CN207087892U - Automatic medicine delivery cart - Google Patents
Automatic medicine delivery cart Download PDFInfo
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- CN207087892U CN207087892U CN201720578467.3U CN201720578467U CN207087892U CN 207087892 U CN207087892 U CN 207087892U CN 201720578467 U CN201720578467 U CN 201720578467U CN 207087892 U CN207087892 U CN 207087892U
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- prescription
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Abstract
The utility model discloses a kind of automatic medicine delivery cart.Multi-freedom robot is often only applied to large-size intelligentized factory, the drug delivery robot without fetching and delivering the design of dose body for hospital.The utility model includes walking mechanism, elevating mechanism and mechanism of making up the prescription.Walking mechanism includes bottom plate, encoder, infrared photoelectric sensor, direct current generator, wheel and support shaft.Elevating mechanism includes photoelectric sensor, fixed plate and lead screw guide rails slide unit.Lead screw guide rails slide unit includes movable block, slide unit support, motor and leading screw.Mechanical arm of making up the prescription includes rotate steering wheel, support of making up the prescription, joint and clamper.Clamper includes holding frame, clamping steering wheel and monodactyle.Joint is made up of driving steering wheel and rotating turret；The output shaft of driving steering wheel is fixed with rotating turret.The utility model can transport common medicine for patient automatically.Reduce the operating pressure of medical personnel.
Description
Technical field
The utility model belongs to automatic drug delivery technical field, and in particular to a kind of automatic medicine delivery cart.
Background technology
The all kinds robot that modern high end science and technology is developed, obtains wide application in many multiple fields.With
The high speed development of computer technology and artificial intelligence, effect of the robot in every field is more and more important.With machine
For people using more and more extensive, the robot of intelligent control is faced with huge challenge, and robot has increasing need for having stronger
Autokinetic movement ability and adaptive capacity to environment.And present robot motion is single, have for intellectuality very big
Limitation；Multi-freedom robot integrates the features such as flexibility, accuracy, stability.
At home, multi-freedom robot is often only applied to large-size intelligentized factory, without fetching and delivering medicine for hospital
Measure the drug delivery robot of body design.In order to tackle the operating pressure that hospital increasingly increases, design one kind can be conveying patient automatically
The explosive-feeding processing device of medicine is particularly significant.
The content of the invention
The purpose of this utility model is in view of the shortcomings of the prior art, there is provided a kind of automatic medicine delivery cart.
The utility model includes walking mechanism, elevating mechanism and mechanism of making up the prescription.Described walking mechanism include bottom plate (1),
Encoder (2), infrared photoelectric sensor (3), direct current generator (4), wheel (5) and support shaft (7).Four direct current generators (4) two
Two 1 groups of centerings are fixed on the both sides of bottom plate (1).Four direct current generators (4) are fixed respectively with four encoders (2).The coding
The both ends of device (2) input shaft are fixed respectively with the output shaft of corresponding direct current generator (4) and wheel (5).The bottom of h roots support shaft (7)
End is fixed with bottom plate (1), 3≤h≤8.Two described infrared photoelectric sensor (3) centerings are fixed on the front end of bottom plate (1).
The spacing of two infrared photoelectric sensors (3) is 25~40mm.
Described elevating mechanism includes photoelectric sensor (8), fixed plate (9) and lead screw guide rails slide unit.Described fixed plate
(9) top with h roots support shaft (7) is fixed.Three photoelectric sensors (8) are separately fixed at the front end and two of fixed plate (9)
Side.Described lead screw guide rails slide unit includes movable block (10), slide unit support (11), motor (12) and leading screw (14).It is described
Slide unit support (11) be fixed in fixed plate (9).Described leading screw (14) is supported on slide unit support (11) by bearing.
Described motor (12) is fixed with slide unit support (11)；One end of the output shaft of motor (12) and leading screw (14) is consolidated
It is fixed.Leading screw (14) and the nut being fixed on movable block (10) form screw pair.Movable block (10) is formed with slide unit support (11)
Sliding pair.
