A robot for full-angle image recognition of community medical waste

Abstract

The application discloses a kind of community medical waste full-angle image recognition robots, including robot main body, the rear of the robot main body is connected with garbage hopper, two first driving devices are symmetrically installed on the garbage hopper, the first driving device includes hydraulic rod and connecting structure, the connecting structure is installed at the rear end of hydraulic rod, one second driving device is installed on two connecting structures, the second driving device includes a motor and drive screw, the drive screw is installed on the output shaft of a motor, a cleaning device is installed on two drive screws in the garbage hopper.The robot for community medical waste full-angle image recognition of the application belongs to the field of robot, by setting cleaning device and rotating protection door structure, the medical waste that is stepped on can be swept into garbage hopper, so as to recycle the medical waste that is stepped on.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robots, in particular to a robot for full-angle image recognition of community medical waste. BACKGROUND

[0002] Medical waste refers to waste generated by medical institutions in medical, preventive, health care and other related activities, which is directly or indirectly infectious, toxic and other hazardous waste, including infectious, pathological, injury, drug, chemical waste. Such as used cotton ball, gauze, adhesive tape, waste water, disposable medical devices, postoperative waste, expired drugs and so on. These wastes contain a large amount of bacteria and viruses, and have the characteristics of space pollution, acute virus infection and latent infection. If they are not managed and discarded at will, and mixed with household garbage and scattered into the living environment of people, they will pollute the atmosphere, water sources, land and animals and plants, cause disease transmission and seriously endanger human physical and mental health. All medical waste and household waste must not be mixed. The full-angle image recognition robot for medical waste is a robot with medical waste recognition capability. The full-angle recognition device arranged thereon can observe the surrounding environment for 360 degrees to see if there is medical waste. After discovering the medical waste, the mechanical hand arranged thereon will pick up the waste and put it into the garbage chute, so as to recycle the medical waste and reduce the pollution of the medical waste to the surrounding environment.

[0003] The existing full-angle image recognition robot for medical waste can identify and recycle the medical waste in the community. However, due to the large flow of people in the equipment area, some medical waste is easy to be stepped on, and part of the medical waste will be broken into small fragments when stepped on. Due to the poor flexibility of the mechanical arm of the full-angle image recognition robot for medical waste, some small medical waste fragments cannot be picked up and recycled by the mechanical arm. SUMMARY

[0004] In view of the problems in the prior art, the present application aims to provide a robot for full-angle image recognition of community medical waste, which can sweep the stepped medical waste into the garbage hopper by arranging a cleaning device and a rotating protective door structure, so as to recycle the stepped medical waste. By arranging a first driving device, the cleaning device can be conveniently moved forward and backward, so that the cleaning device can sweep the medical waste on the ground into the garbage hopper through the protective door plate of the rotating protective door structure. By arranging a second driving device, the cleaning device can be conveniently moved up and down, so that the cleaning brush on the cleaning device can contact the ground.

[0005] To achieve the above-mentioned purpose, the technical scheme adopted by the present application is as follows:

[0006] The utility model provides a kind of robot of community medical waste full-angle image recognition, including robot main body, the rear of robot main body is connected with garbage hopper, two symmetrical no.

[0007] Further, four driving wheels are symmetrically installed on the robot main body, a mechanical arm is installed on the upper end of the robot main body, and a full-angle recognition device is installed on the upper end of the robot main body.

[0008] Further, four driven wheels are symmetrically installed on the garbage hopper, two receiving grooves are symmetrically formed in the rear end of the garbage hopper, two mounting blocks are symmetrically installed on the rear end of the garbage hopper, and two mounting blocks are respectively located below the two receiving grooves. The mounting blocks are integrally formed with the garbage hopper, and a through hole is formed in each mounting block.

[0009] Further, the two hydraulic rods of the two no. 1 driving devices are fixedly installed on the left and right ends of the garbage hopper by screws, the connecting structure is fixedly installed on the hydraulic rod by a screw, an installation groove is formed in the connecting structure, the installation groove penetrates the left and right ends of the connecting structure, an installation through hole is formed in the connecting structure, the installation through hole penetrates the upper and lower ends of the connecting structure and the installation groove, and the connecting structure is located in the receiving groove formed in the rear end of the garbage hopper.

