CN113715034A - Automatic medicine taking and sending nurse robot - Google Patents
Automatic medicine taking and sending nurse robot Download PDFInfo
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- CN113715034A CN113715034A CN202110863552.5A CN202110863552A CN113715034A CN 113715034 A CN113715034 A CN 113715034A CN 202110863552 A CN202110863552 A CN 202110863552A CN 113715034 A CN113715034 A CN 113715034A
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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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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G12/00—Accommodation for nursing, e.g. in hospitals, not covered by groups A61G1/00 - A61G11/00, e.g. trolleys for transport of medicaments or food; Prescription lists
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- Nursing (AREA)
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Abstract
The invention discloses an automatic medicine taking and sending nurse robot, and relates to the technical field of medical robots. The invention comprises a robot parent body; the robot parent body is in sliding fit with the robot daughter; the storage rack is matched with the movable rack in a sliding way; a connecting spring is fixedly connected between the storage rack and the movable rack; the storage rack is engaged with a sliding part; the thread of the connecting rod is matched with a clamping plate in a rotating way; the electromagnetic coil and the armature are mutually attracted; the base shows that sliding fit has the rack. According to the medicine box placing device, a nurse puts medicines into the storage chambers in advance, the controller controls the robot parent to move to the position of the robot child body, the second electric telescopic adjusting rod is controlled to control the electromagnetic coil to be electrified, the first electric telescopic adjusting rod is started reversely to pull out the storage shell in each storage chamber, the servo motor is started to drive the adjacent clamping plates to synchronously move reversely to clamp the medicine box, and the first electric telescopic adjusting rod is rotated to drive the clamping plates to place the medicine box into the placing box.
Description
Technical Field
The invention belongs to the technical field of medical robots, and particularly relates to an automatic medicine taking and sending nurse robot.
Background
The traditional medicine taking method needs a nurse to go to a pharmacy to take medicine, and is easy to cause difficulty in staff allocation in a hospital with a shortage of staff; through retrieval, application number CN201810466215.0, the invention discloses an automatic medicine taking and delivering robot, which comprises a base, wherein the base is positioned above the ground, a rotating mechanism is arranged above the base, a mechanical arm mechanism is arranged above the rotating mechanism, a medicine taking mechanism is arranged above the mechanical arm mechanism, a traveling mechanism is arranged below the base, a controller and a battery box are respectively arranged above a rotating platform, the signal output end of the controller is respectively and electrically connected with a three-dimensional laser radar, a rotating platform power stepping motor, a mechanical arm-linear motor, a medicine taking mechanism and the traveling mechanism, and the signal input end of the controller is respectively and electrically connected with a rotating platform encoder and the medicine taking mechanism. The invention has the advantages of simple structure and strong practicability.
However, the robot for automatically taking and delivering the medicine has the advantages that after the weight sensor above the medicine taking shovel senses the weight of the medicine, the medicine is taken to control the walking stepping motor to return to the initial point, the medicine taking mode is difficult to guarantee that the medicine is safe and correct and is delivered to a specified place due to the fact that a plurality of hospital personnel are involved and are easily influenced by misoperation, and the medicine taking mode still needs a nurse to cooperate in real time to place the medicine, so that the difficulty of allocating the medicine is increased.
Disclosure of Invention
The invention aims to provide an automatic medicine taking and delivering nurse robot, which is characterized in that a nurse puts medicines into storage chambers in advance, a controller controls a robot parent body to move to the position of a robot daughter, a second electric telescopic adjusting rod is controlled to control an electromagnetic coil to be electrified, a first electric telescopic adjusting rod is started reversely to pull out storage shells in the storage chambers, a servo motor is started to drive adjacent clamping plates to synchronously move reversely to clamp medicine boxes, and the first electric telescopic adjusting rod is rotated to drive the clamping plates to place the medicine boxes into placing boxes.
