Intelligent distribution medical endoscope tube conveying robot

Abstract

The application relates to the technical field of conveying robots, and discloses a medical endoscope tube conveying robot for intelligent distribution, which comprises a supporting outer shell and a storage box in the supporting outer shell, the lower end of the supporting outer shell is provided with a circular shaft base, one side of the circular shaft base is provided with an infrared sensor, a power driving structure is mounted in the circular shaft base, an antiskid structure is mounted in the power driving structure, the power driving structure comprises a supporting shell, a steering inner shaft, a linkage gear, a driven gear, a first motor and a driving gear, the steering inner shaft is mounted in the supporting shell, the first motor is mounted at the upper end in the steering inner shaft, and the driving gear is mounted at one end of the first motor. The device can realize the antiskid effect during movement, and the micro suction cup can also form the adsorption effect on the ground, so that the outer wheel can realize the antiskid function in the mirror surface environment and in the case of containing water stains.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of conveying robots, in particular to a medical endoscope tube conveying robot for intelligent distribution. BACKGROUND

[0002] The intelligent distribution robot mainly undertakes the work of sending medicine, sending meals into the isolation area, and recycling clothes and medical waste in the hospital area. They can realize functions such as autonomous door opening, autonomous elevator riding, autonomous obstacle avoidance, and autonomous charging through intelligent scheduling of the "brain" control center, without the need for personnel operation. The cabinet is installed with ultraviolet disinfection lamps, which can maintain the safety of the box and the goods at any time. The robot also has a remote real-time voice and video communication function, which can directly communicate with the nurses or patients in the isolation ward through the scheduling system. The medicine delivery robot can replace the nurses to deliver meals, medical records, and test sheets.

[0003] The distribution robot usually only works in the park area, but there are many pedestrians in the hospital area, and the route is complex. However, the existing mobile structure at the bottom of the robot is usually a four-wheel drive mode for movement, which requires the front to control the direction and the rear to provide power. However, this method is difficult to realize the turning function in a relatively harsh environment, is not flexible enough, and is easy to cause transportation dead angles. SUMMARY

[0004] The present application provides a medical endoscope tube conveying robot for intelligent distribution, which has the beneficial effect of flexible movement and quick turning, solving the problem of the distribution robot mentioned in the background technology, which usually only works in the park area, but there are many pedestrians in the hospital area, and the route is complex. However, the existing mobile structure at the bottom of the robot is usually a four-wheel drive mode for movement, which requires the front to control the direction and the rear to provide power. However, this method is difficult to realize the turning function in a relatively harsh environment, is not flexible enough, and is easy to cause transportation dead angles.

[0005] The present application provides the following technical solution: a medical endoscope tube conveying robot for intelligent distribution, comprising a support outer shell and a storage box inside the support outer shell, the lower end of the support outer shell is provided with a circular shaft base, one side of the circular shaft base is provided with an infrared sensor, the inside of the circular shaft base is installed with a power driving structure, the inside of the power driving structure is installed with an anti-skid structure, the power driving structure comprises a support shell, a steering inner shaft, a linkage gear, a driven gear, a first motor and a driving gear, the inside of the support shell is installed with the steering inner shaft, the upper end of the inside of the steering inner shaft is installed with the first motor, one end of the first motor is installed with the driving gear, the lower end of the driving gear is installed with the driven gear, the lower end of the driven gear is installed with the linkage gear, the linkage gear is used to be installed on one side of the anti-skid structure, and the upper end of the steering inner shaft is installed with a spring.

[0006] As an optional scheme of the intelligent medical endoscope tube delivery robot, the upper end of the support shell is provided with a steering structure, the steering structure comprises a driving rotating shaft, a second motor, a driving cross wheel and a matching gear, the upper end of the support shell is provided with the driving rotating shaft, the outer side of the driving rotating shaft is provided with the matching gear located at the upper end of the support shell, one side of the matching gear is provided with the second motor, the lower end of the second motor is provided with the driving cross wheel, and the driving cross wheel is used for meshing transmission with the outer side of the matching gear.

