KR20220068500A - Autonomous conveying cart for collector container of medical waste - Google Patents

Abstract

The present invention relates to an autonomous conveying cart for a container of medical waste, which is able to safely load, convey, and unload the container of medical waste collected, and comprises: a holding member holding the container of medical waste; a moving member engaged with the holding member and made of a motor and wheels for driving; a loading and unloading member made of a multi-joint robot and loading or unloading the container of medical waste on or from the holding member; an adsorption member installed on the loading and unloading member and adsorbing and holding the container of medical waste to load or unload the container of medical waste on or from the holding member; a support member placed on the holding member and holding the container of medical waste loaded not to move; and a control unit placed on the holding member or placed separately to control the operation of the moving member, the loading and unloading member, the adsorption member, and the support member.

Description

Autonomous conveying cart for collector container of medical waste

The present invention relates to an autonomous transport cart for medical waste bins, and more particularly, to an autonomous transport cart for medical waste bins capable of automatically loading, unloading, and transporting trash bins in which medical waste is collected.

Wastes discharged from medical sites such as hospitals, for example, gloves, syringes, ampoules, gauze, or paper diapers, have patient's blood or body fluids on them, and there is a risk of infection. to be discarded.

For this reason, in the medical field, medical waste is collected in a dedicated waste collection container, transferred to a separate packing stand, etc., sealed, and requested to be treated by a waste disposal company.

However, while the number of processing companies handling wastes with a risk of infection is small, there are many opportunities to use disposable medical devices such as syringes and paper diapers from the viewpoint of safety and hygiene, medical practice and nursing efficiency. The current situation is that the amount of medical waste discharged from the hospital is increasing every year.

In addition, the worker who collects and processes medical waste is using a transport cart made of iron to collect the medical waste collected within the discharge facility, but this is due to the possibility of contamination, increased burden on the worker due to weight, and the transport distance according to the discharge. It faces various problems such as increase.

Therefore, there is a need to develop a transport means that can safely transport infectious wastes without exposure to infectious wastes due to accidents in the process of collection and transport by medical waste treatment companies. Self-driving carts as disclosed are being developed and used.

However, the self-driving cart as described above takes a lot of work load because an operator has to lift and execute it by himself in loading or unloading the garbage can in which the medical waste is collected. This makes it difficult to ensure the safety of workers.

In addition, since the trash can is mounted on the cart, but is not generally fixed, there is a problem that the trash can often falls from the cart when moving along an uneven road.

[Prior art literature]

1. Korean Patent Publication No. 10-2018832

An object according to an embodiment of the present invention for solving the above problems is to ensure the safety of workers and to ensure the safety of workers by enabling safe loading and unloading of trash cans in which medical waste is collected through a device such as an articulated robot arm. To provide an autonomous transport cart for medical waste bins that can reduce the load and allow the trash can to be safely mounted and moved without shaking or falling on the cart when moving through the support member, but move the cart automatically or manually is in

An autonomous transport cart for medical waste trash cans according to an embodiment of the present invention for achieving the above object includes: a holding member for mounting the trash can; a moving member coupled to the holding member and comprising a motor and wheels for driving; a loading and unloading member consisting of an articulated robot to load or unload the trash can on the mounting member; an adsorption member installed on the loading and unloading member to adsorb and hold the trash can to load or unload the trash can on the mounting member; a support member provided on the mounting member to hold the loaded trash can from flowing; a control unit provided on the holding member or separately provided to control the operation of the moving member, the loading and unloading member, the adsorption member, and the supporting member; and a control unit installed in front of the support member on which the trash can is mounted to recognize the trash can collector and sense the garbage can to be transported autonomously.

According to an embodiment of the present invention, the loading and unloading member includes a base installed on one side of the mounting member, a first arm that rotates about a vertical axis by driving a first motor, and an end of the first arm. and a second arm rotating around a horizontal axis by driving a second motor, a third arm installed at the end of the second arm and rotating around a horizontal axis by driving a third motor, and installed at the end of the third arm and a fourth arm that rotates around the horizontal axis by driving a fourth motor, and a fifth that is installed at the end of the fourth arm and rotates around the horizontal axis by driving the fifth motor so that the mounting plate of the adsorption member is connected to the end made of cancer

According to an embodiment of the present invention, the suction member includes a mounting plate installed at the end of the loading and unloading member, two first suction plates installed on the left and right sides of the mounting plate and provided with a flow path, and at the center of the mounting plate and a second suction plate installed and provided with a flow path, and an absorption pump installed on one side of the third arm of the loading and unloading member to suck air through a hose connected to the flow path to adsorb the trash can, It is characterized in that the square-shaped waste bin is adsorbed and held by the suction plate, and the circular-shaped waste bin is adsorbed and held by the second adsorption plate.

