CN113808333A - Movable robot for transporting surgical materials - Google Patents
Movable robot for transporting surgical materials Download PDFInfo
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- CN113808333A CN113808333A CN202111093178.1A CN202111093178A CN113808333A CN 113808333 A CN113808333 A CN 113808333A CN 202111093178 A CN202111093178 A CN 202111093178A CN 113808333 A CN113808333 A CN 113808333A
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- 239000000463 material Substances 0.000 title claims abstract description 172
- 230000007246 mechanism Effects 0.000 claims abstract description 79
- 230000005540 biological transmission Effects 0.000 claims abstract description 44
- 238000003780 insertion Methods 0.000 claims description 10
- 230000037431 insertion Effects 0.000 claims description 10
- 239000012567 medical material Substances 0.000 abstract description 27
- 238000000034 method Methods 0.000 abstract description 13
- 230000008569 process Effects 0.000 abstract description 12
- 239000002473 artificial blood Substances 0.000 abstract description 6
- 210000004204 blood vessel Anatomy 0.000 abstract description 6
- 230000000747 cardiac effect Effects 0.000 abstract description 6
- 210000001503 joint Anatomy 0.000 description 8
- 230000009471 action Effects 0.000 description 5
- 210000000988 bone and bone Anatomy 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000001815 facial effect Effects 0.000 description 1
- 210000004247 hand Anatomy 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000474 nursing effect Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
- 230000032258 transport Effects 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07F—COIN-FREED OR LIKE APPARATUS
- G07F17/00—Coin-freed apparatus for hiring articles; Coin-freed facilities or services
- G07F17/0092—Coin-freed apparatus for hiring articles; Coin-freed facilities or services for assembling and dispensing of pharmaceutical articles
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07F—COIN-FREED OR LIKE APPARATUS
- G07F9/00—Details other than those peculiar to special kinds or types of apparatus
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07F—COIN-FREED OR LIKE APPARATUS
- G07F9/00—Details other than those peculiar to special kinds or types of apparatus
- G07F9/002—Vending machines being part of a centrally controlled network of vending machines
Abstract
The invention relates to the field of medical instruments, in particular to a movable robot for transporting surgical materials, which comprises a material storage cabinet mechanism, a material placing mechanism, a lifting and feeding mechanism, a material taking mechanism and a transmission mechanism, wherein the material storage cabinet mechanism is arranged on the material storage cabinet mechanism; the storage cabinet mechanism can be used for storing medical materials such as artificial blood vessels, valves, balloon dilators, guide wires, artificial joints, cardiac stents and the like, and can be used for intelligently managing and applying the medical materials by matching with an intelligent management system arranged in the storage cabinet mechanism, so that the materials are more convenient to use; the material placing mechanism is used for placing medical materials by matching the material placing plate and the spiral material placing rack, so that the medical materials can be conveniently and stably placed, and meanwhile, the spiral material placing rack can be used for feeding materials during material taking, so that the material taking process is more convenient; the medical material can be lifted and conveyed when being taken by the lifting and feeding mechanism, and the medical material is not required to directly fall down from the spiral storage rack to be fed and taken, so that the material taking is safer, and the material is prevented from being damaged when being taken.
Description
Technical Field
The invention relates to the field of medical instruments, in particular to a movable robot for transporting surgical materials.
Background
With the continuous progress of medical technology, many high-value materials (such as artificial blood vessels, valves, balloon dilators, guide wires, artificial joints, bones, cardiac stents) and the like are gradually applied to clinic, and the progress of medical technology is greatly promoted. At present, most of hospital management high-value materials are usually managed by specially-assigned persons or are equipped with material storage warehouses, and when the materials need to be used, a circulating nurse needs to apply for, find, obtain, book keeping and other complex procedures. With the increasing variety of operation materials and the lack of special nurses, the problems of insufficient temporary material preparation, lack of experience of nursing nurses, operation suspension caused by repeated searching and the like often occur in the operation process, and the problems of high labor cost and low efficiency seriously restrict the modernization and high-efficiency development of the operation.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a movable robot for transporting surgical materials.
The technical scheme adopted by the invention for solving the technical problems is as follows: the utility model provides a movable transports surgical materials robot, includes storage cabinet mechanism, goods and materials placement machine structure, lift feeding mechanism, feeding agencies, drive mechanism for the storage places the goods and materials placement machine structure set up in the inside of storage cabinet mechanism upper end is used for carrying ejection of compact goods and materials lifting feeding mechanism install in the inside front side of storage cabinet mechanism is used for driving the ejection of compact of goods and materials feeding agencies install in on the goods and materials placement machine structure, and pass through drive mechanism with lifting feeding mechanism transmission is connected.
Further, storage cabinet mechanism is including scanning handle, stereo set, independently traveling system, binocular camera, goods and materials storage box, goods and materials take out mouth, editing interface, power supply box, switch, control box, goods and materials storage box, power supply box, control box from top down fixed connection in proper order, the stereo set with the equal fixed mounting of binocular camera in the top of goods and materials storage box, scanning handle fixed mounting in one side of goods and materials storage box, goods and materials take out the mouth set up in the lower extreme of goods and materials storage box front side, editing interface install in the front side of power supply box, the power supply box passes through switch with the control box electricity is connected, the control box respectively with scanning handle, stereo set, independently traveling system, binocular camera, editing interface automatically controlled connection.