[0007] As an optional scheme of the intelligent medical endoscope tube delivery robot, the steering structure further comprises a matching gear, a side vertical slot, an inner shaft ring and a positioning wheel shaft, the outer side of the driving rotating shaft is provided with the side vertical slot, the shaft center position of the matching gear is provided with the inner shaft ring, the inner part of the inner shaft ring is provided with a sliding pin, the sliding pin is used for sliding in the side vertical slot, the inner shaft ring is used for simultaneously providing torque transmission between the driving rotating shaft and the matching gear and up-down sliding support, the other side of the matching gear is provided with two positioning wheel shafts, the two positioning wheel shafts are used for positioning the limiting height of the inner shaft ring, the lower end of the support shell is provided with a counterweight, and the lower end of the circular shaft base is annularly provided with four universal wheels.

[0008] As an optional scheme of the intelligent medical endoscope tube delivery robot, the outer side of the driving rotating shaft is provided with an anti-shock structure located at the upper end of the steering inner shaft, the anti-shock structure comprises a support inner ring, a support inner frame, a pressure flow channel and a matching cavity, the inner part of the support inner ring is provided with the support inner frame, the inner part of the support inner frame is provided with the pressure flow channel, the outer side of the support inner frame and the inner wall of the support inner ring are provided with a cavity, the cavity is the matching cavity, and the upper end of the support inner frame is provided with a bearing.

[0009] As an optional scheme of the intelligent medical endoscope tube delivery robot, the anti-shock structure further comprises an air pressure partition plate, an oil pressure cavity and an air pressure cavity, the lower end of the support inner frame is provided with the air pressure partition plate, an air cavity is arranged between the upper side of the air pressure partition plate and the lower end of the support inner frame, the air cavity is the oil pressure cavity, the lower side of the air pressure partition plate is provided with the air pressure cavity, the inner part of the air pressure partition plate is filled with oil, and the inner part of the air pressure cavity is filled with gas.

[0010] As an optional scheme of the intelligent medical endoscope tube delivery robot, the inner part of the support inner frame is further provided with a side cavity, the inner part of the side cavity is provided with a sealing push rod, one end of the sealing push rod is provided with a rubber diaphragm located in the side cavity.

[0011] As an optional scheme of the intelligent medical endoscope tube conveying robot of the application, wherein: the anti-skid structure comprises an inner wheel, a support horizontal shaft and a support frame, the inner wheel is internally provided with the support horizontal shaft, one end of the support horizontal shaft is used for being fixed with the linkage gear, the outer side of the inner wheel is provided with an outer wheel, and the support frame is used for supporting the inner wheel and the support horizontal shaft.

[0012] As an optional scheme of the intelligent medical endoscope tube conveying robot of the application, wherein: the outer side of the outer wheel is symmetrically provided with a micro suction cup in a ring array, and the outer side of the outer wheel is provided with a ground-adhesion ring at a middle position.

[0013] As an optional scheme of the intelligent medical endoscope tube conveying robot of the application, wherein: the upper end of the ground-adhesion ring is provided with an adhesion surface, the inside of the ground-adhesion ring is filled with gas, and the adhesion surface is used for providing a supporting force for the ground-adhesion ring.

[0014] As an optional scheme of the intelligent medical endoscope tube conveying robot of the application, wherein: the inside of the ground-adhesion ring is provided with a support base, both sides of the support base are provided with a shaping frame, the shaping frame is used for being adhered to the inner wall of the ground-adhesion ring, the outer side of the support base is provided with an adhesion camber surface, and the adhesion camber surface is used for supporting the adhesion surface.

