CN109968367A - A kind of carrier robot - Google Patents
A kind of carrier robot Download PDFInfo
- Publication number
- CN109968367A CN109968367A CN201711457808.2A CN201711457808A CN109968367A CN 109968367 A CN109968367 A CN 109968367A CN 201711457808 A CN201711457808 A CN 201711457808A CN 109968367 A CN109968367 A CN 109968367A
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- Prior art keywords
- chassis
- robot
- shell
- headstock
- support frame
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- 239000003814 drug Substances 0.000 claims abstract description 38
- 229940079593 drug Drugs 0.000 claims abstract description 33
- 239000002184 metal Substances 0.000 claims description 15
- 229910052751 metal Inorganic materials 0.000 claims description 15
- 230000005611 electricity Effects 0.000 claims description 13
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 8
- 238000005452 bending Methods 0.000 claims description 8
- 229910052802 copper Inorganic materials 0.000 claims description 8
- 239000010949 copper Substances 0.000 claims description 8
- 238000009434 installation Methods 0.000 claims description 6
- 238000001514 detection method Methods 0.000 claims description 4
- 230000003993 interaction Effects 0.000 claims description 4
- 238000004891 communication Methods 0.000 claims description 2
- 230000032258 transport Effects 0.000 abstract description 13
- 230000006870 function Effects 0.000 abstract description 5
- 238000012377 drug delivery Methods 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 9
- 230000004888 barrier function Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 230000000694 effects Effects 0.000 description 3
- 235000004443 Ricinus communis Nutrition 0.000 description 2
- 238000005266 casting Methods 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012163 sequencing technique Methods 0.000 description 1
Classifications
-
- 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
- B25J11/008—Manipulators for service tasks
- B25J11/009—Nursing, e.g. carrying sick persons, pushing wheelchairs, distributing drugs
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- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Nursing (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention provides a kind of carrier robot, by being provided with the robot body and two sets of carrying modes of automation movement, realizes the purpose of hospital's article intelligence transport, instead of medical staff, saves labour, improve work efficiency simultaneously.Structure of the invention is reasonable, easy to use.In addition, patient and drug information by shifting to an earlier date typing, can transport drug to patient, share the work of medical staff.It can be realized autonomous, autonomous to avoid, and automatic cruising drug delivery, fixed point is transported.The functions such as the robot has an automatic voice reminding, voice broadcast simultaneously, and voice is explained and publicised, can either explain the information and medical common sense etc. of drug, and realize and carry drug dispensing cabinet and transport drug and carry the purpose that lorry transports cargo.
Description
Technical field
The present invention relates to robot field, in particular to a kind of carrier robot.
Background technique
It is main still by medical staff come to patient's transmission article and drug, this does not only take up medical care people in hospital at present
The plenty of time of member, while many energy of medical staff are also expended, increase personnel and the material resources cost of hospital.Therefore it needs
A kind of completely new theory improves this status.
Summary of the invention
The embodiment of the invention provides a kind of carrier robots, by the robot body and two for being provided with automation movement
Carrying mode is covered, the purpose of hospital's article intelligence transport is realized, instead of medical staff, labour is saved, improves simultaneously
Working efficiency.
The present invention provides a kind of carrier robot, including robot chassis, drive train, universal caster wheel, fixes and supports
With sheet metal component, control and sensing electricity piece and crossbeam support pole, described fix and support is vertically mounted on machine with sheet metal component
The front on device people chassis, the crossbeam support pole are mounted on the front end on the robot chassis, the universal caster and the drive
Driving wheel system is mounted on the bottom on the robot chassis, and the control and sensing are mounted on the robot chassis with electricity piece
On；
Described fix and support with sheet metal component includes display mounting rack, headstock fixed frame, headstock bending fixed frame, headstock
Fore-stock, headstock after-poppet, headstock connection frame, chassis leading portion support frame, chassis Left-side support frame, chassis Right side support frame, bottom
Disk front beam, chassis middle cross beam and chassis rear cross beam, the headstock fore-stock, the headstock after-poppet are respectively symmetrically mounted on
The headstock fore-stock and the headstock after-poppet are installed in the front end two sides on the robot chassis, the headstock connection frame connection
Between, the headstock fixed frame intersects with the headstock bending fixed frame to be mounted on the headstock after-poppet, before the chassis
Section support frame is mounted on the front end on the robot chassis, and the chassis Left-side support frame, the chassis Right side support frame are symmetrical
It is mounted on the left and right sides on the robot chassis, the chassis front beam, the chassis middle cross beam, disk rear cross beam is pressed described in bottom
Before, during and after be sequentially mounted on the chassis Left-side support frame and the chassis Right side support frame；
It is described control and sensing with electricity piece include for completes control operate master board card cage, for carrying out voice
The loudspeaker of casting, the display screen for carrying out human-computer interaction, for carry out laser sensor apart from detection and for into
The wireless routing of row cruise and communication, the laser sensor are mounted on chassis front medial location, the display screen installation
On the display mounting rack, the wireless routing is mounted on the robot inside chassis.
