CN215358448U - Assistant robot - Google Patents

Abstract

The present invention provides an assistant robot, comprising: the conveying device, an instrument cabinet arranged on the conveying device, a display screen arranged on the instrument cabinet and a material taking window arranged on the instrument cabinet; the instrument cabinet comprises an instrument picking mechanism, an electric cabinet, a plurality of instrument trays and two tray rails, wherein the instrument picking mechanism, the electric cabinet, the plurality of instrument trays and the two tray rails are arranged in the protective cover; the two tray rails are symmetrically fixed on two opposite inner side walls of the instrument cabinet through a rotating shaft, and the rotating shaft is electrically connected with the electric cabinet; two ends of each instrument tray are respectively and fixedly installed with the tray track through a rotatable mechanism and are parallel to the horizontal plane; the rotating shafts of the tray tracks respond to the control of the electric cabinet to drive the two tray tracks to synchronously rotate so as to drive the plurality of instrument trays to move up and down along the tray tracks; an instrument picking mechanism is electrically connected to the electrical cabinet to move the picking member horizontally or vertically to pick an instrument from the instrument tray. By the utility model, the workload and the waiting time of medical staff are reduced, and the operating requirement of whole-course asepsis is met.

Description

Assistant robot

Technical Field

The utility model relates to an instrument delivery device, in particular to an assistant robot.

Background

The present hospital surgical instruments mode of delivering mainly has two kinds of modes, and mode one is full manual work, and medical personnel get aseptic apparatus from the disinfection center, send back the aseptic cabinet of administrative or technical offices and deposit, according to the operation type, go to the apparatus storing compartment letter sorting surgical instruments before the art to before sending to the operating table, in the operation process, when needing different apparatus because of the individual difference, the doctor oral once more notifies medical personnel and mends the apparatus of other needs. After the operation is finished, the contaminated instruments are sent back to the disinfection center for multiple times all day. The second mode changes the manual work of instrument transportation into robot transportation in the first mode, and some hospitals sort the surgical instruments into different surgical bags according to the surgical types in advance, and the sorting time is reduced by searching the surgical bags before the operation.

The prior art has the requirement that medical personnel all need go to sterilizer letter sorting apparatus or instrument package after every definite diagnosis, and the doctor need be furnished with the assistant alone so that mend the apparatus that needs extra use at any time in the art. And the sterile cabinet can be opened for a plurality of times in each operation. Therefore, the risk of large workload of medical staff, long waiting time, much occupied personnel and pollution of the sterile cabinet exists.

SUMMERY OF THE UTILITY MODEL

In view of the above, the present invention provides an assistant robot to solve the above problems.

The present invention provides an assistant robot, which does not solve the above technical problems, and comprises: the equipment cabinet comprises a carrying device, an equipment cabinet arranged on the carrying device and a display screen arranged on the equipment cabinet; further comprising: a material taking window arranged on the instrument cabinet protective cover; the instrument cabinet comprises an instrument picking mechanism, an electric cabinet, a plurality of instrument trays and two tray rails, wherein the instrument picking mechanism, the electric cabinet, the plurality of instrument trays and the two tray rails are arranged in the protective cover; the two tray rails are symmetrically fixed on two opposite inner side walls of the instrument cabinet through a rotating shaft, and the rotating shaft is electrically connected with the electric cabinet; two ends of each instrument tray are respectively and fixedly installed with the tray track through a rotatable mechanism and are parallel to the horizontal plane; the rotating shafts of the two tray rails can synchronously rotate under the control of the electric cabinet so as to drive the two tray rails to synchronously rotate and drive the plurality of instrument trays to move up and down along the tray rails; the instrument tray can keep one side of the storage materials upward and parallel to the horizontal plane all the time under the action of gravity through the rotatable mechanism; the instrument picking mechanism is electrically connected with the electric cabinet and can move the picking part horizontally or vertically under the control of the electric cabinet to pick the instrument from the instrument tray.

The assistant robot further comprises a material bin door arranged on the instrument cabinet protective cover, and the material bin door is electrically connected with the electric control box and responds to the control of the electric control box to be automatically opened or closed.