[0015] The application has the following beneficial effects:

[0016] 1. The intelligent medical endoscope tube conveying robot, through cooperation of the power driving structure and the steering structure, the power driving structure provides power support for movement of the device, the steering structure can realize rotation and direction adjustment of the device during movement, and through cooperation of the fixed mode of the gear and the driving shaft, the steering inner shaft can realize torque transmission while floating, through simultaneous operation of the power driving structure and the steering structure, the device is provided with movement and rotation effects, the internal structures of the two can simultaneously operate, so that the device can realize steering effect while moving, the power driving structure and the steering structure are located at the same shaft center, the steering mode of the device is extremely flexible, there is no steering dead angle, the device can cope with some special environment conveying effects, and the passability, conveying mode and conveying route of the device are more flexible.

[0017] 2、The intelligent distribution medical endoscope tube conveying robot, through the support inner frame, the oil in the oil pressure cavity is extruded, the oil flows into the matching cavity through the pressure flow channel, the oil has a certain resistance when passing through the inside of the pressure flow channel, and the resistance interferes with the passing oil, slows down the flow of the oil, and offsets the downward pressure on the support inner frame, and part of the oil also flows into the space outside the sealing push rod, forms pressure on the sealing push rod, and pushes the rubber diaphragm forward, so that the rubber diaphragm expands towards the inside of the pressure flow channel, the oil pressure inside the pressure flow channel increases when the two rubber diaphragms expand at the same time, further increasing the force that the support inner frame can absorb, and the hydraulic mode bears strong force, but when it initially contacts the downward force, its floating speed is relatively slow, so that the initial contact is relatively slow, causing a sense of frustration, and the gas pressure cavity is supported by gas pressure, compared with the hydraulic mode, its up and down floating speed is faster, and it can initially absorb the downward force. The hydraulic and pneumatic structures make the device weaken the pressure in a step-by-step manner when absorbing the downward force, so as to ensure the stable environment of the device when transporting the medical endoscope tube.

[0018] 3、The intelligent distribution medical endoscope tube conveying robot, when the fitting surface is subjected to pressure, it shrinks inward, so that the inner wall is fitted with the upper surface of the fitting arc surface, and when the fitting surface shrinks, the outer surface is flush, at this time, the area in contact with the bottom surface increases, and the friction also increases, so that the device can realize the anti-skid effect during movement, and the micro suction cup can also form an adsorption effect on the ground, so that the outer wheel can realize the anti-skid function in the mirror environment and in the case of containing water stains. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 It is the overall structure diagram of the present application.

[0020] Figure 2 It is the power drive structure and steering structure diagram of the present application.

[0021] Figure 3 It is the power drive structure and steering structure diagram of the present application.

[0022] Figure 4 It is the anti-seismic structure diagram of the present application.

[0023] Figure 5 It is the anti-skid structure diagram of the present application.

[0024] Figure 6 It is the internal structure diagram of the ground fitting ring of the present application.

[0025] In the figure: 1, support outer shell; 2, storage box; 3, power drive structure; 31, support shell; 32, steering inner shaft; 33, linkage gear; 35, driven gear; 36, first motor; 37, drive gear; 4, steering structure; 41, drive shaft; 42, second motor; 43, drive cross wheel; 44, matching gear; 45, side vertical slot; 46, inner shaft ring; 47, positioning wheel shaft; 5, shockproof structure; 51, support inner ring; 52, support inner frame; 53, pressure flow channel; 54, matching cavity; 55, air pressure partition; 56, oil pressure cavity; 57, air pressure cavity; 58, side cavity; 59, sealing push rod; 60, rubber diaphragm; 6, anti-skid structure; 61, inner wheel; 62, support cross shaft; 63, outer wheel; 64, micro suction cup; 65, ground fitting ring; 66, fitting surface; 67, support base; 68, shaping frame; 69, fitting camber; 70, support frame; 7, spring; 8, bearing; 9, counterweight; 10, round shaft base; 11, universal wheel; 12, infrared sensor. DETAILED DESCRIPTION

