CN207656713U - A kind of carrier robot - Google Patents
A kind of carrier robot Download PDFInfo
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- CN207656713U CN207656713U CN201721875016.2U CN201721875016U CN207656713U CN 207656713 U CN207656713 U CN 207656713U CN 201721875016 U CN201721875016 U CN 201721875016U CN 207656713 U CN207656713 U CN 207656713U
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Abstract
The utility model provides a kind of carrier robot, by being provided with the robot body and two sets of carrying patterns of automation movement, realizes the purpose that hospital's article intelligence is transported, instead of medical staff, saves labour, improve work efficiency simultaneously.The utility model is reasonable for structure, easy to use.In addition, patient and drug information by shifting to an earlier date typing, can transport drug to patient, share the work of medical staff.It can realize autonomous, autonomous to avoid, and automatic cruising drug delivery, fixed point is transported.The functions such as the robot has an automatic voice reminding, voice broadcast simultaneously, and voice is explained and publicised can either explain the information of drug and medical common sense etc., and realize and carry drug dispensing cabinet and transport drug and carry the purpose that lorry transports cargo.
Description
Technical field
The utility model is related to robot field, more particularly to a kind of carrier robot.
Background technology
It is main still by medical staff come to patient's transmission article and drug, this does not only take up medical care people in hospital at present
The plenty of time of member, while many energy of medical staff are also expended, increase personnel and the material resources cost of hospital.Therefore it needs
A kind of completely new theory improves this present situation.
Utility model content
The utility model embodiment provides a kind of carrier robot, by the robot body for being provided with automation movement
With two sets of carrying patterns, the purpose that hospital's article intelligence is transported is realized, instead of medical staff, saves labour, simultaneously
It improves work efficiency.
The utility model provides a kind of carrier robot, including robot chassis, drive train, universal caster wheel, fixation with
Support sheet metal component, control and sensing electricity piece and crossbeam support pole, it is described to fix and support with sheet metal component right angle setting
Front on robot chassis, the crossbeam support pole are mounted on the front end on the robot chassis, the universal caster and institute
The bottom that drive train is mounted on the robot chassis is stated, the control is mounted on the robot bottom with sensing electricity piece
On disk；
Described fix and support with sheet metal component includes display mounting bracket, headstock fixed frame, headstock bending fixed frame, headstock
Fore-stock, headstock after-poppet, headstock link, chassis leading portion supporting rack, chassis Left-side support frame, chassis Right side support frame, bottom
Disk front beam, chassis middle cross beam and chassis rear cross beam, the headstock fore-stock, the headstock after-poppet are respectively symmetrically mounted on
The headstock fore-stock and the headstock after-poppet are installed in the front end both sides on the robot chassis, the headstock link connection
Between, the headstock fixed frame intersects with the headstock bending fixed frame on the headstock after-poppet, before the chassis
Section supporting rack is mounted on the front end on the robot chassis, and the chassis Left-side support frame, the chassis Right side support frame are symmetrical
The left and right sides mounted on the robot chassis, the chassis front beam, the chassis middle cross beam, disk rear cross beam is pressed described in bottom
Before, during and after sequentially be mounted on the chassis Left-side support frame and the chassis Right side support frame on；
The control includes for completing the master board card cage of control operation, for carrying out voice with electricity piece with sensing
The loud speaker of report, the display screen for carrying out human-computer interaction, the laser sensor for being detected into row distance and for into
The wireless routing of row cruise and communication, the laser sensor are mounted on chassis front medial location, the display screen installation
On the display mounting bracket, the wireless routing is mounted on the robot inside chassis.
Optionally, further include robot shells and shell mounting bracket, the shell mounting bracket is mounted on the robot bottom
On disk, the robot shells include front housing, front housing rear cover, chassis front housing, shell on the left of chassis, on the right side of chassis behind shell and chassis
Shell, the front housing are mounted on the headstock fore-stock, are located at the front end of robot body；The front housing rear cover is mounted on institute
State on headstock after-poppet, with front housing formed one encirclement, the chassis front housing by shell mounting bracket be mounted on chassis most before
End, chassis left side shell, chassis right side shell are separately mounted to the robot chassis by the shell mounting bracket
The left and right sides, the chassis rear shell are mounted on the rear end on the robot chassis by the shell mounting bracket.