Further, goods and materials puts mechanism includes a plurality of thing boards, a plurality of spiral supporter, a plurality of end plate, a plurality of pivot, chamber door, and is a plurality of put the thing board from last down evenly distributed in the inside of goods and materials storage box, just put the both sides of thing board all with goods and materials storage box side fixed connection, it is a plurality of spiral supporter is placed respectively in a plurality of put on the thing board, it is a plurality of pivot respectively fixed mounting in a plurality of the end of spiral supporter, it is a plurality of the end plate is fixed mounting respectively in a plurality of the terminal top surface of thing board, and a plurality of the equal movable mounting of pivot is in corresponding on the end plate, the chamber door set up in the back of goods and materials storage box, just one side of chamber door pass through the hinge with goods and materials storage box swing joint, the opposite side pass through the hasp with goods and materials lock joint is fixed.
Further, the lifting feeding mechanism comprises a motor, a transmission shaft, a first bevel gear, a second bevel gear, a bearing seat, a screw rod, a lifting seat, a buffer plate, a buffer spring and a threaded sleeve, the motor is fixedly arranged at the lower end inside the material storage box, the transmission shaft is arranged at one end of the motor in a transmission manner, the first bevel gear is fixedly arranged at one end of the transmission shaft, the screw rod is movably arranged on the inner side surface of the front wall of the material storage box through the bearing seat, the second bevel gear is fixedly arranged at the bottom end of the screw rod and is in meshed transmission connection with the first bevel gear, the threaded sleeve is arranged on the screw rod in a threaded manner, the lifting seat is arranged on the threaded sleeve, one side of the lifting seat is abutted against the inner wall of the material storage box in a sliding manner, and the buffer plate is arranged on the top surface of the lifting seat in a sliding manner, the buffer spring is installed between the lifting seat and the buffer plate.
Further, the transmission mechanism comprises a circular groove, a plurality of limiting slots, jacks, limiting insertion rods, a cylinder groove, a cylinder, a flexible ejector rod, an arc-shaped groove, a plurality of pushing units, a second limiting plate, a second limiting spring and a limiting plate sliding groove; the circular groove is arranged in the lifting seat, the threaded sleeve is movably arranged in the circular groove, a plurality of limiting slots are uniformly distributed along the circumferential direction of the outer ring of the threaded sleeve, the jack is arranged in the lifting seat, one end of the jack is communicated with the circular groove, the other end of the jack is provided with the limiting plate sliding groove, the limiting insertion rod is inserted in the jack in a sliding manner, one end of the limiting insertion rod is extended and inserted into the limiting slot, the other end of the limiting insertion rod is fixedly provided with the second limiting plate positioned in the limiting plate sliding groove, the second limiting spring is arranged in the limiting plate sliding groove, one end of the second limiting spring is abutted against the second limiting plate, and the other end of the second limiting spring is abutted against the groove wall of the limiting plate sliding groove; the cylinder groove is arranged at the front end of the lifting seat, the cylinder is slidably mounted in the cylinder groove, one end of the cylinder extends to the outside of the lifting seat, the arc-shaped groove is arranged between the cylinder groove and the limiting plate sliding groove, the flexible ejector rod is slidably mounted in the arc-shaped groove, one end of the flexible ejector rod is in limit butt joint with the cylinder, the other end of the flexible ejector rod is in limit butt joint with the second limiting plate, and the pushing units are respectively mounted in the object placing plates.
Furthermore, the pushing unit comprises a push rod, a push rod groove, a push block sliding groove, a first push block, a second push block, a push rod and a roller, the push rod groove and the push block sliding groove are all arranged in the object placing plate, the push rod is inserted in the push rod groove in a sliding mode, the first push block and the second push block are all installed in the push block sliding groove in a sliding mode, one end of the first push block is abutted to one end of the push rod, the first push block is abutted to the second push block through an inclined surface, the push rod is fixedly installed on the top surface of the second push block, the upper end of the push rod extends to the upper portion of the object placing plate, and the roller is movably installed at the bottom end of the push rod.
Furthermore, the material taking mechanism comprises a third bevel gear, a fourth bevel gear, a driven shaft, a plurality of fifth bevel gears, a plurality of sixth bevel gears, a plurality of splines, a plurality of first limiting springs and a plurality of first limiting plates, the third bevel gear is fixedly installed on the transmission shaft, the driven shaft is movably installed on the object placing plate, and the fourth bevel gear is fixedly installed at the bottom end of the driven shaft and is in meshing transmission connection with the third bevel gear; the plurality of sixth bevel gears are fixedly arranged at one ends of the plurality of rotating shafts respectively, the plurality of fifth bevel gears are slidably arranged on the driven shaft through the plurality of splines, the bottom surfaces of the plurality of fifth bevel gears are abutted to the top ends of the corresponding rollers respectively, first limiting plates fixedly arranged on the driven shaft are arranged above the plurality of fifth bevel gears, and first limiting springs movably sleeved on the driving shaft are arranged between the first limiting plates and the fifth bevel gears.