[0026] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0027] Embodiment 1

[0028] Please refer to Figures 1-6 One kind of intelligent distribution medical endoscope tube conveying robot, including support outer shell 1 and storage box 2 in support outer shell 1, the lower end of support outer shell 1 is equipped with round shaft base 10, one side of round shaft base 10 is equipped with infrared sensor 12, power drive structure 3 is installed in the inside of round shaft base 10, anti-skid structure 6 is installed in the inside of power drive structure 3, power drive structure 3 includes support shell 31, steering inner shaft 32, linkage gear 33, driven gear 35, first motor 36 and drive gear 37, support shell 31 is installed in the inside of steering inner shaft 32, the upper end in the inside of steering inner shaft 32 is installed with first motor 36, one end of first motor 36 is installed with drive gear 37, the lower end of drive gear 37 is installed with driven gear 35, the lower end of driven gear 35 is installed with linkage gear 33, linkage gear 33 is used to install in one side of anti-skid structure 6, the upper end of steering inner shaft 32 is installed with spring 7;

[0029] The upper end of the support shell 31 is provided with a steering structure 4, which includes a driving rotating shaft 41, a second motor 42, a driving cross wheel 43 and a matching gear 44. The driving rotating shaft 41 is installed at the upper end of the support shell 31. The outer side of the driving rotating shaft 41 is provided with the matching gear 44 located at the upper end of the support shell 31. One side of the matching gear 44 is provided with the second motor 42. The lower end of the second motor 42 is provided with the driving cross wheel 43, which is used to engage and drive the outer side of the matching gear 44.

[0030] The steering structure 4 further includes the matching gear 44, a side vertical slot 45, an inner shaft ring 46 and a positioning wheel shaft 47. The outer side of the driving rotating shaft 41 is provided with the side vertical slot 45. The axial position of the matching gear 44 is provided with the inner shaft ring 46. The inner part of the inner shaft ring 46 is provided with a sliding pin, which is used to slide in the side vertical slot 45. The inner shaft ring 46 is used to simultaneously provide torque transmission between the driving rotating shaft 41 and the matching gear 44 and to support the sliding up and down. The other side of the matching gear 44 is provided with two positioning wheel shafts 47, which are used to position the limiting height of the inner shaft ring 46. The lower end of the support shell 31 is provided with the counterweight 9. The lower end of the circular shaft base 10 is annularly arranged with four universal wheels 11.

[0031] The driving principle is that the first motor 36 drives the driving gear 37, which drives the driven gear 35 to rotate, and then the driven gear 35 engages and transmits power with the linkage gear 33 to provide the anti-skid structure 6 with driving power. At the same time, the second motor 42 drives the driving cross wheel 43 to rotate, which provides the matching gear 44 with rotating torque. At the same time, the matching gear 44 is connected with the driving rotating shaft 41 in a sliding groove manner. The matching gear 44 drives the driving rotating shaft 41 to rotate at the same time, thereby providing the steering inner shaft 32 with rotating power support through the driving rotating shaft 41. Through the simultaneous operation of the power driving structure 3 and the internal structure of the steering structure 4, the device can have a steering function while moving.

[0032] When the support outer shell 1 moves, the power driving structure 3 provides power support for the device to move, and the steering structure 4 has up and down movement function while providing steering effect for the steering inner shaft 32, and the steering inner shaft 32 is located inside the support shell 31, and the spring 7 supports the upper surface of the steering inner shaft 32 and the top end of the inner wall of the support shell 31 to provide elastic effect therebetween and always provide downward pressure to the steering inner shaft 32, and the inner wall of the inner shaft ring 46 is annularly engaged inside the side vertical groove 45, so that the steering inner shaft 32 floats up and down while the side vertical groove 45 moves inside the inner shaft ring 46, and the cooperating gear 44 is positioned at a height by the two positioning wheel shafts 47 to ensure that the cooperating gear 44 always works at a specified height, and the integrated control box is installed inside the circular shaft base 10, and the first motor 36, the second motor 42 and the infrared sensor 12 are electrically connected with the integrated control box, and the infrared sensor 12 is of FT-H type, and the principle is to measure the distance by the infrared sensor, and the infrared emitter emits infrared light beam at a certain angle, and the light is reflected back after encountering an object, and after detecting the reflected light, a signal is sent to the integrated control box, and then the integrated control box cuts off the power support to the first motor 36, so that the device moves while playing an intelligent obstacle avoidance role during distribution.