Optionally, the robot shells further include upper casing behind upper casing, chassis before chassis, when carrying lorry, the bottom
Upper casing is mounted on the robot chassis by the chassis middle cross beam, the chassis rear cross beam behind upper casing, the chassis before disk
Upper surface；Or
When robot body carries drug dispensing cabinet, the chassis upper casing passes through horizontal behind the chassis middle cross beam, the chassis
Beam is mounted on the upper surface on the robot chassis.
Optionally, the control and sensing electricity piece further include inductance, Signals Transfer Board, signal control panel, laser road
It is the inductance, the Signals Transfer Board, described by power supply board, ship type switch, battery reset button, scram button, power on buttons
Signal control panel, laser routing power supply board are mounted on the robot inside chassis, and the ship type switch, the battery are multiple
Position button is separately mounted at left and right sides of the robot extreme end of chassis, and the scram button is two and is separately mounted to institute
It states at the top of chassis rear shell right positions and the front housing.
Optionally, the front end back-end location on the robot chassis is respectively provided with four guide holders, behind corresponding chassis on
Shell position is respectively provided with four guide pads；The middle and back on the robot chassis is equipped with lifting column, and with behind the chassis on
Shell connects, and the lifting column also has travel switch and travel switch fixed frame, and controls lifting by lifting column control panel
The lifting of column.
Optionally, upper casing rear end is equipped with the electromagnetic lock for being attracted lorry, the chassis leading portion support behind the chassis
Frame medium position be equipped with for detect lorry and robot whether the photoelectrical position sensor of carry in place.
Optionally, described fix and support with sheet metal component further includes left laser shutter, right laser shutter, the left laser gear
Plate and the right laser shutter are separately mounted to the front end both sides on the robot chassis.
Optionally, further include sonar, the sonar is eight, and the sonar is separately mounted to shell, institute on the left of the chassis
State shell front and back position on the right side of chassis each two, the chassis front housing each side one, the front housing medium position one and institute
State chassis rear shell medium position one.
Optionally, further include charging unit, the charging unit includes cradle, charge copper bar, described to fix and support
Include charging electrode fixed frame with sheet metal component, the charging electrode fixed frame is mounted on the front end on the robot chassis, described
Cradle, charging copper bar be integrally mounted on the charging electrode fixed frame.
Optionally, further include that infrared fall preventing falls sensor, the infrared fall preventing falls sensor and is mounted on the robot bottom
Disk front-end position lower surface.
The utility model provides a kind of carrier robot, is taken by the robot body and two sets that are provided with automation movement
Load pattern realizes the purpose that hospital's article intelligence is transported, and instead of medical staff, saves labour, while improving work
Make efficiency.The utility model is reasonable for structure, easy to use.In addition, patient and drug information by shifting to an earlier date typing, it can be to disease
People transports drug, shares the work of medical staff.It can realize autonomous, autonomous to avoid, automatic cruising drug delivery, fixed point fortune
It send.The robot has automatic voice reminding, voice broadcast, voice and the functions such as explains and publicises simultaneously, can either explain the information of drug
With medical common sense etc., and realizes and carry drug dispensing cabinet and transport drug and carry the purpose that lorry transports cargo.
Description of the drawings
Fig. 1 is the overall structure diagram of the carrier robot in the utility model embodiment；
Structural schematic diagram when Fig. 2 is the carrier robot lorry pattern in the utility model embodiment；
Structural schematic diagram when Fig. 3 is the carrier robot drug dispensing cabinet pattern in the utility model embodiment；
Fig. 4 is that the carrier robot in the utility model embodiment hides the structural scheme of mechanism after shell and left light barrier；
Fig. 5 is structural schematic diagram when the carrier robot in the utility model embodiment carries drug dispensing cabinet；
Fig. 6 is structural schematic diagram when the carrier robot in the utility model embodiment carries lorry.