[0010] Further, the no. 1 motor of the no. 2 driving device is fixedly installed on the upper end of the connecting structure of the no. 1 driving device by a screw, the drive screw is fixedly installed on the drive shaft of the no. 1 motor by a screw, and the drive screw is rotatably installed in the installation through hole and the installation groove formed in the connecting structure.

[0011] Further, the mounting base plate and the cleaning brush on the cleaning device are fixedly installed together by adhesive, the mounting base plate and the cleaning brush are located in the garbage hopper, the two mounting plates are fixedly installed on the mounting base plate by screws, the two mounting plates are located in the two mounting slots respectively formed in the two connecting structures, one mounting screw hole is formed in each of the two mounting plates, the two mounting screw holes penetrate the upper and lower ends of the two mounting plates respectively, and the two mounting plates are installed on the two drive lead screws of the two second driving devices respectively through the mounting screw holes formed therein.

[0012] Further, the protective door plate on the rotating protective door structure is located between the two mounting fixed blocks symmetrically installed at the rear end of the garbage hopper, the two connecting shafts are fixedly installed on the protective door plate by screws, the two connecting shafts are fixedly installed on the output shafts of the two second motors by screws, the two connecting shafts are rotatably installed in the two through holes formed in the two mounting fixed blocks respectively, the protective door plate can rotate together with the connecting shaft, and the two second motors are fixedly installed on the outer ends of the two mounting fixed blocks by screws.

[0013] Compared with the prior art, the present application has the following beneficial effects:

[0014] (1) By setting the cleaning device and the rotating protective door structure, the medical waste crushed by stepping can be swept into the garbage hopper, so that the medical waste crushed by stepping can be recycled;

[0015] (2) By setting the first driving device, the cleaning device can be conveniently pushed to move forward and backward, so that the cleaning device can sweep the medical waste on the ground into the garbage hopper through the protective door plate on the rotating protective door structure;

[0016] (3) By setting the second driving device, the cleaning device can be conveniently driven to move up and down, so that the cleaning brush on the cleaning device can contact the ground. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 is a schematic view of the overall structure of the present application;

[0018] Figure 2 is an enlarged view of A of the present application; Figure 1

[0019] Figure 3 is a schematic view of the structure of the garbage hopper of the present application;

[0020] Figure 4 is a schematic view of the structure of the cleaning device of the present application;

[0021] Figure 5 is a schematic view of the structure of the connecting structure of the present application;​

[0022] Figure 6 Structure diagram of the rotating protective door structure of the present application.

[0023] In the figure: 1, robot body; 2, garbage hopper; 3, No. 1 driving device; 4, No. 2 driving device; 5, cleaning device; 6, rotating protective door structure; 7, mechanical arm; 8, full-angle recognition device; 9, driving wheel; 10, driven wheel; 11, storage groove; 12, mounting fixed block; 13, hydraulic rod; 14, connecting structure; 15, mounting through hole; 16, mounting groove; 17, No. 1 motor; 18, driving screw; 19, mounting base plate; 20, mounting plate; 21, mounting screw hole; 22, cleaning bristles; 23, protective door plate; 24, connecting shaft; 25, No. 2 motor. DETAILED DESCRIPTION

[0024] In order to make the technical means, creative features, purposes and effects of the present application easy to understand, the present application is further described below in combination with specific embodiments.

[0025] Embodiment 1:

[0026] Please refer to Figure 1 , Figure 2 , Figure 3 , a robot for full-angle image recognition of community medical waste, comprising a robot body 1, four driving wheels 9 are symmetrically installed on the robot body 1, a mechanical arm 7 is installed on the upper end of the robot body 1, a full-angle recognition device 8 is installed on the upper end of the robot body 1, a garbage hopper 2 is installed at the rear of the robot body 1, four driven wheels 10 are symmetrically installed on the garbage hopper 2, two storage grooves 11 are symmetrically provided at the rear end of the garbage hopper 2, two mounting fixed blocks 12 are symmetrically installed at the rear end of the garbage hopper 2, the two mounting fixed blocks 12 are respectively located below the two storage grooves 11, the two mounting fixed blocks 12 and the garbage hopper 2 are integrally formed, and a through hole is provided in each of the two mounting fixed blocks 12. In use, the driving wheels 9 are driven to move the robot body 1, and the robot body 1 moves the garbage hopper 2, the driven wheels 10 rub against the ground to generate rotation when the garbage hopper 2 moves, after the full-angle recognition device 8 installed on the upper end of the robot body 1 recognizes the medical waste, the mechanical arm 7 installed on the upper end of the robot body 1 clamps the medical waste, and finally the mechanical arm 7 puts the medical waste into the garbage hopper 2.

