CN219940802U - Mobile robot and medical system - Google Patents

Abstract

The utility model belongs to the technical field of mobile robots, and particularly provides a mobile robot and a medical system, wherein the medical system comprises medical equipment and the mobile robot, the mobile robot comprises a mobile chassis and a seat mechanism, the mobile chassis is provided with an objective table and a containing bin, the medical equipment is placed on the objective table, the containing bin is provided with an opening, the seat mechanism is movably connected with the mobile chassis, and the seat mechanism can move relative to the mobile chassis so as to enter the containing bin or exit the containing bin through the opening. When the medical equipment is used, the medical equipment is placed on the object stage, the mobile robot carries the medical equipment to enter a ward, the seat mechanism moves relative to the mobile chassis, the seat mechanism is withdrawn from the accommodating bin through the opening, a patient can sit on the seat mechanism, the sitting posture is adopted to cooperate with the medical equipment to sample or detect, the process is easy and comfortable, and the excessive burden on the body cannot be caused even if the sampling or detecting time is long.

Description

Mobile robot and medical system

Technical Field

The utility model belongs to the technical field of mobile robots, and particularly relates to a mobile robot and a medical system.

Background

The mobile robot is an autonomous robot movable in a working environment, and has wide application, for example, the mobile robot can be applied to an unattended or highly intelligent ward, medical equipment is carried into the ward, and then the medical equipment automatically or remotely controls the patient to sample or detect the patient, so that the workload of medical staff is greatly reduced.

In general, when a mobile robot sends a medical device into a ward, a patient needs to stand beside the medical device to perform sampling or detecting work in cooperation with the medical device, and when the sampling or detecting work takes a long time, the patient needs to keep a standing posture for a long time, which is easy to cause discomfort.

Disclosure of Invention

The utility model aims to provide a mobile robot and a medical system, and aims to solve the technical problems that in the prior art, after the mobile robot sends medical equipment into a ward, a patient needs to stand beside the medical equipment to be matched with the medical equipment for sampling or detecting work, and when the sampling or detecting work takes a long time, the patient needs to keep a standing posture for a long time, and the discomfort of the body is easily caused.

In order to achieve the above purpose, the utility model adopts the following technical scheme: a mobile robot comprises a mobile chassis and a seat mechanism, wherein the mobile chassis is provided with an objective table and a containing bin, the containing bin is provided with an opening, the seat mechanism is movably connected with the mobile chassis, and the seat mechanism can move relative to the mobile chassis so as to enter the containing bin or exit the containing bin through the opening.

Compared with the prior art, the mobile robot provided by the utility model has the beneficial effects that: when the medical equipment is used, the medical equipment is placed on the object stage of the movable chassis, the movable robot carries the medical equipment to enter a ward, the seat mechanism moves relative to the movable chassis, the seat mechanism is withdrawn out of the accommodating bin of the movable chassis through the opening, a patient can sit on the seat mechanism, the patient can sample or detect by adopting sitting posture to match the medical equipment, the process is easy and comfortable, and even if the sampling or detecting time is long, the patient cannot cause excessive burden to the body. After sampling or detection is finished, the seat mechanism can enter the accommodating bin through the opening for accommodating.

Further, the seat mechanism is in sliding connection with the mobile chassis; alternatively, the seat mechanism is rotatably coupled to the mobile chassis.

Further, when the seat mechanism is rotationally connected with the movable chassis, the movable chassis is provided with the switching part and the fastening piece, the seat mechanism comprises a moving assembly and a seat assembly, one end of the moving assembly is rotationally connected with the switching part, the seat assembly is arranged on the moving assembly, and when the moving assembly rotates relative to the movable chassis to drive the seat assembly to enter the accommodating bin, the other end of the moving assembly can be in fastening fit with the fastening piece.

Further, one end of the moving assembly, which is far away from the switching part, is provided with a movable groove, a first locking piece is arranged in the movable groove in a sliding manner, and the first locking piece can extend out of the movable groove to be in buckling fit with the buckling piece.

Further, the seat mechanism comprises a motion assembly, a seat assembly and a lifting assembly, wherein the motion assembly is movably connected with the movable chassis, the seat assembly is arranged on the motion assembly, the lifting assembly is connected with the seat assembly, and when the seat assembly is positioned outside the accommodating bin, the lifting assembly is used for driving the seat assembly to do lifting motion.

Further, the seat mechanism comprises a moving assembly and a seat assembly, the moving assembly is movably connected with the movable chassis, the seat assembly is rotationally connected with the moving assembly, and when the seat assembly is accommodated in the accommodating bin, the seat assembly and the moving assembly can be in a folded state.

Further, the seat assembly comprises a supporting seat, a swing arm and a seat, the supporting seat is rotationally connected with the motion assembly, one end of the swing arm is rotationally connected with the supporting seat, the other end of the swing arm is connected with the seat, and when the seat assembly is accommodated in the accommodating bin, the seat and the supporting seat can be in a folded state.

Further, the mobile robot further comprises a device battery, wherein the device battery is arranged on the mobile chassis and is used for being electrically connected with the medical device placed on the objective table.

Further, the movable chassis comprises a support assembly, a first driving piece, a second driving piece, an omnidirectional wheel and two driving wheels, wherein the support assembly is provided with an objective table, and the first driving piece and the second driving piece are arranged on the support assembly and are respectively connected with the two driving wheels, and the omnidirectional wheel is rotationally connected with the support assembly.

The utility model also provides a medical system which comprises medical equipment and the mobile robot, wherein the medical equipment is placed on the objective table.

