), the side wall of each bracket (4) is provided with a driving motor (5), the output end of each driving motor (5) is provided with a walking wheel (6), and the driving motors (5) are electrically connected with the controller;
the inner wall of the bottom of one side of the medicine delivery drawer (2) close to the first electric push rod (3) is provided with a first groove (9), the inner wall of the bottom of one side of the medicine delivery drawer (2) far away from the first electric push rod (3) is provided with a second groove, a weighing sensor (10) is arranged in the second groove, the weighing sensor (10) is used for weighing the quality of medicines in the medicine delivery drawer (2), and the weighing sensor (10) is electrically connected with a controller;
the lower surface of the first electric push rod (3) is provided with a first rack (11), one end of the first rack (11) far away from the first electric push rod (3) penetrates through the rear side wall of the medicine delivery drawer (2) and extends into the medicine delivery drawer (2), the first rack (11) is in sliding connection with the rear side wall penetrating position of the medicine delivery drawer (2), one end of the first rack (11) far away from the first electric push rod (3) is provided with a push plate (12), and the push plate (12) is positioned above the weighing sensor (10);
set up first pivot (13) and second pivot (14) in first recess (9), first pivot (13) and second pivot (14) are connected with first recess (9) diapire rotation respectively, set up first gear (15) on first pivot (13), first gear (15) and first rack (11) meshing, set up second gear (16) on second pivot (14), second gear (16) and first gear (15) meshing, first recess (9) diapire sets up spout (17), spout (17) length direction perpendicular to first rack (11) length direction, slide in spout (17) sets up slider (18), slider (18) are close to second pivot (14) one side and are set up second rack (19), second rack (19) and second gear (16) meshing, slider (18) are kept away from second rack (19) one side and are set up splint (20), slider (18) one end is kept away from and is extended to weighing sensor (10) top, splint (20) are close to first rack (11) one side and set up cushion (21), it adopts crashproof soft material to make to set up cushion (21).
2. The intelligent medicine delivery robot of claim 1, wherein a display screen (7) is arranged at the upper end of the machine body (1), the display screen (7) is a touch screen type display, the display screen (7) is electrically connected with the controller, a sound box (8) is arranged on the machine body (1), and the sound box (8) is electrically connected with the display screen (7).
3. The intelligent medicine delivery robot of claim 1, wherein the positioning mechanism comprises a multi-axis gyroscope, a Beidou positioning module and a wireless communication module, the multi-axis gyroscope is used for detecting angular acceleration, angular velocity, movement direction and height of the robot, the Beidou positioning module is used for detecting position information of the robot, the wireless communication module is in wireless communication connection with a remote terminal, and the multi-axis gyroscope, the Beidou positioning module and the wireless communication module are respectively and electrically connected with the controller.
4. The intelligent drug delivery robot of claim 1, further comprising a vision acquisition device for acquiring images of the front of the robot on a robot path, the vision acquisition device being electrically connected to the controller.
5. The intelligent medicine delivery robot according to claim 1, wherein a mounting cavity is formed in the push plate (12), a sliding plate (22) is arranged in the mounting cavity, one side of the sliding plate (22) close to the first electric push rod (3) is provided with a second electric push rod (23), the rear end of the second electric push rod (23) is slidably connected with the rear inner wall of the mounting cavity, the rear inner wall of the mounting cavity is further provided with a third electric push rod (24), the third electric push rod (24) is fixedly connected with the rear inner wall of the mounting cavity, the output end of the third electric push rod (24) is fixedly connected with one end of the second electric push rod (23) far away from the sliding plate (22), the second electric push rod (23) and the third electric push rod (24) are electrically connected with a controller, one side of the sliding plate (22) far away from the first electric push rod (3) is provided with a plurality of strip through holes (26), the strip through holes (26) are communicated with the inside of the mounting cavity, the strip through holes (26) are in one-to-one correspondence with the poking rods (25), the strip through holes (26) are arranged in the strip through holes (26) and are respectively connected with the upper rotating shafts (28) and the lower rotating shafts (28) of the third rotating shafts (27) on the two sides of the upper rotating plates and the lower rotating plates (28) are respectively arranged, the other end of the swinging plate (28) extends to the outside of the push plate (12), a spring is sleeved on the third rotating shaft (27), one end of the spring is connected with the side wall of the third rotating shaft (27), and the other end of the spring is connected with the inner wall of the strip through hole (26).
6. The intelligent drug delivery robot of claim 1, further comprising an automatic adjustment mechanism, the automatic adjustment mechanism comprising: the wind pressure measuring instrument and motor power regulator, wind pressure measuring instrument sets up on organism (1) for detect the wind pressure that organism (1) advancing direction received in organism (1) motion in-process, motor power regulator and driving motor (5) electric connection, motor power regulator are used for adjusting driving motor (5) output, wind pressure measuring instrument, motor power regulator respectively with controller electric connection, the controller is based on the detected value control motor power regulator work of wind pressure measuring instrument and weighing sensor (10), include the following step:
step 1: based on the detection values of the wind pressure measuring instrument and the weighing sensor (10), calculating the target output power of the driving motor (5) by the following formula:
wherein P is 1 For a target output power of the drive motor (5),m J is the total mass, m of the machine body (1) i Is the detection value of an ith weighing sensor (10), n is the total number of medicine feeding drawers (2), g is gravity acceleration, mu is the rolling friction coefficient of a travelling wheel (6), S is the windward area of one side of the advancing direction of the machine body (1), q is the detection value of a wind pressure measuring instrument, B is the wind power coefficient, v 1 For the preset walking speed of the medicine delivery robot, X is the total number of the driving motors (5), and eta is the working efficiency of the driving motors (5);
step 2: based on the calculation result of step 1, the controller controls the motor power regulator to regulate the output power of the driving motor (5) to the target output power of the driving motor (5).
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| CN212020784U (en) * | 2020-03-04 | 2020-11-27 | 上海施方医疗科技有限公司 | Automatic navigation safety medicine delivery robot |
| CN218930091U (en) * | 2022-12-07 | 2023-04-28 | 大连民族大学 | Accurate intelligent medicine feeding trolley based on stm32 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH0716284A (en) * | 1993-06-30 | 1995-01-20 | Sanyo Electric Co Ltd | Product supplementing system |
| CN105963095A (en) * | 2016-07-25 | 2016-09-28 | 无锡福镁轻合金科技有限公司 | Medical machine delivery cart facilitating medicine taking |
| CN207055629U (en) * | 2017-02-28 | 2018-03-02 | 李忠艳 | A kind of Novel nursing cabinet |
| KR20200063849A (en) * | 2018-11-28 | 2020-06-05 | 박영세 | Supporting and Managing Medication Healthcare Mobile Robot and Control Method for the Robot |
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