In order to solve the technical problems, the invention is realized by the following technical scheme:
the invention relates to an automatic medicine taking and delivering nurse robot, which comprises a robot parent body; the robot parent body is in sliding fit with the robot daughter; the robot daughter is formed by splicing and matching a plurality of storage racks; the storage rack is matched with a movable rack in a sliding way; a connecting spring is fixedly connected between the storage rack and the movable rack; the storage rack is engaged and matched with a sliding part; a first gear rack is fixedly connected to the side face of the movable frame; one end of the first gear strip is fixedly connected with an armature;
the storage rack comprises a bearing plate; the surface of the bearing plate is distributed in a linear array and fixedly connected with a storage chamber; a rotating shaft is fixedly connected between the inner walls of the storage chambers and close to one port; the rotating shaft is matched with a sealing plate in a rotating way; the sliding piece is fixedly connected with the sealing plate through a connecting rope;
the robot mother body comprises a base; the surface of the base is rotatably matched with a first electric telescopic adjusting rod; one end of the first electric telescopic adjusting rod is fixedly connected with a C-shaped mounting plate; a connecting rod is rotatably matched between the inner walls of the C-shaped mounting plates; the connecting rod is in threaded rotation fit with a clamping plate;
a second electric telescopic adjusting rod is arranged on the inner side surface of the C-shaped mounting plate; an electromagnetic coil is arranged at one end of the second electric telescopic adjusting rod; the electromagnetic coil and the armature are mutually attracted;
the base shows that sliding fit has the rack.
Furthermore, the surfaces of the storage chambers are symmetrically and fixedly connected with insertion rods; the bottom surface of the bearing plate is symmetrically provided with inserting sleeves; the insertion rod is in insertion fit with the insertion sleeve; the bearing plate both sides face symmetry fixedly connected with supporting leg.
Furthermore, the side surface of the bearing plate is symmetrically and fixedly connected with an L-shaped connecting plate; the moving frame comprises a connecting plate; the side surfaces of the connecting plates are distributed in a linear array and fixedly connected with storage shells; the surface of the connecting plate is symmetrically and fixedly connected with a fixing plate; the L-shaped connecting plate is fixedly connected with the fixed plate through a connecting spring.
Furthermore, slide rails are symmetrically fixed on the inner bottom surface of the storage shell; a medicine box is matched between the two slide rails in a sliding way; and the other side surface of the connecting plate is fixedly connected with a handle.
Furthermore, a first external thread and a second external thread are alternately arranged on the peripheral side surface of the connecting rod; the first external thread and the second external thread are arranged in a reverse direction; the side surface of the C-shaped mounting plate is fixedly connected with a servo motor; the output end of the servo motor is fixedly connected with the connecting rod; a sliding rod is fixedly connected between the inner walls of the C-shaped mounting plates; the side surface of the clamping plate is sequentially provided with a threaded hole and a mounting hole; the threaded hole is in threaded rotation fit with the connecting rod; the mounting hole is in sliding fit with the sliding rod.
Further, a first lifting lug is fixedly connected to the surface of the storage chamber; the surface of the sealing plate is fixedly connected with a second lifting lug; the slider includes a second rack; the surface of the second gear rack is fixedly connected with a baffle; third lifting lugs are distributed on the side surface of the baffle in a linear array manner; the connecting rope penetrates through the first lifting lug, and two ends of the connecting rope are fixedly connected with the second lifting lug and the third lifting lug respectively.
Furthermore, a driven gear is rotationally matched between the two adjacent side surfaces of the storage chamber at the center; the driven gear is meshed with the first gear rack and the second gear rack respectively; limiting rails are symmetrically arranged on the center of the surface of the bearing plate; the first gear rack is in sliding fit with the limiting rail; two adjacent storage chamber surfaces are symmetrically fixed with limiting plates above the driven gear.
Furthermore, an infrared limiter is arranged on the surface of the C-shaped mounting plate at the center; and a light screen is fixedly connected to the surface of the limiting plate.
