Intelligent medical waste storage climbing frame conveying robot

Abstract

The invention discloses an intelligent medical waste storage climbing frame conveying robot which comprises a climbing frame robot body, a climbing frame wheel body, a main shaft and a robot grabbing and clamping body, double-layer placement is achieved by arranging a first placement plate and a second placement plate, and the conveying efficiency is improved. The robot further comprises a driving assembly, and the driving assembly converts reciprocating motion of the robot grabbing and clamping main body into one-way motion through a first bevel gear, a second bevel gear, a third bevel gear and a one-way transmission part. The adjusting mechanism comprises a driving disc, a driven rotating disc, a third gear, a synchronous belt and a worm and worm wheel structure and is used for transmitting power to the lifting mechanism at the last stage of movement of the robot grabbing and clamping body. The lifting mechanism comprises a first lead screw, a second lead screw, a connecting friction disc and a second placing plate, and lifting of the second placing plate is achieved through rotation of the lead screws. And the automation degree and efficiency of stacking when the medical waste is temporarily stored are greatly improved.

Description

Technical Field

[0001] The invention relates to the technical field of medical waste storage in automated stereoscopic warehouses, and in particular to an intelligent medical waste storage climbing frame transport robot. Background Art

[0002] Medical waste refers to wastes with direct or indirect infectious, toxic and other harmful properties generated by medical institutions in medical treatment, prevention, health care and other related activities. These wastes specifically include infectious wastes, pathological wastes, injury wastes, drug wastes and chemical wastes. They contain a large number of bacteria and viruses, and have certain characteristics of space pollution, acute virus infection and latent infection. If they are not managed and discarded at will, and allowed to mix with domestic garbage and spread into people's living environment, they will pollute the atmosphere, water sources, land, animals and plants, cause disease transmission, and seriously endanger people's physical and mental health.

[0003] Using smart shelves to store medical waste can achieve orderly classification and efficient management of medical waste. Smart shelves can automatically record the storage location and storage time of medical waste, making it easier for staff to track and handle it in a timely manner. In addition, smart shelves can also provide suitable environmental conditions to ensure that medical waste will not pollute the environment during storage.

[0004] However, existing technologies still have obvious limitations when handling medical waste. For example, when traditional climbing robots store medical waste in containers, they can usually only stack them in a single layer, which greatly limits the utilization efficiency of storage space and reduces the efficiency of storing or taking out medical waste, and has certain limitations in actual use.

[0005] To this end, we propose an intelligent storage and transportation robot for medical waste. Summary of the invention

[0006] The purpose of the present invention is to provide an intelligent medical waste storage climbing frame transportation robot to solve the above-mentioned deficiencies in the prior art.

[0007] In order to achieve the above-mentioned purpose, the present invention provides the following technical solutions: comprising a climbing frame robot body and a climbing frame wheel body arranged on the climbing frame robot body, the climbing frame robot body is provided with a placement plate 1 for storing a container containing medical waste through a base, and the climbing frame robot body is also provided with a main shaft through a driving device, and a robot gripping body for gripping a container containing medical waste is provided on the main shaft, and the intelligent storage climbing frame transport robot also includes:

[0008] A second placement board is installed on the base through a lifting mechanism. After a container containing medical waste is placed on the surface of the second placement board, the lifting mechanism is used to raise the second placement board, and the robot gripper body grips the next container containing medical waste onto the first placement board;

[0009] The driving assembly is arranged on the main shaft and connected with the lifting mechanism through the adjusting mechanism. When the robot gripping body grips the container containing medical waste onto the second placement plate and performs a reciprocating motion, the reciprocating motion of the robot gripping body is converted into a unidirectional motion through the driving assembly. After the robot gripping body grips the container containing medical waste onto the second placement plate and separates from the container containing medical waste, the adjusting mechanism is used to enable the main shaft to drive the lifting mechanism via the driving assembly to raise the second placement plate.

[0010] As a further description of the above technical solution: the driving assembly includes a bevel gear 1 and a bevel gear 3 which are symmetrically and rotatably arranged on a mounting frame, and a bevel gear 2 which is simultaneously meshed with the bevel gear 1 and the bevel gear 3; the mounting frame is fixedly arranged on the main body of the climbing robot, and a through groove is provided in the center of the bevel gear 1 and the bevel gear 3;

[0011] The driving assembly also includes a driving shaft 1 and a driving shaft 2 which are respectively arranged in the bevel gear 1 and the three-way groove of the bevel gear and connected through a connecting part. The driving shaft 1 has a shaft body 1 inserted in it, and the driving shaft 2 has a shaft body 2 inserted in it and rotatably arranged. The shaft body 1 and the shaft body 2 are connected by a spring 1, and the shaft body 1 is connected to the main shaft through a connecting shaft. One-way transmission parts are respectively arranged between the driving shaft 1 and the shaft body 1 and between the driving shaft 2 and the shaft body 2. When the main shaft drives the robot gripping body to perform a complete reciprocating motion, the one-way transmission part is used to make the bevel gear 1 and the bevel gear 3 rotate alternately and actively to realize the one-way rotation action of the bevel gear 3.