The invention has the beneficial effects that:
(1) according to the mobile robot for transporting the surgical materials, the storage cabinet mechanism can be used for storing medical materials such as artificial blood vessels, valves, balloon dilators, guide wires, artificial joints, bones, cardiac stents and the like, and the medical materials can be intelligently managed and applied by matching with an intelligent management system arranged in the storage cabinet mechanism, so that the materials are more convenient to use.
(2) According to the mobile robot for transporting surgical materials, the material placing mechanism is used for placing medical materials through the matching of the material placing plate and the spiral material placing rack, so that the medical materials are conveniently and stably placed, and meanwhile, the material can be fed through the spiral material placing rack during material taking, and the material taking process is more convenient.
(3) According to the movable robot for transporting the surgical materials, the lifting feeding mechanism can be used for conveying corresponding medical materials during material taking, the medical materials do not need to directly fall down from the spiral storage rack for feeding and taking, the material taking is safer during material taking, and materials such as artificial blood vessels, valves, balloon dilators, guide wires, artificial joints, bones and cardiac stents are prevented from being damaged during material taking.
(4) According to the movable robot for transporting the surgical materials, the transmission mechanism and the material taking mechanism are used, so that the motor is changed from driving the lifting and feeding mechanism to driving the corresponding spiral commodity shelf to work after the lifting and feeding mechanism is lifted to the designated position so as to take materials, the lifting and feeding of the lifting and feeding mechanism and the driving and material taking of the multilayer spiral commodity shelf can be realized through the same motor, the number of driving motors can be reduced, and the equipment cost is reduced.
Drawings
The invention is further illustrated with reference to the following figures and examples.
FIG. 1 is a schematic diagram of the overall structure of a mobile robot for transporting surgical materials according to a preferred embodiment of the present invention;
FIG. 2 is a cross-sectional view taken in the direction M-M of FIG. 1;
FIG. 3 is an enlarged schematic view of the structure at A in FIG. 2;
FIG. 4 is an enlarged view of the structure at B of FIG. 2;
FIG. 5 is an enlarged view of the structure of FIG. 2 at C;
fig. 6 is a schematic structural view of the spiral shelf shown in fig. 2;
FIG. 7 is a schematic view of a connection structure between the cylinder and the limiting plate shown in FIG. 2;
in the figure: 1. a storage cabinet mechanism; 11. a scanning handle; 12. sounding; 13. an autonomous walking system; 14. a binocular camera; 15. a material storage box; 16. a material outlet; 17. an editing interface; 18. a power supply box; 19. a power switch; 1a, a control box; 2. a material placing mechanism; 21. a storage plate; 22. a spiral rack; 23. an end plate; 24. a rotating shaft; 25. a box door; 3. a lifting feeding mechanism; 31. a motor; 32. a drive shaft; 33. a first bevel gear; 34. a second bevel gear; 35. a bearing seat; 36. a screw rod; 37. a lifting seat; 38. a buffer plate; 39. a buffer spring; 3a, a threaded sleeve; 4. a material taking mechanism; 41. a third bevel gear; 42. a fourth bevel gear; 43. a driven shaft; 44. a fifth bevel gear; 45. a sixth bevel gear; 46. a spline; 47. a first limit spring; 48. a first limit plate; 5. a transmission mechanism; 51. a circular groove; 52. limiting slots; 53. a jack; 54. a limiting inserted rod; 55. a cylinder groove; 56. a cylinder; 57. a flexible ejector rod; 58. an arc-shaped slot; 59. a pushing unit; 591. a push rod; 592. a push rod groove; 593. a top block chute; 594. a first top block; 595. a second top block; 596. a top rod; 597. a roller; 5a, a second limiting plate; 5b, a second limiting spring; 5c, a limiting plate chute.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
As shown in fig. 1-7, the movable robot for transporting surgical materials of the present invention includes a material storage cabinet mechanism 1, a material placing mechanism 2, a lifting and feeding mechanism 3, a material taking mechanism 4, and a transmission mechanism 5, wherein the material placing mechanism 2 for storing and placing materials is disposed inside the upper end of the material storage cabinet mechanism 1, the lifting and feeding mechanism 3 for conveying discharged materials is mounted at the front side inside the material storage cabinet mechanism 1, and the material taking mechanism 4 for driving the material to be discharged is mounted on the material placing mechanism 2 and is in transmission connection with the lifting and feeding mechanism 3 through the transmission mechanism 5; the storage cabinet mechanism 1 can be used for storing medical materials such as artificial blood vessels, valves, balloon dilators, guide wires, artificial joints, bones, cardiac stents and the like, and can be used for intelligently managing and applying the medical materials by matching with an intelligent management system arranged in the storage cabinet mechanism, so that the materials are more convenient to use; the material placing mechanism 2 is used for placing medical materials by matching the material placing plate 21 and the spiral material placing rack 22, so that the medical materials are conveniently and stably placed, and meanwhile, the spiral material placing rack 22 can be used for feeding materials during material taking, so that the material taking process is more convenient; the lifting feeding mechanism 3 can lift and convey corresponding medical materials during material taking, and the medical materials do not need to directly fall from the spiral storage rack 22 for feeding and material taking, so that the material taking is safer, and high-value materials such as artificial blood vessels, valves, balloon dilators, guide wires, artificial joints, bones, cardiac stents and the like are prevented from being damaged during material taking; the transmission mechanism 5 and the material taking mechanism 4 can drive the motor 31 to drive the corresponding spiral commodity shelf 22 to work after the lifting and feeding mechanism 3 rises to a specified position so as to take materials, so that the lifting and feeding mechanism 3 can be driven to lift and the multilayer spiral commodity shelf 22 can be driven to take materials by the same motor 31, the number of driving motors can be reduced, and the equipment cost is reduced.
