CN218559976U

CN218559976U - Intelligent medical waste operation robot

Info

Publication number: CN218559976U
Application number: CN202223008293.7U
Authority: CN
Inventors: 陈烨
Original assignee: Union Shenzhen Hospital of Huazhong University of Science and Technology
Current assignee: Union Shenzhen Hospital of Huazhong University of Science and Technology
Priority date: 2022-11-11
Filing date: 2022-11-11
Publication date: 2023-03-03
Anticipated expiration: 2032-11-11

Abstract

The utility model discloses an intelligence medical waste operation robot, include: operating the vehicle body; the garbage bag storage box comprises a storage box body, a first mechanical arm and a second mechanical arm, wherein the storage box body is arranged on an operation vehicle body, the first mechanical arm is arranged on the upper end surface of the storage box, a power output end of the first mechanical arm is provided with a clamping arm which can be opened and closed, and when the two clamping arms are oppositely unfolded, the outer wall of the clamping arm abuts against the opening vertical edge of the garbage bag; the first mechanical arm is used for driving the clamping arm to move between the discharge hole and the clamping mechanism of the garbage can; the second mechanical arm is mounted on the upper end surface of the containing box; the power output end of the second mechanical arm is provided with a clamp capable of opening and closing, and the outer wall of one clamp arm of the clamp is provided with a garbage bag unfolding device; the garbage bag unfolding device is used for unfolding the garbage bag; the second mechanical arm is used for driving the clamp to pack the garbage bags in the garbage can into the garbage storage bin through the material receiving port.

Description

Intelligent medical waste operation robot

Technical Field

The application relates to the technical field of medical auxiliary equipment devices, in particular to an intelligent medical waste operation robot.

Background

Medical waste refers to waste products with direct or indirect infectivity, toxicity and other harmfulness generated by medical and health institutions in medical treatment, prevention, health care and other related activities; therefore, the medical garbage can needs to be specially treated and needs to be placed by a special medical garbage can at ordinary times.

An automatic packing medical garbage can disclosed as patent document CN202122942182.2, can realize that the garbage can carries out gooseneck formula to the disposal bag that is equipped with medical waste and ties automatically, avoid clean artifical at this link direct contact to medical waste, nevertheless transport the good disposal bag of packing in the garbage can in every ward to medical waste processing station, though can adopt the electronic travelling bogie that reduces artifical intensity of labour among the prior art, still can relate to artifical hands and participate in, if take out the storage bin link of putting into the dolly with the disposal bag from the garbage can, embolia the link of garbage can with new disposal bag, clean artifical easy and medical waste contact, threaten clean artificial safety.

Although the other type of transfer trolley does not involve cleaning labor to take and place the garbage bags, the transfer trolley can only transfer the whole garbage can, so that a plurality of spare garbage cans are required to be arranged for turnover, and after the garbage cans are recovered, the garbage cans are in a state without the garbage cans in a ward, and the use of patients or medical staff is influenced.

SUMMERY OF THE UTILITY MODEL

The utility model discloses mainly to above problem, provided an intelligence medical waste operation robot, aim at solving the technical problem in the background art.

In order to achieve the above object, the utility model provides an intelligence medical waste operation robot, include:

operating the vehicle body;

the storage box is arranged on the running vehicle body, a partition plate is arranged in the storage box, and the interior of the storage box is divided into a garbage storage bin and a placement bin; the upper box wall of the containing box is respectively provided with a material receiving port and a material discharging port which are communicated with the garbage containing bin and the accommodating bin;

the lifting feeding table is used for lifting and conveying the garbage bags; the garbage bag is of a folding structure and is in a sheet shape, and the opening of the garbage bag is a rectangular vertical edge; a plurality of garbage bags are stacked in the conveying channel of the lifting feeding table; the discharge end of the lifting feed platform is communicated with the discharge hole;

the first mechanical arm is mounted on the upper end face of the containing box, a power output end of the first mechanical arm is provided with a clamping arm which can be opened and closed, and the clamping arm is approximately L-shaped; when the two clamping arms are unfolded relatively, the outer walls of the clamping arms abut against the opening vertical edges of the garbage bag; the first mechanical arm is provided with a first CCD camera adjacent to the clamping arm; the first mechanical arm is used for driving the clamping arm to move between the discharge hole and the clamping mechanism of the garbage can;

the second mechanical arm is mounted on the upper end surface of the containing box; the power output end of the second mechanical arm is provided with a clamp capable of opening and closing, the outer wall of one clamp arm of the clamp is provided with a mounting seat, and a second CCD camera and a garbage bag unfolding device are mounted on the mounting seat; the garbage bag unfolding device is used for unfolding the garbage bag; the second mechanical arm is used for driving the clamp to pack the garbage bags in the garbage can into the garbage storage bin through the material receiving port.