According to the medical system provided by the utility model, the mobile robot is adopted, when the medical system is used, the medical equipment is placed on the objective table of the mobile chassis, the mobile robot carries the medical equipment into a ward, so that the seat mechanism moves relative to the mobile chassis, the seat mechanism exits from the accommodating bin of the mobile chassis through the opening, a patient can sit on the seat mechanism, the sitting posture is adopted to cooperate with the medical equipment to perform sampling or detection work, the process is easy and comfortable, and excessive burden is not caused to a body even if the sampling or detection work takes longer time. After sampling or detection is finished, the seat mechanism can enter the accommodating bin through the opening for accommodating.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present utility model, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural diagram of a mobile robot according to an embodiment of the present utility model when a seat mechanism of the mobile robot is accommodated in an accommodating bin;

fig. 2 is a schematic structural view of the mobile robot according to the embodiment of the present utility model when the seat mechanism is taken out from the accommodating cabin;

FIG. 3 is a schematic view of a seat mechanism according to an embodiment of the present utility model in a use state;

fig. 4 is a schematic structural view of a seat mechanism in a folded state according to an embodiment of the present utility model;

FIG. 5 is an exploded view of the kinematic assembly of the seating mechanism of FIG. 3;

FIG. 6 is a second exploded view of the kinematic assembly of the seating mechanism shown in FIG. 3;

FIG. 7 is a cross-sectional view of a seat assembly of the seat mechanism shown in FIG. 3;

FIG. 8 is an enlarged view of the seat assembly at A shown in FIG. 7;

FIG. 9 is a partial exploded view of the seat assembly of the seat mechanism shown in FIG. 3;

fig. 10 is an exploded view of a mobile chassis of a mobile robot according to an embodiment of the present utility model.

Wherein, each reference sign in the figure:

10. a mobile chassis; 11. a bracket assembly; 111. a top plate; 1111. an objective table; 1112. an access opening; 112. a bottom plate; 113. a frame; 114. side coaming; 1141. a storage bin; 1142. an opening; 1143. a switching part; 1144. a fastening piece; 1145. a cantilever; 1146. a chuck; 1147. a first guide slope; 115. a cover plate; 116. a suspension; 117. a support plate; 12. a first driving member; 13. a second driving member; 14. an omni-wheel; 15. a driving wheel; 16. a chassis battery; 17. a device battery;

20. a seat mechanism; 21. a motion assembly; 211. a first locking member; 2111. a second guide slope; 212. a first elastic member; 213. a first lifting member; 214. a supporting plate; 2141. a notch; 2142. a second magnetic attraction member; 215. a connecting rod; 2151. a movable groove; 2152. a first operation hole; 216. a rotating arm; 217. a foot cup; 22. a seat assembly; 221. a support base; 2211. a positioning groove; 2212. a first magnetic attraction member; 2213. a receiving chamber; 2214. a connection port; 2215. a second operation hole; 2216. a first housing; 2217. a second housing; 2218. a through port; 222. swing arms; 223. a seat; 2231. a seat surface; 2232. a fixing groove; 224. a second locking member; 2241. a base; 2242. positioning columns; 225. a third elastic member; 226. a second lifting member; 227. a fourth elastic member; 23. a lifting assembly; 231. an electric cylinder; 232. a servo motor; 233. a driver.

Detailed Description

Embodiments of the present utility model are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present utility model and should not be construed as limiting the utility model.

In the description of the present utility model, it should be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate describing the present utility model and simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present utility model.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present utility model, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

In the present utility model, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.

As shown in fig. 1 and 2, the embodiment of the utility model provides a mobile robot, which comprises a mobile chassis 10 and a seat mechanism 20, wherein the mobile chassis 10 is provided with a stage 1111 and a housing chamber 1141, the housing chamber 1141 is provided with an opening 1142, the seat mechanism 20 is movably connected with the mobile chassis 10, and the seat mechanism 20 can move relative to the mobile chassis 10 to enter the housing chamber 1141 or exit the housing chamber 1141 through the opening 1142.

When the mobile robot provided by the embodiment of the utility model is used, medical equipment is placed on the object stage 1111 of the mobile chassis 10, the mobile robot carries the medical equipment into a ward, so that the seat mechanism 20 moves relative to the mobile chassis 10, the mobile robot exits from the accommodating cabin 1141 of the mobile chassis 10 through the opening 1142, a patient can sit on the seat mechanism 20, and the patient can take a sitting posture to sample or detect the medical equipment, so that the process is comfortable and easy, and the excessive burden on the body is not caused even if the sampling or detecting time is long. After sampling or testing, the seat mechanism 20 can be moved into the housing compartment 1141 through the opening 1142 for storage. Before the mobile robot carries the medical equipment into the ward, the seat mechanism 20 is stored in the storage cabin 1141, so that the external dimension of the mobile robot can be reduced, the flexibility of the mobile robot in moving in a narrow space is improved, and the mobile robot is convenient to carry the medical equipment into the ward.

After a conventional mobile robot delivers medical equipment into a ward, a patient needs to stand to sample or detect with the medical equipment. On the one hand, for some items with long sampling or detecting time consumption, such as ophthalmic visual field detection, a patient needs to keep a standing posture for a long time, so that discomfort is easily caused, but the mobile robot provided by the embodiment of the utility model can sit on the seat mechanism 20, the patient can adopt a sitting posture to cooperate with medical equipment to perform sampling or detecting work, the process is easy and comfortable, and even if the sampling or detecting work takes a long time, excessive burden is not caused to the body; on the other hand, some sampling or detecting items are limited by the operation height of the medical equipment, the patient needs to lower the height of the patient, such as throat swab sampling, and the patient usually needs to bend over or squat down to match the operation height of the medical equipment, so that physical fatigue is easily caused.