Further, the bottom of the base is provided with a travelling wheel; the three-dimensional laser radar, the walking driving motor, the controller and the first rotating motor are sequentially arranged on the surface of the base; the outer wall of the first electric telescopic adjusting rod is provided with a gear lack; the output end of the first rotating motor is fixedly connected with a driving gear; the driving gear is meshed and matched with the gear lacking.
Further, a third gear rack is arranged on the surface of the bearing plate; the surface of the bearing plate is symmetrically and fixedly connected with limiting sliding plates on two sides of the third gear strip; the placing rack is in sliding fit with the limiting sliding plate; the surface of the placing rack is provided with placing boxes in a linear array distribution; a second rotating motor is fixedly connected to the inner side surface of the placing frame; the output end of the second rotating motor is fixedly connected with a rotating gear; and the rotating gear is meshed and matched with the third gear strip.
The invention has the following beneficial effects:
1. according to the invention, the nurse pulls the handle in advance to place the required medicine into the placing box, the placing box is placed into the storage shell for storage, the robot parent cooperates with the robot child to complete the operations of medicine taking and medicine delivery, the nurse is removed to wait for the medicine taking robot and the process of cooperating with the medicine placing in real time is removed, and the difficulty of personnel allocation is relieved.
2. The controller controls the robot parent body to be transferred to the position of the robot daughter body, the first rotating motor is started to drive the C-shaped mounting plate to rotate, when the infrared limiter rotates to the position of the light screen, the first rotating motor stops working, the electromagnetic coil is convenient to align to the armature, the second electric telescopic adjusting rod is started, the electromagnetic coil is controlled to be electrified to attract the armature, the second electric telescopic adjusting rod is started reversely to pull out the storage shell in each storage chamber, the servo motor is started to drive each adjacent clamping plate to synchronously and reversely move to clamp the medicine box, the electromagnetic coil is controlled to be powered off, the first electric telescopic adjusting rod is rotated to drive each clamping plate to place the medicine box into the placement box, the automatic medicine taking process is achieved, operation is simple, and accuracy is high.
3. According to the invention, the first rotating motor is controlled to be reversely started, so that each clamping plate and the clamped medicine box rotate to the placing frame, the second rotating motor is started to drive the placing frame to move towards the direction of the placing box, the servo motor is reversely started to enable each adjacent clamping plate to reversely and synchronously move, the medicine box is loosened and placed into each placing box, and the operation of placing the medicine is realized; through starting first electronic telescopic adjusting pole, the height of getting it filled is controlled, repeats above-mentioned operation, realizes getting it filled, putting the process of medicine to a plurality of storage racks, has improved work efficiency.
4. In the medicine taking process, the second electric telescopic adjusting rod pulls the driven gear to rotate to drive the sliding piece to move reversely, the connecting rope is driven to pull the sealing plate to rotate, the port of the storage chamber is opened, when the electromagnetic coil is controlled to be powered off, the moving piece is driven to reset under the elastic resetting acting force of the connecting spring, the sliding piece is driven to move reversely through the driven gear, the port of the storage chamber is blocked by the sealing plate, and the medicine box is convenient to safely store and take out.
Of course, it is not necessary for any product in which the invention is practiced to achieve all of the above-described advantages at the same time.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic structural view of an automatic medicine taking and delivering nurse robot according to the present invention.
Fig. 2 is a schematic structural diagram of the robot master of the present invention.
Fig. 3 is a schematic structural view of the storage rack of the present invention.
Fig. 4 is a structural schematic diagram of the storage rack of the present invention from a bottom view.
Fig. 5 is a schematic structural diagram of the mobile frame of the present invention.
Fig. 6 is a schematic structural view of the sliding member of the present invention.
Fig. 7 is a schematic structural view of a sealing plate of the present invention.
Fig. 8 is a schematic structural view of the splint of the present invention.
Fig. 9 is a schematic structural view of the rack of the present invention.