According to an embodiment of the present invention, the support member includes a bi-directional rotating motor mounted on the upper portion of the holding member, a supporting plate for supporting or releasing the trash can by moving forward and backward through driving of the bi-directional rotating motor; It is composed of a sensor for recognizing the trash cans loaded on the mounting member, and is provided with a plurality of pieces on both sides of the upper part of the mounting member, characterized in that the two are provided to correspond to each other.

According to an embodiment of the present invention, the suction member is provided with a camera to recognize the shape of the trash can loaded on the mounting member, so that when the trash can is rectangular, the first suction plate is operated, and the trash can is circular It is characterized in that the second sucker plate is actuated.

According to an embodiment of the present invention, autonomous transport of the cart is performed by the control of the control unit by sensing of an autonomous transport sensor having a camera function, and it recognizes whether a trash can loaded on a support member of the autonomous transport body function is loaded. to the sensor; a microcomputer that recognizes a keyboard value inputting a follower's ID or date of use and displays it on a display; a motor driving unit driven according to a command of a microcomputer; This is accomplished by controlling the second bidirectional rotating motor, the first to fifth motors, and the first bidirectional rotating motor for driving the wheels, which are selectively operated according to the driving of the motor driving unit.

In the case of transporting the trash can by using the autonomous transport cart for medical waste trash can according to the embodiment of the present invention as described above, the trash can in which the medical waste is collected is placed in the cart using a loading and unloading member such as an articulated robot arm. Because it is safely loaded and unloaded, it ensures worker safety and reduces the work load. Also, since the trash can is supported through a support member, the trash can can be safely mounted and moved without shaking or falling on the cart when moving. The cart can be moved automatically or manually in response to the movement of the transporter of the trash can, thereby providing the effect of obtaining the convenience of movement.

1 is a schematic perspective view of an autonomous transport cart for medical waste trash can according to an embodiment of the present invention.
Figure 2 is a perspective view showing the loading and unloading member of the autonomous transport cart for medical waste trash can according to an embodiment of the present invention.
3 is a perspective view showing an adsorption member of an autonomous transport cart for medical waste trash can according to an embodiment of the present invention.
Figure 4 is a plan view showing a state in which the trash can is loaded in the autonomous transport cart for medical waste trash can according to an embodiment of the present invention.
5 is a block diagram of a control unit for an autonomous transfer card for medical waste trash can according to an embodiment of the present invention.

Hereinafter, an autonomous transport cart for a medical waste bin according to the present invention will be described in detail with reference to the accompanying drawings.

1 is a schematic perspective view of an autonomous transport cart for medical waste bins according to an embodiment of the present invention, and FIG. 2 is a perspective view showing the loading and unloading members of the autonomous transport cart for medical waste bins according to an embodiment of the present invention, FIG. 3 is a perspective view showing an adsorption unit of an autonomous transport cart for medical waste bins according to an embodiment of the present invention, and FIG. 4 is a plan view showing a state in which the trash can is loaded in the autonomous transport cart for medical waste bins according to an embodiment of the present invention 5 is a block diagram of a control unit for an autonomous transfer card for medical waste trash can according to an embodiment of the present invention.

First, it should be noted that in the drawings, the same components or parts are denoted by the same reference numerals. In addition, in describing the present invention, detailed descriptions of related well-known functions or configurations will be omitted so as not to obscure the gist of the present invention.

An autonomous transport cart for medical waste trash can according to an embodiment of the present invention that enables safe loading, transport, and unloading of trash cans in which medical wastes are collected, as shown in FIGS. 1 and 2, a holding member 10, It consists of a moving member 20 , a loading and unloading member 30 , an adsorption member 40 , a support member 50 , a control unit 60 , and an autonomous transfer sensor 70 .

Here, the cart can be moved automatically or manually by selecting the keyboard 71 of the controller 60 .

The mounting member 10 is formed in a flat plate shape so that a plurality of trash cans 1 in which medical waste is collected are safely seated and mounted through the loading and unloading member 30 .