[0027] Embodiment 2:

[0028] Please refer to Figure 1 , Figure 2 , Figure 4 , Figure 5 , Figure 6As shown, the garbage hopper 2 is symmetrically provided with two first driving devices 3, the first driving device 3 comprises a hydraulic rod 13 and a connecting structure 14, the connecting structure 14 is installed at the rear end of the hydraulic rod 13, the two hydraulic rods 13 on the two first driving devices 3 are fixedly installed at the left and right ends of the garbage hopper 2 by screws respectively, the connecting structure 14 is fixedly installed on the hydraulic rod 13 by a screw, the connecting structure 14 is provided with a mounting slot 16, the mounting slot 16 penetrates the left and right ends of the connecting structure 14, the connecting structure 14 is provided with a mounting hole 15, the mounting hole 15 penetrates the upper and lower ends of the connecting structure 14 and the mounting slot 16, the connecting structure 14 is located in the receiving groove 11 provided at the rear end of the garbage hopper 2, two connecting structures 14 are provided with a second driving device 4, the second driving device 4 comprises a first motor 17 and a driving screw 18, the driving screw 18 is installed on the output shaft of the first motor 17, the first motor 17 on the second driving device 4 is fixedly installed on the upper end of the connecting structure 14 on the first driving device 3 by a screw, the driving screw 18 is fixedly installed on the driving shaft of the first motor 17 by a screw, the driving screw 18 is rotatably installed in the mounting hole 15 and the mounting slot 16 provided in the connecting structure 14, a cleaning device 5 is installed on the two driving screws 18 in the garbage hopper 2, the cleaning device 5 comprises a mounting base plate 19, a mounting plate 20 and a cleaning brush 22, the mounting plate 20 has two and is symmetrically installed at the left and right ends of the mounting base plate 19, the cleaning brush 22 is installed at the lower end of the mounting base plate 19, the mounting base plate 19 and the cleaning brush 22 on the cleaning device 5 are fixedly installed together by adhesive, the mounting base plate 19 and the cleaning brush 22 are located in the garbage hopper 2, the two mounting plates 20 are fixedly installed on the mounting base plate 19 by screws, the two mounting plates 20 are located in the two mounting slots 16 provided in the two connecting structures 14 respectively, the two mounting plates 20 are provided with a mounting screw hole 21, the two mounting screw holes 21 penetrate the upper and lower ends of the two mounting plates 20 respectively, the two mounting plates 20 are installed on the two driving screws 18 of the two second driving devices 4 through the mounting screw holes 21 provided thereon respectively, a rotating protection door structure 6 is rotatably installed at the rear end of the garbage hopper 2, the rotating protection door structure 6 comprises a protection door plate 23, a connecting shaft 24 and a second motor 25, the second motor 25 is symmetrically installed on the left and right sides of the protection door plate 23, the connecting shaft 24 has two, the two connecting shafts 24 connect the two second motors 25 and the protection door plate 23 together, the protection door plate 23 on the rotating protection door structure 6 is located between the two mounting fixed blocks 12 symmetrically installed at the rear end of the garbage hopper 2, the two connecting shafts 24 are fixedly installed on the protection door plate 23 by screws, the two connecting shafts 24 are fixedly installed on the output shafts of the two second motors 25 by screws, the two connecting shafts 24 are rotatably installed in the two through holes provided in the two mounting fixed blocks 12 respectively, the protection door plate 23 can rotate with the connecting shaft 24,The two No. 2 motors 25 are fixedly installed on the outer ends of the two mounting fixed blocks 12 by screws. By arranging the cleaning device 5 and the rotating protective door structure 6, the medical waste that is crushed can be swept into the garbage hopper 2, so that the crushed medical waste is recycled. By arranging the No. 1 driving device 3, the cleaning device 5 can be conveniently pushed to move forward and backward, so that the cleaning device 5 can sweep the medical waste on the ground into the garbage hopper 2 through the protective door plate 23 of the rotating protective door structure 6. By arranging the No. 2 driving device 4, the cleaning device 5 can be conveniently driven to move up and down, so that the cleaning bristles 22 on the cleaning device 5 can contact the ground.