Reference numeral：1, universal caster wheel, 2, sonar, 3, shell on the left of chassis, 4, drive train, 5, chassis front housing, 6, charging
Seat, 7, charging copper bar, 8, crossbeam support pole, 9, laser sensor, 10, loud speaker, 11, front housing, 12, power on buttons, 13, PAD
Touch display screen, 14, scram button, 15, shell on the right side of chassis, 16, chassis rear shell, 17, electromagnetic lock, 18, upper casing behind chassis, 19,
Upper casing before chassis, 20, photoelectrical position sensor, 21, light-guiding pillar, 22, front housing rear cover, 23, locating piece, 24, chassis upper casing, 25,
Shell mounting bracket, the 26, first guide holder, the 27, first guide pad, 28, chassis Left-side support frame, 29, chassis rear cross beam, 30, rise
Column control panel drops, the 31, second guide holder, the 32, second guide pad, 33, robot chassis, 34, laser route power supply board, 35, electricity
Sense, 36, signal control panel, 37, right laser shutter, 38, charging electrode fixed frame, 39, chassis front beam, 40, headstock fore-stock,
41, headstock link, 42, headstock fixed frame, 43, headstock bending fixed frame, 44, headstock upper support frame, 45, display installation
Frame, 46, headstock after-poppet, 47, chassis leading portion supporting rack, 48, chassis middle cross beam, 49, chassis Right side support frame, 50, without circuit
By, 51, Signals Transfer Board, 52, master board card cage, 53, lifting column, 54, travel switch fixed frame, 55, travel switch, 56,
Battery, 57, lorry, 58, drug dispensing cabinet.
Specific implementation mode
In order to make those skilled in the art more fully understand the utility model, below in conjunction with the utility model reality
The attached drawing in example is applied, the technical scheme in the utility model embodiment is clearly and completely described, it is clear that described
Embodiment is only the embodiment of the utility model part, instead of all the embodiments.Based on the reality in the utility model
Example is applied, every other embodiment obtained by those of ordinary skill in the art without making creative efforts is all answered
When the range for belonging to the utility model protection.
Term " first ", " second ", " third " in the specification and claims of the utility model and above-mentioned attached drawing,
(if present)s such as " the 4 " are for distinguishing similar object, without being used to describe specific sequence or precedence.It answers
The data that the understanding uses in this way can be interchanged in the appropriate case, so that the embodiments described herein can be in addition to herein
Sequence other than diagram or the content of description is implemented.In addition, term " comprising " and " having " and their any deformation, it is intended that
Be to cover it is non-exclusive include, for example, containing the process of series of steps or unit, method, system, product or equipment not
Those of be necessarily limited to clearly to list step or unit, but may include not listing clearly or for these processes, side
The intrinsic other steps of method, product or equipment or unit.
The positions front and back etc. up and down mentioned in the utility model, are according to the position under robot normal operating condition
It sets relationship as reference, does not repeat hereafter.
In conjunction with shown in Fig. 1, the utility model provides a kind of carrier robot, including robot chassis 33, drive train 4,
Universal caster wheel 1 is fixed and supported with sheet metal component, control and sensing electricity piece and crossbeam support pole 8, described to fix and support
The front on robot chassis 33 is vertically mounted on sheet metal component, the crossbeam support pole 8 is mounted on the robot chassis 33
Front end, the universal caster and the drive train 4 are mounted on the bottom on the robot chassis 33, and the control is used with sensing
Electricity piece is mounted on the robot chassis 33, and drive train 4 includes at least two；
Described fix and support with sheet metal component includes display mounting bracket 45, headstock fixed frame 42, headstock bending fixed frame
43, headstock fore-stock 40, headstock after-poppet 46, headstock link 41, chassis leading portion supporting rack 47, chassis Left-side support frame 28,
Chassis Right side support frame 49, chassis front beam 39, chassis middle cross beam 48 and chassis rear cross beam 29, the headstock fore-stock 40,
The headstock after-poppet 46 is respectively symmetrically mounted on the front end both sides on the robot chassis 33, and the headstock link 41 connects
It installs between the headstock fore-stock 40 and the headstock after-poppet 46, the headstock fixed frame 42 is fixed with the headstock bending
Frame 43, which intersects, to be mounted on the headstock after-poppet 46, and the chassis leading portion supporting rack 47 is mounted on the robot chassis 33
Front end, the chassis Left-side support frame 28, the chassis Right side support frame 49 are symmetrically mounted on the left side on the robot chassis 33
Right both sides, the chassis front beam 39, the chassis middle cross beam 48, disk rear cross beam described in bottom are sequentially mounted on institute before, during and after pressing
It states on chassis Left-side support frame 28 and the chassis Right side support frame 49；
The control includes for completing the master board card cage 52 of control operation, for carrying out language with electricity piece with sensing
Sound report loud speaker 10, the display screen for carrying out human-computer interaction, the laser sensor 9 for being detected into row distance and
Wireless routing 50 for being cruised and being communicated, the laser sensor 9 is mounted on chassis front medial location, described aobvious
Display screen is mounted on the display mounting bracket 45, and the wireless routing 50 is mounted on inside the robot chassis 33.