The moving member 20 is coupled to the mounting member 10, preferably provided in the lower portion, and a first bidirectional rotary motor ( (not shown) and a plurality of wheels 22 moving in the front-rear direction through the driving of the first bidirectional rotary motor.

The first bidirectional rotary motor is of a general type provided between the wheels 22 that are the lower portions of the mounting member 10, and a detailed illustration thereof is not provided herein.

As shown in FIG. 2, the loading and unloading member 30 is composed of a multi-joint robot and loads or unloads the trash can 1 on the mounting member 10 in connection with the adsorption member 40 to be described later. .

The loading and unloading member 30, the base 31 installed on one side of the mounting member 10, and the motor drive unit 74 receiving a command by the microcomputer 72 of the control unit 60 is linked to the selection A first arm 32 that rotates about a vertical axis as a starting point by driving a motor 32a, and a second motor 33a installed at the end of the first arm 32 and also linked to the selection of the motor driving unit 74 is driven The second arm 33 rotates with respect to the horizontal axis by The rotating third arm 34 and the fourth arm 35 installed at the end of the third arm 34 and rotating around the horizontal axis by driving the fourth motor 35a linked to the selection of the motor driving unit 74 as a starting point ) and a fifth motor 36a installed at the end of the fourth arm 35 and linked to the selection of the motor driving unit 74 rotates about the horizontal axis as a starting point, and the mounting plate 41 of the suction member 40 at the end ) is made of a fifth arm (36) to be connected.

Accordingly, the loading and unloading member 30 selectively operates the vacuum motor driving unit 75 that operates the first arm 32 to the fifth arm 36 through the control unit 60, so that the suction member 40 is The garbage can (1) is adsorbed and held so that it can be loaded on the mounting member (10) or unloaded from the mounting member (10).

As shown in FIGS. 2 and 3, the adsorption member 40 is installed on the loading and unloading member 30, preferably on the fifth arm 36, to adsorb and hold the trash can 1 to hold the holding member ( 10) to load or unload from it.

The suction member 40 includes a mounting plate 41 installed at the end of the loading and unloading member 30 , and two first suction plates installed on the left and right sides of the mounting plate 41 and provided with a flow path 42 . 43, a second suction plate 45 installed in the center of the installation plate 41 and provided with a flow path 42, and installed on one side of the third arm 34 of the loading and unloading member 30, It is composed of an adsorption pump 47 that sucks air through the hose 44 connected to the flow path 42 to adsorb the waste bin 1 .

Accordingly, for example, the first suction plate 43 to adsorb and hold the rectangular trash can 1 and the second suction plate 45 to hold the circular trash can 1 by suction. It can be done selectively.

Here, the operation of the first suction plate 43 or the second suction plate 45 is selectively operated by the shape of the trash can 1 , and the recognition of the shape of the trash can 1 is performed by a camera 49 described next. made by

As shown in FIGS. 1 and 4 , the support member 50 serves to hold the loaded trash can 1 so as not to flow.

The support member 50 is mounted on the upper portion of the holding member 10 and is driven by a motor driving unit 74 through a second bidirectional rotary motor 51 and the second bidirectional rotary motor 51 driven. It is composed of a support plate 52 for supporting or releasing the trash bin 1 by selectively moving forward and backward, and a sensor 53 for recognizing whether there is a trash bin 1 loaded on the holding member 10, and the holding member It can be exemplified that a plurality of sensors (eg, S1 to S3 in FIG. 4 ) are provided on both sides of the upper part of ( 10 ). Each of the sensors S1 to S3 may have a photocoupler configuration in which a light emitting unit and a light receiving unit are formed as a pair.

Accordingly, when the sensor 53 recognizes whether or not the trash can 1 is loaded on the mounting member 10 , the microcomputer 72 receives a command via the motor driving unit 74 and the second bidirectional rotary motor 51 ) is driven to move the support plate 52 forward or backward to hold or release the trash bin 1 .

And, the adsorption member 40 is provided with a camera 49 so that the microcomputer 72 recognizes the shape of the trash can 1 loaded on the mounting member 10 as a camera image, so that the trash can ( When 1) is square, the vibration motor driving unit 75 is driven from the microcomputer 72 to the output terminal O2 to operate the two first suction plates 43, and when the trash can 1 is circular, one 2 Let the suction plate 45 work.

The control unit 60 is provided on the mounting member 10 or provided separately, so that the moving member 20, the loading and unloading member 30, the adsorption member 40, the supporting member 50, and the autonomous transfer sensor are provided. Control and recognize the operation of (70).

