CN114986484A - Medical material carrying robot - Google Patents

Abstract

The invention belongs to the field of transport robots, and particularly relates to a medical material carrying robot. The technology comprises a chassis moving mechanism, a vertical frame, a lifting mechanism and a main controller, wherein the bottom end of the vertical frame is fixed on the chassis moving mechanism, the lifting mechanism is arranged on the vertical frame, a transverse support is arranged on the lifting mechanism, and the lifting mechanism is used for driving the transverse support to lift; the transverse support is provided with a transverse moving mechanism, the transverse moving mechanism is provided with a grabbing mechanism, and the transverse moving mechanism is used for driving the grabbing mechanism to move forwards and backwards in the horizontal direction; an order identification mechanism is arranged on the transverse bracket; the chassis moving mechanism is provided with a loading tray and a sensor assembly, and the sensor assembly is used for distance measurement, obstacle avoidance and line inspection. This robot can the automatic identification task, snatchs automatically, transports and uninstalls medical supplies, and whole process need not to rely on the manual work to put goods or get goods, can transport multiple smallclothes medical supplies, can carry major possession medical supplies, and the conveying efficiency is high.

Description

Medical material carrying robot

Technical Field

The invention belongs to the field of transport robots, and particularly relates to a medical material carrying robot.

Background

With the development of science and technology and society, medical robots have increasingly wide market development space. A medical robot is a robot used for medical treatment or auxiliary medical treatment in medical scenes such as hospitals, clinics, and rehabilitation centers, and is one of important development directions for informatization and intellectualization of medical and health equipment. With the development of the technology, the current medical service robots can replace manual work to transport medical materials, for example, the robots can be used for transporting medical drugs and medicaments, and the robots can be used for entering special wards to perform routing inspection and the like.

The existing medical service carrying robot is generally provided with a drawer or a cabinet body, medical materials are contained in the drawer or the cabinet body, and an identification module is used for identifying that an operator opens the cabinet body to take goods; however, the existing medical robot has the defect that the existing medical robot can only grab and transport one kind of medical materials at one time, or the cabinet is configured to contain the medical materials, the cabinet needs to be opened manually to put in the medical materials or take out the medical materials, and the existing medical robot is only suitable for conveying small medical materials, such as medical medicines and medicaments, and cannot be used for conveying large medical materials, such as sickbeds and the like, regardless of grabbing and transporting the medical materials at one time or utilizing the cabinet to contain the medical materials.

Disclosure of Invention

According to the defects in the prior art, the technical problems to be solved by the invention are as follows: the utility model provides a medical supplies transfer robot, this robot can independently be removed, the automatic identification task, grasping system can go up and down in vertical direction, can advance and retreat at the horizontal direction, can open and shut and snatch medical supplies, it can be used to bear smallclothes and major possession medical supplies to carry the thing tray, robot chassis moving system is moving the in-process and is carrying out the range finding through sensor assembly and keeping away the barrier and patrol the line, transport in order to accomplish corresponding medical supplies, need not to rely on the manual work to put goods or get goods, not only be applicable to the transportation of smallclothes medical supplies, still be applicable to the transport of major possession medical supplies.

The medical material carrying robot comprises a chassis moving mechanism, a vertical frame and a lifting mechanism, wherein the bottom end of the vertical frame is fixedly arranged on the chassis moving mechanism, the lifting mechanism is arranged on the vertical frame, a transverse support is arranged on the lifting mechanism, and the lifting mechanism is used for driving the transverse support to lift on the vertical frame along the vertical direction;

the transverse support is provided with a transverse moving mechanism, the transverse moving mechanism is provided with a grabbing mechanism, and the transverse moving mechanism is used for driving the grabbing mechanism to move forwards and backwards on the transverse support along the horizontal direction; the horizontal bracket is provided with an order identification mechanism, the order identification mechanism is used for identifying medical materials on an order, and the grabbing mechanism is used for grabbing the medical materials;

the chassis moving mechanism is provided with a carrying tray, the carrying tray is positioned below the transverse moving mechanism, and the carrying tray is used for containing medical materials;

a sensor assembly is arranged on the chassis moving mechanism and used for distance measurement, obstacle avoidance and line inspection;

the automatic order taking device is characterized by further comprising a main controller, the order recognition mechanism and the sensor assembly are electrically connected with the input end of the main controller, the chassis moving mechanism, the lifting mechanism, the transverse moving mechanism and the grabbing mechanism are electrically connected with the output end of the main controller, and the main controller is used for receiving and processing data information collected by the order recognition mechanism and the sensor assembly and outputting control instructions to control the chassis moving mechanism, the lifting mechanism, the transverse moving mechanism and the grabbing mechanism to act.

Further, the lifting mechanism comprises a lifting motor, a driving chain wheel, a driven chain wheel and a guide rod; the lifting motor is fixedly arranged at the bottom of the vertical frame, the driving chain wheel is rotatably arranged at the lower part of the vertical frame through a bearing, the driven chain wheel is rotatably arranged at the upper part of the vertical frame through a bearing, the driving chain wheel is in transmission connection with a rotating shaft of the lifting motor, the driven chain wheel is in transmission connection with the driving chain wheel through a chain, and the transverse support is fixedly connected with the chain; the top of guide bar and the top fixed connection who erects the frame, its bottom and the bottom fixed connection who erects the frame, the horizontal support slides and sets up on the guide bar, and the guide bar is used for guiding the horizontal support and removes along vertical direction.