Concretely, the storing cabinet mechanism 1 includes scanning handle 11, stereo 12, autonomous traveling system 13, binocular camera 14, goods and materials storage box 15, goods and materials take out 16, edit interface 17, power supply box 18, switch 19, control box 1a, goods and materials storage box 15, power supply box 18, control box 1a from top to bottom in proper order fixed connection, stereo 12 with binocular camera 14 all fixed mounting in the top of goods and materials storage box 15, scanning handle 11 fixed mounting in one side of goods and materials storage box 15, goods and materials take out 16 set up in the lower extreme of goods and materials storage box 15 front side, edit interface 17 install in the front side of power supply box 18, power supply box 18 passes through switch 19 with control box 1a is electric is connected, control box 1a respectively with scanning handle 11, stereo 12, autonomous traveling system 13, control box 1a, The binocular camera 14 and the editing interface 17 are electrically controlled; the medical material storage box 1a is internally provided with a voice system, a fingerprint identification system, a navigation system, a camera system, a music system and a control system, when the power switch 19 is turned on, the editing interface 17 can be opened, and the editing interface 17 comprises functional buttons for taking, adding, returning, music, accounting and the like, so that medical materials stored in the material storage box 15 are intelligently managed; the camera system is mainly provided with a scanning handle 11 which can identify the two-dimensional code of the wrist strap of the patient, register the basic information of the patient in time and shoot the facial features of the sampling personnel through a binocular camera 14; the voice system is used for automatically recording the required material name and quantity command sent by a doctor or a circulating nurse, so that a special consumable special person can take and store the material; when the taken materials are not used, the editing interface 17 can be clicked to return the button to place the materials in place and return the materials; the fingerprint identification system is used for standby, and when the voice identification is not clear, the fingerprint identification can be used for extracting materials; the music system is used by the clinician when necessary; the data terminal of the control system can be in butt joint with the operation support center, when the material storage box 15 is in shortage (only one material is defined), the support center can be reminded of workers to add materials in time, and the phenomenon that the operation process is influenced because the manual transmission of the materials is not in time is avoided; the navigation system can cooperate with the autonomous walking system 13 to perform mobile navigation for the device, and guide the device and medical personnel to find needed materials in the warehouse during charging.
Specifically, the material placing mechanism 2 includes a plurality of object placing plates 21, a plurality of spiral object placing frames 22, a plurality of end plates 23, a plurality of rotating shafts 24, and a box door 25, wherein the plurality of object placing plates 21 are uniformly distributed in the material storage box 15 from top to bottom, and both sides of the object placing plate 21 are fixedly connected with the side surface of the material storage box 15, a plurality of spiral object placing frames 22 are respectively placed on the object placing plates 21, a plurality of rotating shafts 24 are respectively and fixedly arranged at the tail ends of the spiral object placing frames 22, a plurality of end plates 23 are respectively and fixedly arranged on the top surfaces of the tail ends of the object placing plates 21, and a plurality of the rotating shafts 24 are movably installed on the corresponding end plates 23, the box door 25 is arranged on the back of the material storage box 15, one side of the box door 25 is movably connected with the material storage box 15 through a hinge, and the other side of the box door is fixedly locked with the material storage box 15 through a lock catch; when feeding, the box door 25 can be opened to place corresponding medical materials on the spiral rack 22 in layers, and when placing, the medical materials are placed in the spiral groove of the spiral rack 22 from right to left.