In the drawings, the components represented by the respective reference numerals are listed below:
1-robot master, 2-robot slave, 3-storage rack, 4-mobile rack, 5-connecting spring, 6-sliding piece, 7-first gear rack, 8-armature, 9-bearing plate, 10-storage chamber, 11-rotating shaft, 12-sealing plate, 13-base, 14-first electric telescopic adjusting rod, 15-C mounting plate, 16-connecting rod, 17-clamping plate, 18-second electric telescopic adjusting rod, 19-electromagnetic coil, 20-holding rack, 21-plug rod, 22-plug sleeve, 23-supporting leg, 24-L connecting plate, 25-connecting plate, 26-storage shell, 27-fixing plate, 28-sliding rail, 29-medicine box, 30-handle, 31-a first external thread, 32-a second external thread, 33-a servo motor, 34-a slide rod, 35-a threaded hole, 36-a mounting hole, 37-a first lifting lug, 38-a second lifting lug, 39-a second gear rack, 40-a baffle, 41-a third lifting lug, 42-a driven gear, 43-a limit rail, 44-a limit plate, 45-an infrared limiter, 46-a light shield, 47-a traveling wheel, 48-a three-dimensional laser radar, 49-a traveling driving motor, 50-a controller, 51-a first rotating motor, 52-a missing gear, 53-a driving gear, 54-a third gear rack, 55-a limit sliding plate, 56-a placing box, 57-a second rotating motor and 58-a rotating gear.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "opening," "upper," "lower," "thickness," "top," "middle," "length," "inner," "peripheral," and the like are used in an orientation or positional relationship that is merely for convenience in describing and simplifying the description, and do not indicate or imply that the referenced component or element must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be considered as limiting the present invention.
Referring to fig. 1-9, the present invention relates to an automatic medicine-taking and medicine-delivering nurse robot, which comprises a robot parent 1; the robot parent body 1 is in sliding fit with the robot daughter 2; the robot body 2 is formed by splicing and matching a plurality of storage racks 3; the storage rack 3 is matched with a movable rack 4 in a sliding way; a connecting spring 5 is fixedly connected between the storage rack 3 and the moving rack 4; the storage rack 3 is engaged with a sliding piece 6; a first gear rack 7 is fixedly connected to the side surface of the movable frame 4; one end of the first gear rack 7 is fixedly connected with an armature 8; the storage rack 3 comprises a bearing plate 9; the surface of the bearing plate 9 is distributed and fixedly connected with storage chambers 10 in a linear array; a rotating shaft 11 is fixedly connected between the inner walls of the storage chambers 10 and close to one port; the rotating shaft 11 is matched with a sealing plate 12 in a rotating way; the sliding piece 6 is fixedly connected with the sealing plate 12 through a connecting rope; the robot parent body 1 comprises a base 13; a first electric telescopic adjusting rod 14 is rotatably matched on the surface of the base 13; one end of the first electric telescopic adjusting rod 14 is fixedly connected with a C-shaped mounting plate 15; a connecting rod 16 is rotatably matched between the inner walls of the C-shaped mounting plates 15; the connecting rod 16 is in threaded rotation fit with a clamping plate 17; the base 13 is in sliding fit with the placing rack 20; the controller 50 controls the robot parent 1 to move to the position of the robot daughter 2, and controls the first electric telescopic adjusting rod 14 to pull the moving frame 4 to drive the driven gear 42 to rotate, so that the sliding part 6 moves reversely to drive the sealing plate 12 to rotate, and an outlet at one end of the storage chamber 10 is opened.