In addition, the control unit 60 automatically operates the cart according to the sensing value (recognized image) of the autonomous transfer sensor 70 when the autonomous transfer command from the keyboard 71 is given. Canceled.

5 is a block diagram of the control unit 60 according to the present invention. The control unit 60 sets the microcomputer 72 to recognize in advance a follower (eg, a trash can carrier) for autonomous transport. This setting image is configured to be obtained through the autonomous transfer sensor 70 of the camera function.

In addition, a sensor 53 for recognizing whether the garbage can (1) loaded on the support member 10 of the autonomous transport body function is loaded;

a microcomputer 72 for recognizing the value of the keyboard 71 for inputting the ID or date of use of the follower and displaying it on the display 73;

a motor driving unit 74 driven according to a command of the microcomputer 72;

A second bidirectional rotary motor 51 selectively operated according to the driving of the motor driving unit 74, the first to fifth motors 32a to 36a, and a first bidirectional rotary motor for driving the wheels 22 are included. .

A camera 49 is installed on one input terminal I3 of the microcomputer 72, and the camera 49 image recognition is separated from the microcomputer 72, and the corresponding first suction plate 43 or the second suction plate 45 is used as an output terminal. It is configured to drive the vibration motor driving unit 75 that provides the adsorption force to act as an adsorption. A suction pump 47 is additionally installed in the vibration motor driving unit 75 .

The first adsorption plate 43 , the second adsorption plate 45 , and the adsorption pump 47 are components constituting the adsorption means 40 .

A brief look at the embodiment of the autonomous transport cart for the medical waste waste bin 1 according to the embodiment of the present invention having the configuration as described above is as follows.

When the garbage carrier on the keyboard 71 and the cart follower selects autonomous transfer, the microcomputer 72 drives the output terminal O1 based on the image of the autonomous transfer sensor 70 to cause the motor driving unit 74 to operate in the first two-way direction. By rotating the rotating motor, the wheel 22 is driven to function to move along the direction in which the follower moves. For this purpose, it will be understood that a specific mark such as a mark or label for recognition must be stored in the microcomputer 72 that recognizes the image of the autonomous transfer sensor 70 so that it can be confirmed.

In addition, the cart is moved using the moving member 20 under the control of the control unit 60 to the place where the trash can 1 in which the medical waste is collected is automatically or manually operated by selecting the keyboard 71. .

When the cart moves near the trash can 1 , the loading and unloading member 30 is operated through the control unit 60 so that the adsorption member 40 faces the trash can 1 as shown in FIG. 4 .

Then, the first suction plate 43 or the second suction plate 45 of the suction member 40 is operated according to the shape of the trash can 1 through the control unit 60 to perform suction holding.

The waste bin 1 adsorbed and held by the adsorption member 40 is loaded and seated on the upper portion of the holding member 10 through the operation of the loading and unloading member 30 again.

When the trash can 1 is loaded on the mounting member 10 , the sensor 53 detects it, and the support plate 52 of the support member 50 moves forward through the driving of the second bidirectional rotary motor 51 to move the trash can. (1) Hold so that it does not flow during movement.

As described above, when the trash can (1) is safely loaded on the mounting member (10), the cart is moved to the collection location of the trash can (1) by using the moving member (20).

When the trash can 1 is moved to the collection site, it is unloaded through the operation of the loading and unloading member 30 and the suction holding of the suction member 40 .

Therefore, it is possible to safely load and unload the trash can (1) in which medical waste is collected by using the loading and unloading member (30) such as a multi-joint robot arm, and the trash can (1) through the support member (50) By supporting the cart, it becomes possible to safely mount and move it without shaking or falling on the cart.

Then, the cart automatically moves following the follower under the control of the controller 60 by sensing of the autonomous transport sensor 70 or manually moves by the manipulation of the follower.

As described above, although the present invention has been described by way of limited embodiments, the present invention is not limited thereto, and the technical idea of the present invention and the Various modifications and variations are possible within the scope of equivalents of the claims.