It optionally, further include robot shells and shell mounting rack, the shell mounting rack is mounted on the robot bottom
On disk, the robot shells include front housing, front housing rear cover, chassis front housing, shell on the left of chassis, on the right side of chassis behind shell and chassis
Shell, the front housing is mounted on the headstock fore-stock, positioned at the front end of robot body；The front housing rear cover is mounted on institute
State on headstock after-poppet, with front housing formed one encirclement, the chassis front housing by shell mounting rack be mounted on chassis most before
End, chassis left side shell, chassis right side shell are separately mounted to the robot chassis by the shell mounting rack
The left and right sides, the chassis rear shell are mounted on the rear end on the robot chassis by the shell mounting rack.
Optionally, the robot shells further include upper casing behind upper casing, chassis before chassis, when carrying lorry, the bottom
Upper casing by the chassis middle cross beam, the chassis rear cross beam is mounted on the robot chassis behind upper casing, the chassis before disk
Upper surface；Or
When robot body carries drug dispensing cabinet, the chassis upper casing passes through horizontal behind the chassis middle cross beam, the chassis
Beam is mounted on the upper surface on the robot chassis.
Optionally, the control and sensing electricity piece further include inductance, Signals Transfer Board, signal control panel, laser road
It is the inductance, the Signals Transfer Board, described by power supply board, ship type switch, battery reset button, scram button, power on buttons
Signal control panel, laser routing power supply board are mounted on the robot inside chassis, and the ship type switch, the battery are multiple
Position button is separately mounted at left and right sides of the robot extreme end of chassis, and the scram button is two and is separately mounted to institute
It states at the top of chassis rear shell right positions and the front housing.
Optionally, the front end back-end location on the robot chassis is respectively provided with four guide holders, behind corresponding chassis on
Shell position is respectively provided with four guide pads；The middle and back on the robot chassis is equipped with lifting column, and with behind the chassis on
Shell connection, the lifting column also has travel switch and travel switch fixed frame, and lifting is controlled by lifting column control panel
The lifting of column.
Optionally, upper casing rear end is equipped with the electromagnetic lock for being attracted lorry, the chassis leading portion support behind the chassis
Frame medium position be equipped with for detect lorry and robot whether the photoelectrical position sensor of carry in place.
Optionally, described fix and support with sheet metal component further includes left laser shutter, right laser shutter, the left laser gear
Plate and the right laser shutter are separately mounted to the front end two sides on the robot chassis.
It optionally, further include sonar, the sonar is eight, and the sonar is separately mounted to shell, institute on the left of the chassis
State shell front-rear position on the right side of chassis each two, the chassis front housing each side one, the front housing medium position one and institute
State chassis rear shell medium position one.
It optionally, further include charging unit, the charging unit includes cradle, charge copper bar, described to fix and support
It include charging electrode fixed frame with sheet metal component, the charging electrode fixed frame is mounted on the front end on the robot chassis, described
Cradle, charging copper bar be integrally mounted on the charging electrode fixed frame.
It optionally, further include that infrared fall preventing falls sensor, the infrared fall preventing falls sensor and is mounted on the robot bottom
Disk front-end position lower surface.