Further, the transverse moving mechanism comprises a moving rack, a second servo steering engine, a rack sliding block, a fixed rack and a transverse moving gear; the fixed rack is fixedly arranged on the transverse support, the movable rack is fixedly arranged on the grabbing mechanism, the top end of the rack sliding block is in sliding connection with the fixed rack, the bottom end of the rack sliding block is in sliding connection with the movable rack, the transverse moving gear is rotatably arranged on the rack sliding block through a bearing and is meshed with the fixed rack and the movable rack, the second servo steering engine is fixedly arranged on the rack sliding block, and the transverse moving gear is in transmission connection with a rotating shaft of the second servo steering engine.

Further, the grabbing mechanism comprises a grabbing hand bracket, a right grabbing hand, a left grabbing hand, a grabbing hand gear, a grabbing hand rack and a first servo motor; the gripper support is fixedly connected with the moving rack, the gripper racks are arranged in two numbers, the two gripper racks are all slidably mounted on the gripper support and can move in the horizontal direction, one end of one gripper rack is fixedly connected with the right gripper, one end of the other gripper rack is fixedly connected with the left gripper, the first servo motor is fixedly mounted on the gripper support, the gripper gear is fixedly mounted on a rotating shaft of the first servo motor and located between the two gripper racks, the top of the gripper gear is meshed with one gripper rack, and the bottom of the gripper gear is meshed with the other gripper rack.

Furthermore, the order recognition mechanism comprises a camera and a third servo steering engine, the third servo steering engine is fixedly installed on the transverse support, a steering engine steering wheel is fixedly installed on a rotating shaft of the third servo steering engine, the steering engine steering wheel is connected with the camera through a connecting plate, the third servo steering engine is used for driving the camera to rotate, and the camera is used for recognizing medical materials on the order.

Further, the chassis moving mechanism comprises a chassis frame, a traveling wheel and a traveling motor; a plurality of walking wheels are installed on the chassis frame, each walking wheel is provided with a walking motor, each walking motor is fixedly installed on the chassis frame, and a wheel shaft of each walking wheel is in transmission connection with a rotating shaft of each walking motor.

Furthermore, the chassis frame is of a triangular structure, the number of the walking wheels is three, the three walking wheels are respectively and correspondingly installed in the middle of the three sides of the chassis frame, and the walking wheels are all-directional wheels.

Furthermore, a fourth servo steering engine is fixedly mounted on the chassis frame, the loading tray is mounted on a rotating shaft of the fourth servo steering engine, and the fourth servo steering engine is used for controlling the rotation of the loading tray.

Further, the sensor assembly comprises an ultrasonic sensor, an infrared sensor and a line patrol sensor; the line patrol sensor is fixedly arranged on the chassis frame, is electrically connected with the input end of the main controller and is used for line patrol; the ultrasonic sensors are arranged in a plurality and are fixedly arranged on the chassis frame, each ultrasonic sensor is electrically connected with the input end of the main controller, and the ultrasonic sensors are used for measuring distance; line patrol sensor is provided with a plurality ofly, and the equal fixed mounting of a plurality of infrared ray sensor is on chassis frame, and every infrared ray sensor all is connected with main control unit's input electricity, and infrared ray sensor is used for the range finding.

Compared with the prior art, the invention has the following beneficial effects:

the robot automatically identifies tasks by using the order identification mechanism, controls the gripping mechanism to lift in the vertical direction by the lifting mechanism, the transverse moving mechanism controls the grabbing mechanism to move back in the horizontal direction, the grabbing mechanism is opened and closed to grab medical materials, the carrying tray can contain various small medical materials and can also bear large medical materials, the chassis moving mechanism moves, and during the moving process, the sensor assembly is used for distance measurement, obstacle avoidance and line patrol to finish the corresponding medical material conveying, the robot can automatically identify tasks, automatically grab, transport and unload medical materials, does not need to rely on manual goods placing or taking in the whole process, utilizes the carrying tray to carry the medical materials, is not only suitable for transporting small medical materials, such as medical drugs, medicaments and the like, and is also suitable for carrying large medical materials, such as sickbeds and the like, and has high transportation efficiency.

Drawings

FIG. 1 is a schematic perspective view of the present invention;

FIG. 2 is a schematic view of a portion of the structure in the direction A of FIG. 1;

FIG. 3 is a schematic view of a portion of the structure in the direction B of FIG. 1;

FIG. 4 is a schematic view of a partial structure of the traverse mechanism and the clamping jaw mechanism of the present invention;

FIG. 5 is a schematic view of a partial explosion structure of the traversing mechanism according to the present invention;

FIG. 6 is an exploded view of the jaw mechanism of the present invention;

FIG. 7 is a partial structural view of a chassis moving mechanism according to the present invention;

FIG. 8 is a schematic view of the partially exploded structure of FIG. 7;

names of the components in the figures: 1. a chassis moving mechanism 1.1, a chassis frame 1.2, a traveling wheel 1.3, a traveling motor 2, a sensor assembly 2.1, an ultrasonic sensor 2.2, an infrared sensor 2.3, a line patrol sensor 3, a carrying tray 4, a vertical frame 5, a grabbing mechanism 5.1, a grab support 5.2, a right grab 5.3, a left grab 5.4, a grab gear 5.5, a grab rack 5.6, a first servo motor 6, a transverse moving mechanism 6.1, a moving rack 6.2, a second servo steering engine 6.3, a rack slider 6.3.1, a first rack slider 6.3.2, a second rack slider 6.3.3, a connecting plate 6.4, a fixed rack 6.5, a transverse moving gear 6.6, a first multi-stage gear set 7, an order recognition mechanism 7.1, a camera 7.2, a third servo steering engine 8, a transverse support 9, a lifting mechanism 9.1, a lifting motor 9.2, a driving chain wheel 9.3, a driven chain wheel 9.4, a lifting mechanism 9.1, a lifting motor 9.2, 9.5 guide rail sliding blocks, 9.6 linear guide rails, a guide rod 10, a power supply control panel 11, a second multi-stage gear set 12, a storage battery 13, a main controller 14, a motor controller 15, a shaft sleeve 16, a third multi-stage gear set 17 and a fourth servo steering engine.