The instrument cabinet further comprises a plurality of ultraviolet lamps arranged in the protective cover, the ultraviolet lamps are arranged on the inner side wall of the instrument cabinet in a matrix mode, the ultraviolet lamps are electrically connected with the electric cabinet, and the ultraviolet lamps can work when the material bin door is closed under the control of the electric cabinet to disinfect instruments in the instrument cabinet.

Wherein the instrument picking mechanism comprises: the supporting rod is horizontally arranged at the top end of the instrument cabinet; the first guide rail is fixedly connected with the supporting rod, is horizontally arranged at the top end of the instrument cabinet and is parallel to the supporting rod; the first sliding block is slidably sleeved on the first guide rail, is electrically connected with the electric cabinet and can slide along the first guide rail in a reciprocating manner under the control of the electric cabinet; the second guide rail is fixedly arranged on the first sliding block and is arranged along the direction vertical to the first guide rail; the second sliding block is slidably arranged on the second guide rail, is electrically connected with the electric cabinet and can slide along the second guide rail in a reciprocating manner under the control of the electric cabinet; and the picking component is fixedly arranged on the second sliding block, is electrically connected with the electric control box and can pick up the instrument under the control of the electric control box.

The side wall of the instrument cabinet is provided with a groove, and an opening of the groove faces outwards; the material taking window is arranged in the groove.

The material taking window is provided with a first fixing column and a second fixing column on a chassis and used for fixing falling instruments.

The material taking window is correspondingly arranged at the tail end of the picking mechanism; the end of the picking mechanism connected with the electric cabinet is a head end, and the other end of the picking mechanism is a tail end.

The instrument tray comprises a pair of tray supports, a suspension rod and a plurality of storage accommodating grooves; the tray support is triangular, and the suspension rod is arranged at the vertex angle of the tray support; the accommodating grooves are respectively and fixedly connected with the bottom edges of the pair of tray supports.

The tray rail is also symmetrically provided with a plurality of through holes for accommodating the suspension rods, and two ends of each suspension rod are respectively inserted into the corresponding through holes so as to fixedly install the instrument tray on the tray rail; the size of the through hole is matched with that of the suspension rod, so that the suspension rod can freely rotate in the through hole.

Wherein the assistant robot also comprises a material box which is arranged at the top end inside the instrument cabinet in an opening and closing way.

According to the assistant robot, an operator can determine the instruments to be picked up/supplemented through the display and input equipment, and the electric control box controls the instrument picking mechanism to identify and automatically pick up/put in the instruments stored in the robot according to the instruments to achieve the function of picking up/supplementing the instruments under the sterile condition in the whole process; furthermore, the robot can interact with other control ends to respond to the requirement instruction of instrument picking/supplementing, and automatically runs to the aim to realize automatic scheduling and instrument picking/supplementing, so that the workload and the waiting time of medical personnel are greatly reduced, and the operating requirement of whole-course sterility is met.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a schematic perspective view of an assistant robot in a first working state according to an embodiment of the present invention;

FIG. 2 is a schematic perspective view of an assistant robot in a second working state according to an embodiment of the present invention;

FIG. 3 is a schematic perspective view of an assistant robot in a third working state according to an embodiment of the present invention;

FIG. 4 is a schematic view of a take-out window of the helper robot of FIG. 3;

FIG. 5 is a schematic perspective view of an assistant robot in a fourth operating state according to an embodiment of the present invention;

FIG. 6 is a schematic perspective view of the instrument cabinet of the helper robot of FIG. 1 from a first perspective;

FIG. 7 is a perspective view of the instrument cabinet of the assistant robot of FIG. 1 from a second perspective;

FIG. 8 is a schematic structural view of an instrument tray of the helper robot of FIG. 1;

FIG. 9 is a cross-sectional view of the helper robot of FIG. 2 taken along A-A';

fig. 10 is a schematic structural view of a pick-up mechanism of the helper robot in fig. 1.

Detailed Description

In order to clearly understand the above objects, features and advantages of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. In addition, the embodiments and features of the embodiments of the present application may be combined with each other without conflict.

In the following description, numerous specific details are set forth to provide a thorough understanding of the present invention, and the described embodiments are merely some, but not all embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the utility model is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

It will be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.

Referring to fig. 1 to 4, an assistant robot 100 according to an embodiment of the present invention includes: a conveying device 10 and an instrument cabinet 20 arranged on the conveying device 10.