[0029] It needs to be explained that the application is a robot for full-angle image recognition of community medical waste. When in use, the driving wheel 9 is driven to move the robot main body 1, and the robot main body 1 moves the garbage hopper 2. When the garbage hopper 2 moves, the driven wheel 10 rubs against the ground to produce rotation. When the full-angle recognition device 8 installed at the upper end of the robot main body 1 recognizes the medical waste, the mechanical arm 7 installed at the upper end of the robot main body 1 clamps the medical waste. Finally, the mechanical arm 7 puts the medical waste into the garbage hopper 2. When the full-angle recognition device 8 recognizes the medical waste broken into pieces, the mechanical arm 7 cannot clamp the small medical waste. The cleaning device 5 can be used to sweep the piece-shaped medical waste into the garbage hopper 2. The method for sweeping the piece-shaped medical waste into the garbage hopper 2 by using the cleaning device 5 is as follows. First, the rear end of the garbage hopper 2 is close to the medical waste. Then, the No. 2 motor 25 on the protective door structure 6 is started first. Then, the No. 2 motor 25 drives the protective door plate 23 to rotate backward through the connecting shaft 24. With the rotation of the protective door plate 23 around the connecting shaft 24, the garbage hopper 2 is opened. When the protective door plate 23 contacts the ground, the No. 2 motor 25 stops running. Then, the hydraulic rod 13 on the No. 1 driving device 3 is started to move the connecting structure 14 backward. With the backward movement of the connecting structure 14, the cleaning device 5 installed on the connecting structure 14 moves out of the garbage hopper 2. When the cleaning device 5 passes above the medical waste, the hydraulic rod 13 stops running. At this time, the No. 1 motor 17 on the No. 2 driving device 4 is started to drive the driving screw 18 installed thereon to rotate. With the rotation of the driving screw 18, the cleaning device 5 moves downward. When the cleaning brush 22 on the cleaning device 5 contacts the ground, the No. 1 motor 17 stops working. At this time, the hydraulic rod 13 is started to move the cleaning device 5 forward. With the movement of the cleaning device 5, the cleaning brush 22 pushes the medical waste on the ground into the garbage hopper 2. When the medical waste is pushed onto the protective door plate 23, the No. 2 driving device 4 is started to move the cleaning device 5 upward. At the same time, the No. 2 motor 25 is started to drive the protective door plate 23 to rotate upward. When the cleaning device 5 is reset upward, the No. 1 motor 17 stops working, and the hydraulic rod 13 starts working to reset the cleaning device 5 in the garbage hopper 2. Finally, with the continuous rotation of the protective door plate 23, the medical waste on the protective door plate 23 falls into the garbage hopper 2. At this time, the recognition and recovery of the piece-shaped medical waste are completed.

[0030] The above merely describes the preferred embodiments of the present application and is not intended to limit the present application. Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art will appreciate that modifications can be made to the foregoing embodiments, or other technically equivalent substitutions can be made to some of the technical features thereof, without departing from the spirit and principle of the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present application shall be included in the scope of protection of the present application. The scope of protection of the present application is defined by the appended claims and their equivalents.

