[0054] Example 1
[0055] An orthopedic robot, such as Figure 1-2 As shown in and 7, it includes a walking part 1, a transporting part 2 and a driving part 3. The walking part 1 and the transporting part 2 are slidingly connected, the driving part 3 and the walking part 1 are in transmission connection, and the driving The part 3 is fixedly connected with the transfer part 2;
[0056] Such as figure 1 with 2 As shown, the walking part 1 includes a mounting plate 5, two sliding rails 6, four sliding blocks 8, and four connecting rods 9. The two sliding rails 6 are symmetrically fixedly installed on one side of the mounting plate 5. Above, the four sliding blocks 8 are symmetrically snap-fitted and slidably mounted on the two sliding rails 6, and the four sliding blocks 8 are respectively fixedly connected to the four connecting rods 9;
[0057] Such as figure 1 , 2 , 3, and 5, the transfer part 2 includes a square shell 12, a storage bucket 15, a lifting device 4, two circular ferrules 23, two round shafts 24, and two support seats 25. The square shell 12 Fixedly installed at one end of the four connecting rods 9 away from the slider 8, two supporting seats 25 are symmetrically fixedly installed on the upper surface of the square housing 12, and the two circular shafts 24 are symmetrical Are fixedly installed on the inner side surfaces of the two supporting seats 25, and the ends of the two round shafts 24 away from the supporting seats 25 are respectively rotatably installed inside the two circular ferrules 23, two The circular ferrules 23 are fixedly installed on both sides of the storage bucket 15 symmetrically, the upper side of the square casing 12 is provided with a mounting groove 17, and the lifting device 4 is hingedly mounted inside the mounting groove 17 , And the telescopic end of the lifting device 4 is hingedly connected to the bottom side of the storage bucket 15;
[0058] Such as figure 2 , 7 As shown in and 8, the driving part 3 includes a servo motor 30, a driving pulley 31, a driven pulley 36, two rubber wheels 37, a connecting shaft 35, two connecting plates 33, and a belt 32. The servo motor 30 is fixedly installed Inside the square housing 12, the driving pulley 31 is fixedly installed at the end of the rotation shaft of the servo motor 30, and the driving pulley 31 is drivingly connected to the driven pulley 36 through the belt 32, so The driven pulley 36 is fixedly sleeved in the middle of the connecting shaft 35, the two rubber wheels 37 are symmetrically fixedly installed at both ends of the connecting shaft 35, and the connecting shaft 35 is fixedly installed on the two through rolling bearings 34. One end of the two connecting plates 33, the other ends of the two connecting plates 33 are fixedly connected to one side of the square housing 12 close to the mounting plate 5, and the two rubber wheels 37 are also connected to the mounting plate. 5 The side surfaces close to the square shell 12 are arranged in conflict.
[0059] By adopting the above technical solution, the walking part 1 is used for the whole robot to walk, the transfer part 2 is used to transfer waste water and medical waste generated in orthopedic surgery, and the driving part 3 is used to drive the transfer part 2 to walk back and forth along the walking part 1, and transfer The part 2 includes a square shell 12, a storage bucket 15, a lifting device 4, two circular ferrules 23 and two round shafts 24, and two support seats 25. The lifting device 4 is matched with the storage bucket 15, and the lifting device 4 Drive one side of the storage bucket 15 to move up and down, so that the robot has the function of dumping the waste water and medical waste stored in the storage bucket 15, which solves the traditional problem of requiring medical staff to manually dump the waste water and medical waste generated by orthopedics. It can effectively avoid the possibility that the hands of medical staff will be contaminated in the process of dumping the waste water and medical waste generated by the orthopedics department, so as to ensure that the hands of medical staff are relatively clean and hygienic, which can effectively reduce the chance of orthopedic patients being infected during the operation. So as to ensure the life safety of orthopedic patients.
[0060] Preferably, as Image 6 As shown, the mounting plate 5 is provided with two rows of mounting holes 7 symmetrically, and each row of the mounting holes 7 is provided with at least three, and each row of the mounting holes 7 are arranged at equal distances.
[0061] By adopting the above technical solution, two rows of mounting holes 7 are symmetrically opened on the mounting plate 5, so that the walking part 1 can be easily installed on the wall of the orthopedic operating room through expansion bolts, which can save the floor space of the orthopedic operating room and prevent the robot When walking on the feet of medical staff or orthopedic patients, there are at least three mounting holes 7 in each row, and the mounting holes 7 in each row are arranged at equal distances, which makes the installation of the walking part 1 more stable and prevents the walking part 1 from being installed. An accident occurred due to a fall.
[0062] Preferably, as figure 2 As shown, both ends of the two slide rails 6 are fixedly installed with a limit block 11 by screws 10, and both ends of the two slide rails 6 are provided with first matching screws 10 Threaded hole.
[0063] By adopting the above technical solution, the limit blocks 11 are installed at both ends of the slide rail 6, which can prevent the slider 8 from falling off the slide rail 6, and can effectively prevent the transfer part 2 from falling, thereby making the robot safer. The two ends of the sliding rail 6 are provided with first threaded holes, so that the limit block 11 is convenient to be installed by the screw 10, which makes the installation of the robot more convenient.
[0064] Preferably, as image 3 As shown, the side of the storage bucket 15 away from the lifting device 4 is integrated with a drainage nozzle 16 in the center near the edge, and the bottom of the storage bucket 15 has an arc structure.