The seat mechanism 20 is movably connected with the movable chassis 10, and the seat mechanism 20 can be slidably connected with the movable chassis 10, or the seat mechanism 20 can be rotatably connected with the movable chassis 10.

When the seat mechanism 20 is slidably coupled to the mobile chassis 10, the seat mechanism 20 enters the housing 1141 through the opening 1142 in a sliding motion or exits the housing 1141. Specifically, the seat mechanism 20 may be provided with a slider, the mobile chassis 10 may be provided with a sliding groove, and the seat mechanism 20 and the mobile chassis 10 are slidably connected through cooperation of the slider and the sliding groove, and of course, the slider may be conversely disposed on the mobile chassis 10, and the sliding groove is conversely disposed on the seat mechanism 20.

When the seat mechanism 20 is rotatably coupled to the mobile chassis 10, the seat mechanism 20 enters the housing 1141 through the opening 1142 in a rotational motion or exits the housing 1141. Specifically, the seat mechanism 20 and the mobile chassis 10 may be rotatably connected by a hinge.

In the embodiment of the present utility model, the seat mechanism 20 can rotate or slide relative to the mobile chassis 10, which can be controlled by manpower or by an electric power system. The movement of the seat mechanism 20 is controlled by the power system so that the seat mechanism 20 can automatically or remotely perform the movement, which is beneficial to meeting the requirements of an unattended or highly intelligent ward.

The case where the seat mechanism 20 is rotatably connected to the mobile chassis 10 is further explained below:

in another embodiment of the present utility model, as shown in fig. 2 and 3, the moving chassis 10 is provided with a adapting portion 1143 and a fastening member 1144, the seat mechanism 20 includes a moving assembly 21 and a seat assembly 22, one end of the moving assembly 21 is rotatably connected with the adapting portion 1143, the seat assembly 22 is disposed on the moving assembly 21, and when the moving assembly 21 rotates relative to the moving chassis 10 to drive the seat assembly 22 into the accommodating chamber 1141, the other end of the moving assembly 21 can be fastened with the fastening member 1144. In use, the moving assembly 21 can rotate around the adapter 1143 to drive the seat assembly 22 into the housing 1141 through the opening 1142 or out of the housing 1141 through the opening 1142. When sampling or detection is required, the movement assembly 21 rotates relative to the movement chassis 10 to bring the seat assembly 22 out of the accommodating chamber 1141, the patient can be seated on the seat assembly 22, and after sampling or detection is completed, the movement assembly 21 rotates relative to the movement chassis 10 to bring the seat assembly 22 into the accommodating chamber 1141, so that one end of the movement assembly 21 away from the adapting portion 1143 is engaged with the fastening member 1144 in a fastening manner, so as to prevent the movement assembly 21 from rotating randomly, thereby locking the seat assembly 22 in the accommodating chamber 1141.

Further, as shown in fig. 2, 4 and 5, a movable groove 2151 is disposed at an end of the moving assembly 21 away from the adapting portion 1143, a first locking member 211 is slidably disposed in the movable groove 2151, and the first locking member 211 can extend out of the movable groove 2151 to be engaged with the fastening member 1144. In use, the first locking member 211 acts as a switch, and when the first locking member 211 extends from the movable slot 2151 and engages the lock 1144, the kinematic assembly 21 cannot rotate relative to the mobile chassis 10 at will, thereby locking the seat assembly 22 in the receiving compartment 1141; when the first locking member 211 is retracted into the movable slot 2151 and disengaged from the clasp 1144, the kinematic assembly 21 may rotate relative to the mobile chassis 10, thereby allowing the seat assembly 22 to be carried out of the housing 1141 for seating of the patient.

Further, as shown in fig. 2, the fastening member 1144 includes a cantilever 1145 and a chuck 1146, wherein one end of the cantilever 1145 is connected to the movable chassis 10, the other end of the cantilever 1145 is connected to the chuck 1146, and when the seat assembly 22 is received in the receiving chamber 1141, the chuck 1146 is configured to be fastened to a side of the first locking member 211 facing away from the receiving chamber 1141.

Further, as shown in fig. 2, 4 and 5, the chuck 1146 is provided with a first guiding inclined surface 1147, the first locking member 211 is provided with a second guiding inclined surface 2111 matching with the first guiding inclined surface 1147, the movable groove 2151 is further provided with a first elastic member 212, the first elastic member 212 is disposed between the first locking member 211 and the bottom wall of the movable groove 2151, and when the first elastic member 212 is in a natural state, the first locking member 211 partially extends out of the movable groove 2151. In use, as the moving assembly 21 rotates, when the second guiding inclined surface 2111 of the first locking member 211 contacts with and presses against the first guiding inclined surface 1147 of the chuck 1146, the first guiding inclined surface 1147 slides relatively with the second guiding inclined surface 2111, the chuck 1146 continues to advance, the first locking member 211 retracts into the movable groove 2151 against the elastic force of the first elastic member 212, and when the first guiding inclined surface 1147 separates from the second guiding inclined surface 2111, the chuck 1146 extends into the rear of the first locking member 211, and the resilience of the first elastic member 212 brings the first locking member 211 out of the movable groove 2151, so that the chuck 1146 is fastened on the rear side of the first locking member 211, i.e. on the side facing away from the housing chamber 1141, thereby preventing the moving assembly 21 from rotating in a direction away from the housing chamber 1141.