Robot carries out real-time navigation by navigation module, plan and can carry out by route by carrying out path in advance
The stop for completing respective site, carries out the carrying of lorry or the distribution of drug, occurs when in path by real time obstacle detection
Avoidance operation can be independently carried out when barrier.
The voice prerecorded is played out so that the robot has automatic voice reminding, language by using loudspeaker
The functions such as sound is reported, voice is explained and publicised can explain the information of drug and medical common sense etc..
PAD (palm PC) touch display screen 13 may be used in display screen, and user can directly operate on the screen,
Reach good interaction effect.
Optionally, further include robot shells and shell mounting bracket 25, the shell mounting bracket 25 is mounted on the machine
On people chassis 33, the robot shells include 11, front housing rear cover 22, chassis front housing 5, chassis left side shell 3, chassis right side shell
15, chassis rear shell 16, described 11 are mounted on the headstock fore-stock 40, are located at the front end of robot body；The front housing
Rear cover 22 is mounted on the headstock after-poppet 46, forms an encirclement with front housing 11, the chassis front housing 5 is installed by shell
Frame 25 is mounted on the front end on chassis, and shell 15 is divided by the shell mounting bracket 25 on the right side of chassis left side shell 3, the chassis
Not An Zhuan the robot chassis 33 the left and right sides, the chassis rear shell 16 by the shell mounting bracket 25 be mounted on institute
State the rear end on robot chassis 33.
The robot shells further include upper casing 18 behind upper casing 19, chassis before chassis, when carrying lorry, before the chassis
Upper casing 18 is mounted on the robot by the chassis middle cross beam 48, the chassis rear cross beam 29 behind upper casing 19, the chassis
The upper surface on chassis 33；Or
When robot body carries drug dispensing cabinet, the chassis upper casing 24 passes through the chassis middle cross beam 48, the chassis
Rear cross beam 29 is mounted on the upper surface on the robot chassis 33.
Optionally, it is described control with sensing electricity piece further include inductance 35, Signals Transfer Board 51, signal control panel 36,
Laser route power supply board 34, ship type switch, battery reset button, scram button 14, power on buttons 12, the inductance 35, described
Signals Transfer Board 51, the signal control panel 36, laser routing power supply board 34 are mounted on inside the robot chassis 33,
The ship type switch, the battery reset button are separately mounted at left and right sides of 33 rear end of robot chassis, the urgency
Stop button 14 to be two and be separately mounted to 11 top of 16 right positions of chassis rear shell and the front housing.
Optionally, the front end back-end location on the robot chassis 33 is respectively provided with four guide holders, behind corresponding chassis
18 position of upper casing is respectively provided with four guide pads；The middle and back on the robot chassis 33 is equipped with lifting column 53, and with it is described
Upper casing 18 connects behind chassis, and the lifting column 53 also has travel switch 55 and travel switch fixed frame 54, and passes through lifting column
Control panel 30 controls the lifting of lifting column.
18 rear end of upper casing is equipped with the electromagnetic lock 17 for being attracted lorry, 47 middle part of the chassis leading portion supporting rack behind chassis
Position be equipped with for detect lorry and robot whether the photoelectrical position sensor 20 of carry in place.