[0033] Embodiment 2

[0034] This embodiment is an improvement based on embodiment 1, please refer to Figures 1-6 The outer side of the driving shaft 41 is provided with the anti-shock structure 5 located at the upper end of the steering inner shaft 32, and the anti-shock structure 5 comprises a support inner ring 51, a support inner frame 52, a pressure flow channel 53 and a cooperating cavity 54, the support inner frame 52 is installed inside the support inner ring 51, the pressure flow channel 53 is arranged inside the support inner frame 52, and the cavity between the outer side of the support inner frame 52 and the inner wall of the support inner ring 51 is the cooperating cavity 54, and the upper end of the support inner frame 52 is provided with the bearing 8.

[0035] The anti-shock structure 5 further comprises an air pressure partition plate 55, an oil pressure cavity 56 and an air pressure cavity 57, the air pressure partition plate 55 is installed at the lower end of the support inner frame 52, the cavity between the upper side of the air pressure partition plate 55 and the lower end of the support inner frame 52 is the oil pressure cavity 56, and the lower side of the air pressure partition plate 55 is provided with the air pressure cavity 57, the inside of the air pressure partition plate 55 is filled with oil, and the inside of the air pressure cavity 57 is filled with gas.

[0036] The inside of the support inner frame 52 is further provided with a side cavity 58, the inside of the side cavity 58 is installed with a sealing push rod 59, and one end of the sealing push rod 59 is installed with a rubber diaphragm 60 located inside the side cavity 58.

[0037] When the support inner frame 52 is compressed toward the inside of the support inner ring 51 by pressure, the oil in the oil pressure cavity 56 is squeezed, so that a high-pressure state is formed inside the oil pressure cavity 56. When the support inner frame 52 is pressed downward, the internal space of the matching cavity 54 is expanded, and the matching cavity 54 is in a sealed state, so a negative pressure state is formed in the internal space of the matching cavity 54. At this time, the oil will flow into the matching cavity 54 along the trajectory of the pressure flow channel 53. The downward pressure of the support inner frame 52 directly determines the flow pressure of the oil when it is in the pressure flow channel 53, and the oil has a certain resistance when passing through the pressure flow channel 53. This resistance interferes with the passing oil, slowing down the flow of the oil while offsetting the downward pressure of the support inner frame 52, thereby achieving a buffering effect on the pressure on the support inner frame 52.

[0038] When the inner support frame 52 is pressed downward, part of the oil will flow into the space outside the sealing push rod 59, generating a driving force on the sealing push rod 59, causing the sealing push rod 59 to push the rubber diaphragm 60, causing the rubber diaphragm 60 to expand into the pressure channel 53, reducing the travel space of the pressure channel 53, increasing the pressure of the oil flow, and further increasing the pressure value that the inner support frame 52 can buffer.

[0039] The oil pressure cavity 56 is filled with oil, while the air pressure cavity 57 is filled with gas, and the density of the oil is greater than the density of the gas. When the support inner frame 52 is pressed down to apply pressure to the internal space of the oil pressure cavity 56, it will first apply pressure to the inside of the air pressure cavity 57, and cause the air pressure partition 55 to move downward to absorb the downward pressure of the support inner frame 52. The air pressure cavity 57 is in an air pressure support state. Compared with the hydraulic method, its up and down floating speed is faster, and it can cope with instantaneous pressure absorption.