[0012] As a further description of the above technical solution: the adjustment mechanism includes a driving disk, a driven turntable and gear three rotatably arranged on the main body of the climbing robot, and a synchronous belt is installed between the driving disk and the bevel gear two through a synchronous wheel, the driven turntable is provided with slots in a circular array and a gear two meshing with gear three is fixedly arranged at one end, a turning knob matching the slot of the driven turntable is fixedly arranged on the surface of the driving disk, a rotating rod with a worm mounted on one end is fixedly arranged on the gear three, a worm wheel rotatably arranged on the worm is meshed on the worm, and the lifting mechanism is arranged on the worm wheel.

[0013] As a further description of the above technical solution: the lifting mechanism includes a screw rod 1 installed on the worm wheel through a connecting rod, a screw rod 2 and a spring 3 are sleeved on the outer peripheral side of the connecting rod, and the two ends of the screw rod 2 are respectively installed with connecting friction disks through spring 3, and the two connecting friction disks respectively abut on the ends of the worm wheel and the screw rod, and the placement plate 2 is threadedly installed on the screw rod 2.

[0014] As a further description of the above technical solution: the lifting mechanism also includes a landing gear threadedly mounted on the screw rod one, and the end of the landing gear away from the screw rod one is installed with a resistance rod through a spring five, and the resistance rod is fixedly arranged on the bottom surface of the driving shaft two.

[0015] As a further description of the above technical solution: a mounting groove is provided on the connecting shaft, and a protrusion matching the mounting groove is provided on the inner wall surface of the main shaft, and a pulley abutting against the surface of the mounting groove is installed at the protrusion position of the inner wall of the main shaft.

[0016] As a further description of the above technical solution: the intelligent warehousing climbing frame transport robot also includes a limiting mechanism, which is installed on the base and connected to two connecting friction plates. When the robot gripping body places the container containing medical waste on the placement plate two, raises the placement plate two and performs a second grip on the container containing medical waste, the limiting mechanism is used to disconnect the screw rod two from the screw rod one and the worm gear.

[0017] As a further description of the above technical solution: the limiting mechanism includes a vertical plate fixedly arranged on a base, two racks are slidably arranged on the vertical plate, and the positions of the two racks close to each other are meshed with a gear one, the two racks are respectively connected to the outer surfaces of the two connected friction plates through two connecting slides, and the two connecting slides are both slidably arranged on the surface of the vertical plate, and the landing gear is fixedly provided with two driven plates sliding on the surface of the vertical plate through a cross plate, and a slider is slidably arranged on the surfaces of the two driven plates close to each other, and a rotating plate is arranged on the slider through a torsion spring, and a fixed block is fixedly arranged on the surfaces of the two racks away from each other, and the ends of the two racks close to each other are arranged to fit on the inclined surface of the vertical plate surface, and the two sliders are connected to the driven plate through spring four.

[0018] In the above technical solution, the intelligent medical waste storage climbing frame transportation robot provided by the present invention has the following beneficial effects:

[0019] 1. The robot realizes full automation in the storage and subsequent treatment of medical waste. Through the collaborative work of the climbing robot body and the robot gripper body, it can automatically place the container containing medical waste accurately at the designated location, and automatically move it to the treatment area when it needs to be treated, without manual handling, effectively avoiding the risk of cross infection caused by manual operation, and ensuring the safety and efficiency of medical waste treatment. This feature makes the robot have broad application prospects in the field of medical waste management.

[0020] 2. The robot realizes double-layer placement of containers containing medical waste by providing a placement plate 1 and a placement plate 2 installed on the base through a lifting mechanism. After the robot gripper body grasps a container containing medical waste and stores it on the placement plate 2, the placement plate 2 will automatically rise to provide storage space for the next container containing medical waste, effectively improving the transportation efficiency of the transport robot.

[0021] 3. The reciprocating motion of the robot gripper body is converted into unidirectional motion through the driving assembly, and when the robot gripper body is about to return to its original position, the power generated by the driving assembly is transmitted through the adjusting mechanism to make the placement plate 2 rise. This design prevents the rise of the placement plate 2 from affecting the storage of the container containing medical waste when the robot gripper body is gripping and storing the container containing medical waste, thus avoiding motion interference.