Furthermore, the garbage bag unfolding device comprises a support sleeve penetrating through the mounting seat, an expansion rod penetrating through an inner hole of the support sleeve, and a driving motor arranged on the clamp shell; the expansion rod comprises a straight rod part and an expansion part; the straight rod part is provided with a rack; the support sleeve is provided with an avoiding hole for exposing the rack; a gear meshed with the rack is arranged at the power output end of the driving motor; the expansion part is a plurality of elastic metal wires with radian; the driving motor is used for driving the expansion rod to slide relative to the supporting sleeve.

Furthermore, the straight rod part is provided with a limiting plug extending out of the outer end of the support sleeve, and the size of the limiting plug is larger than the diameter of the inner hole of the support sleeve.

Further, the garbage bag unfolding device comprises an air pump and an air injection pipe penetrating through the mounting seat; the air pump is connected with the air injection pipe through a pipeline.

The disinfection device comprises a disinfectant storage box, a pressure pump and a spray head arranged on the outer wall of the other tong arm of the tong; the disinfectant storage box is connected with the pressure pump through a pipeline; and the pressure pump is connected with the spray head through a pipeline.

Further, including the case lid, the case lid is used for closing the material receiving opening.

Further, the device comprises a power supply source arranged in the placing bin.

Compared with the prior art, the intelligent medical garbage operation robot provided by the utility model can collect and collect garbage bags and sleeve new garbage bags into the garbage can, and operate the medical garbage bags, has no humanization and automatic operation in the whole process, has reasonable structure and strong practicability, reduces the infection danger of cleaning workers when taking the garbage bags in infectious disease isolation wards out of the garbage can, and prevents the cleaning workers from directly contacting with the medical garbage; the labor intensity of cleaning workers is reduced, and the personnel expenditure cost of hospitals is reduced.

Drawings

Fig. 1 is a schematic structural diagram of an intelligent medical waste operation robot according to the present application.

Fig. 2 is an enlarged view of fig. 1 at a.

Fig. 3 is a schematic structural sectional view of an intelligent medical waste operation robot according to the present application.

Fig. 4 is a schematic view structure diagram of a lifting material supply table of an intelligent medical waste operation robot according to the present application.

Fig. 5 is a schematic view of another perspective structure of the lifting material supply table of the intelligent medical waste operation robot.

Fig. 6 is a schematic structural diagram of a first mechanical arm of an intelligent medical waste operation robot according to the present application.

Fig. 7 is a schematic structural view illustrating the expansion part of the garbage bag unfolding apparatus of the intelligent medical garbage operation robot of the present application extending out of the support sleeve.

Fig. 8 is a schematic structural diagram of an expansion part of a garbage bag unfolding device of an intelligent medical garbage operation robot according to the present application when the expansion part is received in a support sleeve.

Reference numerals shown in the drawings: 1. operating the vehicle body; 2. a storage box; 210. a partition plate; 211. a garbage storage bin; 212. arranging a bin; 220. a box cover; 3. lifting the feeding table; 310. a material conveying channel; 4. a first robot arm; 410. a clamp arm; 5. a first CCD camera; 6. a second mechanical arm; 610. clamping; 620. a mounting seat; 7. a second CCD camera; 8. a disposal bag unfolding device; 810. a support sleeve; 811. avoiding holes; 820. an expansion rod; 821. a straight rod part; 8211. a rack; 8212. a limiting plug; 822. an expansion part; 830. a drive motor; 831. a gear; 840. a gas ejector tube; 910. a disinfectant storage box; 920. a pressure pump; 930. a spray head; 10. and (4) a power supply.