It further includes left laser shutter, right laser shutter 37 to fix and support with sheet metal component, the left laser shutter and described
Right laser shutter 37 is separately mounted to the front end both sides on the robot chassis 33.
Robot further includes sonar 2, and the sonar is eight, the sonar 2 be separately mounted to shell 3 on the left of the chassis,
Each two of 15 front and back position of shell on the right side of the chassis, chassis front housing 5 each side one, 11 medium position one of the front housing
A, the avoidance mode of 16 medium position of the chassis rear shell one, robot can be by sonar avoidance and laser avoidance two parts group
At.The surrounding of robot is kept away and is stopped using the realization of sonar group, though can be realized around barrier using sonar, sonar group there are blind area, for
A lower height of barrier, such as the curb of road, the None- identifieds such as hollow on ground.Defect in order to make up sonar avoidance adds
The laser sensor identification terrestrial information tilted down is entered, such robot can independently be kept away under complicated road environment
Barrier.
Robot further includes charging unit, and the charging unit includes cradle 6, charge copper bar 7, described to fix and support
Include charging electrode fixed frame 38 with sheet metal component, before the charging electrode fixed frame 38 is mounted on the robot chassis 33
End, the cradle 6, charging copper bar 7 are integrally mounted on the charging electrode fixed frame 38.
Robot further includes that infrared fall preventing falls sensor, and the infrared fall preventing falls sensor and is mounted on the robot chassis
33 front-end position lower surfaces.
Two sets of carrying patterns include carrying drug dispensing cabinet pattern and carrying lorry pattern.
When carrying drug dispensing cabinet pattern, there are two limited blocks for the front and back installation of chassis upper casing 24, and drug dispensing cabinet is facilitated to place installation
In place.When carrying lorry, chassis front and back position is respectively provided with four guide holders, and 18 position of upper casing fills respectively behind corresponding chassis
There are four guide pads；Chassis middle and back is equipped with lifting column, and is connect with upper casing behind chassis 18, the lifting work(of upper casing after realization
Energy；Lifting column leftward position is equipped with travel switch 55 and travel switch fixed frame 54 on chassis, and passes through lifting column control panel
30 control the lifting of lifting column；18 rear end of upper casing is equipped with electromagnetic lock 17 behind chassis, prevents robot from existing for being attracted lorry
In walking process, lorry falls off；On chassis, 47 medium position of leading portion supporting rack is equipped with photoelectrical position sensor 20, for detecting
Lorry and robot whether carry in place.
In conjunction with Fig. 1 to 4, specifically, four universal caster wheels 1 are mounted on four Angle Positions on robot chassis 33；Two sets of drives
Driving wheel system 4 is separately mounted to the 33 middle part left and right sides of robot chassis；Sonar 2 is separately mounted to shell 3, chassis front housing on the left of chassis
5, shell 15 on the right side of chassis, in chassis rear shell 16；Cradle 6, charging copper bar 7 are mounted on after assembling by charging electrode fixed frame 38
The front center on robot chassis 33；Crossbeam support pole 8 is separately mounted at left and right sides of 33 front end of robot chassis, the upper end with
Chassis front beam 39 is connected；Laser sensor 9 is mounted on front end in the middle part of chassis；Loud speaker 10 is mounted on the lower portion of front housing 11
It sets；Power on buttons 12 is mounted on 11 upper middle position of front housing；PAD touch display screens 13 are mounted on by display mounting bracket 45
11 top of front housing；Scram button 14 is separately mounted to 11 top of front housing and 16 right positions of chassis rear shell；Shell 3, bottom on the left of chassis
Shell 15, chassis rear shell 16 are surrounded by shell mounting bracket 25 on the right side of disk front housing 5, chassis is mounted on 33 surrounding of robot chassis；Before
Shell 11, front housing rear cover 22 are separately mounted on headstock fore-stock 40 and headstock after-poppet 46.