[0022] 4. When the robot gripper body performs two reciprocating motions, the second placement plate rises after the first reciprocating motion and does not rise during the second reciprocating motion. This design prevents the center of gravity from being unstable due to the excessive total height of the placement plate. At the same time, a single motion can make the placement plate rise or fall to a suitable height or initial position. The rise and fall are not performed in sections, so as not to affect the loading and unloading operations of the unloading robot turret body, ensuring the stability and efficiency of the entire system. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0024] Figure 1 A schematic diagram of the overall structure provided by an embodiment of the present invention;

[0025] Figure 2 The embodiment of the present invention provides Figure 1 The enlarged structural diagram at A in the middle;

[0026] Figure 3 A schematic structural diagram of an overall cross section provided for an embodiment of the present invention;

[0027] Figure 4 A schematic diagram of the structure of an adjustment mechanism provided by an embodiment of the present invention;

[0028] Figure 5 The embodiment of the present invention provides Figure 4 The enlarged structural diagram at B in the middle;

[0029] Figure 6 A schematic diagram of the overall structure of a drive assembly provided by an embodiment of the present invention;

[0030] Figure 7 A schematic structural diagram of a cross section of a drive assembly provided by an embodiment of the present invention;

[0031] Figure 8 A schematic diagram of the structure of a connecting shaft, a shaft body 1 and a shaft body 2 provided in an embodiment of the present invention;

[0032] Fig. 9 A schematic diagram of the structure of a main shaft provided by an embodiment of the present invention;

[0033] Fig.10 A schematic diagram of the structure of a lifting mechanism and a limiting mechanism provided in an embodiment of the present invention;

[0034] Fig.11 A schematic diagram of a partial structure of a lifting mechanism provided in an embodiment of the present invention;

[0035] Fig.12 A structural schematic diagram of a front view of a vertical plate provided by an embodiment of the present invention;

[0036] Fig.13 A schematic diagram of the structure of the installation of the rotating plate provided in an embodiment of the present invention;

[0037] Fig.14 The embodiment of the present invention provides Figure 7 The enlarged structural diagram at C in the middle;

[0038] Fig.15 A schematic diagram of the structure of a local angle of the driving mechanism provided by an embodiment of the present invention;

[0039] Fig.16 A schematic diagram of the structure of a driving mechanism provided by an embodiment of the present invention from another local angle.

[0040] Description of reference numerals:

[0041] 1. Climbing robot body; 2. Climbing wheel body; 3. Spindle; 31. Bevel gear 1; 32. Synchronous belt; 33. Bevel gear 2; 34. Bevel gear 3; 35. Mounting frame; 36. Connecting shaft; 37. Shaft body 1; 38. Spring 1; 39. Shaft body 2; 310. End face toothed disc 2; 311. Spring 2; 312. Drive shaft 2; 313. End face toothed disc 1; 314. Drive shaft 1; 315. Slot 1; 316. Slot 2; 317. Mounting slot; 318. Block 1; 319. Block 2; 320. Pulley; 321. Bump 1; 322. Drive block 1; 323. Drive block 3; 324. Bump 2; 325. Drive block 2 ;326, drive block four;327, spring five;4, landing gear;41, screw one;42, resistance rod;43, connecting friction plate;44, spring three;45, screw two;46, connecting rod;5, vertical plate;51, connecting slide plate;52, rotating plate;53, rack;54, gear one;55, pressure rod;56, horizontal plate;57, driven plate;58, fixed block;59, spring four;510, slider;6, rotating rod;61, worm gear;62, worm;63, drive plate;64, turn button;65, gear two;66, gear three;67, driven turntable;7, base;8, placement plate one;9, placement plate two;10, robot gripper body. DETAILED DESCRIPTION

[0042] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0043] See also Figure 1-16The embodiment of the present invention provides a technical solution: it includes a climbing frame robot body 1 and a climbing frame wheel body 2 arranged on the climbing frame robot body 1, and a placing plate 8 for storing containers containing medical waste is arranged on the climbing frame robot body 1 through a base 7. By arranging a climbing sliding track adapted to the intelligent storage climbing frame robot on the medical waste temporary storage rack, the climbing frame robot body 1 is moved up and down and left and right on the medical waste temporary storage rack through the climbing frame wheel, and there is no need to manually store and take the containers containing medical waste, and the degree of intelligence is high. In addition, a main shaft 3 is installed on the climbing frame robot body 1 through a driving device, and the main shaft 3 is A robot gripper body 10 is provided for gripping a container containing medical waste. The robot gripper body 10 is driven by a driving device to rotate back and forth, and a vacuum suction cup may be provided at the end of the robot gripper body 10. When the robot gripper body 10 is rotated by the driving device and the vacuum suction cup at the end is pressed against the container containing medical waste, the container rack containing medical waste is adsorbed by the vacuum suction cup, wherein the driving device may be a driving motor or a rotating hydraulic device, both of which are prior art products and will not be described in detail herein. The robot gripper body 10 is characterized in that the intelligent storage climbing frame transport robot further includes:

[0044] The placing plate 29 is installed on the base 7 by the lifting mechanism. After the container containing medical waste is placed on the surface of the placing plate 29, the lifting mechanism is used to raise the placing plate 29, and the robot gripper body 10 grips the next container containing medical waste to the placing plate 1 8; when the placing plate 29 arranged on the lifting mechanism is in the initial position, it is located above the placing plate 1 8. At this time, when the robot gripper body 10 grips the container containing medical waste, the container containing medical waste will be placed on the placing plate 29 first;

[0045] The driving assembly is arranged on the main shaft 3 and is connected to the lifting mechanism through the adjusting mechanism. When the robot gripping body 10 grips the container containing medical waste onto the placement plate 2 9 and performs a reciprocating motion, the reciprocating motion of the robot gripping body 10 is converted into a unidirectional motion through the driving assembly. After the robot gripping body 10 grips the container containing medical waste onto the placement plate 2 9 and separates it from the container containing medical waste, the adjusting mechanism is used to make the main shaft 3 drive the lifting mechanism via the driving assembly to raise the placement plate 2 9. It should be noted that when the robot gripper body 10 grips the container containing medical waste, the robot gripper body 10, driven by the drive device and the spindle 3, will have two motion states. The first motion state is that the robot gripper body 10 rotates toward a position close to the container containing medical waste to be transported, until the vacuum suction cup device on the end of the robot gripper body 10 adsorbs the container containing medical waste, and then the robot gripper body 10 moves toward the initial position until the container containing medical waste is placed on the placement plate 29 located above at this time. , and at this time, the vacuum suction cup device on the robot gripping body 10 is separated from the container containing medical waste, and the robot gripping body 10 returns to its initial position. At this time, the robot gripping body 10 completes a reciprocating motion, that is, a reciprocating motion of the robot gripping body 10 will complete the storage of a container containing medical waste. Through the provided driving component, when the robot gripping body 10 reciprocates, the reciprocating power is converted into a one-way transmission, and the vacuum suction cup device on the robot gripping body 10 is separated from the container containing medical waste until the robot gripping body 10 returns to its initial position. In the process of changing the position, that is, at the end of a reciprocating motion of the robot gripping body 10, the power generated by the driving component will be transmitted to the lifting mechanism through the adjusting mechanism, so that the placement plate 29 is lifted up in the process of the vacuum suction cup device on the robot gripping body 10 being separated from the container containing medical waste and the robot gripping body 10 being restored to the initial position, so as to prevent the placement plate 29 from lifting up and affecting the storage of the container containing medical waste when the robot gripping body 10 grips and stores the container containing medical waste. When the body 10 returns to the initial position, the placing plate 2 9 is raised by one position through the adjusting mechanism and the lifting mechanism, that is, the height is slightly greater than that of a storage box, so that after the robot gripping body 10 grips the container containing medical waste next time, the next container containing medical waste can be placed on the placing plate 1 8. Through the set driving components, adjusting mechanisms and lifting mechanisms, the robot gripping body 10 can automatically raise the placing plate 2 9 after the first container containing medical waste is placed on the placing plate 2 9, so as to realize double-layer placement and effectively improve the transportation efficiency of the transport robot;

[0046] It should also be noted that after the placement plate 2 9 is raised, its height should be higher than the height of the robot gripping body 10 to prevent movement interference.

[0047] The driving assembly includes a bevel gear 1 31 and a bevel gear 3 34 which are symmetrically and rotatably arranged on a mounting frame 35, and a bevel gear 2 33 which is meshed with the bevel gear 1 31 and the bevel gear 3 34 at the same time. The mounting frame 35 is fixedly arranged on the climbing robot body 1, and a through groove is provided in the center of the bevel gear 1 31 and the bevel gear 3 34.