Detailed Description

The present invention is further described in the following detailed description with reference to the drawings, but the invention is not limited thereto, and any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Example 1

The medical material handling robot in the embodiment, as shown in fig. 1, includes a chassis moving mechanism 1, an upright frame 4, and a lifting mechanism 9, wherein a bottom end of the upright frame 4 is fixedly mounted on the chassis moving mechanism 1, the lifting mechanism 9 is mounted on the upright frame 4, a transverse support 8 is mounted on the lifting mechanism 9, and the lifting mechanism 9 is configured to drive the transverse support 8 to lift on the upright frame 4 in a vertical direction; the chassis moving mechanism 1 can move;

the transverse support 8 is provided with a transverse moving mechanism 6, the transverse moving mechanism 6 is provided with a grabbing mechanism 5, and the transverse moving mechanism 6 is used for driving the grabbing mechanism 5 to move forwards and backwards on the transverse support 8 along the horizontal direction; the horizontal bracket 8 is provided with an order identification mechanism 7, the order identification mechanism 7 is used for identifying medical materials on an order, and the grabbing mechanism 5 is used for grabbing the medical materials;

the chassis moving mechanism 1 is provided with a carrying tray 3, the carrying tray 3 is positioned below the transverse moving mechanism 6, the carrying tray 3 is used for carrying medical materials, such as medical drugs and medicaments or sickbeds, small medical drugs and medicaments and the like can be directly grabbed and then placed in the carrying tray 3, and large sickbeds and the like can be grabbed and then placed on the carrying tray 3;

the chassis moving mechanism 1 is provided with a sensor assembly 2, and the sensor assembly 2 is used for distance measurement, obstacle avoidance and line patrol, so that the robot can be ensured to smoothly convey medical materials along a set conveying path;

the automatic order taking device comprises a main controller 13, an order recognition mechanism 7, a sensor assembly 2, a chassis moving mechanism 1, a lifting mechanism 9, a traversing mechanism 6 and a grabbing mechanism 5, wherein the order recognition mechanism 7 and the sensor assembly 2 are electrically connected with an input end of the main controller 13; it should be noted that the main controller 13 can refer to the controller technology in the patent with the publication number CN111660305B or the control system in the patent with the publication number CN109227566A, and the sensor assembly 2 can refer to the navigation module in the above patent;

in the preferred embodiment, a power control panel 10 is arranged on the top of the upright frame 4, the power control panel 10 is electrically connected with a main controller 13, and the power on and off are controlled by the power control panel 10; specifically, a start button, an emergency stop button and a power switch are arranged on the power control panel 10, power on and power off are controlled through the power switch, the robot is controlled to start through the start button, and power off is controlled through pressing the emergency stop button in an emergency; it should be noted that, the power control panel 10 may refer to a control panel of a numerical control machine;

in a preferred embodiment, a battery 12 is fixedly mounted at the bottom of the upright frame 4, the main controller 13 is electrically connected with the battery 12, and the battery 12 is used for supplying power to the whole machine.

The working principle of the embodiment is as follows: when the robot is used for carrying medical materials, the robot identifies the medical materials to be transported by using the order identification mechanism 7, after the order identification mechanism 7 detects and positions the medical materials, the main controller 13 controls the lifting mechanism 9 to start, the lifting mechanism 9 drives the transverse support 8 to lift on the vertical frame 4 along the vertical direction so as to adjust the height of the grabbing mechanism 5, the main controller 13 controls the transverse moving mechanism 6 to start, the transverse moving mechanism 6 drives the grabbing mechanism 5 to move forwards and backwards on the transverse support 8 along the horizontal direction, the grabbing mechanism 5 is close to or far away from the vertical frame 4 so that the grabbing mechanism 5 is close to the medical materials, the main controller 13 controls the grabbing mechanism 5 to open so as to grab the medical materials, the main controller 13 controls the grabbing mechanism 5 to close so as to clamp the medical materials, then the lifting mechanism 9 and the transverse moving mechanism 6 are used for driving the grabbing mechanism 5 to move, and the grabbing mechanism 5 finally places the grabbed medical materials in the carrying tray 3 below the grabbing mechanism, if the grabbing mechanism 5 grabs small medical materials such as medical medicines and medicaments, the medical materials are placed in the grooves of the carrying tray 3, and if the grabbing mechanism 5 grabs large medical materials such as sickbeds, the medical materials are directly placed on the carrying tray 3, and the carrying tray 3 bears the medical materials; after medical supplies are successfully acquired, the main controller 13 controls the chassis moving mechanism 1 to be started, the chassis moving mechanism 1 advances according to a path, and in the advancing process, the distance measurement, obstacle avoidance and line patrol are performed through the sensor assembly 2, so that the robot can be guaranteed to smoothly convey the medical supplies along a set conveying path. The robot automatically identifies tasks by using the order identification mechanism 7, controls the grabbing mechanism 5 to lift in the vertical direction by using the lifting mechanism 9, the transverse moving mechanism 6 controls the grabbing mechanism 5 to move back in the horizontal direction, the grabbing mechanism 5 is opened and closed to grab medical materials, the carrying tray 3 can be used for containing various small medical materials and bearing large medical materials, the chassis moving mechanism 1 moves, in the moving process, the sensor assembly 2 carries out distance measurement, obstacle avoidance and line patrol to finish the corresponding medical material transportation, this robot can the automatic identification task, snatchs automatically, transports and uninstalls medical supplies, and whole process need not to rely on the manual work to put goods or get goods, utilizes to carry thing tray 3 and bears medical supplies, can not only be applicable to transporting of smallclothes such as medical medicine medicament, can also be applicable to the transport of major possession such as sick bed, and the conveying efficiency is high.

