A medicine delivery robot that facilitates taking medicine

Abstract

The present invention belongs to the field of robot technology, and specifically relates to a medicine delivery robot that is convenient for taking medicine, including a robot body and a medicine storage mechanism, the medicine storage mechanism including a medicine storage box and a closing component, the medicine storage box has a plurality of medicine storage slots on the front, and each medicine storage slot is provided with a closing component; the closing component includes a closing member, a driving member, and an elastic member. When the medicine delivery robot stores medicine, the medical staff pushes the tooth plate by hand, overcomes the elastic force of the elastic member to rotate the first flap and the second flap forward, opens the medicine opening and puts the medicine in, then releases the tooth plate, resets under the action of the elastic member, and seals the medicine in a V-shaped medicine storage space. When taking medicine, the patient flattens the palm of the hand to be flush with the tooth plate and pushes the tooth plate with the fingers, so that the first flap gradually turns forward and then turns flat, and continues to push until it tilts downward and points to the palm, the medicine storage space opens, and the medicine slides to the palm of the patient, and can be taken out all at once. The medicine can be taken accurately and avoid missing without observing the position during the medicine taking process, thereby improving the efficiency of medicine taking.

Description

Technical Field

[0001] The present invention belongs to the technical field of robots, and in particular relates to a medicine delivery robot which is convenient for taking medicines. Background Art

[0002] Delivering oral medicine to patients is a job that needs to be done frequently in hospitals and sanatoriums. Since this job is relatively mechanical, relevant units will consider using medicine delivery robots to deliver medicine to patients to reduce manpower consumption. In some current medicine delivery robots, the medicine storage mechanism is often an independent small drawer with an opening at the top. After the medicine delivery robot moves to the patient's side, the robot body controls the small drawer corresponding to the patient to pop out for the patient to take the medicine. The patient needs to reach into the small drawer from top to bottom to take the medicine. However, the patient usually lies on the bed and the height that the eyes can observe is limited. The side wall of the small drawer blocks the patient from seeing the medicine directly. When the patient takes the medicine, he or she mostly senses the position of the medicine by touch. This touch perception method cannot intuitively judge the position of the medicine, making it difficult for the patient to accurately take the medicine, and there is a possibility that the medicine will be missed. Therefore, in response to the above problems, we propose a medicine delivery robot that is easy to take medicine.

[0003] The methods described in this section are not necessarily methods that have been previously conceived or employed. Unless otherwise indicated, it should not be assumed that any method described in this section is considered to be prior art simply because it is included in this section. Similarly, unless otherwise indicated, the issues mentioned in this section should not be considered to have been recognized in any prior art. Summary of the invention

[0004] In order to overcome the problems existing in the related art, the present invention discloses a medicine delivery robot which is convenient for taking medicines.

[0005] To achieve the above object, a technical solution adopted by the present invention is:

[0006] A medicine delivery robot that facilitates medicine retrieval, comprising a robot body and a medicine storage mechanism, wherein the medicine storage mechanism comprises a medicine storage box and a sealing component, wherein the medicine storage box has a plurality of medicine storage slots on the front side, and each of the medicine storage slots is provided with a sealing component;

[0007] The closure assembly includes a closure member, a driving member, and an elastic member, the closure member includes a gear, a first flap, and a second flap, the first flap and the second flap are distributed front and back and fixed to the gear at a certain angle, the closure member is rotatably connected to the medicine storage tank, and the rotation axis overlaps with the gear axis;

[0008] The driving member comprises a tooth plate, which is slidably connected to the medicine storage tank and meshedly connected to the lower side of the gear;

[0009] The elastic member is arranged in the medicine storage tank to push the tooth plate forward, so that the tooth plate drives the first flap on the gear to flip upward to abut against the top wall of the medicine storage tank;

[0010] When the first flap abuts against the top wall of the medicine storage tank, the first flap and the second flap will enclose the medicine storage tank to form a medicine storage space;

[0011] When the tooth plate is pushed backwards by overcoming the elastic force of the elastic member, the tooth plate can drive the first flap on the gear to flip downwards to be inclined downwards.