Detailed Description

Referring to fig. 1 to 8, the present embodiment provides an intelligent medical waste operation robot, including:

operating the vehicle body 1;

the storage box 2 is arranged on the running vehicle body 1, a partition plate 210 is arranged in the storage box 2, and the interior of the storage box 2 is divided into a garbage storage bin 211 and a placement bin 212; the upper box wall of the containing box 2 is respectively provided with a material receiving port and a material discharging port which are communicated with the garbage containing bin 211 and the placing bin 212;

a lifting/lowering material feeding table 3, wherein the lifting/lowering material feeding table 3 is used for lifting and conveying a garbage bag (not shown); the garbage bag is of a folding structure and is in a sheet shape, and the opening of the garbage bag is a rectangular vertical edge; a plurality of the garbage bags are stacked in the material conveying channel 310 of the lifting material supply table 3; the discharge end of the lifting feed table 3 is communicated with the discharge hole;

the first mechanical arm 4 is arranged on the upper end surface of the containing box 2, a power output end of the first mechanical arm 4 is provided with a clamping arm 410 which can be opened and closed, and the clamping arm 410 is approximately L-shaped; when the two clamping arms 410 are unfolded relatively, the outer walls of the clamping arms 410 abut against the opening vertical edges of the garbage bag; the first mechanical arm 4 is provided with a first CCD camera 5 adjacent to the clamping arm 410; the first mechanical arm 4 is used for driving the clamping arm 410 to move between the discharge hole and a clamping mechanism of the garbage can;

a second robot arm 6, wherein the second robot arm 6 is mounted on the upper end surface of the storage box 2; the power output end of the second mechanical arm 6 is provided with a clamp 610 which can be opened and closed, the outer wall of one clamp arm of the clamp 610 is provided with a mounting seat 620, and the mounting seat 620 is provided with a second CCD camera 7 and a garbage bag unfolding device 8; the garbage bag unfolding device 8 is used for unfolding the garbage bag; the second mechanical arm 6 is used for driving the clamp 610 to load the garbage bags packed in the garbage can into the garbage storage bin 211 through the material receiving opening.

The operation vehicle body 1 is used for moving and transferring between a plurality of wards and a medical waste recycling station, can be realized by adopting the technical principle of the existing and mature tracking vehicle, and is matched with an indoor positioning technology to accurately and automatically move and operate between preset lines and positions.

The lifting feeding table 3 is formed by enclosing a plurality of vertical plates to form a material conveying channel 310, the lifting feeding table is driven to move along the vertical direction of the material conveying channel 310 by a motor and a gear set, a screw rod and a screw rod nut seat, a lifting plate connected with the screw rod nut seat is driven to move along the vertical direction of the material conveying channel 310, after a garbage bag at the discharging end of the lifting feeding table 3 is taken away from a discharging port by a first mechanical arm 4 and a clamping arm 410, the lifting plate of the lifting feeding table 3 rises, the next garbage bag to be taken away is enabled to be close to the discharging port, and the first mechanical arm 4 and the clamping arm 410 can be clamped next time conveniently. The first mechanical arm 4 can be a six-axis mechanical arm or a five-axis mechanical arm, flexible telescopic rotation and lifting movement are carried out in space, and the two clamping arms 410 can be synchronously opened and closed by driving the gear set and the link mechanism through the steering engine.

The first CCD camera 5 is used for visual recognition to assist the first robot arm 4 in driving the gripper arm 410 to move to a precise position.

The intelligent medical garbage operation robot and the automatic packaging medical garbage can disclosed by the patent document with the application number of CN202122942182.2 are matched products, so that the garbage bag is conveyed to the position of a clamping mechanism of the garbage can by the first mechanical arm 4 and the clamping arm 410, and the opening vertical edges of the garbage bag are clamped by the three clamping components of the clamping mechanism respectively. Because the disposal bag is fold condition, roughly is the lamellar body structure, be convenient for like this transport deposit, place and carry out the feed and the centre gripping operation of centre gripping arm 410 at defeated material passageway 310, consequently still need expand the disposal bag of fold condition, just can make the follow-up rubbish that can hold of disposal bag.

