CN114012761A

CN114012761A - Split type medical treatment delivery robot

Info

Publication number: CN114012761A
Application number: CN202111536227.4A
Authority: CN
Inventors: 李旭; 支涛
Original assignee: Beijing Yunji Technology Co Ltd
Current assignee: Beijing Yunji Technology Co Ltd
Priority date: 2021-12-15
Filing date: 2021-12-15
Publication date: 2022-02-08

Abstract

The invention relates to the technical field of robots, in particular to a split type medical distribution robot, which comprises: at least one dispensing box having a plurality of storage compartments; the supporting device is detachably arranged at the bottom of the distribution part; the driving device is movably jointed with the supporting device in an intersection way and is used for driving the distribution box and the supporting device to move. The distribution box and the driving device of the split medical distribution robot are of split structures, the driving device can distribute the distribution boxes filled with different medical materials through the driving device according to different task types, and the distribution box and the driving device can be reused in a time-sharing mode.

Description

Split type medical treatment delivery robot

Technical Field

The invention relates to the technical field of robots, in particular to a split type medical distribution robot.

Background

More and more patients with seeing needs are going to a large hospital and a third hospital with high-quality medical resources and high-quality medical services for treatment, which results in a large flow of people in the hospitals and an increasing work intensity of medical staff in the hospitals. Nurses as primary medical care personnel need to complete low-technical-content and repetitive work contents such as medicine delivery, meal delivery, patrol and even medical waste cleaning in multiple wards besides medical auxiliary work contents such as intravenous injection and daily health index tests. Nursing some patients with infection poses a greater risk of infection to nurses. If the nursing work of the low-technology content and infectious patients with high repeatability is carried out by the robot, the work pressure of nurses can be relieved, the risk of cross infection can be effectively avoided, the work efficiency is improved, and the efficient operation of medical service is promoted.

In the prior art, a medicine delivery robot, an article delivery robot, a meal delivery robot and the like are integrated, so that the medicine delivery robot is heavy, inconvenient to move, only can perform a single delivery task, and cannot realize time-sharing multiplexing. In addition, the cabinet body and the driving mechanism of the integrated distribution robot adopt an integrated structure, so that the manufacturing cost is high.

Disclosure of Invention

The invention aims to provide a split type medical delivery robot, which solves the technical problems that an integrated medical delivery robot in the prior art is heavy in weight, inconvenient to move, high in manufacturing cost and incapable of time-sharing multiplexing.

To achieve the above object, the present invention provides a split type medical delivery robot including:

at least one dispensing box having a plurality of storage compartments;

the supporting device is detachably arranged at the bottom of the distribution box;

the driving device is movably in cross joint with the supporting device and is used for driving the distribution box to move.

In some embodiments, the supporting device includes a supporting frame, a supporting wheel and a supporting plate, the supporting plate is fixedly mounted on the supporting frame, the supporting wheel is rotatably mounted at the lower part of the supporting frame, the driving device includes a driving motor mounted on the machine body, a driving wheel, a lifting mechanism, a controller, a storage battery and a data acquisition device, and the driving wheel is driven by the driving motor.

In some embodiments, a docking identification device is installed in the support plate, and the docking identification device includes any one of an electronic tag, a nameplate and a two-dimensional code.

In some embodiments, the data acquisition device comprises a vision sensor, a lidar, a reader, a camera.

In some embodiments, the lifting mechanism is any one of an electric cylinder, a hydraulic cylinder, and a pneumatic cylinder.

In some embodiments, the drive wheels are mecanum wheels or omni wheels.

In some embodiments, the cross-sectional area of the top of the support frame is greater than the cross-sectional area of the bottom of the dispensing box.

In some embodiments, a display screen is fixedly mounted on the distribution box.

In some embodiments, the lifting mechanism further comprises a damping plate, and the damping plate is provided with at least one positioning hole which is matched and connected with the positioning column arranged on the supporting plate.

In some embodiments, the number of the lifting mechanisms is four, and four lifting mechanisms are simultaneously installed in the body.