In the present embodiment, the transport apparatus 10 is an AGV (Automated Guided Vehicle, which is a transport Vehicle equipped with an electromagnetic or optical automatic navigation device, can travel along a predetermined navigation path, and has safety protection and various transfer functions, and generally, the travel path and behavior thereof can be controlled by a computer, or the travel path thereof is set up by using an electromagnetic track (electromagnetic path-following system), the electromagnetic track is adhered to a floor, and an unmanned transport Vehicle moves and operates by information from the electromagnetic track.

Further, the helper robot 100 further includes: the device comprises a display screen 21 arranged on the device cabinet 20, a material bin door 22 arranged on a protective cover of the device cabinet 20 and a material taking window 23.

The display screen 21 is used for inputting the types, the amounts and the like of material supplement through input equipment; the input device may include a keyboard, a touch screen, a voice recognition device, and the like.

In the present embodiment, the instrument cabinet 20 is a rectangular parallelepiped, and the display screen 21 and the material bin gate 22 are disposed on the same side wall 20a of the instrument cabinet 20; a groove 20c is formed in the side wall 20b adjacent to the side wall 20a, and an opening of the groove 20c faces outwards; specifically, the groove 20c is formed along the direction of the plane of the side wall 20a, and the cross section of the groove is a right trapezoid, wherein the upper bottom of the trapezoid is disposed on the second side wall 20b, the lower bottom of the trapezoid is the opening of the accommodating groove 24, and the right angle waist and the oblique waist of the trapezoid are respectively connected to the second side wall 20b, so as to form a closed side wall of the instrument cabinet 20 together with the second side wall 20 b.

The extraction window 23 is positioned in the recess 20c so that when the helper robot 100 is in an instrument picking mode, the picked instrument 30 can be extracted through the extraction window 23. Specifically, the material taking window 23 is an open type accommodating box formed by a first sidewall 231, a second sidewall 232a, a third sidewall 232b, a fourth sidewall 233 and a bottom plate 234, wherein the first sidewall 231 is disposed at the upper bottom of the groove 20c, and the bottom plate 234 is disposed at the right-angled waist of the groove 20 c; the fourth sidewall 233 is disposed opposite to the first sidewall 231, the second sidewall 232a is disposed opposite to the third sidewall 232b, and the height of the fourth sidewall 233 is less than the height of the first sidewall 231. Further, fixed columns 235a and 235b are arranged on the chassis 234, and when the instrument falls into the material taking window 23, the fixed columns 235a and 235b are used for fixing the fallen instrument so as to ensure that the instrument cannot slide in the material taking window 23, so that a doctor does not touch the periphery when picking up the instrument, and the instrument or fingers are prevented from being polluted to the maximum extent.

As shown in fig. 5, the assistant robot 100 further includes a material box 29 disposed at the top end inside the instrument cabinet 20, wherein the material box 29 is openably and closably disposed for placing some instruments or materials with low requirements on sterility; wherein, the material box 29 can be ejected in a rotating mode or in a horizontal reciprocating mode. The specific structure is the prior art and is not described herein.

As shown in fig. 6 to 7, the instrument cabinet 20 includes an instrument picking mechanism 24, an electric cabinet 25, an instrument tray 26, and a plurality of ultraviolet lamps 27 disposed inside the protective cover.

An electric cabinet 25 is provided outside the instrument cabinet 20 for arranging control components, a wire harness, and the like. In other embodiments, the electrical cabinet 25 may also be disposed inside the instrument cabinet 20.

A plurality of instrument trays 26 are arranged in parallel from top to bottom inside the instrument cabinet 20; in this embodiment, the number of instrument trays 26 is 12.

The ultraviolet lamps 27 are arranged on the inner side wall of the instrument cabinet 20 in a matrix mode, are electrically connected with the electric cabinet 25 and are used for starting to work when the material bin door 22 is closed under the control of the electric cabinet 25 to sterilize instruments in the instrument cabinet 20;

further, the material bin gate 22 can be automatically opened and closed in response to the control of the electric cabinet 25. Specifically, when the instrument cabinet 20 is in an instrument supplementing working state, the material bin door 22 is in an open state; and in other working states, the material bin door 22 is in a closed state to ensure that the inside of the instrument cabinet 20 is basically isolated from the outside, and the instruments are subjected to ultraviolet disinfection in the whole process through the arranged ultraviolet lamps 27, so that the pollution risk is avoided.