Wherein, the surface of the storage chamber 10 is symmetrically and fixedly connected with an inserting rod 21; the bottom surface of the bearing plate 9 is symmetrically provided with inserting sleeves 22; the insertion rod 21 is inserted and matched with the insertion sleeve 22; the two side surfaces of the bearing plate 9 are symmetrically and fixedly connected with supporting legs 23; the side surface of the bearing plate 9 is symmetrically and fixedly connected with an L-shaped connecting plate 24; the moving frame 4 includes a connecting plate 25; the storage shells 26 are fixedly connected to the side surfaces of the connecting plates 25 in a linear array distribution; the surface of the connecting plate 25 is symmetrically and fixedly connected with a fixing plate 27; the L-shaped connecting plate 24 is fixedly connected with the fixing plate 27 through a connecting spring 5; slide rails 28 are symmetrically fixed on the inner bottom surface of the storage shell 26; a medicine box 29 is matched between the two slide rails 28 in a sliding way; the other side surface of the connecting plate 25 is fixedly connected with a handle 30; the nurse pulls out the removal frame 4 from the export of the other end of deposit room 10 through pulling handle 30 in advance, places the medicine in the medicine box 29 to place the medicine box 29 between two slide rails 28, loosens one's hands, and under the elasticity of coupling spring 5 effort that resets, the removal frame 4 resets with the medicine box 29, removes the nurse and waits to get the process that the robot and put the medicine of real-time cooperation of getting it filled, has alleviated the degree of difficulty of personnel allotment.
Wherein, the peripheral side of the connecting rod 16 is alternately provided with a first external thread 31 and a second external thread 32; the first external thread 31 and the second external thread 32 are arranged in opposite directions; the side surface of the C-shaped mounting plate 15 is fixedly connected with a servo motor 33; the output end of the servo motor 33 is fixedly connected with the connecting rod 16; a sliding rod 34 is fixedly connected between the inner walls of the C-shaped mounting plates 15; the side surface of the clamping plate 17 is sequentially provided with a threaded hole 35 and a mounting hole 36; the threaded hole 35 is in threaded rotation fit with the connecting rod 16; the mounting hole 36 is in sliding fit with the sliding rod 34; the controller 50 controls the servo motor 33 to be started and started forward and backward, and controls each two adjacent clamp plates 17 to synchronously and reversely move along the slide rod 34, so that the clamp plates 17 clamp and release the medicine box 29.
Wherein, the surface of the storage chamber 10 is fixedly connected with a first lifting lug 37; the surface of the sealing plate 12 is fixedly connected with a second lifting lug 38; the slider 6 comprises a second gear rack 39; the surface of the second gear rack 39 is fixedly connected with a baffle 40; third lifting lugs 41 are distributed on the side surface of the baffle 40 in a linear array; the connecting rope passes through the first lifting lug 37, and two ends of the connecting rope are respectively fixedly connected with the second lifting lug 38 and the third lifting lug 41; a second electric telescopic adjusting rod 18 is arranged on the inner side surface of the C-shaped mounting plate 15; one end of the second electric telescopic adjusting rod 18 is provided with an electromagnetic coil 19; the electromagnetic coil 19 and the armature 8 attract each other; a driven gear 42 is rotatably fitted between the side surfaces of two adjacent storage chambers 10 at the center; the driven gear 42 is meshed with the first gear rack 7 and the second gear rack 39 respectively; the surface of the bearing plate 9 is symmetrically provided with limit rails 43 at the center; the first gear rack 7 is in sliding fit with the limit rail 43; a limiting plate 44 is symmetrically fixed on the surfaces of two adjacent storage chambers 10 above the driven gear 42; the second electric telescopic adjusting rod 18 is started, the electromagnetic coil 19 is close to the armature 8, meanwhile, the electromagnetic coil 19 is controlled to be electrified, the armature 8 is attracted, the controller 50 controls the second electric telescopic adjusting rod 18 to be started reversely, the second electric telescopic adjusting rod 18 pulls the moving frame 4 to move outwards, the moving frame 4 is driven to move reversely by rotation of the driven gear 42, each sealing plate 12 is pulled to rotate by a connecting rope, the port of the storage chamber 10 is opened, and medicines are taken out conveniently.