Specifically, the lifting and feeding mechanism 3 includes a motor 31, a transmission shaft 32, a first bevel gear 33, a second bevel gear 34, a bearing seat 35, a screw rod 36, a lifting seat 37, a buffer plate 38, a buffer spring 39 and a thread bushing 3a, the motor 31 is fixedly mounted at the lower end inside the material storage box 15, the transmission shaft 32 is mounted at one end of the motor 31 in a transmission manner, the first bevel gear 33 is fixedly mounted at one end of the transmission shaft 32, the screw rod 36 is movably mounted at the inner side surface of the front wall of the material storage box 15 through the bearing seat 35, the second bevel gear 34 is fixedly mounted at the bottom end of the screw rod 36 and is in meshing transmission connection with the first bevel gear 33, the thread bushing 3a is mounted on the screw rod 36 in a threaded manner, the lifting seat 37 is mounted on the thread bushing 3a, and one side of the lifting seat 37 is in sliding contact with the inner wall of the material storage box 15, the buffer plate 38 is slidably mounted on the top surface of the lifting seat 37, and the buffer spring 39 is mounted between the lifting seat 37 and the buffer plate 38; the lifting seat 37 is initially located at the lower end of the inner side surface of the material taking-out port 16, when material needs to be taken out, the motor 31 is started to drive the transmission shaft 32 and the first bevel gear 33 to rotate, the first bevel gear 33 drives the second bevel gear 34 to rotate, and then the screw rod 36 is driven to rotate, so that the threaded sleeve 3a and the lifting seat 37 are driven to move upwards along the screw rod 36 through threaded transmission until the lifting seat 37 reaches one side of the object placing plate 21 where the material needs to be taken out.
Specifically, the transmission mechanism 5 comprises a circular groove 51, a plurality of limiting slots 52, a jack 53, a limiting inserted rod 54, a cylinder groove 55, a cylinder 56, a flexible ejector rod 57, an arc-shaped groove 58, a plurality of pushing units 59, a second limiting plate 5a, a second limiting spring 5b and a limiting plate sliding groove 5 c; the circular groove 51 is arranged in the lifting seat 37, the threaded sleeve 3a is movably arranged in the circular groove 51, a plurality of limiting slots 52 are uniformly distributed along the circumferential direction of the outer ring of the threaded sleeve 3a, the jacks 53 are arranged in the lifting seat 37, one end of the jack 53 is communicated with the circular groove 51, the other end is provided with the limit plate sliding groove 5c, the limit inserted rod 54 is inserted in the jack 53 in a sliding way, one end of the limiting insertion rod 54 extends into the limiting insertion slot 52, the other end is fixedly provided with the second limiting plate 5a positioned in the limiting plate sliding groove 5c, the second limiting spring 5b is arranged in the limiting plate sliding groove 5c, one end of the second limiting spring 5b is abutted with the second limiting plate 5a, and the other end is abutted with the groove wall of the limiting plate sliding groove 5 c; the cylinder groove 55 is arranged at the front end of the lifting seat 37, the cylinder 56 is slidably mounted in the cylinder groove 55, one end of the cylinder 56 extends to the outside of the lifting seat 37, the arc-shaped groove 58 is arranged between the cylinder groove 55 and the limiting plate sliding groove 5c, the flexible ejector rod 57 is slidably mounted in the arc-shaped groove 58, one end of the flexible ejector rod 57 is in limit abutting joint with the cylinder 56, the other end of the flexible ejector rod 57 is in limit abutting joint with the second limiting plate 5a, and the plurality of pushing units 59 are respectively mounted in the plurality of object placing plates 21; when the lifting seat 37 reaches one side of the corresponding object placing plate 21, one end of the air cylinder 56 abuts against the pushing unit 59, and then the air cylinder 56 is driven to extend to push and extrude the pushing unit 59, after the pushing unit 59 is pushed to the right, the air cylinder 56 slides leftwards in the air cylinder groove 55 along with the continuous extension of the air cylinder 56, so that the upper end of the flexible top rod 57 is pushed leftwards, thereby the lower end of the flexible mandril 57 moves rightwards, the second limit plate 5a is extruded and moved rightwards, thereby driving the limit inserting rod 54 to move rightwards, separating the left end of the limit inserting rod 54 from the limit slot 52, and no longer limiting and fixing the threaded sleeve 3a, at this time, when the screw rod 36 rotates, the threaded sleeve 3a is driven to synchronously rotate, so that the threaded sleeve 3a and the lifting seat 37 do not move upwards any more.
Specifically, the pushing unit 59 includes a push rod 591, a push rod slot 592, a top block sliding slot 593, a first top block 594, a second top block 595, a top rod 596, and a roller 597, wherein the push rod slot 592 and the top block sliding slot 593 are both disposed in the object placing plate 21, the push rod 591 is slidably inserted in the push rod slot 592, the first top block 594 and the second top block 595 are both slidably mounted in the top block sliding slot 593, one end of the first top block 594 abuts against one end of the push rod 591, the first top block 594 and the second top block 595 abut against each other through an inclined surface, the top rod 596 is fixedly mounted on the top surface of the second top block 595, the upper end of the top rod 596 extends above the object placing plate 21, and the roller 597 is movably mounted at the bottom end of the top rod 596; when the air cylinder 56 extends, the push rod 591 is pushed to the right by the air cylinder, so that the first top block 594 is driven to move to the right, the second top block 595 is pressed upwards through the inclined surface in the process that the first top block 594 moves to the right, and the top rod 596 and the roller 597 are driven to move upwards.