As shown in fig. 8, the instrument tray 26 includes a tray bracket 261, a hanging rod 262 and a plurality of storage receiving grooves 263; specifically, the hanging rods 262 are respectively disposed at both sides of the tray support 261, and the storage accommodating grooves 263 are disposed on the tray support 261 for accommodating the instruments 30; the number, shape, size and arrangement of the plurality of receiving grooves 263 can be preset according to the instruments to be received; further, the instrument tray 26 is detachably disposed inside the protective cover of the instrument cabinet 20, so that the instrument tray 26 provided with the different-sized receiving grooves 263 can be replaced accordingly according to the instruments to be received.

Further, the number of the tray supports 261 is 2, and each of the tray supports 261 is in a triangular shape, wherein the hanging rods 262 are disposed at the top corners of the triangular tray supports 261.

As shown in fig. 9, a tray rail 28 is provided inside the instrument cabinet 20 for mounting the plurality of instrument trays 26. In the present embodiment, the number of the tray rails 28 is 2, and the tray rails are all circular rails, and are respectively fixed on two opposite inner side walls of the instrument cabinet 20 through a rotating shaft (not shown), and the rotating shaft is electrically connected to the electric cabinet 25 and can rotate under the control of the electric cabinet 25, so as to drive the tray rails 28 to rotate. Wherein, a plurality of through holes (not shown) for accommodating the hanging rods 262 are further provided on the tray rail 28, and each hanging rod 262 is inserted into the corresponding through hole to fixedly mount the instrument tray 26 on the tray rail 28. Further, the through hole is sized to just receive the hanging rod 262, so that the hanging rod 262 can freely rotate inside the through hole, and the function of this arrangement is: when the tray rail 28 rotates, the instrument tray 26 can always keep the storage container 263 upward and horizontal to the ground under the influence of gravity.

In other embodiments, the tray rail 28 may also be oval in shape.

As shown in fig. 10, the instrument picking mechanism 24 is electrically connected to an electric cabinet 25; specifically, instrument picking mechanism 24 includes a support bar 241, a first rail 242, a first block 243, a second rail 244, a second block 245, and a picking member 246; in this embodiment, the picking member 246 is a jaw.

The supporting rod 241 is horizontally disposed at the top end of the instrument cabinet 20, and the first guide rail 242 is fixedly connected to the supporting rod 241, so as to be also horizontally disposed at the top end of the instrument cabinet 20, and is parallel to the supporting rod 241. The first sliding block 243 is slidably sleeved on the first guide rail 242, is electrically connected with the electric cabinet 25, and can slide along the first guide rail 242 in a reciprocating manner under the control of the electric cabinet 25. The second guide rail 244 is fixedly disposed on the first slider 243 and disposed along a direction perpendicular to the first guide rail 242; the second slider 245 is slidably disposed on the second rail 244, electrically connected to the electric cabinet 25, and capable of sliding back and forth along the second rail 244 under the control of the electric cabinet 25. The pickup member 246 is fixedly disposed on the second slider 245.

Further, the material taking window 23 is correspondingly arranged at the tail end of the picking mechanism 24; wherein, the end of the picking mechanism 24 connected with the electric cabinet 25 is a head end, and correspondingly, the other end is a tail end.

The picking mechanism 24 is arranged at the top end of the interior of the instrument cabinet 20, and correspondingly, a through hole (not shown) is formed on the oblique waist of the groove 20c corresponding to the position of the tail end of the picking mechanism 24 and used for accommodating a push plate (not shown); the push plate can be pushed away under the action of external force, and can automatically return to a closed state when the external force disappears. By the design, when the picking mechanism 24 picks up the instrument 30 and moves to the position above the material taking window 23, the clamping jaws are released, so that the instrument 30 pushes the push plate to fall into the material taking window 23 and is clamped by the fixing columns 235a and 235b, and then the push plate immediately returns to a closed state, so that the sealing state inside the instrument cabinet 20 is ensured.