Example 2

The present embodiment further illustrates the technology, as shown in fig. 1 to 3, the lifting mechanism 9 includes a lifting motor 9.1, a driving sprocket 9.2, a driven sprocket 9.3 and a guiding rod 9.6; the lifting motor 9.1 is fixedly arranged at the bottom of the vertical frame 4, the driving chain wheel 9.2 is rotatably arranged at the lower part of the vertical frame 4 through a bearing, the driven chain wheel 9.3 is rotatably arranged at the upper part of the vertical frame 4 through a bearing, the driving chain wheel 9.2 is in transmission connection with a rotating shaft of the lifting motor 9.1, the driven chain wheel 9.3 is in transmission connection with the driving chain wheel 9.2 through a chain, and the transverse bracket 8 is fixedly connected with the chain; the top end of the guide rod 9.6 is fixedly connected with the top end of the vertical frame 4, the bottom end of the guide rod is fixedly connected with the bottom end of the vertical frame 4, the transverse support 8 is arranged on the guide rod 9.6 in a sliding mode, and the guide rod 9.6 is used for guiding the transverse support 8 to move in the vertical direction; the lifting motor 9.1 drives the driving chain wheel 9.2 to rotate, the driving chain wheel 9.2 drives the driven chain wheel 9.3 to rotate through a chain, the transverse support 8 is lifted on the vertical frame 4 along with the chain in the vertical direction, and the guide rod 9.6 can improve the stability of the lifting movement of the transverse support 8;

as a preferred embodiment, in this embodiment, the upright frame 4 includes a bottom frame and two upright frames, the two upright frames are arranged in parallel at intervals, the bottom ends of the two upright frames are both fixedly connected with the bottom frame, the driving sprocket 9.2 and the driven sprocket 9.3 are both mounted on one of the upright frames, the driving sprocket 9.2 and the driven sprocket 9.3 are located between the two upright frames, and the transverse support 8 is arranged between the two upright frames;

in a preferred embodiment, in the present embodiment, the guide rod 9.6 is provided with a bushing 15, the bushing 15 can move on the guide rod 9.6 in a vertical direction, and the bushing 15 is fixedly connected with the transverse bracket 8; the shaft sleeve 15 moves on the guide rod 9.6 along the vertical direction, so that the stability of the lifting movement of the transverse bracket 8 can be improved;

as a preferred embodiment, in the present embodiment, two guide rods 9.6 are provided; the top end of one of the guide rods 9.6 is fixedly connected with the top end of one of the vertical frames, and the bottom end of the guide rod is fixedly connected with the bottom end of the vertical frame; the top end of the other guide rod 9.6 is fixedly connected with the top end of the other vertical frame, and the bottom end of the other guide rod is fixedly connected with the bottom end of the vertical frame; each guide rod 9.6 is provided with a shaft sleeve 15, and the two shaft sleeves 15 are fixedly connected with the transverse bracket 8; the stability of the lifting movement of the transverse bracket 8 can be improved and the bearing capacity of the transverse bracket 8 can be improved by the guide of the two guide rods 9.6;

in a preferred embodiment, in this embodiment, the lifting mechanism 9 further includes a rail block 9.4 and a linear rail 9.5; the linear guide rail 9.5 is fixedly arranged on one of the vertical frames, the linear guide rail 9.5 and the driving chain wheel 9.2 are not positioned on the same vertical frame, and the linear guide rail 9.5 is positioned between the two vertical frames; the guide rail sliding block 9.4 is arranged on the linear guide rail 9.5 in a sliding manner, the transverse bracket 8 is fixedly connected with the guide rail sliding block 9.4, and the linear guide rail 9.5 is utilized to guide the transverse bracket 8 to ascend and descend, so that the stability of the ascending and descending movement of the transverse bracket 8 can be improved, and the bearing structural strength of the transverse bracket 8 can be improved;

in a preferred embodiment, in the present embodiment, the bottom frame and the vertical frame of the vertical frame 4 are both made of a plurality of U-shaped profiles, when the bottom frame or the vertical frame is made of U-shaped profiles, the bottom frame or the vertical frame can be welded and fixed or connected by bolts, and the top ends of the two vertical frames are fixedly connected by the plate-shaped profiles, so as to improve the structural stability; the transverse bracket 8 is made of a plurality of U-shaped profiles and a plurality of plate-shaped profiles;

in the preferred embodiment, the driving sprocket 9.2 is in transmission connection with the rotating shaft of the lifting motor 9.1 through a second multi-stage gear set 11; it should be noted that, in the embodiment, the lifting mechanism 9 may adopt a transmission mode of a belt pulley and a belt, or a transmission mode of a synchronous pulley and a synchronous belt, in addition to a transmission mode of a sprocket and a chain;

as a preferable implementation manner, in this embodiment, the U-shaped profile and the plate-shaped profile are both provided with a plurality of through holes, so as to facilitate the insertion of bolts and the connection of bolts.