Further, as shown in fig. 5 and 6, the moving assembly 21 is further provided with a first operation hole 2152, the first operation hole 2152 is communicated with the movable slot 2151, the first operation hole 2152 is movably provided with a first lifting member 213, and the first lifting member 213 is connected with the first locking member 211. In use, a user may operate the first lifting member 213 to drive the first locking member 211 to slide in the movable groove 2151, specifically, when the chuck 1146 is fastened to the first locking member 211, the first lifting member 213 may drive the first locking member 211 to retract into the movable groove 2151 against the elastic force of the first elastic member 212, so that the first locking member 211 is disconnected from the fastening member 1144, and when the first lifting member 213 is released, the resilience force of the first elastic member 212 brings the first locking member 211 out of the movable groove 2151, so as to realize automatic resetting of the first locking member 211.

In another embodiment of the present utility model, as shown in fig. 2 and 5, the moving assembly 21 includes a supporting plate 214, a connecting rod 215 and two rotating arms 216, the connecting rod 215 is disposed on one end of the supporting plate 214, the movable slot 2151 is disposed on the connecting rod 215, the two rotating arms 216 are disposed on the supporting plate 214 at intervals, one ends of the two rotating arms 216 are respectively connected with two ends of the connecting rod 215, and the other ends of the two rotating arms 216 extend out of the other end of the supporting plate 214 and are respectively connected with the adapting portion 1143 in a rotating manner, and the seat assembly 22 is disposed on the supporting plate 214 and is located between the two rotating arms 216. The two rotating arms 216 arranged at intervals drive the supporting plate 214 to rotate so as to drive the seat assembly 22 to rotate, and the seat assembly 22 is positioned between the two rotating arms 216, so that the whole body is more stable in rotation and is not easy to shake, in addition, the connecting rod 215 and the two rotating arms 216 are combined to form a U-shaped shape, the structure is stable, the deformation is not easy, and the stability of the whole body in rotation is further improved.

Further, as shown in fig. 5 and 6, the movable slot 2151 is formed on the side of the connecting rod 215 facing the seat assembly 22, when the first locking member 211 extends out of the movable slot 2151, a gap is formed between the first locking member 211 and the support plate 214 to allow the chuck 1146 to enter the gap, so as to be fastened on the side of the first locking member 211 facing the support plate 214, and the first operation hole 2152 is formed on the side of the connecting rod 215 facing the support plate 214 and is vertically communicated with the movable slot 2151.

Further, the tray 214 is disposed corresponding to the opening 1142, and the tray 214 can cover the opening 1142 when the seat assembly 22 is received in the receiving compartment 1141. On one hand, the protection effect on the seat assembly 22 can be enhanced, foreign objects can be effectively prevented from entering the accommodating bin 1141 through the opening 1142 to collide with the seat assembly 22, and on the other hand, the appearance of the mobile robot is more attractive.

Further, the rotating arm 216 is fixedly connected with the supporting plate 214 through screws, so that the connection is firm and difficult to loosen; the rotating arm 216 is fixedly connected with the connecting rod 215 through a screw, so that the connection is firm and difficult to loosen; the connecting rod 215 is fixedly connected with the supporting plate 214 through screws, and the connection is firm and difficult to loosen.

In another embodiment of the present utility model, as shown in fig. 3 and 4, the seat assembly 22 is rotatably connected to the movement assembly 21, and the seat assembly 22 and the movement assembly 21 can be folded when the seat assembly 22 is accommodated in the accommodating chamber 1141. When the seat assembly 22 needs to be accommodated in the accommodating cabin 1141, the seat assembly 22 and the moving assembly 21 are first rotated and folded together, and then the moving assembly 21 moves relative to the moving chassis 10, in this embodiment of the present utility model, the moving assembly 21 rotates relative to the moving chassis 10, so that the seat assembly 22 is brought into the accommodating cabin 1141, and the space of the accommodating cabin 1141 can be saved by folding and compressing the space, which is beneficial to reducing the size of the moving chassis 10, thereby improving the flexibility of the moving robot moving in the narrow space. When it is desired to remove the seat assembly 22 from the housing 1141 for use by a patient, the motion assembly 21 is first rotated relative to the mobile chassis 10 to bring the seat assembly 22 out of the housing 1141, and then the seat assembly 22 is rotated relative to the motion assembly 21 to a suitable angle, typically to rotate the seat assembly 22 to a vertical position such that the seat surface 2231 of the seat assembly 22 is parallel to the ground to ensure that the patient can sit end on the seat surface 2231 without tilting the body.

Further, as shown in fig. 3 and 4, the seat assembly 22 is provided with a positioning groove 2211, when the seat assembly 22 rotates to a preset angle relative to the moving assembly 21, the positioning groove 2211 corresponds to the movable groove 2151, and the first locking member 211 can partially extend out of the movable groove 2151 and further extend into the positioning groove 2211. In use, when the seat assembly 22 is withdrawn out of the housing 1141, the seat assembly 22 rotates relative to the moving assembly 21 to a predetermined angle, such that the positioning groove 2211 corresponds to the movable groove 2151, and the first locking member 211 partially extends out of the movable groove 2151 and into the positioning groove 2211, at this time, the seat assembly 22 is in a locked state, and is fixed at the current angle without rotating relative to the moving assembly 21 at will, thereby effectively ensuring safety of a patient sitting on the seat assembly 22. When the seat assembly 22 needs to be recovered into the housing cabin 1141, the first locking member 211 is retracted out of the positioning groove 2211, the seat assembly 22 is in a free rotation state, the seat assembly 22 is rotated to fold the seat assembly 22 and the moving assembly 21 together, and then the moving assembly 21 is rotated relative to the moving chassis 10, so that the seat assembly 22 is brought into the housing cabin 1141.