[0012] Furthermore, the driving member also includes a sliding member arranged on the rear side of the tooth plate, and the sliding member is provided with a sliding groove. The closing assembly also includes an electrically controlled push rod. When the first flap abuts against the top wall of the medicine storage tank, the sliding groove will be aligned with the electrically controlled push rod. In this state, if the locking rod of the electrically controlled push rod extends into the sliding groove, the locking rod will cooperate with the sliding groove to limit the sliding member from sliding backward.

[0013] Furthermore, the sliding member penetrates the medicine storage box and the robot body backwards, and the medicine storage mechanism also includes a pulling member, and each layer of the closed component is jointly equipped with a pulling member, and the pulling member penetrates each layer of the slide groove and is located on the rear side of the robot body.

[0014] Furthermore, the pulling member is a closed-loop structure.

[0015] Furthermore, the elastic member includes a sliding seat, a sliding rod and a spring. The sliding seat is fixed in the medicine storage tank. The sliding seat is provided with a sliding rod sliding hole for the sliding rod to pass through. The sliding rod is fixed to the tooth plate and is slidably connected to the sliding rod sliding hole. The spring is sleeved on the outside of the sliding rod and is located between the tooth plate and the sliding seat.

[0016] Furthermore, the elastic member has two sliding rods and two springs, the sliding seat has two sliding rod sliding holes, the two sliding rod sliding holes are spaced apart from each other on the left and right, the two sliding rods are fixed to the tooth plate and are respectively slidably connected to the two sliding rod sliding holes, and the two springs are respectively sleeved on the outside of the two sliding rods.

[0017] Furthermore, the gear is a hollow structure penetrating from left to right.

[0018] Furthermore, the upper portion of the gear has a mounting notch, and the lower ends of the first flap and the second flap pass through the mounting notch and intersect inside the gear.

[0019] Furthermore, the left and right sides of the intersection of the first flap and the second flap are provided with convex shafts, and the sealing member is rotatably connected to the medicine storage tank through the convex shafts on both sides.

[0020] Furthermore, the front end of the tooth plate has an arc-shaped push plate.

[0021] The present invention discloses a medicine delivery robot that is convenient for taking medicine. When storing medicine, the medical staff pushes the tooth plate by hand to overcome the elastic force of the elastic member to rotate the first flap and the second flap forward, open the medicine opening and put the medicine in, then release the tooth plate, reset under the action of the elastic member, and seal the medicine in a V-shaped medicine storage space. When taking medicine, the patient flattens the palm of the hand to be flush with the tooth plate and pushes the tooth plate with the finger, so that the first flap gradually rotates forward and then turns flat, and continues to push until it tilts downward and points to the palm, the medicine storage space opens, and the medicine slides to the palm of the patient, and can be taken out all at once. The medicine can be taken accurately and missed without observing the position during the medicine taking process, thereby improving the efficiency of medicine taking. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0023] Figure 1 A schematic diagram of the structure of an embodiment of the present invention Figure 1 ;

[0024] Figure 2 for Figure 1 A schematic diagram of the structure enlargement at the center A;

[0025] Figure 3 A schematic diagram of the structure of an embodiment of the present invention Figure 2 ;

[0026] Figure 4 for Figure 3 A schematic diagram of the structure enlarged at B in the middle;

[0027] Figure 5 It is a schematic diagram of the structure of a sealing component in one embodiment of the present invention;

[0028] Figure 6 for Figure 5 A schematic diagram of the structure enlarged at C in the middle;

[0029] Figure 7 It is a schematic diagram of the assembly connection between the closing component and the pulling member on the same layer in one embodiment of the present invention;

[0030] Figure 8 for Figure 7 Enlarged schematic diagram of the structure at D in the middle.