Example 3

In this embodiment, as shown in fig. 1 to 5, the traversing mechanism 6 includes a moving rack 6.1, a second servo steering engine 6.2, a rack slider 6.3, a fixed rack 6.4 and a traversing gear 6.5; a fixed rack 6.4 is fixedly arranged on the transverse support 8, a movable rack 6.1 is fixedly arranged on the grabbing mechanism 5, the top end of a rack sliding block 6.3 is connected with the fixed rack 6.4 in a sliding manner, the bottom end of the rack sliding block is connected with the movable rack 6.1 in a sliding manner, a transverse gear 6.5 is rotatably arranged on the rack sliding block 6.3 through a bearing, the transverse gear 6.5 is meshed with the fixed rack 6.4 and the movable rack 6.1, a second servo steering engine 6.2 is fixedly arranged on the rack sliding block 6.3, and the transverse gear 6.5 is in transmission connection with a rotating shaft of the second servo steering engine 6.2; the transverse gear 6.5 is driven to rotate by the second servo steering engine 6.2, the transverse gear 6.5 rotates to drive the rack slider 6.3 to move back and forth on the fixed rack 6.4 along the horizontal direction, the transverse gear 6.5 drives the movable rack 6.1 to move in the horizontal direction, so that the grabbing mechanism 5 is driven to move in the horizontal direction by the movable rack 6.1, and the grabbing mechanism 5 is close to or far away from the vertical frame 4;

as a preferred embodiment, in the present embodiment, the rack slider 6.3 includes a first rack slider 6.3.1, a second rack slider 6.3.2, and a connecting plate 6.3.3; the bottom of the first rack slider 6.3.1 is provided with a sliding groove, the first rack slider 6.3.1 is connected with the movable rack 6.1 in a sliding way through the sliding groove, the top of the second rack slider 6.3.2 is provided with a sliding groove, the second rack slider 6.3.2 is connected with the fixed rack 6.4 in a sliding way through the sliding groove, the first rack slider 6.3.1 and the second rack slider 6.3.2 are both provided with a vertically through clamping groove, one side of the first rack slider 6.3.1 is fixedly connected with one side of the second rack slider 6.3.2 through a connecting plate 6.3.3, the other side of the first rack slider 6.3.1 is fixedly connected with the other side of the second rack slider 6.3.2 through another connecting plate 6.3.3, the transverse gear 6.5 is arranged between the clamping groove of the first rack slider 6.3.1 and the clamping groove of the second rack slider 6.3.2, one end of the transverse gear 6.5 is rotatably connected with one connecting plate 6.3.3, and the other end of the transverse gear is rotatably connected with the other connecting plate through a bearing 6.5, the top of the transverse gear 6.5 penetrates through the clamping groove of the second rack sliding block 6.3.2 to be meshed with the fixed rack 6.4, and the bottom of the transverse gear penetrates through the clamping groove of the first rack sliding block 6.3.1 to be meshed with the movable rack 6.1;

as a preferable embodiment, in this embodiment, two traverse gears 6.5 are provided, two through slots are respectively formed on the first rack slider 6.3.1 and the second rack slider 6.3.2, the two traverse gears 6.5 are rotatably installed between the first rack slider 6.3.1 and the second rack slider 6.3.2, the tops of the two traverse gears 6.5 penetrate through the slots of the second rack slider 6.3.2 to be meshed with the fixed rack 6.4, and the bottoms of the two traverse gears 6.5 penetrate through the slots of the first rack slider 6.3.1 to be meshed with the movable rack 6.1; the structure can improve the moving stability of the rack sliding block 6.3 and improve the bearing capacity of the transverse moving mechanism 6;

as a preferable implementation manner, in this embodiment, the traverse mechanism 6 further includes a first multi-stage gear set 6.6, and the traverse gear 6.5 is in transmission connection with a rotating shaft of the second servo steering engine 6.2 through the first multi-stage gear set 6.6;

in the present embodiment, in addition to controlling the gripping mechanism 5 to move back and forth in the horizontal direction by the gear and rack transmission method, the traverse mechanism 6 may control the gripping mechanism 5 to move back and forth in the horizontal direction by a telescopic cylinder, a hydraulic cylinder, an electric telescopic rod, or the like.

Example 4

In this embodiment, as shown in fig. 1 to 6, the gripping mechanism 5 includes a gripper support 5.1, a right gripper 5.2, a left gripper 5.3, a gripper gear 5.4, a gripper rack 5.5, and a first servo motor 5.6; the gripper support 5.1 is fixedly connected with the moving rack 6.1, two gripper racks 5.5 are arranged, the two gripper racks 5.5 are arranged on the gripper support 5.1 in a sliding mode, the two gripper racks 5.5 can move in the horizontal direction, one of the two gripper racks 5.5 is arranged above the other one, one end of one gripper rack 5.5 is fixedly connected with the right gripper 5.2, one end of the other gripper rack 5.5 is fixedly connected with the left gripper 5.3, the first servo motor 5.6 is fixedly arranged on the gripper support 5.1, the gripper gear 5.4 is fixedly arranged on a rotating shaft of the first servo motor 5.6, the gripper gear 5.4 is located between the two gripper racks 5.5, the top of the gripper gear 5.4 is meshed with one gripper rack 5.5, and the bottom of the gripper gear 5.5 is meshed with the other gripper rack; the gripper gear 5.4 is driven to rotate by the first servo motor 5.6, the gripper gear 5.4 drives the two gripper racks 5.5 to move on the gripper bracket 5.1 along the horizontal direction when rotating, so that the right gripper 5.2 and the left gripper 5.3 are controlled to move close to each other or move away from each other in the horizontal direction, the right gripper 5.2 and the left gripper 5.3 can grip medical materials when moving close to each other, and the medical materials can be unloaded when moving away from each other; the gripper mechanism 5 can refer to a gripping mechanism for a robot automatic feeding system proposed by the patent with the publication number CN212863094U or a tight mechanical part gripping mechanism proposed by the patent with the publication number CN110774303A, and drives the gripper to open and close in a manner of matching a gear and a rack;