In the embodiment of the utility model, when the first elastic member 212 is in the natural state, the first locking member 211 partially extends out of the movable groove 2151 to interfere with the rotation of the seat assembly 22, so that, during specific operation, the first locking member 211 needs to be driven by the first pulling member 213 to retract into the movable groove 2151 against the elastic force of the first elastic member 212, and then the seat assembly 22 is rotated to a predetermined angle, so that the positioning groove 2211 corresponds to the movable groove 2151, and then the first pulling member 213 is released, and the first locking member 211 extends out of the movable groove 2151 under the resilience of the first elastic member 212 and further extends into the positioning groove 2211.

In the embodiment of the present utility model, when the seat is needed for the patient, the moving assembly 21 rotates to the horizontal state relative to the moving chassis 10, and brings the seat assembly 22 out of the housing 1141, and in the folded state, the seat assembly 22 is also in the horizontal state, so that the seat assembly 22 rotates 90 ° relative to the moving assembly 21, and the horizontal state is changed to the vertical state, at this time, the seat 2231 of the seat assembly 22 is parallel to the ground, and the positioning groove 2211 corresponds to the movable groove 2151.

Further, as shown in fig. 4 and 5, the seat assembly 22 is rotatably connected to the pallet 214, and the seat assembly 22 can be rotatably folded on the plate surface of the pallet 214. Specifically, the seat assembly 22 and the tray 214 may be pivotally connected by a hinge. In order to adjust the support plate 214 to a horizontal state, as shown in fig. 5, a foot cup 217 is disposed on a side of the connecting rod 215 facing the support plate 214, the support plate 214 is provided with a notch 2141 through which the foot cup 217 passes, the foot cup 217 is rotated by a screw thread to adjust the height of the connecting rod 215 slightly, and the connecting rod 215 drives the support plate 214 to move together, so that the support plate 214 is adjusted to a horizontal state.

Further, as shown in fig. 3 and 5, the seat assembly 22 is provided with a first magnetic attraction member 2212, the support plate 214 is provided with a second magnetic attraction member 2142, and when the seat assembly 22 is folded on the support plate 214, the first magnetic attraction member 2212 is magnetically connected with the second magnetic attraction member 2142. Through the magnetic connection of the first magnetic attraction member 2212 and the second magnetic attraction member 2142, the seat assembly 22 can be firmly folded and fixed on the supporting plate 214 without loosening easily, so that when the movement assembly 21 drives the seat assembly 22 to rotate, the seat assembly 22 is effectively prevented from jumping on the supporting plate 214 due to unstable fixation.

In another embodiment of the present utility model, as shown in fig. 3 and 7, the seat assembly 22 includes a supporting seat 221, a swing arm 222 and a seat 223, the supporting seat 221 is rotatably connected with the moving assembly 21, one end of the swing arm 222 is rotatably connected with the supporting seat 221, the other end of the swing arm 222 is connected with the seat 223, and when the seat assembly 22 is accommodated in the accommodating cabin 1141, the seat 223 and the supporting seat 221 can be in a folded state. When the seat assembly 22 is required to be accommodated in the accommodating cabin 1141, the supporting seat 221 is rotated relative to the moving assembly 21, the supporting seat 221 and the moving assembly 21 are rotated and folded together, then the swing arm 222 is moved relative to the supporting seat 221, the swing arm 222 drives the seat 223 to rotate relative to the supporting seat 221, the seat 223 and the supporting seat 221 are rotated and folded together, finally the moving assembly 21 is rotated relative to the moving chassis 10, the seat assembly 22 is brought into the accommodating cabin 1141, and the space of the accommodating cabin 1141 is further saved by greatly compressing the space through secondary folding. When the seat assembly 22 is required to be taken out of the housing cabin 1141 for the patient to use, the moving assembly 21 is first rotated relative to the moving chassis 10 to bring the seat assembly 22 out of the housing cabin 1141, then the supporting base 221 is rotated to a proper angle relative to the moving assembly 21, in the embodiment of the present utility model, the supporting base 221 is rotated to a vertical state, finally the swing arm 222 is rotated relative to the supporting base 221, and the swing arm 222 drives the seat 223 to rotate to a proper angle relative to the supporting base 221, in the embodiment of the present utility model, the seat 223 is rotated to a horizontal state, and at this time, the seat 2231 on the seat 223 is also in a horizontal state.

Further, as shown in fig. 8, the supporting seat 221 is provided with a receiving cavity 2213, the bottom of the supporting seat 221 is rotatably connected with the moving assembly 21, the top of the supporting seat 221 is provided with a connecting port 2214 communicated with the receiving cavity 2213, a second locking member 224 is slidably disposed in the receiving cavity 2213, the seat 223 is provided with a fixing groove 2232, when the seat 223 moves to the top of the supporting seat 221, the connecting port 2214 corresponds to the fixing groove 2232, and the second locking member 224 can partially extend out of the receiving cavity 2213 through the connecting port 2214 and further extend into the fixing groove 2232. In use, the swing arm 222 rotates relative to the support base 221 to drive the seat 223 to move to the top of the support base 221, so that the second locking member 224 extends out of the accommodating cavity 2213 through the connection port 2214 and further extends into the fixing groove 2232, and at this time, the seat 223 is in a locked state and cannot rotate at will, thereby ensuring the safety of a patient sitting on the seat 223. When the seat 223 and the support 221 need to be folded together, the second locking member 224 is retracted out of the fixing slot 2232, and the swing arm 222 can rotate relative to the support 221 to drive the seat 223 to move to the side of the support 221.