The present invention provides a kind of carrier robot, by the robot body and two sets of carrying moulds that are provided with automation movement
Formula realizes the purpose of hospital's article intelligence transport, instead of medical staff, saves labour, while improving work effect
Rate.Structure of the invention is reasonable, easy to use.In addition, patient and drug information by shifting to an earlier date typing, can transport medicine to patient
Product share the work of medical staff.It can be realized autonomous, autonomous to avoid, and automatic cruising drug delivery, fixed point is transported.Simultaneously
The robot has automatic voice reminding, voice broadcast, voice, and functions, information and the medical treatment that can either explain drug such as to explain and publicise normal
Know etc., and realize the purpose for carrying that drug dispensing cabinet transports drug and carrying lorry transports cargo.
Detailed description of the invention
Fig. 1 is the overall structure diagram of the carrier robot in the embodiment of the present invention；
Structural schematic diagram when Fig. 2 is the carrier robot lorry mode in the embodiment of the present invention；
Structural schematic diagram when Fig. 3 is the carrier robot drug dispensing cabinet mode in the embodiment of the present invention；
Fig. 4 is that the carrier robot in the embodiment of the present invention hides the structural scheme of mechanism after shell and left light barrier；
Fig. 5 is structural schematic diagram when the carrier robot in the embodiment of the present invention carries drug dispensing cabinet；
Fig. 6 is structural schematic diagram when the carrier robot in the embodiment of the present invention carries lorry.
Appended drawing reference: 1, universal caster wheel, 2, sonar, 3, chassis left side shell, 4, drive train, 5, chassis front housing, 6, charging
Seat, 7, charging copper bar, 8, crossbeam support pole, 9, laser sensor, 10, loudspeaker, 11, front housing, 12, power on buttons, 13, PAD
Touch display screen, 14, scram button, 15, shell on the right side of chassis, 16, chassis rear shell, 17, electromagnetic lock, 18, upper casing behind chassis, 19,
Upper casing before chassis, 20, photoelectrical position sensor, 21, light-guiding pillar, 22, front housing rear cover, 23, locating piece, 24, chassis upper casing, 25,
Shell mounting rack, the 26, first guide holder, the 27, first guide pad, 28, chassis Left-side support frame, 29, chassis rear cross beam, 30, liter
Column control panel, the 31, second guide holder, the 32, second guide pad, 33, robot chassis, 34, laser routing power supply board, 35, electricity drop
Sense, 36, signal control panel, 37, right laser shutter, 38, charging electrode fixed frame, 39, chassis front beam, 40, headstock fore-stock,
41, headstock connection frame, 42, headstock fixed frame, 43, headstock bending fixed frame, 44, headstock upper support frame, 45, display installation
Frame, 46, headstock after-poppet, 47, chassis leading portion support frame, 48, chassis middle cross beam, 49, chassis Right side support frame, 50, without route
By, 51, Signals Transfer Board, 52, master board card cage, 53, lifting column, 54, travel switch fixed frame, 55, travel switch, 56,
Battery, 57, lorry, 58, drug dispensing cabinet.
Specific embodiment
In order to enable those skilled in the art to better understand the solution of the present invention, below in conjunction in the embodiment of the present invention
Attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
The embodiment of a part of the invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
The model that the present invention protects all should belong in member's every other embodiment obtained without making creative work
It encloses.
Description and claims of this specification and term " first ", " second ", " third ", " in above-mentioned attached drawing
The (if present)s such as four " are to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should manage
The data that solution uses in this way are interchangeable under appropriate circumstances, so that the embodiments described herein can be in addition to illustrating herein
Or the sequence other than the content of description is implemented.In addition, term " includes " and " having " and their any deformation, it is intended that
Cover it is non-exclusive include, for example, containing the process, method, system, product or equipment of a series of steps or units need not limit
In step or unit those of is clearly listed, but may include be not clearly listed or for these process, methods, produce
The other step or units of product or equipment inherently.
The positions such as front and back up and down mentioned in the present invention, are closed according to the position under robot normal operating condition
System does not repeat hereafter as reference.