Wherein, the surface of the C-shaped mounting plate 15 is provided with an infrared limiter 45 at the center; a light screen 46 is fixedly connected to the surface of the limiting plate 44; when the infrared stopper 45 is rotated to the position where the light shielding plate 46 is shielded, the first rotating motor 51 stops rotating, so that the electromagnetic coil 19 is aligned in the direction of the armature 8.
Wherein, the bottom of the base 13 is provided with a traveling wheel 47; the surface of the base 13 is sequentially provided with a three-dimensional laser radar 48, a walking driving motor 49, a controller 50 and a first rotating motor 51; the outer wall of the first electric telescopic adjusting rod 14 is provided with a gear lack 52; the output end of the first rotating motor 51 is fixedly connected with a driving gear 53; the driving gear 53 is meshed and matched with the missing gear 52; the controller 20 is electrically connected with the three-dimensional laser radar 48, the walking driving motor 49, the first rotating motor 51, the first electric telescopic adjusting rod 14, the second electric telescopic adjusting rod 18, the electromagnetic coil 19, the infrared stopper 45 and the second rotating motor 57 respectively.
Wherein, the surface of the bearing plate 9 is provided with a third gear strip 54; limiting sliding plates 55 are symmetrically and fixedly connected to the surface of the bearing plate 9 at two sides of the third gear strip 54; the placing rack 20 is in sliding fit with the limiting sliding plate 55; the placing boxes 56 are distributed on the surface of the placing rack 20 in a linear array; a second rotating motor 57 is fixedly connected to the inner side surface of the placing frame 20; the output end of the second rotating motor 57 is fixedly connected with a rotating gear 58; the rotating gear 58 is meshed with the third gear rack 54; by starting the second rotating motor 57 to rotate the rotating gear 58, the placing rack 20 moves along the limiting slide plate 55, so that each placing box 56 is placed below each medicine box 29.
The specific working principle of the invention is as follows:
a nurse pulls the handle 30 in advance, the movable frame 4 is pulled out from the outlet at the other end of the storage chamber 10, medicines are placed in the medicine box 29, the medicine box 29 is placed between the two slide rails 28, the hand is loosened, the movable frame 4 and the medicine box 29 are reset under the elastic reset acting force of the connecting spring 5, the process that the nurse waits for the medicine taking robot and is matched with the medicine placing robot in real time is removed, and the difficulty of allocating personnel is relieved; the controller 50 controls the robot parent 1 to move to the position of the robot daughter 2, the second electric telescopic adjusting rod 18 is started, the electromagnetic coil 19 is enabled to approach the armature 8, meanwhile, the electromagnetic coil 19 is controlled to be electrified, the armature 8 is attracted, the controller 50 controls the second electric telescopic adjusting rod 18 to be started reversely, the second electric telescopic adjusting rod 18 pulls the moving frame 4 to move outwards, the moving frame 4 is driven to move reversely by the rotation of the driven gear 42, and the sealing plates 12 are pulled to rotate by the connecting rope, so that the port of the storage chamber 10 is opened; the controller 50 controls the servo motor 33 to be started in a positive and negative mode, and controls each two adjacent clamp plates 17 to synchronously move in a reverse direction along the sliding rod 34, so that the clamp plates 17 clamp and loosen the medicine box 29; by starting the second rotating motor 57 to rotate the rotating gear 58, the placing rack 20 is moved along the limiting slide plate 55, so that each placing box 56 is placed under each medicine box 29, and each clamping plate 17 is loosened, so that the medicine box 29 falls into the placing box 29.
In the description herein, references to the description of "one embodiment," "an example," "a specific example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.