As shown in Fig. 2, when lorry pattern, before chassis upper casing 19 be mounted on chassis middle cross beam 48, chassis Left-side support frame 28,
On chassis Right side support frame 49；Upper casing 18 is mounted on chassis rear cross beam 29 behind chassis；Electromagnetic lock 17 is mounted on upper casing behind chassis
18 rear side middle parts；Photoelectrical position sensor 20, light-guiding pillar 21 are mounted on 47 side of chassis leading portion supporting rack, and by before chassis
Exposed 19 surface of the upper casing before chassis of 19 position of opening of shell.
As shown in figure 3, when drug dispensing cabinet pattern, chassis upper casing 24 is on chassis middle cross beam, chassis rear cross beam；Two fixed
Position block 23 is separately mounted in the front and back position of chassis upper casing 24.
As shown in figure 4, shell mounting bracket 25 is separately mounted to 33 surrounding of robot chassis, it to be used for fixing shell；First leads
It is separately mounted to seat 26, the second guide holder 31 at left and right sides of the rear end on chassis and at left and right sides of the medium position of chassis；First leads
The corresponding position of upper casing 18 behind chassis is separately mounted to block 27, the second guide pad 32；On the right side of chassis Left-side support frame 28, chassis
Supporting rack 49 is respectively symmetrically mounted on the left and right sides on robot chassis 33；Behind chassis front beam 39, chassis middle cross beam 48, chassis
Crossbeam 29 is fixed on successively on 49 on chassis Left-side support frame 28 and chassis Right side support frame；Right laser shutter 37 is installed
In 33 front end leftward position of robot chassis；Headstock fore-stock 40, headstock after-poppet 46 are fixed by headstock link 41, headstock
Chassis Left-side support frame 28, chassis right side 49 front end of holder are separately mounted to after frame 42, the connection fastening of headstock bending fixed frame 43
Position；The connection of headstock upper support frame 44 left and right sides headstock after-poppet 46 is mounted on 11 on front housing；Chassis leading portion supporting rack 47 is pacified
Mounted in 33 front center of robot chassis；Position after lifting column 53 is mounted in robot chassis 33；Travel switch fixed frame 54,
It is mounted on 53 left side chassis of lifting column after the combination installation of travel switch 55；Right side after master board card cage 52 is mounted in chassis
Position；Battery 56 is placed in 33 back-end location of robot chassis；Laser route power supply board 34, inductance 35, signal control panel 36, wireless
Routing 50, Signals Transfer Board 51 are installed on inside robot chassis 33.
As shown in figure 5, when carrying drug dispensing cabinet, drug dispensing cabinet 57 is mounted on chassis upper casing 24, and is made point by locating piece 23
Medicine-chest 57 is mounted with chassis upper casing 24.
In order to be best understood from, corresponding application scenarios are provided for the utility model：
As shown in figure 5, when carrying drug dispensing cabinet pattern, is operated by PAD touch display screens 13 open drug dispensing cabinet 57 first
Drug is respectively put into the drug dispensing cabinet drawer of each patient by drawer.After completing drug dispensing, automatic locker, and touched and shown by PAD
Display screen 13 operates, and robot body starts according to patient's number sequencing and established patient information and walking path in advance
Start to walk, the prompt tone of evacuation or propaganda and education's voice about hospital are required in walking.Robot ambulation to patient or
At ward, patient can be prompted to take medicine, the ends medicine people PAD is taken to operate, after inputting relevant information, you can take medicine.
As shown in fig. 6, when carrying lorry pattern, loading lorry 58 is pushed into robot absorption by staff manually first
Position is combined, after photoelectric sensor 20 detects lorry 58 in place at this time, lifting column 53 rises automatically, while electromagnetic lock 17 starts
It is attracted, then robot proceeds by goods handling according to round-trip place established in advance and walking path.Reach specified ground
After point, robot can prompt cargo to reach, and be operated by PAD touch display screens 13 after staff's discharged, robot drags
Unloaded lorry 58 to return to after the starting point of setting, lifting column 53 declines, when lifting column touches travel switch 55, lifting
Column is fallen into place, and is stopped, and at this time when 58 castor of lorry contacts to earth completely, robot sails out of automatically, returns to the most initial position of setting
It sets.