The split medical delivery robot provided by the invention has the beneficial effects that: the distribution box and the driving device of the split medical distribution robot are of a split structure. The driving device can be used for distributing the distribution boxes containing different medical materials through the driving device according to different task types, and the distribution boxes can be used independently or can be used together with the driving device. In other words, the dispensing box and the drive device can be reused in a time-sharing manner.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed for the embodiments or the prior art descriptions will be briefly described 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 to obtain other drawings without creative efforts.

Fig. 1 is a schematic front view of a split medical delivery robot according to an embodiment of the present invention;

fig. 2 is a schematic perspective view of a distribution box of a split medical distribution robot according to an embodiment of the present invention;

fig. 3 is a schematic perspective view of a support frame of a split medical delivery robot according to an embodiment of the present invention;

fig. 4 is a schematic perspective view of a support plate of a split medical delivery robot according to an embodiment of the present invention;

fig. 5 is a schematic circuit structure diagram of a split medical delivery robot according to an embodiment of the present invention.

Wherein, in the figures, the respective reference numerals:

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly or indirectly secured to the other element. When an element is referred to as being "connected to" another element, it can be directly or indirectly connected to the other element. The terms "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positions based on the orientations or positions shown in the drawings, and are for convenience of description only and not to be construed as limiting the technical solution. The terms "first", "second" and "first" are used merely for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features. The meaning of "plurality" is two or more unless specifically limited otherwise.

As shown in fig. 1, the present disclosure provides a split medical delivery robot including a delivery box 10, a supporting device 20, and a driving device 30. The support device 30 is detachably mounted to the bottom of the distribution box 10 for supporting the distribution box 10. The driving device 30 is movably engaged with the supporting device 20 and is used for moving the distribution box 10 and the supporting device 20. The distribution box 10 has a plurality of storage compartments 11. The number of storage compartments 11 may be set as desired. E.g., 2, 3, 4, etc. In some embodiments, a disinfection device may be installed in the storage compartment 11 as needed, and the disinfection device may be an ultraviolet ray or the like or a disinfection spray device or the like. A bin gate 111 is mounted on the storage bin 11. In some embodiments, the number of stowage compartments 11 may be set as desired. E.g., 2, 3, 4, etc. The number of doors 111 is equal to the number of storage compartments 11. The dispensing box 10 is removably mounted on top of the support means 20. The dispensing box 10 is made of a metal material or a plastic material. In particular, the material can be made of aluminum alloy or ABS plastic. The supporting device 20 includes a supporting frame 201, a supporting wheel 202 and a supporting plate 203. The supporting frame 201 is formed by welding a metal frame structure. The supporting plate 203 is detachably mounted on the supporting frame 203. In the present embodiment, the number of support wheels 202 is four. The four supporting wheels 202 are fixedly arranged at the bottom of the supporting frame 201 through a connecting frame 204. In some embodiments, the support wheels 202 are universal wheels or universal wheels with locking function, and are not limited herein.

Referring again to fig. 1, the split medical delivery robot further includes a driving device 30. The driving device 30 includes a driving motor 301, a driving wheel 302, a lifting mechanism 303, a controller 304, a storage battery 305 and a data acquisition device 306 mounted on the machine body 40. The driving wheel 302 is driven by the driving motor 301 to rotate the driving wheel 302. The number of drive wheels 302 is four. Four drive wheels 302 are provided at the bottom of the body 40. In some embodiments, the drive motor 301 is a stepper motor or a servo motor. In some embodiments, the number of the driving motors 301 is one, and four driving wheels 302 are driven by one driving motor 301. In other embodiments, the number of the driving motors 301 is two, two driving wheels 302 of the four driving wheels 302 are disposed at the front end of the driving device 30 as main driving wheels, and the two outer two driving wheels 302 are driven wheels and are disposed at the rear end of the driving device 30. Alternatively, the four driving wheels 302 are all main driving wheels and are driven by the driving motor 301 to drive the driving device to move. In some embodiments, drive wheels 302 are mecanum wheels or omni wheels. An advantage of using a mecanum wheel for drive wheel 302 is that drive 30 can be moved horizontally and rotated in place in any direction by the unique operation of the mecanum wheel. With this feature, the maneuverability of the drive device 30 can be improved and displacement and rotation of any angle can be performed in a narrow space.