Described mechanism of making up the prescription includes make up the prescription mechanical arm, camera (15), hoistable platform (16), medicinal box (17), support
Bar (26) and slideway (27).Described hoistable platform (16) and the movable block (10) in elevating mechanism are fixed.Described camera
(15) front end of hoistable platform (16) is fixed on, and backwards to lead screw guide rails slide unit.The rear end of hoistable platform (16) is fixed with drug storage
Box (17).Described support bar (26) bottom is fixed on the side of hoistable platform (16) top surface, top and the entrance of slideway (27)
End is fixed；The top edge of the port of export of slideway (27) and medicinal box (17) is fixed.
Described mechanical arm of making up the prescription includes rotate steering wheel (19), support of making up the prescription (20), joint and clamper.Described clamping
Device includes holding frame (22), clamping steering wheel (23) and monodactyle (24).Described clamping steering wheel (23) is fixed on holding frame (22)
On.Two described monodactyle (24) centerings are arranged on holding frame (22), and form revolute pair with holding frame (22).It is solid respectively
The two partial gears engagement being scheduled on two monodactyles (24).The output shaft of clamping steering wheel (23) is consolidated with a partial gear
It is fixed.Described joint is made up of driving steering wheel (21) and rotating turret (25)；The output shaft and rotating turret of the driving steering wheel (21)
(25) it is fixed.F joint is arranged in order connection, 2≤f≤8, the rotating turret (25) in upper level joint and the driving in next stage joint
Steering wheel (21) is fixed.The driving steering wheel (21) in head end joint and support (20) of making up the prescription are fixed.Make up the prescription support (20) and rotate steering wheel
(19) output shaft is fixed；Rotate steering wheel (19) is fixed on hoistable platform (16) front end, and positioned at the dorsal part of camera (15).
The rotating turret (25) in end joint is fixed with holding frame (22).F driving steering wheel (21) output shaft diameter parallel.Described rotation
The output shaft axis of steering wheel (19) and clamping steering wheel (23) is vertical with driving steering wheel (21) output shaft axis.
Weighing sensor is fixed with described medicinal box (17), is provided with weighing sensor and puts medicine plate.
Pressure sensor is provided with the inside of described two monodactyles (24).
The utility model also includes controller and wireless module.Described controller is using model arduino2560's
Micro-control making sheet.Controller is connected by wireless module with host computer.Described encoder (2), infrared photoelectric sensor (3), light
Electric transducer (8), pressure sensor and weighing sensor are connected with controller.
Described infrared photoelectric sensor (3) uses model TCRT5000 infrared photoelectric sensor.
Described encoder (2) uses absolute value rotary encoder.
Described photoelectric sensor (8) uses model E3F-DS10C4 optoelectronic switch.
The utility model has an advantageous effect in that：
1st, mechanical arm of the present utility model of making up the prescription uses multi freedom design, can flexibly capture medicine.
2nd, the utility model can transport common medicine for patient automatically.Reduce the operating pressure of medical personnel.
3rd, the utility model is simple in construction, and motion is reliable and stable, and processing cost is relatively low, meets the standard of large-scale production.
4th, the utility model has elevating mechanism, can adapt to the medicine-chest of the different numbers of plies.
Brief description of the drawings
Fig. 1 is side view of the present utility model；
Fig. 2 is top view of the present utility model；
Fig. 3 is the schematic diagram of walking mechanism in the utility model；
Fig. 4 is the schematic diagram that the utility model removes mechanism of making up the prescription；
Fig. 5 is the schematic diagram of mechanical arm made up the prescription in the utility model.
Embodiment
Below in conjunction with accompanying drawing, the utility model is described in further detail.
As illustrated in fig. 1 and 2, automatic medicine delivery cart, including walking mechanism, elevating mechanism, mechanism of making up the prescription, controller and wireless mould
Block.Controller uses model arduino2560 micro-control making sheet.Controller is connected by wireless module with host computer.