[0040] Example 3

[0041] This embodiment is an improvement made on the basis of embodiment 2. For details, please refer to Figures 1-6 The anti-slip structure 6 includes an inner wheel 61, a supporting transverse shaft 62 and a supporting frame 70. The inner wheel 61 is provided with a supporting transverse shaft 62. One end of the supporting transverse shaft 62 is used to be fixed with the linkage gear 33. The outer side of the inner wheel 61 is provided with an outer wheel 63. The supporting frame 70 is used to support the inner wheel 61 and the supporting transverse shaft 62.

[0042] Micro suction cups 64 are symmetrically mounted on the outer side of the outer wheel 63 in a circular array, and a ground fitting ring 65 is provided in the middle of the outer side of the outer wheel 63;

[0043] The upper end of the ground fitting ring 65 is provided with a fitting surface 66 . The interior of the ground fitting ring 65 is filled with gas. The fitting surface 66 is used to provide a supporting force for the ground fitting ring 65 .

[0044] The inside of the ground fitting ring 65 is provided with a supporting base 67, both sides of the supporting base 67 are provided with a shaping frame 68, the shaping frame 68 is used for fitting with the inner wall of the ground fitting ring 65, and the outer side of the supporting base 67 is provided with a fitting arc surface 69, and the fitting arc surface 69 is used for supporting the fitting surface 66.

[0045] The ground of the hospital is often a mirror surface of ceramic tiles, and the bottom wheel made of conventional rubber can meet the supporting and anti-skid effect of most parts, but water stains and other liquids will inevitably appear on the ground, so that the wheel body will slide, causing transportation hazards.

[0046] When the anti-skid structure 6 moves, the pressure will directly act on the outer wheel 63, the supporting frame 70 can provide supporting action, and when moving, the lowermost ground fitting ring 65 will contact the ground, and the fitting surface 66 will be retracted to the inside of the ground fitting ring 65, and will be fitted on the upper surface of the fitting arc surface 69, and the fitting surface 66 is in a plane state, the contact area with the ground is increased, the friction force is increased, when the outer wheel 63 continuously rotates, the current contact surface is separated from the pressure, and the shaping frame 68 directly provides supporting force to both sides of the inner wall of the ground fitting ring 65, so that the fitting surface 66 resets, and the lowermost micro suction cup 64 also contacts the ground, and after being pressed down, an adsorption state is formed, which provides an anti-skid effect for the outer surface of the outer wheel 63, and the adsorption force is less than the rolling driving force of the outer wheel 63, so that it will not affect the movement of the outer wheel 63 while playing an anti-skid effect.

[0047] It should be noted that, in the present text, relational terms such as first and second and the like can only be used to distinguish one entity or operation from another entity or operation, without necessarily requiring or implying any such actual relationship or order between these entities or operations. Moreover, the terms "comprising", "containing" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or equipment including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such a process, method, article or equipment.

[0048] The above is only the preferred embodiment of the present application, and it should be pointed out that for ordinary skilled persons in the art, without departing from the technical principles of the present application, a number of improvements and refinements can be made, and these improvements and refinements should be regarded as the protection scope of the present application.