The second mechanical arm 6 can be six-axis or five-axis mechanical arm, and flexible telescopic rotation is carried out in the space, and the lifting movement is carried out, the second mechanical arm 6 is firstly matched with the clamp 610, the barrel cover handle of the garbage can in the clamp is used for opening the barrel cover, then the second mechanical arm 6 drives the clamp 610 to take out the packaged garbage bag from the can, the clamp 610 specifically clamps the handle part with the gooseneck knotted, the garbage bag is operated to the material receiving port, the clamp 610 is loosened, and the garbage bag falls into the garbage storage bin 211 to be collected. The second CCD camera 7 is used for visual recognition to assist the second robot arm 6 in driving the gripper 610 to move to a precise position. In some embodiments, the opening and closing of the clamp 610 is actuated by a finger cylinder mounted to the second robotic arm 6.

When the operation of the garbage bag in the garbage can is finished, the garbage bag is conveyed to the position of the clamping mechanism of the garbage can by the first mechanical arm 4, the clamping arm 410, the first CCD camera 5 and the lifting feeding table 3, and the garbage can clamps the opening vertical edge of the garbage bag. The second mechanical arm 6 carries a disposal bag unfolding device 8 thereon to unfold the disposal bag.

The first mechanical arm 4 and the second mechanical arm 6 can simultaneously run in a coordinated mode and do not affect each other.

When the garbage bags in the garbage can in one ward are stored and collected and new garbage bags are sleeved, the vehicle body 1 is operated to drive to the next ward or medical garbage recycling station. The intelligent medical garbage operation robot collects and collects garbage bags, sleeves new garbage bags into the garbage can and operates the medical garbage bags, is unmanned and automatic in the whole process, has a reasonable structure and strong practicability, reduces the infection danger when cleaning workers take the garbage bags in an infectious disease isolation ward out of the garbage can, and prevents the cleaning workers from directly contacting the medical garbage; the labor intensity of cleaning workers is reduced, and the personnel expenditure cost of hospitals is reduced.

Compared with patients in wards, the garbage bag is prevented from being manually collected in the wards for cleaning strangers, the privacy of changing the garbage bag is lack of feeling, and the hospitalization experience of the patients is improved.

Referring to fig. 1, 2, 7 and 8, the disposal bag deployment device 8 includes a support sleeve 810 penetrating the mounting seat 620, an expansion rod 820 penetrating an inner hole of the support sleeve 810, and a driving motor 830 mounted on a housing of the clamp 610; the expansion rod 820 comprises a straight rod part 821 and an expansion part 822; the straight rod part 821 is provided with a rack 8211; the supporting sleeve 810 is provided with a position avoiding hole 811 for accommodating the exposed rack 8211; a gear 831 meshed with the rack 8211 is arranged at the power output end of the driving motor 830; the expansion part 822 is a plurality of elastic metal wires with radian; the driving motor 830 is used for driving the expansion rod 820 to slide relative to the support sleeve 810.

When the expansion part 822 extends out of the inner hole of the support sleeve 810, the expansion part expands outwards due to the elastic metal wire with radian, and the structure can support the inner wall of the garbage bag when extending to the opening position of the garbage bag, so that the garbage bag in a folded state is unfolded. The expansion 822 automatically deforms and retracts as it is received within the inner bore of the support sleeve 810. This design avoids the sharp clamp 610 on the second mechanical arm 6 from scratching the garbage bag and improves the efficiency of unfolding the garbage bag.

Referring to fig. 1, 2, 7 and 8, the straight rod 821 is provided with a limiting plug 8212 extending out of the outer end of the support sleeve 810, and the volume of the limiting plug 8212 is larger than the diameter of the inner hole of the support sleeve 810.

The expansion rod 820 is limited by the plug, and the expansion rod 820 is prevented from being separated from the support sleeve 810 under the transmission of the driving motor 830, the rack 8211 and the gear 831.

Referring to fig. 1 and 2, the garbage bag unfolding apparatus 8 includes an air pump (not shown), and an air injection pipe 840 penetrating the mounting seat 620; the air pump is connected to the air injection tube 840 through a pipe (not shown).

The air pump is used for extracting the outside air, produces the pressure gas, through jet-propelled pipe 840, under the drive of second arm 6 removes, jet-propelled pipe 840 gas outlet spouts to the disposal bag, makes the disposal bag expand.