[0031] The meanings of the symbols in the accompanying drawings are:

[0032] Robot body 1, medicine storage mechanism 2, medicine storage box 21, medicine storage slot 211, closing assembly 22, closing member 221, gear 2211, first flap 2212, second flap 2213, cam 2214, driving member 222, tooth plate 2221, sliding member 2222, slide groove 2223, arc-shaped push plate 2224, elastic member 223, slide seat 2231, slide rod slide hole 22311, slide rod 2232, spring 2233, electric control push rod 224, locking rod 2241, pulling member 23. DETAILED DESCRIPTION

[0033] The present invention will be further described below in conjunction with the accompanying drawings.

[0034] Reference Figure 1-Figure 8 As shown, the medicine delivery machine for facilitating medicine taking of this embodiment specifically includes a robot body 1 and a medicine storage mechanism 2.

[0035] In this embodiment, the robot body 1 includes a body, a mobile base and a control panel, wherein the mobile base is arranged at the lower end of the body and the control panel is arranged at the upper end of the body. The mobile base can drive the entire robot to move along a predetermined route under the control of the control panel so that the robot can move to the target patient position. The control panel integrates components such as a processor, a touch display, a camera, a loudspeaker and a microphone, and is used to control the operation of the medicine delivery robot and interact with the user.

[0036] In this embodiment, the medicine storage mechanism 2 includes a medicine storage box 21 and a sealing component 22 . The front of the medicine storage box 21 has a plurality of medicine storage slots 211 , and each of the medicine storage slots 211 is provided with a sealing component 22 .

[0037] Specifically, in this embodiment, the closing component 22 includes a closing member 221, a driving member 222 and an elastic member 223, the closing member 221 includes a gear 2211, a first flap 2212 and a second flap 2213, the first flap 2212 and the second flap 2213 are distributed front and back and fixed to the gear 2211 at an angle of ninety degrees, the closing member 221 is rotatably connected to the medicine storage tank 211 and the rotation axis overlaps with the axis of the gear 2211.

[0038] Furthermore, the gear 2211 is a hollow structure that penetrates from left to right. The hollow structure can reduce the amount of material used and reduce the weight of the gear 2211.

[0039] Furthermore, the gear 2211 has an installation notch on the upper portion, and the lower ends of the first flap 2212 and the second flap 2213 pass through the installation notch and intersect in the gear 2211. Such a setting can enhance the connection strength among the first flap 2212, the second flap 2213 and the gear 2211, while saving space to form a larger medicine storage space.

[0040] Furthermore, the left and right sides of the intersection of the first flap 2212 and the second flap 2213 are provided with convex shafts 2214, and the closing member 221 is rotatably connected to the medicine storage tank 211 through the convex shafts 2214 on both sides. In this way, the closing member 221 can be rotatably connected to the medicine storage tank 211.

[0041] In this embodiment, the driving member 222 includes a tooth plate 2221, which is slidably connected to the medicine storage tank 211 and meshed with the lower side of the gear 2211. When the tooth plate 2221 slides back and forth, the tooth plate 2221 drives the gear 2211 meshed therewith to rotate, thereby driving the first flap 2212 and the second flap 2213 on the gear 2211 to rotate around the axis of the gear 2211.

[0042] In this embodiment, the elastic member 223 is disposed in the medicine storage tank 211 to push the tooth plate 2221 forward, so that the tooth plate 2221 drives the first flap 2212 on the gear 2211 to flip upward to abut against the top wall of the medicine storage tank 211 .