As shown in connection with fig. 1, the present invention provides a kind of carrier robot, including robot chassis 33, drive train 4, universal
Castor 1 is fixed and supported with sheet metal component, control and sensing electricity piece and crossbeam support pole 8, and described fix and support uses metal plate
Golden part is vertically mounted on the front on robot chassis 33, and the crossbeam support pole 8 is mounted on the front end on the robot chassis 33,
The universal caster and the drive train 4 are mounted on the bottom on the robot chassis 33, and the control is with sensing with electrically
Part is mounted on the robot chassis 33, and drive train 4 includes at least two；
Described fix and support with sheet metal component includes display mounting rack 45, headstock fixed frame 42, headstock bending fixed frame
43, headstock fore-stock 40, headstock after-poppet 46, headstock connection frame 41, chassis leading portion support frame 47, chassis Left-side support frame 28,
Chassis Right side support frame 49, chassis front beam 39, chassis middle cross beam 48 and chassis rear cross beam 29, the headstock fore-stock 40,
The headstock after-poppet 46 is respectively symmetrically mounted on the front end two sides on the robot chassis 33, and the headstock connection frame 41 connects
It installs between the headstock fore-stock 40 and the headstock after-poppet 46, the headstock fixed frame 42 is fixed with the headstock bending
The intersection of frame 43 is mounted on the headstock after-poppet 46, and the chassis leading portion support frame 47 is mounted on the robot chassis 33
Front end, the chassis Left-side support frame 28, the chassis Right side support frame 49 are symmetrically mounted on the left side on the robot chassis 33
Right two sides, the chassis front beam 39, the chassis middle cross beam 48, disk rear cross beam is sequentially mounted on institute before, during and after described in bottom
It states on chassis Left-side support frame 28 and the chassis Right side support frame 49；
It is described control and sensing with electricity piece include for completes control operate master board card cage 52, for carrying out language
The loudspeaker 10 of sound casting, the display screen for carrying out human-computer interaction, for carry out laser sensor 9 apart from detection and
Wireless routing 50 for being cruised and being communicated, the laser sensor 9 is mounted on chassis front medial location, described aobvious
Display screen is mounted on the display mounting rack 45, and the wireless routing 50 is mounted on inside the robot chassis 33.
Robot by navigation module carry out real-time navigation, by carry out in advance path carry out planning can carry out by route
The stop for completing respective site, carries out the carrying of lorry or the distribution of drug, occurs by real time obstacle detection when in path
Avoidance operation can be independently carried out when barrier.
The voice prerecorded is played out so that the robot has automatic voice reminding, language by using loudspeaker
The functions such as sound is broadcasted, voice is explained and publicised can explain information and medical treatment common sense of drug etc..
Display screen can use PAD (palm PC) touch display screen 13, and user can directly operate on the screen,
Reach good interaction effect.
It optionally, further include robot shells and shell mounting rack 25, the shell mounting rack 25 is mounted on the machine
On people chassis 33, the robot shells include 11, front housing rear cover 22, chassis front housing 5, chassis left side shell 3, chassis right side shell
15, chassis rear shell 16, described 11 are mounted on the headstock fore-stock 40, positioned at the front end of robot body；The front housing
Rear cover 22 is mounted on the headstock after-poppet 46, forms an encirclement with front housing 11, the chassis front housing 5 is installed by shell
Frame 25 is mounted on the front end on chassis, and shell 3, chassis right side shell 15 are divided by the shell mounting rack 25 on the left of the chassis
It is not mounted on the left and right sides on the robot chassis 33, the chassis rear shell 16 is mounted on institute by the shell mounting rack 25
State the rear end on robot chassis 33.
The robot shells further include upper casing 18 behind upper casing 19, chassis before chassis, when carrying lorry, before the chassis
Upper casing 18 is mounted on the robot by the chassis middle cross beam 48, the chassis rear cross beam 29 behind upper casing 19, the chassis
The upper surface on chassis 33；Or
When robot body carries drug dispensing cabinet, the chassis upper casing 24 passes through the chassis middle cross beam 48, the chassis
Rear cross beam 29 is mounted on the upper surface on the robot chassis 33.