Specifically, the material taking mechanism 4 includes a third bevel gear 41, a fourth bevel gear 42, a driven shaft 43, a plurality of fifth bevel gears 44, a plurality of sixth bevel gears 45, a plurality of splines 46, a plurality of first limiting springs 47, and a plurality of first limiting plates 48, the third bevel gear 41 is fixedly mounted on the transmission shaft 32, the driven shaft 43 is movably mounted on the object placing plate 21, and the fourth bevel gear 42 is fixedly mounted at the bottom end of the driven shaft 43 and is in meshing transmission connection with the third bevel gear 41; the sixth bevel gears 45 are respectively and fixedly mounted at one ends of the rotating shafts 24, the fifth bevel gears 44 are slidably mounted on the driven shaft 43 through the splines 46, the bottom surfaces of the fifth bevel gears 44 respectively abut against the top ends of the corresponding rollers 597, first limit plates 48 fixedly mounted on the driven shaft 43 are respectively arranged above the fifth bevel gears 44, and a first limit spring 47 movably sleeved on the driven shaft 43 is arranged between each first limit plate 48 and the fifth bevel gear 44; the fifth bevel gear 44 initially moves downward under the action of the return elastic force of the first limiting spring 47 to separate from the sixth bevel gear 45, so that when the driven shaft 43 rotates, the sixth bevel gear 45 and the rotating shaft 24 are not driven to rotate, when the push rod 596 and the roller 597 in a certain deck of storage plates 21 move upward, the corresponding fifth bevel gear 44 is pushed up by the roller 597 until the fifth bevel gear 44 is in mesh transmission with the sixth bevel gear 45, then the motor 31 is started to drive the transmission shaft 32 and the third bevel gear 41 to rotate, the third bevel gear 41 drives the fourth bevel gear 42 to rotate, and further drives the driven shaft 43 and the fifth bevel gear 44 to rotate, the fifth bevel gear 44 drives the meshed sixth bevel gear 45 to rotate, and further drives the rotating shaft 24 and the spiral storage rack 22 to rotate, the spiral rack 22 gradually pushes and moves the medical materials placed on the rack outwards in the rotating process until the materials fall onto the buffer plate 38, so as to finish the primary material taking, and then the motor 31 is turned off; then, the cylinder 56 is driven to contract, so that the two ends of the cylinder do not push the pushing unit 59 and the flexible push rod 57 any more, at this time, the fifth bevel gear 44 moves downwards to reset under the action of the reset elastic force of the first limit spring 47, so that the fifth bevel gear 44 is separated from the sixth bevel gear 45 and is not transmitted any more, meanwhile, the second limit plate 5a and the limit inserting rod 54 move leftwards to reset under the action of the reset elastic force of the second limit spring 5b, so that the left end of the limit inserting rod 54 is inserted into the limit inserting slot 52 again, the threaded sleeve 3a is fixed by pin joint, then the motor 31 is driven to rotate reversely, the lead screw 36 is driven to rotate reversely, the threaded sleeve 3a and the lifting seat 37 are driven to move downwards to reset along the lead screw 36 through thread transmission until the lifting seat 37 moves to the inner side face of the material taking-out port 16, the medical staff can stretch out the hand to take out the medical materials on the buffer plate 38, and the material taking process is completed.
In the use process of the invention, when medical materials are required to be taken, the motor 31 is started to drive the transmission shaft 32 and the first bevel gear 33 to rotate, the first bevel gear 33 drives the second bevel gear 34 to rotate so as to drive the screw rod 36 to rotate, so that the threaded sleeve 3a and the lifting seat 37 are driven to move upwards along the screw rod 36 through threaded transmission until the lifting seat 37 reaches one side of the object placing plate 21 where the materials are required to be taken, one end of the air cylinder 56 is abutted to the corresponding pushing unit 59, then the motor 31 is closed to drive the air cylinder 56 to extend so as to enable the air cylinder 56 to push and extrude the pushing unit 59, after the pushing unit 59 is extruded in place, the air cylinder 56 slides leftwards in the air cylinder groove 55 along with the continuous extension of the air cylinder 56, so that the upper end of the flexible ejector rod 57 is pushed and moved leftwards, the lower end of the flexible ejector rod 57 is moved rightwards, the second limiting plate 5a is pushed and moved rightwards, thereby driving the limit inserted rod 54 to move rightwards, so that the left end of the limit inserted rod 54 is separated from the limit slot 52, the threaded sleeve 3a is not limited and fixed any more, when the pushing unit 59 is pushed and pushed by pressure, the push rod 591 pushes rightwards, so as to drive the first ejector block 594 to move rightwards, the first ejector block 594 pushes the second ejector block 595 upwards through the inclined plane in the process of moving rightwards, so as to drive the ejector pin 596 and the roller 597 to move upwards, the corresponding fifth bevel gear 44 is jacked upwards through the roller 597 until the fifth bevel gear 44 is in meshing transmission with the sixth bevel gear 45, then the motor 31 is started again, the transmission shaft 32 and the third bevel gear 41 are driven to rotate, at the moment, the screw rod 36 rotates and drives the threaded sleeve 3a to synchronously rotate, so that the threaded sleeve 3a and the lifting seat 37 do not move upwards any more, and the third bevel gear 41 drives the fourth bevel gear 42 to rotate, so as to drive the driven shaft 43 and the fifth bevel gear 44 to rotate, the fifth bevel gear 44 drives the meshed sixth bevel gear 45 to rotate, so as to drive the rotating shaft 24 and the spiral commodity shelf 22 to rotate, the spiral commodity shelf 22 gradually pushes and moves the medical materials placed on the spiral commodity shelf outwards in the rotating