[0043] Specifically, the elastic member 223 includes a slide seat 2231, a slide rod 2232 and a spring 2233. The slide seat 2231 is fixed in the medicine storage tank 211. The slide seat 2231 is provided with a slide rod sliding hole 22311 for the slide rod 2232 to pass through. The slide rod 2232 is fixed to the tooth plate 2221 and is slidably connected with the slide rod sliding hole 22311. The spring 2233 is sleeved on the outer side of the slide rod 2232 and is located between the tooth plate 2221 and the slide seat 2231. In a natural state, the spring 2233 will push the tooth plate 2221 forward in cooperation with the slide seat 2231 under the action of its own elastic force, so that the tooth plate 2221 slides forward, and the sliding will end when the first flap 2212 abuts against the top wall of the medicine storage tank 211. Among them, the sliding assembly of the slide rod 2232 and the slide rod sliding hole 22311 can restrict the sliding direction of the tooth plate 2221, so that it can only slide in the front-back direction. In addition, the spring 2233 is sleeved on the outer side of the slide rod 2232 to stabilize the force direction of the spring 2233, so that it can stably extend and retract.

[0044] Furthermore, the elastic member 223 has two slide bars 2232 and two springs 2233, the slide seat 2231 has two slide bar sliding holes 22311, the two slide bar sliding holes 22311 are spaced apart from each other, the two slide bars 2232 are fixedly connected to the tooth plate 2221 and are respectively slidably connected to the two slide bar sliding holes 22311, and the two springs 2233 are respectively sleeved on the outer sides of the two slide bars 2232. Such an arrangement can stably force the left and right sides of the tooth plate 2221 to improve its sliding stability.

[0045] When the first flap 2212 abuts against the top wall of the medicine storage tank 211 , the first flap 2212 and the second flap 2213 will enclose the medicine storage tank 211 to form a medicine storage space, which is used to temporarily store medicines to be delivered to patients.

[0046] When the tooth plate 2221 is pushed backwards by overcoming the elastic force of the elastic member 223 , the tooth plate 2221 can drive the first flap 2212 on the gear 2211 to flip downwards to tilt downwards.

[0047] When storing medicine into the medicine storage space, the medical staff pushes the front end of the tooth plate 2221 by hand to make it slide backwards against the elastic force of the elastic member 223, thereby driving the first flap 2212 and the second flap 2213 on the gear 2211 to rotate forward. After the first flap 2212 flips over to form a medicine release opening between the top wall of the medicine storage slot 211 (the first flap 2212 is tilted upward in this state), the medicine can be put in from the medicine release opening. In this way, the medicine will slide along the first flap 2212 to between the first flap 2212 and the second flap 2213. At this time, the tooth plate 2221 is loosened again to reset forwards under the elastic force of the elastic member 223, and the first flap 2212 and the second flap 2213 are rotated backwards to store the medicine in the V-shaped medicine storage space.

[0048] When the medicine delivery machine moves to the patient for the patient to take the medicine, the patient can put his palm in a flat state with the palm facing up, then make the palm flush with the tooth plate 2221, and push the front end of the tooth plate 2221 backward with the front end of the finger to make the tooth plate 2221 slide backward, so that the tooth plate 2221 will drive the first flap 2212 to gradually rotate forward and downward. After the first flap 2212 rotates flat, the first flap 2212 will be flush with the patient's palm. At this time, continue to push the tooth plate 2221 to slide backward, so that the first flap 2212 Turning forward to tilt downward, the first flap 2212 tilted downward will point to the patient's palm. At this time, the medicine storage space is in an open state, and the medicines in the medicine storage space will slide forward under the action of gravity until they slide to the patient's palm. In this way, all the medicines in the medicine storage space can be taken out at one time. The patient does not need to observe the position of the medicines during the medicine taking process. The patient can directly complete the accurate medicine taking after aligning the palm position and pushing the medicine. In addition, this convenient way of taking medicines can avoid missing medicines, greatly improving the efficiency of taking medicines.

[0049] Furthermore, the front end of the tooth plate 2221 has an arc-shaped push plate 2224, which can adapt to the shape of the user's palm. When the user inserts the palm horizontally into the arc-shaped push plate 2224, the arc-shaped push plate 2224 can limit the palm so that the palm can apply stable force to the front end of the tooth plate 2221, so that the user can push the tooth plate 2221 smoothly.