Referring to fig. 1-3, the disinfecting apparatus includes a disinfecting liquid storage box 910, a pressure pump 920, and a spray head 930 mounted on the outer wall of the other tong arm of the tong 610; connecting the disinfectant storage box 910 with the pressure pump 920 through a pipeline; the pressure pump 920 and the spray head 930 are connected by a pipe.

The disinfectant storage box 910 is used for storing chlorine-containing disinfectant or other types of medical disinfectant, the disinfectant in the disinfectant storage box 910 is pumped and pressurized by the pressure pump 920, and finally the disinfectant is sprayed out from the spray head 930; under the flexible drive of the second mechanical arm 6, disinfectant can be sprayed to the positions of the periphery of the surface of the garbage can, the inner wall of the garbage can, a garbage bag filled with medical garbage and the like for disinfection.

Referring to fig. 1 and fig. 3, the container includes a container cover 220, and the container cover 220 is used for covering the material receiving opening.

In some embodiments, the box cover 220 may have an air cylinder or a steering engine for driving, and automatically turn over relative to the storage box 2, so that the material receiving opening is opened or closed.

Referring to fig. 3, the power supply 10 is disposed in the accommodating chamber 212.

The power supply 10 can be a lithium battery plate or a liquid battery, and provides electric energy for the operation of each component.

Claims

1. An intelligent medical waste operation robot, comprising:

operating the vehicle body;

the lifting feeding table is used for lifting and conveying the garbage bag; the garbage bag is of a folding structure and is in a sheet shape, and an opening of the garbage bag is a rectangular vertical edge; a plurality of garbage bags are stacked in the conveying channel of the lifting feeding table; the discharge end of the lifting feed platform is communicated with the discharge hole;

the first mechanical arm is mounted on the upper end face of the containing box, a power output end of the first mechanical arm is provided with a clamping arm which can be opened and closed, and the clamping arm is approximately L-shaped; when the two clamping arms are oppositely unfolded, the outer walls of the clamping arms abut against the opening vertical edges of the garbage bag; the first mechanical arm is provided with a first CCD camera adjacent to the clamping arm; the first mechanical arm is used for driving the clamping arm to move between the discharge hole and the clamping mechanism of the garbage can;

the second mechanical arm is mounted on the upper end surface of the containing box; the power output end of the second mechanical arm is provided with a clamp capable of opening and closing, the outer wall of one clamp arm of the clamp is provided with a mounting seat, and a second CCD camera and a garbage bag unfolding device are mounted on the mounting seat; the garbage bag unfolding device is used for unfolding the garbage bag; the second mechanical arm is used for driving the clamp to load the garbage bags packaged in the garbage can into the garbage storage bin through the material receiving port.

2. The intelligent medical garbage operation robot as claimed in claim 1, wherein the garbage bag unfolding device comprises a support sleeve penetrating through the mounting seat, an expansion rod penetrating through an inner hole of the support sleeve, and a driving motor mounted on the clamp housing; the expansion rod comprises a straight rod part and an expansion part; the straight rod part is provided with a rack; the support sleeve is provided with an avoiding hole for exposing the rack; a gear meshed with the rack is arranged at the power output end of the driving motor; the expansion part is a plurality of elastic metal wires with radian; the driving motor is used for driving the expansion rod to slide relative to the supporting sleeve.

3. The intelligent medical waste operation robot as claimed in claim 2, wherein the straight rod part is provided with a limiting plug extending out of the outer end of the support sleeve, and the volume of the limiting plug is larger than the diameter of the inner hole of the support sleeve.

4. The intelligent medical waste operation robot as claimed in claim 1, wherein the waste bag deployment device comprises an air pump, an air injection pipe penetrating the mounting seat; the air pump is connected with the air injection pipe through a pipeline.

5. The intelligent medical garbage operation robot as claimed in claim 1, wherein the robot comprises a disinfection device, the disinfection device comprises a disinfectant storage box, a pressure pump, and a spray head mounted on the outer wall of the other clamp arm of the clamp; the disinfectant storage box is connected with the pressure pump through a pipeline; and the pressure pump is connected with the spray head through a pipeline.

6. The intelligent medical waste operation robot as claimed in claim 1, comprising a cover for covering the material receiving opening.

7. The intelligent medical waste operation robot as claimed in claim 1, comprising a power supply installed in the placing bin.