The utility model provides a kind of carrier robot, is taken by the robot body and two sets that are provided with automation movement
Load pattern realizes the purpose that hospital's article intelligence is transported, and instead of medical staff, saves labour, while improving work
Make efficiency.The utility model is reasonable for structure, easy to use.In addition, patient and drug information by shifting to an earlier date typing, it can be to disease
People transports drug, shares the work of medical staff.It can realize autonomous, autonomous to avoid, automatic cruising drug delivery, fixed point fortune
It send.The robot has automatic voice reminding, voice broadcast, voice and the functions such as explains and publicises simultaneously, can either explain the information of drug
With medical common sense etc., and realizes and carry drug dispensing cabinet and transport drug and carry the purpose that lorry transports cargo.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
A kind of carrier robot provided by the utility model is described in detail above, for the general of this field
Technical staff, based on the idea of the embodiment of the present invention, there will be changes in the specific implementation manner and application range,
In conclusion the content of the present specification should not be construed as a limitation of the present invention.
Claims (10)
1. a kind of carrier robot, which is characterized in that including robot chassis, drive train, universal caster wheel, fix and support use
Sheet metal component, control and sensing electricity piece and crossbeam support pole, described fix and support are vertically mounted on machine with sheet metal component
The front on people chassis, the crossbeam support pole are mounted on the front end on the robot chassis, the universal caster wheel and the driving
Train is mounted on the bottom on the robot chassis, and the control is mounted on sensing electricity piece on the robot chassis；
It is described fix and support include display mounting bracket, headstock fixed frame, headstock bending fixed frame, headstock with sheet metal component before prop up
Before frame, headstock after-poppet, headstock link, chassis leading portion supporting rack, chassis Left-side support frame, chassis Right side support frame, chassis
Crossbeam, chassis middle cross beam and chassis rear cross beam, the headstock fore-stock, the headstock after-poppet are respectively symmetrically mounted on described
The front end both sides on robot chassis, headstock link connection install the headstock fore-stock and the headstock after-poppet it
Between, the headstock fixed frame intersects with the headstock bending fixed frame on the headstock after-poppet, the chassis leading portion
Supporting rack is mounted on the front end on the robot chassis, and the chassis Left-side support frame, the chassis Right side support frame are symmetrically pacified
The left and right sides mounted in the robot chassis, the chassis front beam, the chassis middle cross beam, disk rear cross beam is pressed described in bottom
Before, during and after sequentially be mounted on the chassis Left-side support frame and the chassis Right side support frame on；
The control includes for completing the master board card cage of control operation, for carrying out voice broadcast with electricity piece with sensing
Loud speaker, the display screen for carrying out human-computer interaction, the laser sensor for being detected into row distance and for being patrolled
The wireless routing of boat and communication, the laser sensor are mounted on chassis front medial location, and the display screen is mounted on institute
It states on display mounting bracket, the wireless routing is mounted on the robot inside chassis.
2. carrier robot according to claim 1, which is characterized in that further include robot shells and shell mounting bracket,
The shell mounting bracket is mounted on the robot chassis, before the robot shells include front housing, front housing rear cover, chassis
Shell, chassis right side shell and chassis rear shell, the front housing are mounted on the headstock fore-stock on the left of shell, chassis, are located at robot
The front end of main body；The front housing rear cover is mounted on the headstock after-poppet, and forming one with front housing surrounds, before the chassis
Shell is mounted on the front end on chassis by shell mounting bracket, and shell passes through the shell on the right side of chassis left side shell, the chassis
Mounting bracket is separately mounted to the left and right sides on the robot chassis, and the chassis rear shell is mounted on by the shell mounting bracket
The rear end on the robot chassis.
3. carrier robot according to claim 2, which is characterized in that the robot shells further include before chassis on
Upper casing behind shell, chassis, when carrying lorry, upper casing passes through the chassis middle cross beam, institute behind upper casing, the chassis before the chassis
State the upper surface that chassis rear cross beam is mounted on the robot chassis；Or
When robot body carries drug dispensing cabinet, the chassis upper casing is pacified by the chassis middle cross beam, the chassis rear cross beam
Upper surface mounted in the robot chassis.