[0050] In this embodiment, the driving member 222 also includes a sliding member 2222 arranged on the rear side of the tooth plate 2221, and the sliding member 2222 is provided with a sliding groove 2223. The closing component 22 also includes an electrically controlled push rod 224. When the first flap 2212 abuts against the top wall of the medicine storage tank 211, the sliding groove 2223 will be aligned with the electrically controlled push rod 224. In this state, if the locking rod 2241 of the electrically controlled push rod 224 extends into the sliding groove 2223, the locking rod 2241 will cooperate with the sliding groove 2223 to limit the sliding member 2222 from sliding backward.

[0051] It should be noted that the electric control push rod 224 is electrically connected to the control panel, and the control panel can control the extension and shortening of the lock rod 2241 of the electric control push rod 224 through instructions. Based on the above configuration, after each closed component 22 stores the medicine, the lock rod 2241 of the electric control push rod 224 can be controlled to extend to insert into the corresponding slide groove 2223 to lock the first flap 2212 to prevent the first flap 2212 from flipping open. When it is necessary to take medicine, the lock rod 2241 of the corresponding electric control push rod 224 can be controlled to shorten to exit the corresponding slide groove 2223 to unlock the first flap 2212, and the relevant user can then push the tooth plate 2221 to take medicine.

[0052] Based on the above structure, a sensor for detecting the position of the first flap 2212 can be set to detect the first flap 2212, so that the control panel can obtain the state of the first flap 2212 to calculate the action timing of the control electric push rod 224, for example, a proximity switch is set at the contact position between the top wall of the medicine storage tank 211 and the first flap 2212.

[0053] In this embodiment, the sliding member 2222 penetrates the medicine storage box 21 and the robot body 1 backwards, and the medicine storage mechanism 2 also includes a pulling member 23. Each layer of the closing component 22 is jointly equipped with a pulling member 23. The pulling member 23 penetrates each layer of the slide groove 2223 and is located on the rear side of the robot body 1.

[0054] Based on the above structure, when it is necessary to quickly charge the sealing components 22 of the same layer, the user pulls the pull member 23 corresponding to the sealing components 22 of the layer backward, and the pull member 23 will drive all the sliding members 2222 of the layer to slide backward during the backward movement, that is, drive all the first flaps 2212 of the layer to flip forward, so that all the drug storage spaces of the layer can be opened at one time, so that the user does not need to operate one by one, which can improve the charging efficiency to a certain extent. It is worth mentioning that the pull member 23 of this embodiment is a closed loop structure, which is convenient for the user to hold and pull.

[0055] It should be emphasized that when the tooth plate 2221 of a single medicine storage mechanism 2 is pushed backward, the slide groove 2223 on the sliding member 2222 on the rear side of the tooth plate 2221 will give way to the corresponding pulling member 23, that is, the backward movement of the sliding member 2222 will not drive the pulling member 23 to move backward. In this way, when a single medicine storage mechanism 2 is opened, it will not affect other medicine storage mechanisms 2 on the same layer, that is, other medicine storage mechanisms 2 on the same layer will not be opened.

[0056] In summary, the present invention discloses a medicine delivery robot that is convenient for taking medicine. When the medicine delivery robot stores medicine, the medical staff pushes the tooth plate by hand to overcome the elastic force of the elastic member to rotate the first flap and the second flap forward, open the medicine opening to put the medicine in, and then release the tooth plate. Under the action of the elastic member, the medicine is reset to seal the medicine in the V-shaped medicine storage space. When taking medicine, the patient flattens the palm of his hand to be flush with the tooth plate and pushes the tooth plate with his fingers to make the first flap gradually turn forward and then flat, and continues to push it until it tilts downward and points to the palm, the medicine storage space opens, and the medicine slides to the palm of the patient, and can be taken out all at once. During the medicine taking process, the medicine can be taken accurately without observing the position and avoiding missing, which improves the efficiency of medicine taking.