Further, the helper robot 2 further includes:

the voice calling module is used for receiving a voice calling instruction;

the laser navigation control system is used for modeling the indoor environment in real time, responding to an instrument recovery scheduling instruction to plan a path and realizing intelligent real-time delivery of the instrument;

the infrared sensor is used for detecting obstacles to realize an automatic obstacle avoidance function;

the ultrasonic sensor is used for detecting obstacles to realize an automatic obstacle avoidance function;

the anti-falling sensor is used for detecting the flatness of the ground to realize an automatic anti-falling function;

specifically, the voice call module, the laser navigation control system, the infrared sensor, the ultrasonic sensor and the anti-falling sensor are disposed on the instrument cabinet 20 (not shown), and are electrically connected to the electric cabinet 25.

The assistant robot 100 in the embodiment of the present invention has the following working principle:

(1) the instrument picking function:

the initial working state of the helper robot 100 is: the material bin door 22 is closed, and the ultraviolet lamp 27 is started to sterilize the instruments in the instrument cabinet 20; when the operator inputs the instrument to be picked up through the input device, the electric control box 25 recognizes the information input by the operator to determine the position of the instrument to be picked up, that is, the position of the corresponding storage tray 26 and the receiving groove 263 on the storage tray 26. The electric control box 25 then controls the shaft to rotate to drive the tray rails 28 to rotate, bringing the respective storage tray 26 to the uppermost position, i.e. the position adjacent to the bin gate 22. Further, the electric control box 25 controls the first slider 243 to move to a designated position along the first rail 242, controls the second slider 244 to move to a designated height along the second rail 245, and finally controls the picking member 246 to pick up the instrument 30 at the corresponding position.

Wherein the input device may be a keyboard, a mouse, a touch screen, or a microphone; in this embodiment, the input device is a microphone, and the operator can input the instrument to be picked up by a voice command.

Next, the electric control box 25 further controls the first slider 243 and the second slider 244 to move correspondingly, so as to bring the picked-up instrument 30 to a position corresponding to the material taking window 23, and send the instrument 30 out from the material taking window 23, so that the instrument 30 falls into the fourth side wall 233 of the tray of the material taking window 23.

(2) The supplementary function of apparatus:

the initial working state of the helper robot 100 is: the material bin door 22 is closed, and the ultraviolet lamp 27 is started to sterilize the instruments in the instrument cabinet 20; when the operator inputs the instrument to be supplemented through the input device, the electric control box 25 recognizes the information input by the operator to determine the position of the instrument to be supplemented, i.e., the corresponding storage tray 26. The electric control box 25 then controls the shaft to rotate to drive the tray rails 28 to rotate, bringing the respective storage tray 26 to the uppermost position, i.e. the position adjacent to the bin gate 22. Further, the electric cabinet 25 controls the ultraviolet lamp 27 to be closed, and then controls the material bin door 22 to be opened; the operator places the desired additional instruments through the bin gate 22 into the uppermost storage tray 26.

Further, when the supplement of one instrument is completed, the operator also inputs information of another instrument to be supplemented through the input device, and the electric control box 25 recognizes the information input by the operator to determine the position of the instrument to be supplemented again. The electric control box 25 then controls the rotation of the shaft to drive the tray rails 28 to rotate, rotating the currently uppermost storage tray 26 to the lower position, and bringing the corresponding storage tray 26 to the uppermost position, i.e. the position close to the bin gate 22. The operator places the desired additional instruments through the bin gate 22 into the uppermost storage tray 26. By doing so, the operator can perform the supplement of various instruments.

When the complete instrument supplement is completed, the operator also inputs information of the completion of the instrument supplement through the input device, the electric control box 25 responds to the information to control the material bin door 22 to be closed, and then the ultraviolet lamp 27 is started to sterilize the inside of the instrument cabinet 20.

According to the assistant robot in the embodiment of the utility model, an operator can determine the instruments to be picked up/supplemented through the display and input equipment, and the electric cabinet controls the instrument picking mechanism to identify and automatically pick up/put in the instruments stored in the robot according to the instruments to realize the function of picking up/supplementing the instruments under the aseptic condition in the whole process; furthermore, the robot can interact with other control ends to respond to the requirement instruction of instrument picking/supplementing, and automatically runs to the aim to realize automatic scheduling and instrument picking/supplementing, so that the workload and the waiting time of medical personnel are greatly reduced, and the operating requirement of whole-course sterility is met.