In some embodiments, the body 40 of the driving device 30 has a rectangular structure or a circular structure, which is not limited herein. The dispensing box 10 is removably mounted on top of the support means 20. In the present embodiment, the lifting mechanism 303 in the machine body 301 is any one of an electric cylinder, a hydraulic cylinder, and an air cylinder. The lifting mechanism 303 is used to lift the support device 20 and the dispensing box 10 placed on top of the driving device 30 off the bottom surface. In some embodiments, the lift mechanism 303 further includes a shock absorbing plate 3031. Shock absorbing plate 3031 is a rectangular structure or a circular structure, and the shape thereof can be set as required. The shock absorbing plate 3031 is detachably mounted on the top of the lifting mechanism and is in movable contact with the lower surface of the support plate 203. The shock absorbing plate 3031 is provided to effectively improve the operation stability of the lifting mechanism 303 and reduce the vibration generated during the lifting of the distribution box 10. Further, in order to improve the reliability and stability of the operation, at least one positioning hole is formed on the shock absorbing plate 3031 to be coupled with the positioning post 2031 formed on the supporting plate 203. The number of the positioning columns 2031 and the positioning holes can be set as required, for example, 2, 4, etc. The motion stability of the supporting plate 203 can be effectively guaranteed through the matching of the positioning column 2031 and the positioning holes, and the motion stability of the distribution box 10 placed on the supporting frame 201 is further improved.

The driving means 30 is detachably mounted on the bottom of the supporting means 20 to drive the supporting means 20 and the dispensing box 10 on the supporting means 20 to move for displacement. Taking the lifting mechanism 303 as an electric cylinder as an example to specifically describe the working principle of the split medical delivery robot of the embodiment, the electric cylinder is vertically and fixedly installed in the machine body 40, and a push rod of the electric cylinder is movably contacted with the support plate 203 fixedly installed at the bottom of the support frame 201. Alternatively, a shock absorbing plate 3031 may be detachably mounted on the top of the push rod. The shock absorbing plate 3031 is in movable contact with the support plate 203. When the push rod of the electric cylinder is extended, the distribution box 10 and the support device 20 which are arranged on the driving device 30 can be jacked up and the distribution box 10 and the support device 20 are driven to move for distribution. In some embodiments, a battery 305 is fixedly mounted within the body 40. The battery 305 is electrically connected to the controller 304 through a wire connection. In some embodiments, battery 305 is a lithium ion battery or a lead acid battery. In this embodiment, the driving device 30 obtains a delivery instruction, which is used to instruct the driving device 30 to move to the bottom of the corresponding delivery box 10 and identify the electronic tag inside the supporting plate 203 on the supporting device 20 for verification, and after the verification is passed, the controller 304 controls the lifting mechanism 303 to lift the corresponding delivery box 10 and deliver the delivery box to the corresponding ward or ward according to the delivery instruction.

The driving device 30 and the delivery box 10 of the split medical delivery robot provided by the embodiment of the disclosure adopt a split structural design. During use, the driving device 30 can be used for distributing the distribution boxes 10 in different sickrooms to avoid the risk of cross infection in different sickrooms or different sickrooms. The dispensing box 10 may be used alone or in combination with the drive device 30, and has a wider range of applications and more efficient operation than conventional dispensing robots.

Fig. 2 discloses a schematic perspective view of the dispensing box 10 according to the present embodiment. In this embodiment, the dispensing box 10 is a square structure. A display screen 12 is fixedly mounted on the distribution box 10. The display screen 12 is an LED display screen or an LCD display screen. Specifically, the display 12 is fixedly mounted at the top rear end of the dispensing box 10. In other embodiments, the display screen 12 is fixedly and removably mounted to a side wall of the dispensing box 10. The display screen 12 can be used for displaying information such as a hospital room number, a hospital bed number, a medicine name and the like, and is used for a patient or a nurse to take a medicine service according to the displayed information. In some embodiments, the storage compartment 11 is disposed at a lower position of the dispensing box 10. A plurality of compartments are provided at intervals inside the storage chamber 11. The number of compartments may be configured as desired. The number of compartments may be plural, for example, two, three, four, etc., and is not limited herein. The dispensing box 10 may be used for placing medicines or for placing personal items of a patient, etc. When the number of compartments is one, it can be used to store the dispensed drugs for one ward. When the number of the compartments of the distribution box 10 is more than one, the distribution box can store medicines of different sickbeds in a ward or a plurality of storage bins are 1, and the distribution box is used for storing medicines distributed in one ward. When the number of the storage compartments is multiple, medicines in different sickbeds in the same ward or medicines in different wards can be stored. Can also be used for placing medicines in different wards. In this embodiment, the top of the distribution box 10 is further provided with a storage slot 13. The storage compartment 13 is located at a front position of the display 12. The storage tank 13 has a square structure or a rectangular structure.