1: Trash can 10: Mounting member
20: moving member 22: wheel
30: loading and unloading member 31: base
32: first arm 32a: first motor
33: second arm 33a: second motor
34: third arm 34a: third motor
35: fourth arm 35a: fourth motor
36: fifth arm 36a: fifth motor
40: adsorption member 41: mounting plate
42: Euro 43: first sucker plate
44: hose 45: second sucker plate
47: suction pump 49: camera
50: support member 51: second bidirectional rotary motor
52: support plate 53: sensor
60: control unit
70: autonomous transfer sensor 71: keyboard
72: microcomputer 73: display
74: motor driving unit 75: vacuum motor driving unit

Claims (6)

a mounting member 10 for allowing the trash can 1 to be mounted;
a moving member 20 coupled to the holding member 10 and comprising a first bidirectional rotating motor and wheels 22 for driving;
a loading and unloading member 30 configured of an articulated robot to load or unload the trash can 1 on the mounting member 10 ;
an adsorption member (40) installed on the loading and unloading member (30) to adsorb and hold the trash can (1) to load or unload the trash can (1) on the mounting member (10);
a support member (50) provided on the holding member (10) to hold the loaded trash can (1) from flowing;
It is provided in the holding member 10 or is provided separately from the holding member 10, so that the operation of the moving member 20, the loading and unloading member 30, the adsorption member 40 and the supporting member 50 is controlled. a control unit 60 to control; and
Medical waste, characterized in that it is installed in front of the support member 10 on which the trash can (1) is mounted, and includes an autonomous transport sensor (70) that recognizes the trash can collector and senses for autonomous transport and transmits it to the control unit (60) Autonomous transport cart for trash cans.
The method according to claim 1, wherein the loading and unloading member (30), a base (31) installed on one side of the holding member (10), and a first arm that rotates about a vertical axis by driving a first motor (32a) as a starting point (32), a second arm (33) installed at the end of the first arm (32) and rotating about a horizontal axis by driving a second motor (33a), and installed at the end of the second arm (33) The third arm 34 rotates around the horizontal axis by driving the third motor 34a, and the third arm 34 is installed at the end of the third arm 34 and rotates around the horizontal axis by driving the fourth motor 35a. 4 arm 35, installed at the end of the fourth arm 35, rotated about the horizontal axis by driving the fifth motor 36a, and connected to the end of the mounting plate 41 of the adsorption member 40 A self-transporting cart for medical waste trash can, characterized in that consisting of a fifth arm (36).
The method according to claim 1, The adsorption member (40), the mounting plate (41) installed at the end of the loading and unloading member (30), is installed on the left and right sides of the mounting plate (41) is provided with a flow path (42) Two first suction plates 43 , a second suction plate 45 installed in the center of the installation plate 41 and provided with a flow path 42 , and a third arm 34 of the loading and unloading member 30 . It is installed on one side of the flow path 42 and is composed of an adsorption pump 47 that sucks air through the hose 44 connected to the flow path 42 to adsorb the waste bin 1,
Medical waste trash can, characterized in that the rectangular trash can (1) is adsorbed and held by the first suction plate (43), and the circular trash can (1) is adsorbed and held by the second suction plate (45) For autonomous transport carts.
The method according to claim 1, wherein the support member (50), a second bi-directional rotary motor (51) mounted on the upper portion of the mounting member (10), and the second bi-directional rotary motor (51) is moved forward and backward through driving and a support plate 52 for supporting or releasing the trash can 1, and a sensor 53 for recognizing the trash can 1 loaded on the holding member 10, An autonomous transport cart for medical waste trash, characterized in that a plurality of pieces are provided on both sides of the upper part to correspond to each other.
The method according to claim 1, The suction member (40) is provided with a camera (49) to recognize the shape of the trash can (1) loaded on the mounting member (10), when the trash can (1) is rectangular An autonomous transport cart for medical waste trash, characterized in that the first suction plate (43) is operated, and the second suction plate (45) is operated when the trash can (1) is circular.
The method according to claim 1, wherein the autonomous transport of the cart is made by the control of the control unit (60) by the sensing of the autonomous transport sensor (70) having a camera function,
a sensor 53 for recognizing whether the garbage can (1) loaded on the support member 10 of the autonomous transport body function is loaded; a microcomputer 72 for recognizing the value of the keyboard 71 for inputting the ID or date of use of the follower and displaying it on the display 73; a motor driving unit 74 driven according to a command of the microcomputer 72; Made by controlling the second bidirectional rotating motor 51, the first to fifth motors 32a to 36a, and the first bidirectional rotating motor for driving the wheels 22 selectively operated according to the driving of the motor driving unit 74 Autonomous transport cart for medical waste trash can, characterized in that.

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