process until the materials fall onto the buffer plate 38 to finish the primary material taking, then the motor 31 is turned off, the air cylinder 56 is driven to contract again, so that the pushing unit 59 and the flexible ejector rod 57 are not pushed by two ends of the spiral commodity shelf, at the moment, the fifth bevel gear 44 is reset downwards under the reset elastic action of the first limiting spring 47, so that the fifth bevel gear 44 is separated from the sixth bevel gear 45 and is not transmitted any more, meanwhile, the second limiting plate 5a and the limiting inserted rod 54 move leftwards under the reset elastic action of the second limiting spring 5b to reset, so that the left end of the limiting inserted rod 54 is inserted into the limiting slot 52 again, the threaded sleeve 3a is fixed in a pin joint mode, and then the motor 31 is driven to rotate reversely, and then the screw rod 36 is driven to rotate reversely, so that the threaded sleeve 3a and the lifting seat 37 are driven to move downwards along the screw rod 36 to reset through thread transmission until the lifting seat 37 moves to the inner side surface of the material taking-out port 16, and medical staff can stretch hands to take out medical materials on the buffer plate 38 to finish the material taking process.
The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and the embodiments and descriptions given above are only illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (7)
1. A movable robot for transporting surgical materials, which is characterized in that: including storage cabinet mechanism (1), goods and materials put mechanism (2), lift feeding mechanism (3), feeding agencies (4), drive mechanism (5), be used for the storage place goods and materials goods put mechanism (2) set up in the inside of storage cabinet mechanism (1) upper end is used for carrying ejection of compact goods and materials lifting feeding mechanisms (3) install in the inside front side of storage cabinet mechanism (1), be used for driving the ejection of compact of goods and materials feeding agencies (4) install in on the goods and materials puts mechanism (2), and pass through drive mechanism (5) with lift feeding agencies (3) transmission is connected.
2. The mobile surgical material transporting robot of claim 1, wherein: the storage cabinet mechanism (1) comprises a scanning handle (11), a sound box (12), an autonomous traveling system (13), a binocular camera (14), a material storage box (15), a material taking port (16), an editing interface (17), a power box (18), a power switch (19) and a control box (1a), wherein the material storage box (15), the power box (18) and the control box (1a) are sequentially and fixedly connected from top to bottom, the sound box (12) and the binocular camera (14) are fixedly installed at the top end of the material storage box (15), the scanning handle (11) is fixedly installed on one side of the material storage box (15), the material taking port (16) is arranged at the lower end of the front side of the material storage box (15), the editing interface (17) is installed on the front side of the power box (18), the power box (18) is electrically connected with the control box (1a) through the power switch (19), the control box (1a) is electrically connected with the scanning handle (11), the sound box (12), the autonomous walking system (13), the binocular camera (14) and the editing interface (17) respectively.
3. The mobile surgical material transporting robot of claim 2, wherein: the goods and materials placing mechanism (2) comprises a plurality of object placing plates (21), a plurality of spiral object placing frames (22), a plurality of end plates (23), a plurality of rotating shafts (24) and a box door (25), wherein the object placing plates (21) are uniformly distributed in the goods and materials storage box (15) from top to bottom, the two sides of the object placing plates (21) are fixedly connected with the side surfaces of the goods and materials storage box (15), the spiral object placing frames (22) are respectively placed on the object placing plates (21), the rotating shafts (24) are respectively and fixedly arranged at the tail ends of the spiral object placing frames (22), the end plates (23) are respectively and fixedly arranged on the top surfaces of the tail ends of the object placing plates (21), the rotating shafts (24) are movably arranged on the corresponding end plates (23), the box door (25) is arranged at the back surface of the goods and materials storage box (15), and one side of the box door (25) is movably connected with the material storage box (15) through a hinge, and the other side of the box door is fixedly locked with the material storage box (15) through a lock catch.
4. The mobile surgical material transporting robot of claim 3, wherein: the lifting feeding mechanism (3) comprises a motor (31), a transmission shaft (32), a first bevel gear (33), a second bevel gear (34), a bearing seat (35), a screw rod (36), a lifting seat (37), a buffer plate (38), a buffer spring (39) and a threaded sleeve (3a), the motor (31) is fixedly arranged at the lower end inside the material storage box (15), the transmission shaft (32) is arranged at one end of the motor (31) in a transmission manner, the first bevel gear (33) is fixedly arranged at one end of the transmission shaft (32), the screw rod (36) is movably arranged on the inner side surface of the front wall of the material storage box (15) through the bearing seat (35), the second bevel gear (34) is fixedly arranged at the bottom end of the screw rod (36) and is in meshed transmission connection with the first bevel gear (33), and the threaded sleeve (3a) is arranged on the screw rod (36) in a threaded manner, the lifting seat (37) is installed on the threaded sleeve (3a), one side of the lifting seat (37) is in sliding abutting connection with the inner wall of the material storage box (15), the buffer plate (38) is installed on the top surface of the lifting seat (37) in a sliding mode, and the buffer spring (39) is installed between the lifting seat (37) and the buffer plate (38).