[0057] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the technology may modify or change the above embodiments without violating the spirit and scope of the present invention. Therefore, all equivalent modifications or changes made by those with ordinary knowledge in the technical field without departing from the spirit and technical ideas disclosed by the present invention should still be covered by the claims of the present invention.

Claims

1. A medicine delivery robot that facilitates medicine collection, comprising a robot body and a medicine storage mechanism, characterized in that: The medicine storage mechanism comprises a medicine storage box and a sealing component. The front of the medicine storage box is provided with a plurality of medicine storage slots, and each of the medicine storage slots is provided with a sealing component. The closure assembly includes a closure member, a driving member, and an elastic member, the closure member includes a gear, a first flap, and a second flap, the first flap and the second flap are distributed front and back and fixed to the gear at a certain angle, the closure member is rotatably connected to the medicine storage tank, and the rotation axis overlaps with the gear axis; The driving member comprises a tooth plate, which is slidably connected to the medicine storage tank and meshedly connected to the lower side of the gear; The elastic member is arranged in the medicine storage tank to push the tooth plate forward, so that the tooth plate drives the first flap on the gear to flip upward to abut against the top wall of the medicine storage tank; When the first flap abuts against the top wall of the medicine storage tank, the first flap and the second flap will enclose the medicine storage tank to form a medicine storage space; When the tooth plate is pushed backwards by overcoming the elastic force of the elastic member, the tooth plate can drive the first flap on the gear to flip downwards to be inclined downwards.

2. A medicine delivery robot for facilitating medicine collection according to claim 1, characterized in that: The driving member also includes a sliding member arranged on the rear side of the tooth plate, and the sliding member is provided with a sliding groove. The closing assembly also includes an electrically controlled push rod. When the first flap abuts against the top wall of the medicine storage tank, the sliding groove will be aligned with the electrically controlled push rod. In this state, if the locking rod of the electrically controlled push rod extends into the sliding groove, the locking rod will cooperate with the sliding groove to limit the sliding member from sliding backward.

3. A medicine delivery robot for facilitating medicine collection according to claim 2, characterized in that: The sliding member penetrates the medicine storage box and the robot body backwards, and the medicine storage mechanism also includes a pulling member. Each layer of the closed assembly is equipped with a pulling member. The pulling member penetrates each layer of the slide groove and is located at the rear side of the robot body.

4. A medicine delivery robot for facilitating medicine collection according to claim 3, characterized in that: The pulling member is a closed loop structure.

5. The medicine delivery robot for facilitating medicine collection according to claim 1, characterized in that: The elastic member includes a sliding seat, a sliding rod and a spring. The sliding seat is fixed in the medicine storage tank. The sliding seat is provided with a sliding rod sliding hole for the sliding rod to pass through. The sliding rod is fixed to the tooth plate and is slidably connected to the sliding rod sliding hole. The spring is sleeved on the outside of the sliding rod and is located between the tooth plate and the sliding seat.

6. A medicine delivery robot for facilitating medicine collection according to claim 5, characterized in that: The elastic member has two slide bars and two springs, the slide seat has two slide bar sliding holes, the two slide bar sliding holes are spaced apart from each other, the two slide bars are fixed to the tooth plate and are respectively slidably connected to the two slide bar sliding holes, and the two springs are respectively sleeved on the outside of the two slide bars.

7. The medicine delivery robot for facilitating medicine collection according to claim 1, characterized in that: The gear is a hollow structure penetrating from left to right.

8. The medicine delivery robot for facilitating medicine collection according to claim 7, characterized in that: The upper portion of the gear is provided with a mounting notch, and the lower ends of the first flap and the second flap both pass through the mounting notch and intersect in the gear.

9. A medicine delivery robot for convenient medicine collection according to claim 8, characterized in that: The left and right sides of the intersection of the first flap and the second flap are provided with convex shafts, and the sealing member is rotatably connected to the medicine storage tank through the convex shafts on both sides.

10. The medicine delivery robot for convenient medicine collection according to claim 1, characterized in that: The front end of the tooth plate is provided with an arc-shaped push plate.

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