Claims

1. A robot for full-angle image recognition of community medical waste, comprising a robot body (1), a waste hopper (2) is connected to the rear of the robot body (1), characterized in that: Two first driving devices (3) are symmetrically installed on the garbage hopper (2), the first driving device (3) comprises a hydraulic rod (13) and a connecting structure (14), the connecting structure (14) is installed at the rear end of the hydraulic rod (13), one second driving device (4) is installed on each of the two connecting structures (14), the second driving device (4) comprises a first motor (17) and a driving lead screw (18), the driving lead screw (18) is installed on the output shaft of the first motor (17), a cleaning device (5) is installed on the two driving lead screws (18) in the garbage hopper (2), the cleaning device (5) comprises a mounting base plate (19), a mounting plate (20) and cleaning bristles (22), the mounting plate (20) is symmetrically installed on the left and right ends of the mounting base plate (19), the cleaning bristles (22) are installed on the lower end of the mounting base plate (19), a rotating protective door structure (6) is rotatably installed at the rear end of the garbage hopper (2), the rotating protective door structure (6) comprises a protective door plate (23), a connecting shaft (24) and a second motor (25), the second motor (25) is symmetrically installed on the left and right sides of the protective door plate (23), the connecting shaft (24) has two, and the two connecting shafts (24) connect the two second motors (25) and the protective door plate (23) together; Four driving wheels (9) are symmetrically installed on the robot body (1), a mechanical arm (7) is installed at the upper end of the robot body (1), a full-angle recognition device (8) is installed at the upper end of the robot body (1), four driven wheels (10) are symmetrically installed on the garbage hopper (2), two receiving grooves (11) are symmetrically formed at the rear end of the garbage hopper (2), two mounting fixed blocks (12) are symmetrically installed at the rear end of the garbage hopper (2), the two mounting fixed blocks (12) are respectively located below the two receiving grooves (11), the two mounting fixed blocks (12) are integrally formed with the garbage hopper (2), and a through hole is formed in each of the two mounting fixed blocks (12).

2. The robot for full-angle image recognition of community medical waste according to claim 1, characterized in that: The two hydraulic rods (13) of the two first driving devices (3) are fixedly installed at the left and right ends of the garbage hopper (2) by screws, the connecting structure (14) is fixedly installed on the hydraulic rod (13) by a screw, the connecting structure (14) is provided with a mounting groove (16), the mounting groove (16) penetrates the left and right ends of the connecting structure (14), the connecting structure (14) is provided with a mounting through hole (15), the mounting through hole (15) penetrates the upper and lower ends of the connecting structure (14) and the mounting groove (16), and the connecting structure (14) is located in the receiving groove (11) formed at the rear end of the garbage hopper (2).

3. The robot for full-angle image recognition of community medical waste according to claim 2, characterized in that: The first motor (17) on the second driving device (4) is fixedly installed on the upper end of the connecting structure (14) on the first driving device (3) through screws, the driving lead screw (18) is fixedly installed on the driving shaft of the first motor (17) through screws, and the driving lead screw (18) is rotatably installed in the mounting through hole (15) and the mounting groove (16) formed in the connecting structure (14).

4. The robot for full-angle image recognition of community medical waste according to claim 3, characterized in that: The mounting base plate (19) and the cleaning brush (22) on the cleaning device (5) are fixedly installed together by adhesive, the mounting base plate (19) and the cleaning brush (22) are located in the garbage hopper (2), the two mounting plates (20) are fixedly installed on the mounting base plate (19) through screws, the two mounting plates (20) are located in the two mounting grooves (16) formed in the two connecting structures (14), respectively, one mounting screw hole (21) is formed in each of the two mounting plates (20), the two mounting screw holes (21) penetrate the upper and lower ends of the two mounting plates (20), respectively, and the two mounting plates (20) are installed on the two driving lead screws (18) of the two second driving devices (4) through the mounting screw holes (21) formed therein, respectively.

5. The robot for full-angle image recognition of community medical waste according to claim 4, characterized in that: The protective door plate (23) on the rotating protective door structure (6) is located between the two mounting fixed blocks (12) symmetrically installed at the rear end of the garbage hopper (2), the two connecting shafts (24) are fixedly installed on the protective door plate (23) through screws, the two connecting shafts (24) are fixedly installed on the output shafts of the two second motors (25) through screws, the two connecting shafts (24) are rotatably installed in the two through holes formed in the two mounting fixed blocks (12), respectively, the protective door plate (23) can rotate together with the connecting shaft (24), and the two second motors (25) are fixedly installed on the outer ends of the two mounting fixed blocks (12) through screws.

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