While the utility model has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the utility model.

Claims (10)

1. A helper robot, comprising: the equipment cabinet comprises a carrying device, an equipment cabinet arranged on the carrying device and a display screen arranged on the equipment cabinet; it is characterized by also comprising: a material taking window arranged on the instrument cabinet protective cover; the instrument cabinet comprises an instrument picking mechanism, an electric cabinet, a plurality of instrument trays and two tray rails, wherein the instrument picking mechanism, the electric cabinet, the plurality of instrument trays and the two tray rails are arranged in the protective cover;

the two tray rails are symmetrically fixed on two opposite inner side walls of the instrument cabinet through a rotating shaft, and the rotating shaft is electrically connected with the electric cabinet;

two ends of each instrument tray are respectively and fixedly installed with the tray track through a rotatable mechanism and are parallel to the horizontal plane;

the rotating shafts of the two tray rails can synchronously rotate under the control of the electric cabinet so as to drive the two tray rails to synchronously rotate and drive the plurality of instrument trays to move up and down along the tray rails; the instrument tray can keep one side of the storage materials upward and parallel to the horizontal plane all the time under the action of gravity through the rotatable mechanism;

the instrument picking mechanism is electrically connected with the electric cabinet and can move the picking part horizontally or vertically under the control of the electric cabinet to pick the instrument from the instrument tray.

2. The assistant robot as claimed in claim 1, wherein the assistant robot further comprises a material bin door provided on the instrument cabinet protective cover, the material bin door is electrically connected with the electric control box and automatically opened or closed in response to the control of the electric control box.

3. The assistant robot as claimed in claim 2, wherein the instrument cabinet further comprises a plurality of ultraviolet lamps disposed inside the protective cover, the ultraviolet lamps are arranged on the inner side wall of the instrument cabinet in a matrix manner and electrically connected with the electric cabinet, and the ultraviolet lamps can work under the control of the electric cabinet when the material bin door is closed to sterilize instruments inside the instrument cabinet.

4. The helper robot of claim 1, wherein the instrument pick-up mechanism comprises:

the supporting rod is horizontally arranged at the top end of the instrument cabinet;

the first guide rail is fixedly connected with the supporting rod, is horizontally arranged at the top end of the instrument cabinet and is parallel to the supporting rod;

the first sliding block is slidably sleeved on the first guide rail, is electrically connected with the electric cabinet and can slide along the first guide rail in a reciprocating manner under the control of the electric cabinet;

the second guide rail is fixedly arranged on the first sliding block and is arranged along the direction vertical to the first guide rail;

the second sliding block is slidably arranged on the second guide rail, is electrically connected with the electric cabinet and can slide along the second guide rail in a reciprocating manner under the control of the electric cabinet;

and the picking component is fixedly arranged on the second sliding block, is electrically connected with the electric control box and can pick up the instrument under the control of the electric control box.

5. The assistant robot as claimed in claim 1, wherein the side wall of the instrument cabinet is provided with a groove, and the opening of the groove faces outwards; the material taking window is arranged in the groove.

6. An assistant robot as claimed in claim 5, wherein the chassis of the material taking window is provided with a first fixing column and a second fixing column for fixing a falling instrument.

7. An assistant robot as defined in claim 5, wherein the material taking window is correspondingly arranged at the tail end of the picking mechanism; the end of the picking mechanism connected with the electric cabinet is a head end, and the other end of the picking mechanism is a tail end.

8. The assistant robot as claimed in claim 1, wherein the instrument tray comprises a pair of tray brackets, a hanging rod and a plurality of storage accommodating grooves;

the tray support is triangular, and the suspension rod is arranged at the vertex angle of the tray support; the accommodating grooves are respectively and fixedly connected with the bottom edges of the pair of tray supports.

9. The assistant robot as claimed in claim 8, wherein a plurality of through holes for receiving the suspension rods are symmetrically formed on the tray rail, and both ends of each suspension rod are respectively inserted into the corresponding through holes to fixedly mount the instrument tray on the tray rail;

the size of the through hole is matched with that of the suspension rod, so that the suspension rod can freely rotate in the through hole.

10. An assistant robot as defined in claim 1, further comprising a material box openably and closably provided at the top end inside the instrument cabinet.

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