Further, as shown in fig. 8 and 9, the second locking member 224 includes a base 2241 and a positioning post 2242, the positioning post 2242 is disposed on a side of the base 2241 facing the top wall of the receiving cavity 2213, the positioning post 2242 is sleeved with a third elastic member 225, one end of the third elastic member 225 is connected with the base 2241, and the other end of the third elastic member 225 is connected with the top wall of the receiving cavity 2213; the supporting seat 221 is provided with a second operation hole 2215, the second operation hole 2215 is communicated with the accommodating cavity 2213, and is in a reduced shape towards the direction close to the accommodating cavity 2213, the second operation hole 2215 is internally provided with a second lifting piece 226 in a rotating mode, one end of the second lifting piece 226 stretches into the accommodating cavity 2213 and is abutted to one side, away from the positioning column 2242, of the base 2241, a fourth elastic piece 227 is arranged between the second lifting piece 226 and the bottom wall of the accommodating cavity 2213, the other end of the second lifting piece 226 stretches out of the supporting seat 221 through the second operation hole 2215, and under the action of no external force, the third elastic piece 225 and the fourth elastic piece 227 are in a compressed state, and the positioning column 2242 stretches out of the supporting seat 221 through the connecting port 2214.

In use, the moving assembly 21 rotates relative to the moving chassis 10 to bring the seat assembly 22 out of the accommodating cabin 1141 and adjust the supporting seat 221 to be in a vertical state, and a lifting force is applied to an end of the second lifting member 226 extending out of the supporting seat 221, so that an end of the second lifting member 226 extending out of the supporting seat 221 moves upwards, the second lifting member 226 rotates in the second operation hole 2215, an end of the second lifting member 226 extending into the accommodating cavity 2213 moves downwards against the elastic force of the fourth elastic member 227, the base 2241 loses the support of the second lifting member 226, and the positioning column 2242 is driven to move downwards together under the rebound action of the third elastic member 225, so that the positioning column 2242 retracts into the accommodating cavity 2213 without being exposed. Then, the swing arm 222 rotates relative to the support base 221 to drive the seat 223 to move to the top of the support base 221, so that the fixing groove 2232 corresponds to the connection port 2214, the second lifting member 226 is released, one end of the second lifting member 226 located in the accommodating cavity 2213 moves upwards under the resilience action of the fourth elastic member 227, the base 2241 is pushed to overcome the elasticity of the third elastic member 225 to move upwards, the base 2241 drives the positioning column 2242 to move upwards, and the positioning column 2242 extends out of the accommodating cavity 2213 and further extends into the fixing groove 2232, so that the seat 223 is locked.

In the embodiment of the present utility model, the bottom of the supporting seat 221 is rotatably connected to the supporting plate 214, and the positioning groove 2211 and the first magnetic attraction member 2212 are respectively disposed on two opposite sides of the supporting seat 221. When the seat assembly 22 needs to be retracted into the housing 1141, the first locking member 211 is retracted out of the positioning groove 2211, the supporting seat 221 is rotated and folded on the supporting plate 214, so that the first magnetic member 2212 magnetically attracts the second magnetic member 2142 on the supporting plate 214, the swing arm 222 drives the seat 223 to move to a side of the supporting seat 221 away from the supporting plate 214 at this time, i.e. a side provided with the positioning groove 2211, and then the moving assembly 21 can relatively move the chassis 10 to rotate, so as to drive the folded seat assembly 22 to be retracted into the housing 1141.

In another embodiment of the present utility model, as shown in FIG. 7, the seat mechanism 20 further includes a lift assembly 23, the lift assembly 23 being coupled to the seat assembly 22, the lift assembly 23 being configured to drive the seat assembly 22 in a lifting motion when the seat assembly 22 is positioned outside of the housing 1141. The seat assembly 22 is driven to do lifting movement through the lifting assembly 23 so as to adjust the height of the seat assembly 22, on one hand, patients with different heights can be seated on the seat assembly 22, and on the other hand, the height of the seat assembly 22 can be adaptively adjusted according to the operation heights of different medical equipment, so that the patients can better cooperate with the medical equipment to sample or detect.

Further, as shown in fig. 3 and 9, the supporting seat 221 includes a first housing 2216 and a second housing 2217, the bottom of the first housing 2216 is rotatably connected with the moving assembly 21, a through hole 2218 is opened at the top of the first housing 2216, the second housing 2217 is slidably sleeved on the top of the first housing 2216 and covers the through hole 2218, the lifting assembly 23 is disposed in the first housing 2216 and is connected with the second housing 2217 through the through hole 2218, one end of the swing arm 222 is rotatably connected with the second housing 2217, and the other end of the swing arm 222 is connected with the seat 223. When in use, firstly, the supporting seat 221 is adjusted to be in a vertical state, the swing arm 222 rotates relative to the supporting seat 221 to drive the seat 223 to move to the top of the second shell 2217, when the height of the seat 223 needs to be increased, the lifting assembly 23 drives the second shell 2217 to slide upwards, the second shell 2217 drives the seat 223 to move upwards through the swing arm 222, so that the height of the seat 223 is adjusted, when the height of the seat 223 needs to be reduced, the lifting assembly 23 drives the second shell 2217 to slide downwards, and the second shell 2217 drives the seat 223 to move downwards through the swing arm 222, so that the height of the seat 223 is adjusted.