[0048] The driving assembly also includes a driving shaft 1 314 and a driving shaft 2 312 which are respectively arranged in the through grooves of bevel gear 1 31 and bevel gear 3 34 and connected through a connecting part. A shaft body 1 37 is inserted in the driving shaft 1 314, and a shaft body 2 39 is inserted in the driving shaft 2 312 and rotatably arranged. The shaft body 1 37 and the shaft body 2 39 are connected by a spring 1 38. The shaft body 1 37 is connected to the main shaft 3 through a connecting shaft 36. One-way transmission parts are respectively arranged between the driving shaft 1 314 and the shaft body 1 37 and between the driving shaft 2 312 and the shaft body 2 39. When the main shaft 3 drives the robot gripping body 10 to perform a complete reciprocating motion, the one-way transmission part is used to make the bevel gear 1 31 and the bevel gear 3 34 rotate alternately and actively to realize the one-way rotation action of the bevel gear 3 34. When the robot gripper body 10 is used to grip and store the container containing medical waste, the main shaft 3 is in a reciprocating rotation state driven by the driving device. Through the one-way transmission part, when the main shaft 3 drives the robot gripper body 10 to rotate toward a position close to the container containing medical waste, this is the first movement direction. The main shaft 3 drives either the bevel gear 1 31 or the bevel gear 3 34 to actively rotate through the connecting shaft 36, while the other is passively rotated under the action of the bevel gear 3 34. When the main shaft 3 drives the robot gripper body 10 to rotate toward the initial position, this is the second movement direction. The main shaft 3 drives the bevel gear 1 31 or the bevel gear 3 34 that is passively rotating in the first movement direction to actively rotate in the opposite direction through the connecting shaft 36. In the first movement direction and the second movement direction, the one-way transmission part can make the bevel gear 1 31 and the bevel gear 3 34 rotate alternately and actively, so that the bevel gear 2 33 keeps rotating in one direction.

[0049] In one embodiment of the present invention, the one-way transmission part includes a first card slot 315 and a second card slot 316 respectively provided on the inner wall surface of the driving shaft 1 314 and the driving shaft 2 312, and a first card block 318 and a second card block 319 respectively provided on the surface of the shaft body 1 37 and the shaft body 2 39 through an elastic member, wherein the first card block 318 abuts against the first card slot 315, and the second card block 319 abuts against the second card slot 316, see Figure 6 , Figure 7 and Figure 8When the main shaft 3 rotates in the first direction of motion, the end surface positions of the block 1 318 and the slot 1 315 are against each other. At this time, the block 1 318 and the slot 1 315 are relatively fixed, and the block 2 319 and the slot 2 316 form teeth (refer to the ratchet mechanism). At this time, the shaft 1 37 drives the driving shaft 1 314 to rotate actively. When the main shaft 3 rotates in the second direction of motion, the states of the block 1 318 and the slot 1 315 and the block 2 319 and the slot 2 316 are opposite. At this time, the shaft 2 39 drives the driving shaft 2 312 to rotate actively. The elastic member can be a torsion spring or a rotating oil cylinder. It is a prior art and will not be described in detail.

[0050] The one-way transmission part also includes a protrusion 1 321 and a protrusion 2 324 respectively fixedly arranged on the bevel gear 1 31 and the bevel gear 3 34, as well as a driving block 1 322 and a driving block 2 325 on both sides of the protrusion 1 321 and a driving block 3 323 and a driving block 4 326 on both sides of the protrusion 2 324, and the driving block 1 322 is rotatably arranged on the surface of the driving shaft 1 314 through a one-way shaft, and the driving block 2 325 is arranged on the surface of the driving shaft 1 314 and is slidably connected to the protrusion 1 321, similarly, the driving block 323 is rotatably arranged on the surface of the driving shaft 2 312 through a one-way shaft, and the driving block 4 326 is arranged on the outer surface of the driving shaft 2 312 and is slidably connected to the protrusion 2 324;

[0051] In another embodiment of the present invention, the connection portion includes an end face toothed disc 1 313 and an end face toothed disc 2 310 that mesh with each other, wherein the end face toothed disc 1 313 and the end face toothed disc 2 310 are connected to the drive shaft 1 314 and the drive shaft 2 312 respectively through the spring 2 311;