Claims (10)
1. An automatic medicine taking and delivering nurse robot comprises a robot parent body (1);
the method is characterized in that:
the robot parent body (1) is in sliding fit with the robot daughter (2); the robot sub-body (2) is formed by a plurality of storage racks (3) in a splicing and matching manner; the storage rack (3) is in sliding fit with a movable rack (4); a connecting spring (5) is fixedly connected between the storage rack (3) and the movable rack (4); the storage rack (3) is engaged and matched with a sliding piece (6); a first gear rack (7) is fixedly connected to the side surface of the movable frame (4); one end of the first gear rack (7) is fixedly connected with an armature (8);
the storage rack (3) comprises a bearing plate (9); the surface of the bearing plate (9) is distributed in a linear array and fixedly connected with storage chambers (10); a rotating shaft (11) is fixedly connected between the inner walls of the storage chambers (10) and close to one port; the rotating shaft (11) is matched with a sealing plate (12) in a rotating way; the sliding piece (6) is fixedly connected with the sealing plate (12) through a connecting rope;
the robot parent body (1) comprises a base (13); a first electric telescopic adjusting rod (14) is rotationally matched with the surface of the base (13); one end of the first electric telescopic adjusting rod (14) is fixedly connected with a C-shaped mounting plate (15); a connecting rod (16) is rotatably matched between the inner walls of the C-shaped mounting plates (15); the connecting rod (16) is in threaded rotation fit with a clamping plate (17);
a second electric telescopic adjusting rod (18) is arranged on the inner side surface of the C-shaped mounting plate (15); one end of the second electric telescopic adjusting rod (18) is provided with an electromagnetic coil (19); the electromagnetic coil (19) and the armature (8) are mutually attracted;
the base (13) is in sliding fit with the placing rack (20).
2. An automatic medicine taking and feeding nurse robot as claimed in claim 1, wherein the surface of the storage chamber (10) is symmetrically and fixedly connected with insertion rods (21); the bottom surface of the bearing plate (9) is symmetrically provided with inserting sleeves (22); the insertion rod (21) is in insertion fit with the insertion sleeve (22); the two side surfaces of the bearing plate (9) are symmetrically and fixedly connected with supporting legs (23).
3. An automatic medicine taking and medicine delivering nurse robot as claimed in claim 1, wherein the bearing plate (9) is fixedly connected with an L-shaped connecting plate (24) in a side symmetry manner; the moving frame (4) comprises a connecting plate (25); the side surfaces of the connecting plates (25) are distributed in a linear array and fixedly connected with storage shells (26); the surface of the connecting plate (25) is symmetrically and fixedly connected with a fixing plate (27); the L-shaped connecting plate (24) is fixedly connected with the fixing plate (27) through a connecting spring (5).
4. An automatic medicine taking and delivering nurse robot as claimed in claim 3, wherein slide rails (28) are symmetrically fixed on the inner bottom surface of the storage case (26); a medicine box (29) is matched between the two slide rails (28) in a sliding way; the other side surface of the connecting plate (25) is fixedly connected with a handle (30).
5. An automatic medicine taking and medicine delivering nurse robot as claimed in claim 1, wherein the connecting rod (16) is provided with first external threads (31) and second external threads (32) on the peripheral side thereof in an alternating manner; the thread direction of the first external thread (31) and the thread direction of the second external thread (32) are arranged in a reverse direction; the side surface of the C-shaped mounting plate (15) is fixedly connected with a servo motor (33); the output end of the servo motor (33) is fixedly connected with the connecting rod (16); a sliding rod (34) is fixedly connected between the inner walls of the C-shaped mounting plates (15); the side surface of the clamping plate (17) is sequentially provided with a threaded hole (35) and a mounting hole (36); the threaded hole (35) is in threaded rotation fit with the connecting rod (16); the mounting hole (36) is in sliding fit with the sliding rod (34).
6. An automatic medicine taking and delivering nurse robot as claimed in claim 1, wherein a first lifting lug (37) is fixedly connected to the surface of the storage chamber (10); the surface of the sealing plate (12) is fixedly connected with a second lifting lug (38); the slide (6) comprises a second gear rack (39); a baffle (40) is fixedly connected to the surface of the second gear rack (39); third lifting lugs (41) are distributed on the side surface of the baffle plate (40) in a linear array; the connecting rope penetrates through the first lifting lug (37), and two ends of the connecting rope are fixedly connected with the second lifting lug (38) and the third lifting lug (41) respectively.