[0065] By adopting the above technical solution, a drainage nozzle 16 is integrally provided on the side of the storage bucket 15 away from the lifting device 4 near the edge. The drainage nozzle 16 is used for drainage, which can prevent waste water and medical treatment in the storage bucket 15 from being dumped. The waste water inside the storage bucket 15 flows everywhere when garbage. The bottom of the storage bucket 15 is set in an arc structure so that the bottom of the storage bucket 15 has no corners, which can prevent foreign matter from sticking to the corners, so that the storage bucket 15 can be cleaned and compared. Convenience.
[0066] Preferably, as image 3 As shown, the lifting device 4 includes a first hinge seat 18, a second hinge seat 22, an electric push rod 20, a first connecting block 19, and a second connecting block 21. The first hinge seat 18 is fixedly mounted on the The bottom of the storage bucket 15 is close to one side of the installation groove 17, the second hinge seat 22 is fixedly installed on the inner bottom of the installation groove 17, and the first connecting block 19 is fixedly installed on the electric push rod 20 The second connecting block 21 is fixedly installed at the bottom end of the electric push rod 20, and the first connecting block 19 is also hinged on the inside of the first hinge seat 18 through a pin. The second connecting block 21 is also hinged to the inside of the second hinge seat 22 through a pin shaft.
[0067] By adopting the above technical solution, the first articulated base 18 and the second articulated base 22 are used as the connecting parts for installing the electric push rod 20, which can prevent the electric push rod 20 from not working, so that the angle of the electric push rod 20 can be changed. It is ensured that the electric push rod 20 can push up or lower one side of the storage bucket 15 so as to realize the function of dumping the waste water and medical waste stored in the storage bucket 15.
[0068] Preferably, as figure 2 with 7 As shown, the square housing 12 is further provided with a square through slot 28 for passing through the belt 32 on a side surface close to the mounting plate 5.
[0069] By adopting the above technical solution, the square through slot 28 is used to pass through the belt 32, which facilitates the driving connection of the driving pulley 31 and the driven pulley 36 through the belt 32.
[0070] Preferably, as figure 2 with 5 As shown, the side surface of the square housing 12 away from the mounting plate 5 is also fixedly mounted with a cover plate 13 by bolts 14, and the inner corners of the square housing 12 are integrally provided with mounting ears 26. A second threaded hole matched with the bolt 14 is opened inside the 26.
[0071] By adopting the above technical solution, the cover plate 13 is installed on the side of the square housing 12 away from the mounting plate 5 by bolts 14, so that the cover plate 13 is easy to disassemble and assemble, and it is convenient to maintain the internal parts of the square housing 12 in the later period, the mounting ears 26 and The arrangement of the second threaded hole makes the cover plate 13 easy to install through the bolts 14, so that the robot is easy to install.
[0072] Preferably, as Image 6 As shown, the slide rail 6 is a T-shaped slide rail, and the slide rail 6 and the slider 8 are made of stainless steel, and the surface roughness of the slide rail 6 and the slider 8 are not Greater than Ra0.2.
[0073] By adopting the above technical solution, the cooperation of the T-shaped sliding rail and the sliding block 8 can prevent the sliding block 8 from falling off the T-shaped sliding rail, thereby making the robot run more stably. In addition, the sliding rail 6 and the sliding block 8 are made of stainless steel Made of material, the sliding rail 6 and the sliding block 8 are more wear-resistant and have a long service life. In addition, the surface roughness of the sliding rail 6 and the sliding block 8 is not greater than Ra0.2, so that the sliding rail 6 and the sliding block 8 are The friction between the slider 8 is small, and the noise of the slider 8 when it moves along the slide rail 6 is small, so that the mute effect of the robot is better when it is running, and the noise can prevent the work of the medical staff from being affected by noise.
[0074] Preferably, as image 3 , 4 As shown in and 8, a controller 29 is also fixedly installed inside the square housing 12, and a sensor 27 is embedded on one side wall of the storage bucket 15, and the signal output terminal of the sensor 27 is connected to The signal input terminal of the controller 29 is electrically connected, and the electric push rod 20 and the electric control terminal of the servo motor 30 are electrically connected to the control output terminal of the controller 29 through wires.
[0075] By adopting the above technical scheme, the controller 29 works with the sensor 27 to automatically control the automatic operation of the electric push rod 20 and the servo motor 30, so that the robot can work automatically, and the waste water and medical waste generated by orthopedics can be automatically discharged. Features.
[0076] Preferably, a power switch and a reset switch are further provided on the outer surface of the square housing 12, and the power switch is connected in series with the controller 29, the electric push rod 20 and the servo motor 30 through wires. The reset switch is electrically connected to the signal input terminal of the controller 29 through a signal line.
[0077] By adopting the above technical solution, the power switch is used to turn on and off the robot, and the reset switch is used to restore the robot to the initial state.
[0078] It is worth noting that in this embodiment, the controller 29 can be a STC89C51 single-chip microcomputer, and the electric push rod 20 can be a CLA-300mm electric push rod produced by Zhongshan Chili Electric Appliance Factory. The servo motor 30 can be a decelerating brushless servo motor produced by Dongguan Taiji Reducer Co., Ltd., and the sensor 27 can be a sensor of the model AWG-0620 produced by Dongguan Anwei Electronic Technology Co., Ltd.