[0052] See also Figure 6 , Figure 7 , Figure 8 , Fig.15 and Fig.16 When the storage box is stored for the first time, the driving device drives the main shaft 3 and the robot gripper body 10 to rotate in the first movement direction close to the container containing medical waste, and through the connecting shaft 36, the shaft body 1 37 and the shaft body 2 39 rotate counterclockwise. At this time, the clamping block 1 318 abuts against the end surface of the clamping groove 1 315, and the clamping block 2 319 does not abut against the end surface of the clamping groove 2 316. At this time, the clamping block 2 319 pushes the clamping groove 1 315 to make the driving shaft 1 314 rotate counterclockwise. Please refer to Fig.15 , the convex block 1 321 abuts against the surface of the driving block 2 325, so that the bevel gear 1 31 rotates counterclockwise, the bevel gear 2 33 rotates clockwise, and the bevel gear 3 34 rotates clockwise. When the bevel gear 3 34 rotates clockwise, please refer to Fig.16Since the protrusion 2 324 abuts against the surface of the driving block 4 326, and the driving block 4 326 is slidably connected to the protrusion 2 324, the driving shaft 2 312 will be driven in the reverse direction to rotate counterclockwise, thereby causing the driving shaft 1 314 and the driving shaft 2 312 to rotate in opposite directions. At this time, the spring 2 311 vibrates repeatedly, and the end face gear disc 1 313 and the end face gear disc 2 310 form a toothing effect. When the driving device drives the main shaft 3 and the robot gripping body 10 to rotate in the second movement direction of the initial position, the movement state is opposite. At this time, through the mutual friction between the driving block 4 326 and the protrusion 2 324, the bevel gear 3 34 is actively rotated clockwise, the bevel gear 2 33 rotates clockwise, and the bevel gear 1 31 rotates counterclockwise. In this way, when the container containing medical waste is placed on the climbing frame robot body 1, the two movement directions of the main shaft 3 will cause the bevel gear 2 33 to rotate clockwise.

[0053] The adjustment mechanism includes a driving disk 63, a driven rotating disk 67 and a gear three 66 which are rotatably arranged on the climbing robot body 1, and a synchronous belt 32 is installed between the driving disk 63 and the bevel gear two 33 through a synchronous wheel. When the bevel gear two 33 rotates, the driving disk 63 is rotated through the synchronous belt 32. The driven rotating disk 67 is provided with slots in a circular array and a gear two 65 meshing with the gear three 66 is fixedly arranged at one end. A knob 64 which is adapted to the slot of the driven rotating disk 67 is fixedly arranged on the surface of the driving disk 63.

[0054] It should be noted that when the bevel gear 2 33 rotates, the driving disc 63 is rotated through the synchronous belt 32, and when the driving disc 63 rotates, the knob 64 thereon will intermittently abut against the notch of the driven turntable 67, and the driven turntable 67 will rotate only when the knob 64 on the driving disc 63 abuts against the notch of the driven turntable 67. In the present invention, the initial position of the knob 64 is set as: during the process of rotating and driving the robot gripping body 10 to store the container containing medical waste on the placement plate 2 9 and separating the vacuum suction cup device thereon from the container containing medical waste until the robot gripping body 10 returns to its original position, the knob 64 abuts against the notch and the driven turntable 67 rotates, and then when the robot gripping body 10 returns to its initial position, the knob 64 is also just at the initial position on the driving disc 63, that is, during the process of the robot gripping body 10 approaching the container containing medical waste and placing the container containing medical waste on the placement plate 2 9 , the main shaft 3 drives the rotation of the bevel gear 2 33 through the connecting shaft 36, and only adjusts the position of the knob 64 through the synchronous belt 32 via the driving disk 63, and does not cause the rotation of the driven turntable 67. Only when the robot gripping body 10 is separated from the container containing medical waste, the knob 64 will just abut against the notch and rotate the driven turntable 67. This can be achieved by controlling the radius ratio of the driving disk 63 and the synchronous wheel on the bevel gear 2 33. It can be obtained by combining the existing technology with simple calculations, and the details are not repeated here; when the driven turntable 67 rotates, the gear 2 65 will also rotate accordingly, thereby causing the gear 3 66 to rotate, and the radius of the gear 2 65 is at least several times that of the gear 3 66, that is, when the gear 2 65 rotates one circle, the gear 3 66 will rotate several circles; a rotating rod 6 with a worm 62 installed at one end is fixedly provided on the gear 3 66, and a worm wheel 61 rotatably arranged on the base 7 is engaged with the worm wheel 62, and the lifting mechanism is arranged on the worm wheel 61. When gear three 66 rotates, it drives the rotating rod 6 and the worm 62 to rotate, thereby driving the lifting mechanism through the worm wheel 61 to raise the placement plate 2 9 until the robot gripping body 10 returns to its original position within the first motion cycle, and the radius ratio of gear two 65 and gear three 66 only needs to meet the following requirements: when gear two 65 drives gear three 66 to rotate, the lifting mechanism can be driven by the rotating rod 6, the worm 62 and the worm wheel 61 to raise the placement plate 2 9 to a height greater than the height of the robot gripping body 10.