Further, as shown in fig. 9, the lifting assembly 23 includes an electric cylinder 231, a servo motor 232 and a driver 233, the driver 233 is electrically connected to the servo motor 232, the servo motor 232 is electrically connected to the electric cylinder 231, and the electric cylinder 231 is connected to the second housing 2217. Under the control of the servo motor 232, the electric cylinder 231 can perform telescopic movement, so as to drive the second housing 2217 to perform lifting movement.

In the embodiment of the present utility model, the bottom of the first housing 2216 is rotatably connected to the carrier 214, and the positioning groove 2211 and the first magnetic attraction 2212 are respectively disposed on two opposite sides of the first housing 2216.

In another embodiment of the present utility model, as shown in fig. 10, the mobile chassis 10 includes a support assembly 11, a first driving member 12, a second driving member 13, an omni-wheel 14 and two driving wheels 15, wherein the support assembly 11 is formed with a stage 1111, the first driving member 12 and the second driving member 13 are disposed on the support assembly 11 and respectively connected to the two driving wheels 15, and the omni-wheel 14 is rotatably connected to the support assembly 11. During the running process of the mobile chassis 10, the first driving member 12 and the second driving member 13 can respectively control the two driving wheels 15 to rotate at different rotation speeds, so that the differential function is realized, and the mobile chassis 10 can smoothly and completely turn; the omnidirectional wheel 14 is a wheel capable of freely rotating in the front-back direction and the left-right direction, the omnidirectional wheel 14 is used as a driven wheel, the flexibility of the mobile chassis 10 in turning can be greatly improved, the mobile chassis 10 can smoothly complete turning operation in a narrow space, and medical equipment is convenient to carry into a ward.

The conventional mobile chassis 10 of the mobile robot generally adopts a scheme of combining a driving wheel 15 with a universal wheel, or a Mecanum wheel scheme, or a steering wheel scheme.

For the scheme of combining the driving wheel 15 and the universal wheel, in order to ensure that the mobile robot has certain obstacle surmounting capability, the size of the universal wheel is usually larger, and a larger turning radius exists on the larger universal wheel, so that the mobile robot is easy to turn over when carrying medical equipment with higher gravity center to turn, and the mobile robot is difficult to carry the medical equipment with higher gravity center. Compared with the scheme, the scheme that the driving wheel 15 and the omni-wheel 14 are combined is adopted by the mobile chassis 10 provided by the embodiment of the utility model, the influence of the turning radius is effectively avoided due to the arrangement of the omni-wheel 14, so that the mobile chassis 10 can still stably complete turning operation and the problem of rollover is not easy to occur when carrying medical equipment with higher gravity center.

For the Mecanum wheel scheme, because the Mecanum wheel is in rolling, each roller of the Mecanum wheel is in contact with the ground alternately and discontinuously, the Mecanum wheel is bumpy in rolling, and the mobile robot adopting the scheme can emit larger noise in running, so that the requirements of a ward mute environment are difficult to meet. Compared with the scheme, the mobile chassis 10 provided by the embodiment of the utility model adopts the scheme of combining the driving wheel 15 and the omnidirectional wheel 14, and as the continuity of each roller alternately contacting with the ground when the omnidirectional wheel 14 rolls is higher, the radial vibration of the omnidirectional wheel 14 during rolling can be reduced, the noise is effectively reduced, and the requirements of the mute environment of a ward are met.

For the steering wheel scheme, the steering wheel needs to be provided with a driving motor and a steering motor, and the cost is high. Compared with the scheme, the mobile chassis 10 provided by the embodiment of the utility model adopts the scheme that the driving wheels 15 are combined with the omni-directional wheels 14, and the first driving piece 12 and the second driving piece 13 can respectively control the two driving wheels 15 to rotate at different rotating speeds, so that the steering of the mobile chassis 10 is realized, and a steering motor is not required to be additionally arranged, so that the cost is lower.

In the embodiment of the present utility model, the number of the omni-directional wheels 14 may be two, and the two omni-directional wheels 14 are arranged in pairs from left to right, so that the stability of the mobile chassis 10 during running can be improved. Specifically, the two driving wheels 15 are respectively a left front wheel and a rear front wheel, and the two omni wheels 14 are respectively a right rear wheel and a left rear wheel. Of course, in other embodiments, the two drive wheels 15 may be the right and left rear wheels, respectively, and the two omni wheels 14 may be the left and right front wheels, respectively.

In another embodiment of the present utility model, as shown in fig. 10, the bracket assembly 11 includes a top plate 111, a bottom plate 112 and a frame 113, the top plate 111 and the bottom plate 112 are spaced apart, a stage 1111 is formed on a side of the top plate 111 away from the bottom plate 112, the frame 113 is connected between the top plate 111 and the bottom plate 112, the first driving member 12 and the second driving member 13 are both mounted on the frame 113, and the omni-wheel 14 is rotatably disposed on the frame 113.

Further, as shown in fig. 10, the bracket assembly 11 further includes a side wall plate 114, the side wall plate 114 is connected between the top plate 111 and the bottom plate 112, and forms a mounting cavity together with the top plate 111 and the bottom plate 112, the frame 113 is disposed in the mounting cavity, the side wall plate 114 is recessed inwards to form a housing chamber 1141 and an opening 1142, and the fastening member 1144 and the adapter 1143 are disposed on the side wall plate 114.

Further, as shown in fig. 10, the bracket assembly 11 further includes a cover plate 115, the top plate 111 is provided with an access hole 1112, and the cover plate 115 is movably covered on the access hole 1112, so that an operator can conveniently overhaul the parts in the installation cavity.