5. The mobile surgical material transporting robot of claim 4, wherein: the transmission mechanism (5) comprises a circular groove (51), a plurality of limiting slots (52), jacks (53), limiting insertion rods (54), a cylinder groove (55), a cylinder (56), a flexible ejector rod (57), an arc-shaped groove (58), a plurality of pushing units (59), a second limiting plate (5a), a second limiting spring (5b) and a limiting plate sliding groove (5 c); the circular groove (51) is arranged inside the lifting seat (37), the thread bushing (3a) is movably arranged in the circular groove (51), the limiting slots (52) are uniformly distributed along the circumferential direction of the outer ring of the thread bushing (3a), the jacks (53) are arranged in the lifting seat (37), one ends of the jacks (53) are communicated with the circular groove (51), the other ends of the jacks are provided with the limiting plate sliding grooves (5c), the limiting insertion rods (54) are slidably inserted in the jacks (53), one ends of the limiting insertion rods (54) are extended and inserted into the limiting slots (52), the other ends of the limiting insertion rods (54) are fixedly provided with second limiting plates (5a) positioned in the limiting plate sliding grooves (5c), the second limiting springs (5b) are arranged in the limiting plate sliding grooves (5c), and one ends of the second limiting springs (5b) are abutted to the second limiting plates (5a), the other end is abutted against the groove wall of the limiting plate sliding groove (5 c); the cylinder groove (55) is arranged at the front end of the lifting seat (37), the cylinder (56) is installed in the cylinder groove (55) in a sliding mode, one end of the cylinder (56) extends to the outside of the lifting seat (37), the arc-shaped groove (58) is arranged between the cylinder groove (55) and the limiting plate sliding groove (5c), the flexible ejector rod (57) is installed in the arc-shaped groove (58) in a sliding mode, one end of the flexible ejector rod (57) is in limiting abutting joint with the cylinder (56), the other end of the flexible ejector rod is in limiting abutting joint with the second limiting plate (5a), and the pushing units (59) are installed in the object placing plates (21) respectively.
6. The mobile surgical material transporting robot of claim 5, wherein: the pushing unit (59) comprises a push rod (591), a push rod groove (592), a top block sliding groove (593), a first top block (594), a second top block (595), a push rod (596) and a roller (597), wherein the push rod groove (592) and the top block sliding groove (593) are arranged in the object placing plate (21), the push rod (591) is inserted in the push rod groove (592) in a sliding manner, the first top block (594) and the second top block (595) are both installed in the top block sliding groove (593) in a sliding manner, one end of the first top block (594) is abutted to one end of the push rod (591), the first top block (594) and the second top block (595) are abutted to each other through an inclined surface, the push rod (596) is fixedly installed on the top surface of the second top block (595), and the upper end of the push rod (596) extends to the upper side of the object placing plate (21), the roller (597) is movably arranged at the bottom end of the mandril (596).
7. The mobile surgical material transporting robot of claim 6, wherein: the material taking mechanism (4) comprises a third bevel gear (41), a fourth bevel gear (42), a driven shaft (43), a plurality of fifth bevel gears (44), a plurality of sixth bevel gears (45), a plurality of splines (46), a plurality of first limiting springs (47) and a plurality of first limiting plates (48), wherein the third bevel gear (41) is fixedly installed on the transmission shaft (32), the driven shaft (43) is movably installed on the object placing plate (21), and the fourth bevel gear (42) is fixedly installed at the bottom end of the driven shaft (43) and is in meshing transmission connection with the third bevel gear (41); the plurality of sixth bevel gears (45) are fixedly mounted at one ends of the plurality of rotating shafts (24) respectively, the plurality of fifth bevel gears (44) are slidably mounted on the driven shaft (43) through the plurality of splines (46), the bottom surfaces of the plurality of fifth bevel gears (44) are abutted to the top ends of the corresponding rollers (597) respectively, first limiting plates (48) fixedly mounted on the driven shaft (43) are arranged above the plurality of fifth bevel gears (44), and first limiting springs (47) movably sleeved on the driven shaft (43) are arranged between the first limiting plates (48) and the fifth bevel gears (44).
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| CN202111093178.1A CN113808333B (en) | 2021-09-17 | 2021-09-17 | Movable robot for transporting surgical materials |
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| CN202111093178.1A CN113808333B (en) | 2021-09-17 | 2021-09-17 | Movable robot for transporting surgical materials |
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| CN113808333B CN113808333B (en) | 2022-09-30 |
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| CN115300117A (en) * | 2022-07-28 | 2022-11-08 | 杨亚平 | Intelligent controller for vaccine preservation and inoculation |
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| CN113808333B (en) | 2022-09-30 |
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