Optionally, it is described control and sensing electricity piece further include inductance 35, Signals Transfer Board 51, signal control panel 36,
Laser routes power supply board 34, ship type switch, battery reset button, scram button 14, power on buttons 12, the inductance 35, described
Signals Transfer Board 51, the signal control panel 36, laser routing power supply board 34 are mounted on inside the robot chassis 33,
The ship type switch, the battery reset button are separately mounted at left and right sides of robot, 33 rear end, chassis, the urgency
Stop button 14 to be two and be separately mounted to 11 top of 16 right positions of chassis rear shell and the front housing.
Optionally, the front end back-end location on the robot chassis 33 is respectively provided with four guide holders, behind corresponding chassis
18 position of upper casing is respectively provided with four guide pads；The middle and back on the robot chassis 33 is equipped with lifting column 53, and with it is described
Upper casing 18 connects behind chassis, and the lifting column 53 also has travel switch 55 and travel switch fixed frame 54, and passes through lifting column
Control panel 30 controls the lifting of lifting column.
18 rear end of upper casing is equipped with the electromagnetic lock 17 for being attracted lorry, 47 middle part of chassis leading portion support frame behind chassis
Position be equipped with for detect lorry and robot whether the photoelectrical position sensor 20 of carry in place.
Fixing and supporting with sheet metal component further includes left laser shutter, right laser shutter 37, the left laser shutter and described
Right laser shutter 37 is separately mounted to the front end two sides on the robot chassis 33.
Robot further includes sonar 2, and the sonar is eight, the sonar 2 be separately mounted to shell 3 on the left of the chassis,
15 front-rear position of shell each two on the right side of the chassis, chassis front housing 5 each side one, 11 medium position one of front housing
A, described 16 medium position of chassis rear shell one, the avoidance mode of robot can be by sonar avoidance and laser avoidance two parts group
At.The surrounding of robot is kept away and is stopped using the realization of sonar group, though can be realized using sonar around barrier, sonar group there are blind area, for
A lower height of barrier, such as the road shoulder of road, the hollow etc. on ground can not be identified.Add to make up the defect of sonar avoidance
The laser sensor identification terrestrial information tilted down is entered, such robot can independently be kept away under complicated road environment
Barrier.
Robot further includes charging unit, and the charging unit includes cradle 6, charge copper bar 7, described to fix and support
It include charging electrode fixed frame 38 with sheet metal component, before the charging electrode fixed frame 38 is mounted on the robot chassis 33
End, the cradle 6, charging copper bar 7 are integrally mounted on the charging electrode fixed frame 38.
Robot further includes that infrared fall preventing falls sensor, and the infrared fall preventing falls sensor and is mounted on the robot chassis
33 front-end position lower surfaces.
Two sets of carrying modes include carrying drug dispensing cabinet mode and carrying lorry mode.
When carrying drug dispensing cabinet mode, there are two limited blocks for installation before and after chassis upper casing 24, and drug dispensing cabinet is facilitated to place installation
In place.When carrying lorry, chassis front-rear position is respectively provided with four guide holders, and 18 position of upper casing fills respectively behind corresponding chassis
There are four guide pads；Chassis middle and back is equipped with lifting column, and connect with upper casing 18 behind chassis, the lifting function of upper casing after realization
Energy；Lifting column leftward position is equipped with travel switch 55 and travel switch fixed frame 54 on chassis, and passes through lifting column control panel
30 control the lifting of lifting column；18 rear end of upper casing is equipped with electromagnetic lock 17 behind chassis, prevents robot from existing for being attracted lorry
In walking process, lorry falls off；On chassis, 47 medium position of leading portion support frame is equipped with photoelectrical position sensor 20, for detecting
Lorry and robot whether carry in place.