As shown in Figure 1,2 and 3, walking mechanism includes bottom plate 1, encoder 2, infrared photoelectric sensor 3, direct current generator 4, car
Wheel 5, motor rack 6 and support shaft 7.Infrared photoelectric sensor 3 uses model TCRT5000 infrared photoelectric sensor.Coding
Device 2 uses absolute value rotary encoder.Four direct current generators 4 are fixed on the two of bottom plate 1 for one group by the centering of motor rack 6 two-by-two
Side.Four direct current generators 4 are fixed respectively with four encoders 2.The both ends of the input shaft of encoder 2 are defeated with corresponding direct current generator 4
Shaft and wheel 5 are fixed respectively.Encoder 2 is used for the turnning circle for feeding back direct current generator 4, so as to realize the essence to walking mechanism
Quasi- control.The bottom of four support shafts 7 is fixed with bottom plate 1.Before two centerings of infrared photoelectric sensor 3 are fixed on bottom plate 1
End.The spacing of two infrared photoelectric sensors 3 is 30mm.
As shown in Fig. 1,2 and 4, elevating mechanism includes photoelectric sensor 8, fixed plate 9 and lead screw guide rails slide unit.Photoelectric sensing
Device 8 uses model E3F-DS10C4 optoelectronic switch.The top of fixed plate 9 and four support shafts 7 is fixed.Three photoelectric sensings
Device 8 is separately fixed at the front end and both sides of fixed plate 9.Lead screw guide rails slide unit includes movable block 10, slide unit support 11, motor
12nd, shaft coupling 13 and leading screw 14.Slide unit support 11 is fixed in fixed plate 9.Leading screw 14 is supported on slide unit support 11 by bearing
On.Motor 12 is fixed with slide unit support 11；The output shaft of motor 12 is consolidated by one end of shaft coupling 13 and leading screw 14
It is fixed.Leading screw 14 and the nut being fixed on movable block (10) form screw pair.Movable block 10 forms sliding pair with slide unit support 11.
As shown in Fig. 1,2 and 5, mechanism of making up the prescription includes making up the prescription mechanical arm, camera 15, hoistable platform 16, medicinal box 17, solid
Determine frame 18, support bar 26 and slideway 27.Hoistable platform 16 is fixed with the movable block 10 in elevating mechanism.Camera 15 is fixed on liter
The front end of platform 16 drops, and backwards to lead screw guide rails slide unit.The rear end of hoistable platform 16 is fixed with medicinal box 17.Fixed mount 18 is fixed
In the front end of hoistable platform 16, and positioned at the dorsal part of camera 15.The bottom of support bar 26 is fixed on the side of the top surface of hoistable platform 16,
Top and the arrival end of slideway 27 are fixed；The top edge of the port of export of slideway 27 and medicinal box 17 is fixed.Slideway 27 is used to grab
The medicine taken slips into medicinal box 17.Weighing sensor is fixed with medicinal box 17, is provided with weighing sensor and puts medicine plate.Weigh
Sensor is used to detect the weight for putting medicine in medicine plate.
As shown in figure 5, mechanical arm of making up the prescription includes rotate steering wheel 19, make up the prescription support 20, joint and clamper.Clamper includes
Holding frame 22, clamping steering wheel 23 and monodactyle 24.Clamping steering wheel 23 is fixed on holding frame 22.Two centerings of monodactyle 24 are arranged on
On holding frame 22, and form revolute pair with holding frame 22.Two partial gears being separately fixed on two monodactyles 24 are nibbled
Close.The inner side of two monodactyles 24 is provided with pressure sensor.Whether pressure sensor catches medicine for detection mechanical arm of making up the prescription
Product.The output shaft of clamping steering wheel 23 is fixed with a partial gear.Joint is made up of driving steering wheel 21 and rotating turret 25；Drive
The output shaft of dynamic steering wheel 21 is fixed with rotating turret 25.Three joints are arranged in order connection, and the rotating turret 25 in upper level joint is with
The driving steering wheel 21 in one-level joint is fixed.The driving steering wheel 21 in head end joint is fixed with support 20 of making up the prescription.Support 20 make up the prescription with revolving
The output shaft of machine 19 of coming about is fixed, and rotate steering wheel 19 is fixed on fixed mount 18.The rotating turret 25 in end joint and holding frame 22
It is fixed.Three driving output shaft diameter parallels of steering wheel 21.Rotate steering wheel 19 and clamp steering wheel 23 output shaft axis with driving
The output shaft axis of steering wheel 21 is vertical.
The drug delivery method of the automatic medicine delivery cart, it is specific as follows：
Step 1: the traveling track that arrangement identifies for infrared photoelectric sensor 3.Traveling track in a ring, respectively by medicine
Cabinet and sick bed.The top surface of traveling track is higher 5mm than ground.