as a preferred embodiment, in this embodiment, a clamping groove is formed in the gripper bracket 5.1, i-shaped sliding grooves are formed in the top and the bottom of the clamping groove, two gripper racks 5.5 each include a T-shaped clamping portion, the T-shaped clamping portion of one gripper rack 5.5 is in sliding fit with the i-shaped sliding groove at the top of the clamping groove in the gripper bracket 5.1, the T-shaped clamping portion of the other gripper rack 5.5 is in sliding fit with the i-shaped sliding groove at the bottom of the clamping groove in the gripper bracket 5.1, and the gripper gear 5.4 is arranged in the clamping groove of the gripper bracket 5.1 and is located between the two gripper racks 5.5; the structure can improve the opening and closing stability of the right hand grip 5.2 and the left hand grip 5.3, and ensure the bearing capacity of the gripping mechanism 5;

it should be noted that in the present embodiment, in addition to using the transmission manner of the gear and the rack to control the right hand grip 5.2 and the left hand grip 5.3 to move close to or away from each other in the horizontal direction, the gripping mechanism 5 may also use a telescopic cylinder, a hydraulic cylinder, or an electric telescopic rod to control the right hand grip 5.2 and the left hand grip 5.3 to move close to or away from each other in the horizontal direction.

Example 5

In this embodiment, as shown in fig. 1 to 4, the order recognition mechanism 7 includes a camera 7.1 and a third servo steering engine 7.2, the third servo steering engine 7.2 is fixedly mounted on the transverse support 8, a steering engine rudder disk is fixedly mounted on a rotating shaft of the third servo steering engine 7.2, the steering engine rudder disk is connected with the camera 7.1 through a connecting plate, the third servo steering engine 7.2 is used for driving the camera 7.1 to rotate, the camera 7.1 is used for recognizing medical materials on an order, and the camera 7.1 can rotate and can be used for recognizing order information at various angles and searching medical materials at multiple angles; it should be noted here that the camera 7.1 can be referred to as an order recognition camera in an article sorting system proposed by the patent with publication number CN 111672774B;

as a preferred embodiment, in this embodiment, the camera 7.1 is electrically connected to an input end of the main controller 13, the third servo steering engine 7.2 is electrically connected to an output end of the main controller 13, the camera 7.1 acquires signals and transmits the signals to the main controller 13, the main controller 13 processes the signals acquired by the camera 7.1, and the camera 7.1 is controlled by the third servo steering engine 7.2 to rotate so as to adjust the viewing direction of the camera 7.1 until the camera 7.1 acquires correct order information or finds a target medical material, and then the main controller 13 controls the taking, transportation and unloading of goods.

Example 6

The present embodiment further illustrates the technology, and as shown in fig. 1, fig. 7 and fig. 8, the chassis moving mechanism 1 includes a chassis frame 1.1, a traveling wheel 1.2 and a traveling motor 1.3; a plurality of travelling wheels 1.2 are arranged on the chassis frame 1.1, each travelling wheel 1.2 is provided with a travelling motor 1.3, each travelling motor 1.3 is fixedly arranged on the chassis frame 1.1, and a wheel shaft of each travelling wheel 1.2 is in transmission connection with a rotating shaft of each travelling motor 1.3; each walking motor 1.3 is used for respectively controlling each walking wheel 1.2 to rotate so as to realize the movement of the chassis moving mechanism 1;

in the embodiment, as a preferable implementation manner, the wheel shaft of the traveling wheel 1.2 is in transmission connection with the rotating shaft of the traveling motor 1.3 through the third multi-stage gear set 16, and differential motion is performed by using multi-stage gear transmission, so that the running speed of the robot is effectively increased.

Example 7

In this embodiment, as shown in fig. 1, fig. 7 and fig. 8, the chassis frame 1.1 is a triangular structure, three traveling wheels 1.2 are provided, the three traveling wheels 1.2 are respectively and correspondingly installed in the middle of three sides of the chassis frame 1.1, and the traveling wheels 1.2 are omni-directional wheels; the triangular chassis moving mechanism 1 can save the whole space of the robot, the chassis frame 1.1 is provided with three omnidirectional wheels to ensure that the robot has strong moving flexibility, and three traveling motors 1.3 respectively control the three omnidirectional wheels to act, so that the robot can flexibly move in multiple directions such as advancing and retreating, horizontal translation, horizontal rotation and the like on the ground;

as a preferred embodiment, in this embodiment, a motor controller 14 is fixedly installed at the bottom of the upright frame 4, each walking motor 1.3 is electrically connected with the motor controller 14, the motor controller 14 is electrically connected with the main controller 13, and the motor controller 14 controls each walking motor 1.3 to cooperate to control the robot to walk; specifically, the motor controller 14 is a four-way motor controller;

as a preferred embodiment, in this embodiment, the chassis frame 1.1 is made of U-shaped profile and plate-shaped profile, and can be welded, fixed or bolted;

as a preferable implementation manner, in this embodiment, the U-shaped profile and the plate-shaped profile are both provided with a plurality of through holes, so as to facilitate the insertion of bolts and the connection of bolts.