In conjunction with Fig. 1 to 4, specifically, four universal caster wheels 1 are mounted on four Angle Positions on robot chassis 33；Two sets of drives
Driving wheel system 4 is separately mounted to robot, the 33 middle part left and right sides, chassis；Sonar 2 is separately mounted to shell 3, chassis front housing on the left of chassis
5, shell 15 on the right side of chassis, in chassis rear shell 16；Cradle 6, charging copper bar 7 are mounted on after assembling by charging electrode fixed frame 38
The front center on robot chassis 33；Crossbeam support pole 8 is separately mounted at left and right sides of robot, 33 front end, chassis, the upper end with
Chassis front beam 39 is connected；Laser sensor 9 is mounted on front end in the middle part of chassis；Loudspeaker 10 is mounted on the lower portion of front housing 11
It sets；Power on buttons 12 is mounted on 11 upper middle position of front housing；PAD touch display screen 13 is mounted on by display mounting rack 45
11 top of front housing；Scram button 14 is separately mounted to 11 top of front housing and 16 right positions of chassis rear shell；Shell 3, bottom on the left of chassis
Shell 15, chassis rear shell 16 are mounted on 33 surrounding of robot chassis by the encirclement of shell mounting rack 25 on the right side of disk front housing 5, chassis；Before
Shell 11, front housing rear cover 22 are separately mounted on headstock fore-stock 40 and headstock after-poppet 46.
As shown in Fig. 2, when lorry mode, before chassis upper casing 19 be mounted on chassis middle cross beam 48, chassis Left-side support frame 28,
On chassis Right side support frame 49；Upper casing 18 is mounted on chassis rear cross beam 29 behind chassis；Electromagnetic lock 17 is mounted on upper casing behind chassis
18 rear side middle parts；Photoelectrical position sensor 20, light-guiding pillar 21 are mounted on 47 side of chassis leading portion support frame, and pass through on before chassis
Exposed 19 surface of the upper casing before chassis of 19 position of opening of shell.
As shown in figure 3, when drug dispensing cabinet mode, chassis upper casing 24 is mounted on chassis middle cross beam, on the rear cross beam of chassis；Two fixed
Position block 23 is separately mounted in the front-rear position of chassis upper casing 24.
As shown in figure 4, shell mounting rack 25 is separately mounted to 33 surrounding of robot chassis, it to be used for fixing shell；First leads
It is separately mounted to seat 26, the second guide holder 31 at left and right sides of the rear end on chassis and at left and right sides of the medium position of chassis；First leads
The corresponding position of upper casing 18 behind chassis is separately mounted to block 27, the second guide pad 32；On the right side of chassis Left-side support frame 28, chassis
Support frame 49 is respectively symmetrically mounted on the left and right sides on robot chassis 33；Behind chassis front beam 39, chassis middle cross beam 48, chassis
Crossbeam 29 is successively fixed on 49 on chassis Left-side support frame 28 and chassis Right side support frame；Right laser shutter 37 is installed
In 33 front end leftward position of robot chassis；Headstock fore-stock 40, headstock after-poppet 46 are fixed by headstock connection frame 41, headstock
Chassis Left-side support frame 28, chassis right side 49 front end of bracket are separately mounted to after frame 42, the connection fastening of headstock bending fixed frame 43
Position；The connection of headstock upper support frame 44 left and right sides headstock after-poppet 46 is mounted on 11 on front housing；Chassis leading portion support frame 47 is pacified
Mounted in 33 front center of robot chassis；Position after lifting column 53 is mounted in robot chassis 33；Travel switch fixed frame 54,
It is mounted on 53 left side chassis of lifting column after the combination installation of travel switch 55；Right side after master board card cage 52 is mounted in chassis
Position；Battery 56 is placed in 33 back-end location of robot chassis；Laser routes power supply board 34, inductance 35, signal control panel 36, wireless
Routing 50, Signals Transfer Board 51 are installed on inside robot chassis 33.
As shown in figure 5, drug dispensing cabinet 57 is mounted on chassis upper casing 24 when carrying drug dispensing cabinet, and made point by locating piece 23
Medicine-chest 57 and chassis upper casing 24 are mounted.
In order to be best understood from, corresponding application scenarios are provided for the present invention:
As shown in figure 5, opening drug dispensing cabinet 57 by the operation of PAD touch display screen 13 first when carrying drug dispensing cabinet mode
Drug is respectively put into the drug dispensing cabinet drawer of each patient by drawer.After completing drug dispensing, automatic locker, and touched and shown by PAD
Display screen 13 operates, and robot body starts according to patient's number sequencing and established patient information and walking path in advance
Start to walk, the prompt tone of evacuation or propaganda and education's voice about hospital are required in walking.Robot ambulation to patient or
At ward, patient can be prompted to take medicine, the medicine end people PAD is taken to operate, after inputting relevant information, i.e., desirable medicine.