Claims

1. A medical endoscope tube transfer robot for intelligent delivery, comprising a supporting outer shell and a storage box within the supporting outer shell, wherein a circular shaft base is provided at the lower end of the supporting outer shell, characterized in that: The side of the round shaft base is provided with an infrared sensor, the inside of the round shaft base is provided with a power driving structure, the inside of the power driving structure is provided with an anti-skid structure, the power driving structure comprises a supporting shell, a steering inner shaft, a linkage gear, a driven gear, a first motor and a driving gear, the inside of the supporting shell is provided with the steering inner shaft, the upper end of the inside of the steering inner shaft is provided with the first motor, one end of the first motor is provided with the driving gear, the lower end of the driving gear is provided with the driven gear, the lower end of the driven gear is provided with the linkage gear, the linkage gear is used for being installed on one side of the anti-skid structure, and the upper end of the steering inner shaft is provided with a spring. The upper end of the supporting shell is provided with a steering structure, the steering structure comprises a driving shaft, a second motor, a driving cross wheel and a matching gear. The outside of the driving shaft is provided with a shockproof structure located at the upper end of the steering inner shaft, the shockproof structure comprises a supporting inner ring, a supporting inner frame, a pressure flow channel and a matching cavity, the inside of the supporting inner ring is provided with the supporting inner frame, the inside of the supporting inner frame is provided with the pressure flow channel, the outside of the supporting inner frame and the inner wall of the supporting inner ring are provided with a cavity, the cavity is the matching cavity, and the upper end of the supporting inner frame is provided with a bearing. The shockproof structure further comprises an air pressure partition plate, an oil pressure cavity and an air pressure cavity, the lower end of the supporting inner frame is provided with the air pressure partition plate, the space above the air pressure partition plate and the lower end of the supporting inner frame is an air cavity, the air cavity is the oil pressure cavity, the lower side of the air pressure partition plate is provided with the air pressure cavity, the inside of the air pressure partition plate is filled with oil, and the inside of the air pressure cavity is filled with gas. The inside of the supporting inner frame is further provided with a side cavity, the inside of the side cavity is provided with a sealing push rod, and one end of the sealing push rod is provided with a rubber diaphragm located in the side cavity.

2. The smartly dispensing medical endoscope tube delivery robot of claim 1, wherein: The upper end of the supporting shell is provided with a driving shaft, the outside of the driving shaft is provided with a matching gear located at the upper end of the supporting shell, one side of the matching gear is provided with a second motor, the lower end of the second motor is provided with a driving cross wheel, and the driving cross wheel is used for engaging transmission with the outside of the matching gear.

3. The smartly dispensing medical endoscope tube delivery robot of claim 2, wherein: The steering structure further comprises a matching gear, a side vertical groove, an inner shaft ring and a positioning wheel shaft, the outside of the driving shaft is provided with the side vertical groove, the shaft center position of the matching gear is provided with the inner shaft ring, the inside of the inner shaft ring is provided with a sliding pin, the sliding pin is used for sliding in the side vertical groove, the inner shaft ring is used for simultaneously providing torque transmission between the driving shaft and the matching gear and up-down sliding support, the other side of the matching gear is provided with two positioning wheel shafts, the two positioning wheel shafts are used for positioning the limiting height of the inner shaft ring, the lower end of the supporting shell is provided with a counterweight, and the lower end of the round shaft base is provided with four universal wheels in a ring array.

4. The smartly dispensing medical endoscope tube delivery robot of claim 3, wherein: The anti-skid structure comprises an inner wheel, a supporting horizontal shaft and a supporting frame, the inside of the inner wheel is provided with the supporting horizontal shaft, one end of the supporting horizontal shaft is used for being fixed with the linkage gear, the outside of the inner wheel is provided with an outer wheel, and the supporting frame is used for supporting the inner wheel and the supporting horizontal shaft.

5. The smartly dispensing medical endoscope tube delivery robot of claim 4, wherein: The outside of the outer wheel is symmetrically provided with micro suction cups in a ring array, and the outside of the outer wheel is provided with a ground-adhering ring at a middle position.

6. The smartly dispensing medical endoscope tube delivery robot of claim 5, wherein: The upper end of the ground fitting ring is provided with a fitting surface, and the inside of the ground fitting ring is filled with gas, and the fitting surface is used to provide a supporting force for the ground fitting ring.

7. The smartly dispensing medical endoscope tube delivery robot of claim 6, wherein: The inside of the ground fitting ring is provided with a supporting base, both sides of the supporting base are provided with a shaping frame, the shaping frame is used to fit with the inner wall of the ground fitting ring, and the outer side of the supporting base is provided with a fitting arc surface, and the fitting arc surface is used to support the fitting surface.

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