Example 8

In this embodiment, as shown in fig. 1, fig. 7 and fig. 8, a fourth servo steering engine 17 is fixedly mounted on the chassis frame 1.1, the loading tray 3 is mounted on a rotating shaft of the fourth servo steering engine 17, and the fourth servo steering engine 17 is used for controlling the rotation of the loading tray 3; when the robot acts, the grabbing mechanism 5 can lift in the vertical direction and advance and retreat in the horizontal direction, the fourth servo steering engine 17 controls the carrying tray 3 to rotate, so that medical materials on the carrying tray 3 can rotate to the position below the grabbing mechanism 5, the grabbing mechanism 5 is convenient to grab, or the grabbing mechanism 5 is convenient to place the medical materials on the carrying tray 3;

as a preferred embodiment, in this embodiment, the carrying tray 3 includes a tray frame and sub-trays, the tray frame is provided with a plurality of sub-trays, the plurality of sub-trays can accommodate a plurality of medical supplies, so as to improve the transportation efficiency, each sub-tray is in a box shape with an open top, and the peripheral side walls of the sub-trays are provided with openings, so that the sub-trays can be conveniently gripped by the grippers to grip the medical supplies in the sub-trays;

in the present embodiment, when the robot uses the carrying tray 3 to contain and transport small medical materials such as medical drugs and medicaments, the small medical materials can be directly placed in the sub-tray; if the robot is used for carrying large medical materials such as sickbeds and the like, the large medical materials can be placed on the carrying tray 3, and the plurality of sub-trays are used for carrying the large medical materials; the gravity center of the carrying tray 3 is superposed with the gravity center of the chassis frame 1.1, so that the unstable gravity when the carrying tray 3 is used for conveying medical materials is avoided.

Example 9

The present embodiment further illustrates the technology, and as shown in fig. 1, fig. 7 and fig. 8, the sensor assembly 2 includes an ultrasonic sensor 2.1, an infrared sensor 2.2 and a line patrol sensor 2.3; the line patrol sensor 2.3 is fixedly arranged on the chassis frame 1.1, the line patrol sensor 2.3 is electrically connected with the input end of the main controller 13, and the line patrol sensor 2.3 is used for line patrol; a plurality of ultrasonic sensors 2.1 are arranged, the plurality of ultrasonic sensors 2.1 are fixedly arranged on the chassis frame 1.1, each ultrasonic sensor 2.1 is electrically connected with the input end of the main controller 13, and the ultrasonic sensors 2.1 are used for measuring distance; a plurality of line patrol sensors 2.3 are arranged, a plurality of infrared sensors 2.2 are fixedly arranged on the chassis frame 1.1, each infrared sensor 2.2 is electrically connected with the input end of the main controller 13, and the infrared sensors 2.2 are used for measuring distance;

as a preferred embodiment, in this embodiment, as shown in fig. 7, the line patrol sensor 2.3 is fixedly installed at a front side corner of the chassis frame 1.1 with a triangular structure, an infrared sensor 2.2 is fixedly installed above the line patrol sensor 2.3, and the infrared sensor 2.2 cooperates with the line patrol sensor 2.3 to measure distance and patrol line, so as to ensure that the robot travels along a correct path; an ultrasonic sensor 2.1 and an infrared sensor 2.2 are fixedly installed on a chassis frame 1.1 on the left side of the line patrol sensor 2.3, an ultrasonic sensor 2.1 and an infrared sensor 2.2 are fixedly installed on a chassis frame 1.1 on the right side of the line patrol sensor 2.3, and the two groups of ultrasonic sensors 2.1 and the two groups of infrared sensors 2.2 can measure distance from the left side and the right side, so that the posture of the robot can be corrected in time in the advancing process, and the robot is ensured to advance in a correct path.

Claims (9)

1. The utility model provides a medical supplies transfer robot, includes chassis moving mechanism (1), erects frame (4) and elevating system (9), its characterized in that: the bottom end of the vertical frame (4) is fixedly arranged on the chassis moving mechanism (1), the lifting mechanism (9) is arranged on the vertical frame (4), the transverse support (8) is arranged on the lifting mechanism (9), and the lifting mechanism (9) is used for driving the transverse support (8) to lift on the vertical frame (4) along the vertical direction;

the transverse support (8) is provided with a transverse moving mechanism (6), the transverse moving mechanism (6) is provided with a grabbing mechanism (5), and the transverse moving mechanism (6) is used for driving the grabbing mechanism (5) to move forwards and backwards on the transverse support (8) along the horizontal direction; an order identification mechanism (7) is installed on the transverse support (8), the order identification mechanism (7) is used for identifying medical materials on an order, and the grabbing mechanism (5) is used for grabbing the medical materials;

the chassis moving mechanism (1) is provided with a carrying tray (3), the carrying tray (3) is positioned below the transverse moving mechanism (6), and the carrying tray (3) is used for carrying medical materials;

a sensor assembly (2) is arranged on the chassis moving mechanism (1), and the sensor assembly (2) is used for distance measurement, obstacle avoidance and line patrol;

the automatic order taking device is characterized by further comprising a main controller (13), the order recognition mechanism (7) and the sensor assembly (2) are electrically connected with the input end of the main controller (13), the chassis moving mechanism (1), the lifting mechanism (9), the transverse moving mechanism (6) and the grabbing mechanism (5) are electrically connected with the output end of the main controller (13), the main controller (13) is used for receiving and processing data information collected by the order recognition mechanism (7) and the sensor assembly (2), and outputting control instructions to control the chassis moving mechanism (1), the lifting mechanism (9), the transverse moving mechanism (6) and the grabbing mechanism (5) to act.