7. An automatic medication taking and delivery nurse robot as claimed in claim 6, wherein a driven gear (42) is rotatably fitted between two adjacent sides of said storage chamber (10) at the center; the driven gear (42) is respectively meshed with the first gear rack (7) and the second gear rack (39); the surface of the bearing plate (9) is symmetrically provided with limit rails (43) at the center; the first gear rack (7) is in sliding fit with the limit rail (43); two adjacent storage chambers (10) are symmetrically fixed with a limiting plate (44) above the driven gear (42).
8. An automatic medicine taking and medicine delivering nurse robot as claimed in claim 7, wherein an infrared stopper (45) is provided at the center of the surface of the C-shaped mounting plate (15); and the surface of the limiting plate (44) is fixedly connected with a shading plate (46).
9. An automatic medicine taking and feeding nurse robot as claimed in claim 1, wherein the base (13) is provided with a walking wheel (47) at the bottom; the surface of the base (13) is sequentially provided with a three-dimensional laser radar (48), a walking driving motor (49), a controller (50) and a first rotating motor (51); the outer wall of the first electric telescopic adjusting rod (14) is provided with a gear lack (52); the output end of the first rotating motor (51) is fixedly connected with a driving gear (53); the driving gear (53) is meshed and matched with the missing gear (52).
10. An automatic medicine taking and medicine delivering nurse robot as claimed in claim 1, wherein a third gear rack (54) is provided on the surface of the bearing plate (9); limiting sliding plates (55) are symmetrically and fixedly connected to the surfaces of the bearing plates (9) on the two sides of the third gear strip (54); the placing rack (20) is in sliding fit with the limiting sliding plate (55); the surface of the placing rack (20) is provided with placing boxes (56) in a linear array distribution; a second rotating motor (57) is fixedly connected to the inner side surface of the placing rack (20); the output end of the second rotating motor (57) is fixedly connected with a rotating gear (58); the rotating gear (58) is meshed with the third gear rack (54).
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110863552.5A CN113715034B (en) | 2021-07-29 | 2021-07-29 | Automatic medicine taking and sending nurse robot |
| PCT/CN2021/111232 WO2023004876A1 (en) | 2021-07-29 | 2021-08-06 | Nurse robot for automatic drug administration and delivery |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110863552.5A CN113715034B (en) | 2021-07-29 | 2021-07-29 | Automatic medicine taking and sending nurse robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113715034A true CN113715034A (en) | 2021-11-30 |
| CN113715034B CN113715034B (en) | 2023-01-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110863552.5A Active CN113715034B (en) | 2021-07-29 | 2021-07-29 | Automatic medicine taking and sending nurse robot |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN113715034B (en) |
| WO (1) | WO2023004876A1 (en) |
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| CN114770563A (en) * | 2022-06-13 | 2022-07-22 | 首都儿科研究所 | AI intelligence medicine robot that send |
| CN114848350A (en) * | 2022-06-14 | 2022-08-05 | 中国医学科学院肿瘤医院深圳医院 | Intelligent security type medical medicine cart |
| CN116211483A (en) * | 2023-03-21 | 2023-06-06 | 刘国丹 | Categorised rack of apparatus for disinfection supply room |
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| CN116639376B (en) * | 2023-07-26 | 2023-09-29 | 哈尔滨瀚邦医疗科技有限公司 | Medical drug safe storage equipment and storage method |
| CN117773902A (en) * | 2024-01-24 | 2024-03-29 | 博科数联(青岛)智能科技有限公司 | Mechanical arm for intelligent industrial robot |
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Also Published As
| Publication number | Publication date |
|---|---|
| WO2023004876A1 (en) | 2023-02-02 |
| CN113715034B (en) | 2023-01-10 |
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