Further, as shown in fig. 10, a suspension 116 is provided on the frame 113, and the omni-wheel 14 is connected to the suspension 116.

In another embodiment of the present utility model, as shown in fig. 10, the mobile chassis 10 further includes a chassis battery 16, and the chassis battery 16 is disposed on the bracket assembly 11 and electrically connected to the first driving member 12 and the second driving member 13.

Further, as shown in fig. 10, the chassis battery 16 is provided on the bottom plate 112.

In another embodiment of the present utility model, the mobile chassis 10 further includes an electrical board disposed on the bracket assembly 11 and electrically connected to the chassis battery 16.

In another embodiment of the present utility model, as shown in fig. 10, the mobile robot further includes a device battery 17, and the device battery 17 is disposed on the mobile chassis 10 and is used for electrical connection with the medical device placed on the stage 1111.

Further, as shown in fig. 10, the stand assembly 11 further includes a support plate 117, and the support plate 117 is connected to the frame 113 and located between the top plate 111 and the bottom plate 112, and the equipment battery 17 is mounted on the support plate 117.

The embodiment of the utility model also provides a medical system, which comprises medical equipment and the mobile robot, wherein the medical equipment is placed on the object stage 1111. The device battery 17 may be electrically connected to the medical device to power the medical device.

When the medical system provided by the embodiment of the utility model is used, medical equipment is placed on the object stage 1111 of the mobile chassis 10, the mobile robot carries the medical equipment into a ward, so that the seat mechanism 20 moves relative to the mobile chassis 10, the medical equipment exits from the accommodating cabin 1141 of the mobile chassis 10 through the opening 1142, a patient can sit on the seat mechanism 20, and the patient can take a sitting posture to sample or detect the medical equipment, so that the process is comfortable and easy, and the patient cannot cause excessive burden to the body even if the sampling or detecting time is long. After sampling or testing, the seat mechanism 20 can be moved into the housing compartment 1141 through the opening 1142 for storage. Before the mobile robot carries the medical equipment into the ward, the seat mechanism 20 is stored in the storage cabin 1141, so that the external dimension of the mobile robot can be reduced, the flexibility of the mobile robot in moving in a narrow space is improved, and the mobile robot is convenient to carry the medical equipment into the ward. The medical system according to the embodiment of the present utility model adopts all the technical solutions of all the embodiments, so that all the beneficial effects brought by the technical solutions of the embodiments are also provided, and are not described in detail herein.

The foregoing description of the preferred embodiments of the utility model is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the utility model.

Claims (10)

1. The mobile robot is characterized by comprising a mobile chassis and a seat mechanism, wherein the mobile chassis is provided with an objective table and a containing bin, the containing bin is provided with an opening, the seat mechanism is movably connected with the mobile chassis, and the seat mechanism can move relative to the mobile chassis so as to enter the containing bin or exit the containing bin through the opening.

2. The mobile robot of claim 1, wherein: the seat mechanism is in sliding connection with the movable chassis; alternatively, the seat mechanism is rotatably coupled to the mobile chassis.

3. The mobile robot of claim 2, wherein: when the seat mechanism is rotationally connected with the movable chassis, the movable chassis is provided with an adapter part and a fastening piece, the seat mechanism comprises a movement assembly and a seat assembly, one end of the movement assembly is rotationally connected with the adapter part, the seat assembly is arranged on the movement assembly, and when the movement assembly rotates relative to the movable chassis to drive the seat assembly to enter the accommodating bin, the other end of the movement assembly can be in fastening fit with the fastening piece.

4. A mobile robot according to claim 3, characterized in that: the motion subassembly is kept away from the one end of switching portion is equipped with the movable groove, the movable inslot slip is provided with first locking piece, first locking piece can stretch out outside the movable groove, in order to with the lock joint spare lock joint cooperation.

5. The mobile robot of claim 1, wherein: the seat mechanism comprises a motion assembly, a seat assembly and a lifting assembly, wherein the motion assembly is movably connected with the movable chassis, the seat assembly is arranged on the motion assembly, the lifting assembly is connected with the seat assembly, and the lifting assembly is used for driving the seat assembly to do lifting motion when the seat assembly is positioned outside the accommodating bin.

6. The mobile robot of claim 1, wherein: the seat mechanism comprises a motion assembly and a seat assembly, wherein the motion assembly is movably connected with the movable chassis, the seat assembly is rotationally connected with the motion assembly, and when the seat assembly is accommodated in the accommodating bin, the seat assembly and the motion assembly can be in a folded state.

7. The mobile robot of claim 6, wherein: the seat assembly comprises a supporting seat, a swing arm and a seat, the supporting seat is rotationally connected with the motion assembly, one end of the swing arm is rotationally connected with the supporting seat, the other end of the swing arm is connected with the seat, and when the seat assembly is accommodated in the accommodating bin, the seat and the supporting seat can be in a folded state.

8. The mobile robot of claim 1, wherein: the mobile robot further comprises an equipment battery, wherein the equipment battery is arranged on the mobile chassis and is used for being electrically connected with medical equipment placed on the objective table.

9. The mobile robot of claim 1, wherein: the movable chassis comprises a support assembly, a first driving piece, a second driving piece, an omnidirectional wheel and two driving wheels, wherein the support assembly is provided with an objective table, the first driving piece and the second driving piece are arranged on the support assembly and are respectively connected with the two driving wheels, and the omnidirectional wheel is rotationally connected with the support assembly.

10. A medical system comprising a medical device and the mobile robot of any one of claims 1-9, the medical device being placed on the stage.