4. carrier robot according to claim 2, which is characterized in that described control with sensing electricity piece further includes electricity
Sense, Signals Transfer Board, signal control panel, laser routing power supply board, ship type switch, battery reset button, scram button, power on by
Button, the inductance, the Signals Transfer Board, the signal control panel, laser routing power supply board are mounted on the robot
Inside chassis, the ship type switch, the battery reset button are separately mounted at left and right sides of the robot extreme end of chassis, institute
The scram button stated is two and is separately mounted at the top of the chassis rear shell right positions and the front housing.
5. carrier robot according to claim 2, which is characterized in that the front end back-end location on the robot chassis point
Zhuan not be there are four guide holder, upper casing position is respectively provided with four guide pads behind corresponding chassis；After in the robot chassis
Portion is equipped with lifting column, and is connect with upper casing behind the chassis, and the lifting column also there is travel switch and travel switch to fix
Frame, and control by lifting column control panel the lifting of lifting column.
6. the carrier robot according to claim 2 or 5, which is characterized in that the installation of upper casing rear end is useful behind the chassis
In the electromagnetic lock for being attracted lorry, the chassis leading portion supporting rack medium position is equipped with for detecting whether lorry and robot are hung
It is downloaded to the photoelectrical position sensor of position.
7. carrier robot according to claim 1, which is characterized in that described fix and support with sheet metal component further includes a left side
Laser shutter, right laser shutter, the left laser shutter and the right laser shutter are separately mounted to the robot chassis
Front end both sides.
8. carrier robot according to claim 2, which is characterized in that further include sonar, the sonar is eight, described
Sonar be separately mounted to shell on the left of the chassis, shell front and back position is each two on the right side of the chassis, at left and right sides of the chassis front housing
Each one, the front housing medium position one and the chassis rear shell medium position one.
9. carrier robot according to claim 1, which is characterized in that further include charging unit, the charging unit packet
Cradle, charging copper bar are included, described fix and support with sheet metal component includes charging electrode fixed frame, the charging electrode fixed frame
Front end mounted on the robot chassis, the cradle, charging copper bar are integrally mounted at the charging electrode fixed frame
On.
10. carrier robot according to claim 1, which is characterized in that further include that infrared fall preventing falls sensor, it is described red
Outer dropproof sensor is mounted on the robot chassis front-end position lower surface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109397308A (en) * | 2018-11-20 | 2019-03-01 | 佛山市第人民医院（中山大学附属佛山医院） | Control method and device of drug dispensing robot |
| CN109968367A (en) * | 2017-12-28 | 2019-07-05 | 沈阳新松机器人自动化股份有限公司 | A kind of carrier robot |
| CN111070219A (en) * | 2019-12-17 | 2020-04-28 | 五邑大学 | Intelligent medicine distribution robot |
| CN111290379A (en) * | 2020-01-19 | 2020-06-16 | 深圳市第二人民医院(深圳市转化医学研究院) | Control system and control method of autonomous moving thrombolysis vehicle |
| CN111376275A (en) * | 2018-12-29 | 2020-07-07 | 沈阳新松机器人自动化股份有限公司 | Robot of learning to walk |
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2017
- 2017-12-28 CN CN201721875016.2U patent/CN207656713U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109968367A (en) * | 2017-12-28 | 2019-07-05 | 沈阳新松机器人自动化股份有限公司 | A kind of carrier robot |
| CN109397308A (en) * | 2018-11-20 | 2019-03-01 | 佛山市第人民医院（中山大学附属佛山医院） | Control method and device of drug dispensing robot |
| CN111376275A (en) * | 2018-12-29 | 2020-07-07 | 沈阳新松机器人自动化股份有限公司 | Robot of learning to walk |
| CN111376275B (en) * | 2018-12-29 | 2022-04-15 | 沈阳新松机器人自动化股份有限公司 | Robot of learning to walk |
| CN111070219A (en) * | 2019-12-17 | 2020-04-28 | 五邑大学 | Intelligent medicine distribution robot |
| CN111290379A (en) * | 2020-01-19 | 2020-06-16 | 深圳市第二人民医院(深圳市转化医学研究院) | Control system and control method of autonomous moving thrombolysis vehicle |
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