As shown in fig. 3, a schematic perspective view of the supporting frame 201 of the present embodiment is disclosed. In some embodiments, a slot 205 is provided on the support bracket 201. The slot 205 is shaped in a rectangular configuration. The supporting plate 203 is detachably received in the slot 205. In some embodiments, four attachment brackets 204 are provided at the bottom of the support bracket 203. The cross-sectional area of the top of the support frame 201 is greater than the cross-sectional area of the bottom of the dispensing box 10. Through the structural design, the stability of the split medical delivery robot can be obviously improved. In addition, the driving device 30 can significantly improve the operation stability of the distribution box 10 when transporting the distribution box 10.

Fig. 4 discloses a schematic perspective view of the supporting plate 203 in this embodiment. Fig. 5 is a schematic circuit configuration diagram of the split medical delivery robot according to the present embodiment. In this embodiment, the supporting plate 203 also has a rectangular structure. The docking recognition device 50 is mounted in the support plate 203. The docking identification device 50 is any one of an electronic tag, a nameplate, and a two-dimensional code. In other embodiments, the electronic tag is an active electronic tag or a passive electronic tag. A data acquisition device 301 is installed in the drive device 30. The data acquisition device 301 includes one or more of a vision sensor, a lidar, a reader, a camera. The vision sensor collects information stored in the recognition and docking recognition device 50 of the supporting plate 203 and positions the driving device 30, the laser radar can collect the two-dimensional code on the supporting plate 203 to recognize the ID numbers of the distribution box 10 and the supporting device 20, and the camera can collect image information on the supporting plate 203. The reader may collect electronic label information applied to the support plate 203. The driving motor 301 and the lifting mechanism 303 are electrically connected to the controller 304 through a circuit. Similarly, the battery 305 is electrically connected to the controller 304 through a line and supplies power to the driving motor 301 and the lifting mechanism 303.

The above examples are only intended to illustrate the technical solutions of the present disclosure, not to limit them; although the present disclosure has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present disclosure, and are intended to be included within the scope of the present disclosure.

Claims

1. A split medical delivery robot, comprising:

at least one dispensing box having a plurality of storage compartments;

2. The split medical delivery robot of claim 1, wherein the supporting device comprises a supporting frame, a supporting wheel and a supporting plate, the supporting plate is fixedly mounted on the supporting frame, the supporting wheel is rotatably mounted at the lower part of the supporting frame, the driving device comprises a driving motor, a driving wheel, a lifting mechanism, a controller, a storage battery and a data acquisition device, the driving motor is mounted on the machine body, and the driving wheel is driven by the driving motor.

3. The split medical delivery robot of claim 2, wherein the support plate has a docking identifier installed therein, and the docking identifier comprises any one of an electronic tag, a nameplate, and a two-dimensional code.

4. The split medical delivery robot of claim 2, wherein the data acquisition device comprises a vision sensor, a lidar, a reader, a camera.

5. The split medical delivery robot of claim 2, wherein the lifting mechanism is any one of an electric cylinder, a hydraulic cylinder, and an air cylinder.

6. The split medical delivery robot of claim 2, wherein the drive wheels are mecanum wheels or omni wheels.

7. The split medical delivery robot of claim 2, wherein the cross-sectional area of the top of the support frame is greater than the cross-sectional area of the bottom of the delivery box.

8. The drive mechanism as recited in claim 1, wherein a display screen is fixedly mounted to the dispensing box.

9. The drive mechanism as recited in claim 2, wherein the lift mechanism further comprises a shock absorbing plate having at least one locating hole formed therein for engaging with a locating post formed on the support plate.

10. The drive mechanism as claimed in claim 2 or 9, wherein the number of the lifting mechanisms is four, and four lifting mechanisms are simultaneously installed in the body.