Step 2: walking mechanism stops at medicine-chest, the height that elevating mechanism rises to mechanism of making up the prescription where required medicine.
Step 3: mechanical arm crawl of making up the prescription is specified medicine and put to the entrance of slideway 27.Medicine slips into medicinal box 17.
Step 4: walking mechanism is advanced forward along traveling track.Forward in traveling process, two infrared photoelectric sensors
3 are located at the both sides of traveling track；If two infrared photoelectric sensors 3 can't detect traveling track, four direct current generators 4 etc.
Speed rotates.If one of infrared photoelectric sensor 3 detects traveling track, with the infrared photoelectric sensor 3 positioned at same
Two rotating speeds of direct current generator 4 of side are reduced, and walking mechanism is turned to the side.
In traveling process, if there is object positioned at the detection of photoelectric sensor 8 front of the front end of fixed plate 9, and camera 15 is not
Detect sick bed or medicine-chest.Then think barrier or pedestrian occur in front of walking mechanism, walking mechanism halts, and waits pedestrian
Or barrier disappears, and moves on.
Step 5: in traveling process, if camera 15 detects sick bed, halt, wait patient or medical personnel
Get it filled.
Step 6: the weighing sensor in medicinal box 17 detects that medicine is removed, then walking mechanism returns along traveling track
To medicine-chest position.
Claims (6)
1. automatic medicine delivery cart, including walking mechanism, elevating mechanism and mechanism of making up the prescription；It is characterized in that：Described walking mechanism bag
Include bottom plate (1), encoder (2), infrared photoelectric sensor (3), direct current generator (4), wheel (5) and support shaft (7)；Four direct currents
One group of centering is fixed on the both sides of bottom plate (1) to motor (4) two-by-two；Four direct current generators (4) are solid respectively with four encoders (2)
It is fixed；The both ends of encoder (2) input shaft are fixed respectively with the output shaft and wheel (5) of corresponding direct current generator (4)；H root branch
It is fixed with bottom plate (1) to support the bottom of axle (7), 3≤h≤8；Two described infrared photoelectric sensor (3) centerings are fixed on bottom
The front end of plate (1)；The spacing of two infrared photoelectric sensors (3) is 25~40mm；
Described elevating mechanism includes photoelectric sensor (8), fixed plate (9) and lead screw guide rails slide unit；Described fixed plate (9) with
The top of h roots support shaft (7) is fixed；Three photoelectric sensors (8) are separately fixed at the front end and both sides of fixed plate (9)；It is described
Lead screw guide rails slide unit include movable block (10), slide unit support (11), motor (12) and leading screw (14)；Described slide unit branch
Frame (11) is fixed in fixed plate (9)；Described leading screw (14) is supported on slide unit support (11) by bearing；Described driving
Motor (12) is fixed with slide unit support (11)；One end of the output shaft of motor (12) and leading screw (14) is fixed；Leading screw (14)
Screw pair is formed with the nut being fixed on movable block (10)；Movable block (10) forms sliding pair with slide unit support (11)；
Described mechanism of making up the prescription includes make up the prescription mechanical arm, camera (15), hoistable platform (16), medicinal box (17), support bar
And slideway (27) (26)；Described hoistable platform (16) and the movable block (10) in elevating mechanism are fixed；Described camera
(15) front end of hoistable platform (16) is fixed on, and backwards to lead screw guide rails slide unit；The rear end of hoistable platform (16) is fixed with drug storage
Box (17)；Described support bar (26) bottom is fixed on the side of hoistable platform (16) top surface, top and the entrance of slideway (27)
End is fixed；The top edge of the port of export of slideway (27) and medicinal box (17) is fixed；
Described mechanical arm of making up the prescription includes rotate steering wheel (19), support of making up the prescription (20), joint and clamper；Described clamper bag
Include holding frame (22), clamping steering wheel (23) and monodactyle (24)；Described clamping steering wheel (23) is fixed on holding frame (22)；It is described
Two monodactyle (24) centerings be arranged on holding frame (22), and with holding frame (22) form revolute pair；It is separately fixed at two
Two partial gears engagement on individual monodactyle (24)；The output shaft of clamping steering wheel (23) is fixed with a partial gear；Institute
The joint stated is made up of driving steering wheel (21) and rotating turret (25)；The output shaft of the driving steering wheel (21) and rotating turret (25) are solid
It is fixed；F joint is arranged in order connection, 2≤f≤8, the rotating turret (25) in upper level joint and the driving steering wheel in next stage joint
(21) it is fixed；The driving steering wheel (21) in head end joint and support (20) of making up the prescription are fixed；Make up the prescription support (20) and rotate steering wheel (19)
Output shaft fix；Rotate steering wheel (19) is fixed on hoistable platform (16) front end, and positioned at the dorsal part of camera (15)；Close end
The rotating turret (25) of section is fixed with holding frame (22)；F driving steering wheel (21) output shaft diameter parallel；Described rotate steering wheel
(19) and clamping steering wheel (23) output shaft axis with driving steering wheel (21) output shaft axis it is vertical.