2. The medical material handling robot according to claim 1, wherein: the lifting mechanism (9) comprises a lifting motor (9.1), a driving chain wheel (9.2), a driven chain wheel (9.3) and a guide rod (9.6); the lifting motor (9.1) is fixedly arranged at the bottom of the vertical frame (4), the driving chain wheel (9.2) is rotatably arranged at the lower part of the vertical frame (4) through a bearing, the driven chain wheel (9.3) is rotatably arranged at the upper part of the vertical frame (4) through a bearing, the driving chain wheel (9.2) is in transmission connection with a rotating shaft of the lifting motor (9.1), the driven chain wheel (9.3) is in transmission connection with the driving chain wheel (9.2) through a chain, and the transverse support (8) is fixedly connected with the chain; the top of guide bar (9.6) and the top fixed connection who erects frame (4), its bottom and the bottom fixed connection who erects frame (4), horizontal support (8) slide and set up on guide bar (9.6), and guide bar (9.6) are used for guiding horizontal support (8) to remove along vertical direction.

3. The medical material handling robot according to claim 1, wherein: the transverse moving mechanism (6) comprises a moving rack (6.1), a second servo steering engine (6.2), a rack sliding block (6.3), a fixed rack (6.4) and a transverse moving gear (6.5); the fixed rack (6.4) is fixedly arranged on the transverse support (8), the movable rack (6.1) is fixedly arranged on the grabbing mechanism (5), the top end of the rack sliding block (6.3) is connected with the fixed rack (6.4) in a sliding mode, the bottom end of the rack sliding block is connected with the movable rack (6.1) in a sliding mode, the transverse gear (6.5) is rotatably arranged on the rack sliding block (6.3) through a bearing, the transverse gear (6.5) is meshed with the fixed rack (6.4) and the movable rack (6.1), the second servo steering engine (6.2) is fixedly arranged on the rack sliding block (6.3), and the transverse gear (6.5) is in transmission connection with a rotating shaft of the second servo steering engine (6.2).

4. The medical material handling robot according to claim 3, wherein: the grabbing mechanism (5) comprises a grabbing hand support (5.1), a right grabbing hand (5.2), a left grabbing hand (5.3), a grabbing hand gear (5.4), a grabbing hand rack (5.5) and a first servo motor (5.6); the gripper support (5.1) is fixedly connected with the moving rack (6.1), the two gripper racks (5.5) are arranged on the gripper support (5.1) in a sliding mode, the two gripper racks (5.5) can move in the horizontal direction, one end of one gripper rack (5.5) is fixedly connected with the right gripper (5.2), one end of the other gripper rack (5.5) is fixedly connected with the left gripper (5.3), the first servo motor (5.6) is fixedly arranged on the gripper support (5.1), the gripper gear (5.4) is fixedly arranged on a rotating shaft of the first servo motor (5.6), the gripper gear (5.4) is located between the two gripper racks (5.5), the top of the gripper gear (5.4) is meshed with one gripper rack (5.5), and the bottom of the gripper gear is meshed with the other gripper rack (5.5).

5. The medical material handling robot according to claim 1, wherein: order recognition mechanism (7) include camera (7.1) and third servo steering wheel (7.2), third servo steering wheel (7.2) fixed mounting is on horizontal support (8), and fixed mounting has the steering wheel dish in the pivot of third servo steering wheel (7.2), and it is continuous through the connecting plate between steering wheel dish and camera (7.1), and third servo steering wheel (7.2) are used for driving camera (7.1) to rotate, and camera (7.1) are used for discerning the medical supplies on the order.

6. The medical material handling robot according to claim 1, wherein: the chassis moving mechanism (1) comprises a chassis frame (1.1), a traveling wheel (1.2) and a traveling motor (1.3); a plurality of walking wheels (1.2) are installed on a chassis frame (1.1), each walking wheel (1.2) is provided with a walking motor (1.3), each walking motor (1.3) is fixedly installed on the chassis frame (1.1), and a wheel shaft of each walking wheel (1.2) is in transmission connection with a rotating shaft of each walking motor (1.3).

7. The medical material handling robot according to claim 6, wherein: the chassis frame (1.1) is a triangular structure, the number of the walking wheels (1.2) is three, the three walking wheels (1.2) are respectively and correspondingly arranged in the middle of three edges of the chassis frame (1.1), and the walking wheels (1.2) are all-directional wheels.

8. The medical material handling robot according to claim 6, wherein: a fourth servo steering engine (17) is fixedly mounted on the chassis frame (1.1), the loading tray (3) is mounted on a rotating shaft of the fourth servo steering engine (17), and the fourth servo steering engine (17) is used for controlling the rotation of the loading tray (3).

9. The medical material handling robot according to claim 6, wherein: the sensor assembly (2) comprises an ultrasonic sensor (2.1), an infrared sensor (2.2) and a line patrol sensor (2.3); the line patrol sensor (2.3) is fixedly arranged on the chassis frame (1.1), the line patrol sensor (2.3) is electrically connected with the input end of the main controller (13), and the line patrol sensor (2.3) is used for line patrol; a plurality of ultrasonic sensors (2.1) are arranged, the plurality of ultrasonic sensors (2.1) are fixedly arranged on the chassis frame (1.1), each ultrasonic sensor (2.1) is electrically connected with the input end of the main controller (13), and the ultrasonic sensors (2.1) are used for measuring distance; patrol line sensor (2.3) and be provided with a plurality ofly, a plurality of infrared ray sensor (2.2) equal fixed mounting on chassis frame (1.1), every infrared ray sensor (2.2) all is connected with the input electricity of main control unit (13), and infrared ray sensor (2.2) are used for the range finding.

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