As shown in fig. 6, loading lorry 58 is pushed into robot absorption manually by staff first when carrying lorry mode
Position is combined, after photoelectric sensor 20 detects lorry 58 in place at this time, lifting column 53 rises automatically, while electromagnetic lock 17 starts
It is attracted, then robot starts to carry out goods handling according to round-trip place established in advance and walking path.Reach specified ground
After point, robot can prompt cargo to reach, and be operated after staff's discharged by PAD touch display screen 13, robot drags
Unloaded lorry 58 return to after the starting point of setting, lifting column 53 declines, when lifting column touches travel switch 55, lifting
Column is fallen into place, and is stopped working, and at this time when 58 castor of lorry contacts to earth completely, robot sails out of automatically, returns to the most initial position of setting
It sets.
The present invention provides a kind of carrier robot, by the robot body and two sets of carrying moulds that are provided with automation movement
Formula realizes the purpose of hospital's article intelligence transport, instead of medical staff, saves labour, while improving work effect
Rate.Structure of the invention is reasonable, easy to use.In addition, patient and drug information by shifting to an earlier date typing, can transport medicine to patient
Product share the work of medical staff.It can be realized autonomous, autonomous to avoid, and automatic cruising drug delivery, fixed point is transported.Simultaneously
The robot has automatic voice reminding, voice broadcast, voice, and functions, information and the medical treatment that can either explain drug such as to explain and publicise normal
Know etc., and realize the purpose for carrying that drug dispensing cabinet transports drug and carrying lorry transports cargo.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
A kind of carrier robot provided by the present invention is described in detail above, for the general technology of this field
Personnel, thought according to an embodiment of the present invention, there will be changes in the specific implementation manner and application range, to sum up institute
It states, the contents of this specification are not to be construed as limiting the invention.
Claims (10)
1. a kind of carrier robot, which is characterized in that including robot chassis, drive train, universal caster wheel, fix and support use
Sheet metal component, control and sensing electricity piece and crossbeam support pole, described fix and support are vertically mounted on machine with sheet metal component
The front on people chassis, the crossbeam support pole are mounted on the front end on the robot chassis, the universal caster and the driving
Train is mounted on the bottom on the robot chassis, and the control and sensing are mounted on the robot chassis with electricity piece；
It is described fix and support include display mounting rack, headstock fixed frame, headstock bending fixed frame, headstock with sheet metal component before prop up
Before frame, headstock after-poppet, headstock connection frame, chassis leading portion support frame, chassis Left-side support frame, chassis Right side support frame, chassis
Crossbeam, chassis middle cross beam and chassis rear cross beam, the headstock fore-stock, the headstock after-poppet are respectively symmetrically mounted on described
The front end two sides on robot chassis, headstock connection frame connection install the headstock fore-stock and the headstock after-poppet it
Between, the headstock fixed frame intersects with the headstock bending fixed frame to be mounted on the headstock after-poppet, the chassis leading portion
Support frame is mounted on the front end on the robot chassis, and the chassis Left-side support frame, the chassis Right side support frame are symmetrically pacified
Mounted in the left and right sides on the robot chassis, the chassis front beam, the chassis middle cross beam, disk rear cross beam is pressed described in bottom
Before, during and after be sequentially mounted on the chassis Left-side support frame and the chassis Right side support frame；
It is described control and sensing with electricity piece include for completes control operate master board card cage, for carrying out voice broadcast
Loudspeaker, the display screen for carrying out human-computer interaction, for carrying out laser sensor apart from detection and for being patrolled
The wireless routing of boat and communication, the laser sensor are mounted on chassis front medial location, and the display screen is mounted on institute
It states on display mounting rack, the wireless routing is mounted on the robot inside chassis.