2. automatic medicine delivery cart according to claim 1, it is characterised in that：Biography of weighing is fixed with described medicinal box (17)
Sensor, it is provided with weighing sensor and puts medicine plate.
3. automatic medicine delivery cart according to claim 2, it is characterised in that：It is provided with the inside of described two monodactyles (24)
Pressure sensor.
4. automatic medicine delivery cart according to claim 1, it is characterised in that：Described infrared photoelectric sensor (3) uses type
Number be TCRT5000 infrared photoelectric sensor.
5. automatic medicine delivery cart according to claim 1, it is characterised in that：Described encoder (2) is rotated using absolute value
Encoder.
6. automatic medicine delivery cart according to claim 1, it is characterised in that：Described photoelectric sensor (8) uses model
E3F-DS10C4 optoelectronic switch.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720578467.3U CN207087892U (en) | 2017-05-23 | 2017-05-23 | Automatic medicine delivery cart |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720578467.3U CN207087892U (en) | 2017-05-23 | 2017-05-23 | Automatic medicine delivery cart |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207087892U true CN207087892U (en) | 2018-03-13 |
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ID=61550706
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720578467.3U Active CN207087892U (en) | 2017-05-23 | 2017-05-23 | Automatic medicine delivery cart |
Country Status (1)
| Country | Link |
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| CN (1) | CN207087892U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106994693A (en) * | 2017-05-23 | 2017-08-01 | 杭州师范大学钱江学院 | Automatic medicine delivery cart and its drug delivery method |
| CN110101580A (en) * | 2019-04-30 | 2019-08-09 | 北京工业大学 | A kind of full-automatic drug delivery systems |
| CN110269767A (en) * | 2019-07-12 | 2019-09-24 | 百色市人民医院 | A kind of clinical treatment nursing for treating vehicle |
| CN110434862A (en) * | 2019-07-15 | 2019-11-12 | 大连大华中天科技有限公司 | A kind of compound nursing robot of arm Liftable type Omni-mobile |
| CN111716127A (en) * | 2020-07-02 | 2020-09-29 | 上海营创精密汽车模型技术有限公司 | Multi-degree-of-freedom clamp |
-
2017
- 2017-05-23 CN CN201720578467.3U patent/CN207087892U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106994693A (en) * | 2017-05-23 | 2017-08-01 | 杭州师范大学钱江学院 | Automatic medicine delivery cart and its drug delivery method |
| CN110101580A (en) * | 2019-04-30 | 2019-08-09 | 北京工业大学 | A kind of full-automatic drug delivery systems |
| CN110269767A (en) * | 2019-07-12 | 2019-09-24 | 百色市人民医院 | A kind of clinical treatment nursing for treating vehicle |
| CN110269767B (en) * | 2019-07-12 | 2021-11-30 | 百色市人民医院 | Clinical medical care treatment vehicle |
| CN110434862A (en) * | 2019-07-15 | 2019-11-12 | 大连大华中天科技有限公司 | A kind of compound nursing robot of arm Liftable type Omni-mobile |
| CN111716127A (en) * | 2020-07-02 | 2020-09-29 | 上海营创精密汽车模型技术有限公司 | Multi-degree-of-freedom clamp |
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