2. carrier robot according to claim 1, which is characterized in that it further include robot shells and shell mounting rack,
The shell mounting rack is mounted on the robot chassis, before the robot shells include front housing, front housing rear cover, chassis
Shell, chassis right side shell and chassis rear shell, the front housing are mounted on the headstock fore-stock on the left of shell, chassis, are located at robot
The front end of main body；The front housing rear cover is mounted on the headstock after-poppet, is formed one with front housing and is surrounded, before the chassis
Shell is mounted on the front end on chassis by shell mounting rack, and shell, chassis right side shell pass through the shell on the left of the chassis
Mounting rack is separately mounted to the left and right sides on the robot chassis, and the chassis rear shell is mounted on by the shell mounting rack
The rear end on the robot chassis.
3. carrier robot according to claim 2, which is characterized in that the robot shells further include before chassis on
Upper casing behind shell, chassis, when carrying lorry, upper casing passes through the chassis middle cross beam, institute behind upper casing, the chassis before the chassis
State the upper surface that chassis rear cross beam is mounted on the robot chassis；Or
When robot body carries drug dispensing cabinet, the chassis upper casing is pacified by the chassis middle cross beam, the chassis rear cross beam
Mounted in the upper surface on the robot chassis.
4. carrier robot according to claim 2, which is characterized in that it is described control and sensing electricity piece further include electricity
Sense, Signals Transfer Board, signal control panel, laser routing power supply board, ship type switch, battery reset button, scram button, power on by
Button, the inductance, the Signals Transfer Board, the signal control panel, laser routing power supply board are mounted on the robot
Inside chassis, the ship type switch, the battery reset button are separately mounted at left and right sides of the robot extreme end of chassis, institute
The scram button stated is two and is separately mounted at the top of the chassis rear shell right positions and the front housing.
5. carrier robot according to claim 2, which is characterized in that the front end back-end location on the robot chassis point
Zhuan not be there are four guide holder, upper casing position is respectively provided with four guide pads behind corresponding chassis；After in the robot chassis
Portion is equipped with lifting column, and connect with upper casing behind the chassis, and also there is the lifting column travel switch and travel switch to fix
Frame, and control by lifting column control panel the lifting of lifting column.
6. carrier robot according to claim 2 or 5, which is characterized in that the installation of upper casing rear end is useful behind the chassis
In the electromagnetic lock for being attracted lorry, the chassis leading portion support frame medium position is equipped with for detecting whether lorry and robot are hung
It is downloaded to the photoelectrical position sensor of position.
7. carrier robot according to claim 1, which is characterized in that described fix and support with sheet metal component further includes a left side
Laser shutter, right laser shutter, the left laser shutter and the right laser shutter are separately mounted to the robot chassis
Front end two sides.
8. carrier robot according to claim 2, which is characterized in that further include sonar, the sonar is eight, described
Sonar be separately mounted to shell on the left of the chassis, shell front-rear position is each two on the right side of the chassis, at left and right sides of the chassis front housing
Each one, the front housing medium position one and chassis rear shell medium position one described.
9. carrier robot according to claim 1, which is characterized in that it further include charging unit, the charging unit packet
Cradle, charging copper bar are included, described fix and support with sheet metal component includes charging electrode fixed frame, the charging electrode fixed frame
It is mounted on the front end on the robot chassis, the cradle, charging copper bar are integrally mounted at the charging electrode fixed frame
On.
10. carrier robot according to claim 1, which is characterized in that it further include that infrared fall preventing falls sensor, it is described red
Outer dropproof sensor is mounted on robot, the front-end position lower surface, chassis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711457808.2A CN109968367A (en) | 2017-12-28 | 2017-12-28 | A kind of carrier robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711457808.2A CN109968367A (en) | 2017-12-28 | 2017-12-28 | A kind of carrier robot |
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| Publication Number | Publication Date |
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| CN109968367A true CN109968367A (en) | 2019-07-05 |
Family
ID=67074469
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711457808.2A Pending CN109968367A (en) | 2017-12-28 | 2017-12-28 | A kind of carrier robot |
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| Country | Link |
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| CN (1) | CN109968367A (en) |
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| CN110815174A (en) * | 2019-10-10 | 2020-02-21 | 汕头大学 | Following robot |
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Application publication date: 20190705 |