[0055] The lifting mechanism includes a screw rod 41 installed on a worm wheel 61 through a connecting rod 46, a screw rod 45 and a spring 3 44 are sleeved on the outer peripheral side of the connecting rod 46, and the two ends of the screw rod 45 are respectively installed with connecting friction disks 43 through the spring 3 44, and the two connecting friction disks 43 respectively abut against the worm wheel 61 and the ends of the screw rod, and the placing plate 29 is threadedly installed on the screw rod 2 45. At the end of a movement cycle of the robot gripping body 10 and when the rotating rod 6 is rotated, the screw rod 41 is rotated through the cooperation of the worm 62 and the worm wheel 61 via the connecting rod 46, and the spring 3 44 and the connecting friction disk 43 abut against the worm wheel 61 and the screw rod 41. The screw rod 245 on the surface also rotates synchronously, so that the placement plate 29 threadedly connected to the screw rod 245 moves upward on the screw rod 245 through the threaded structure with the screw rod 245 until the height of the placement plate 29 is greater than the height of the robot gripping body 10. At this time, the robot gripping body 10 just returns to its initial position. After the first container containing medical waste is placed on the surface of the placement plate 29, the placement plate 29 can be automatically raised, so that the second container containing medical waste can be placed on the placement plate 18, increasing the single load, and transporting two containers containing medical waste to the medical waste temporary storage rack each time, greatly improving the transportation efficiency.

[0056] The lifting mechanism also includes a landing gear 4 threadedly mounted on the screw rod 1 41 , and the end of the landing gear 4 away from the screw rod 1 41 is connected to the bottom of the driving shaft 2 312 through a resistance rod 42 .

[0057] When the screw rod 1 41 rotates, the landing gear 4 moves upward on the screw rod 1 41 through the threaded structure with the screw rod 1 41, thereby pushing the driving shaft 2 312 upward through the resistance rod 42, so that the driving shaft 2 312, the driving shaft 1 314, the shaft 1, the shaft 2 and the connecting shaft 36 all move upward. Since the climbing frame transport robot of the intelligent storage of the present invention can transport two containers of medical waste at a time, each time a container of medical waste is stored, the robot gripping body 10 will perform two reciprocating motions, the first time to store the container of medical waste on the placement plate 2 9, and the second time to store the container of medical waste on the placement plate 1 8. After the containers of medical waste are stored on both the placement plate 1 8 and the placement plate 2 9, the climbing frame robot body 1 will pass. The climbing frame wheel body 2 climbs onto the temporary storage rack for medical waste, and the container containing medical waste is placed in the compartment of the temporary storage rack for medical waste. After the robot gripper body 10 undergoes two reciprocating motions, the driving shaft 2 312, the driving shaft 1 314, the shaft 1, the shaft 2 and the connecting shaft 36 are raised twice through the resistance rod 42. After the two rises, the driving block 2 325 is separated from the protrusion 1 321. Similarly, the protrusion 2 324 is separated from the driving block 4 326. At this time, after the climbing frame wheel body 2 makes the climbing frame robot body 1 climb to the temporary storage rack for medical waste through the track, it is necessary to use the robot gripper body 10 to place the top of the container containing medical waste on the placing plate 1 8 and the placing plate 2 9 to the compartment of the temporary storage rack for medical waste. The specific working steps at this time are as follows:

[0058] In order to eject the containers of medical waste on the two placement plates 1 8 and the placement plate 2 9 into the compartment, the robot gripper body 10 still needs to perform two reciprocating motions. In the first movement direction of the first reciprocating motion, shafts 1 and 2 rotate counterclockwise. At this time, the card slot 1 315 is pushed by the card block 1 318 to make the drive shaft 1 314 rotate counterclockwise. However, since the drive block 2 325 is separated from the protrusion 1 321 at this time, the drive block 1 322 that is against the protrusion 1 321 is located on the other side of the protrusion, which results in the bevel gear 1 31 being unable to rotate actively at this time. At this time, the drive shaft 2 312 and the drive shaft 1 314 are caused to rotate counterclockwise in the same direction through the connecting portion. The moving block 323 will push the convex block 2 324 to make the bevel gear 34 actively rotate counterclockwise. At this time, the bevel gear 2 33 rotates counterclockwise, and the bevel gear 1 31 rotates clockwise. When the bevel gear 1 31 rotates clockwise, the driving shaft 1 314 rotates counterclockwise under the drive of the shaft 1, so that the convex block 1 321 and the driving block 1 322 rotate in opposite directions until the convex block 1 321 and the driving block 1 322 are against each other in the other direction. At this time, the convex block 1 321 makes the driving block 1 322 rotate under the action of unidirectional rotation, and resets after the driving block 1 322 passes over the convex block 1 321. At this time, the container containing medical waste is pushed into the medical waste temporary storage rack, and then the robot grasps the clamping body 10 The second shaft 39 drives the second drive shaft 312 to rotate clockwise. Similarly, since the drive block 323 is located on the other side of the protrusion, the clockwise rotation of the second drive shaft 312 cannot make the bevel gear 34 rotate actively. At this time, the drive shaft 1 314 rotates clockwise through the connecting portion. At this time, under the action of the drive block 1 322, the protrusion 1 321 drives the bevel gear 1 31 to rotate actively clockwise, the bevel gear 2 33 rotates counterclockwise, and the shaft gear 3 66 also rotates counterclockwise. The rotation state at this time is completely opposite to the rotation direction of placing the container with medical waste on the placement plate 1 8 and the placement plate 2 9. Therefore, the robot gripper body 10 places the container with medical waste on the placement plate 1 8 at this time. When the container of medical waste is pushed into the compartment of the temporary storage rack for medical waste and rotated in the opposite direction to return to the original position, under the cooperation of the adjustment mechanism and the limit mechanism, the screw rod 1 41 and the screw rod 2 45 rotate in the opposite direction, so that the placement plate 2 9 is lowered to the initial position, and then when the climbing robot body 1 moves to the next compartment, the container containing medical waste on the placement plate 2 9 is pushed out by the robot gripping body 10. At this time, the driving shaft 2 312, the driving shaft 1 314, the shaft 1, the shaft 2 and the connecting shaft 36 return to their original positions after two drops, so as to transport the container containing medical waste for the next time. When the container containing medical waste is placed on the climbing robot body 1, the placement plate 2 9 can be automatically raised.When the container of medical waste on the climbing robot body 1 is pushed into the compartment on the temporary storage rack of medical waste, the placing plate 2 9 can be automatically lowered, with a high degree of automation, and two containers of medical waste can be transported at a time, greatly improving the transportation efficiency.

[0059] It should be noted that the friction coefficient of the material used on the inner wall surface of the main shaft 3 gradually increases from top to bottom. The first level is when the connecting shaft 36 is at the initial lowest position, the friction coefficient of the inner wall of the main shaft 3 in contact is the largest. After the first rise, the friction coefficient of the material used for the inner wall of the main shaft 3 begins to decrease until the connecting shaft 36 rises to the maximum height. At this time, the friction coefficient of the material of the inner wall of the main shaft 3 is the smallest. In this way, when the connecting shaft 36 rises, due to the initial large friction coefficient and friction force of the material of the inner wall of the main shaft 3, the push of the resistance rod 42 will not only cause the connecting shaft 36 to rise, but also cause the second spring 311 and the fifth spring 327 to compress and deform. As the rise occurs, the friction coefficient decreases, and the friction force gradually decreases, so that when the connecting shaft 36 rises to the maximum height, the second spring 311 and the fifth spring 327 will gradually restore their deformation. When descending, as the friction coefficient increases, the friction force increases, and the connecting shaft 36 The spring two 311 and the spring five 327 on the part are gradually stretched and deformed. When the resistance rod 42 pulls the driving shaft one 314, the driving shaft two, the shaft one 37 and the shaft two 39 to descend, the deformation of this part changes the descending amount of the driving block two 325 and the driving block four 326, so that when the robot gripping body 10 pushes the container containing medical waste on the climbing frame robot body 1 to the medical waste temporary storage rack for the first time, the bottom end faces of the driving block two 325 and the driving block four 326 will not drop to the same height as the protrusion one 321 and the protrusion two 324, thereby preventing the second unloading of the container containing medical waste from being affected. Among them, the elastic coefficient of the spring five 327 is smaller than the elastic coefficient of the spring two 311, so that the deformation of the spring five 327 is larger after being subjected to external force, reducing the deformation of the spring two 311, and preventing the end face toothed disc one 313 and the end face toothed disc two 310 from being separated and unable to transmit after being subjected to pulling force.

[0060] When the connecting shaft 36 moves upward or downward, in order to reduce the friction between the connecting shaft 36 and the main shaft 3, a mounting groove 317 is provided on the connecting shaft 36, and a protrusion matching the mounting groove 317 is provided on the inner wall surface of the main shaft 3, and a pulley 320 is installed at the protrusion position of the inner wall of the main shaft 3 to abut against the surface of the mounting groove 317. In this way, when the connecting shaft 36 rises or falls, the friction when the main shaft 3 and the connecting shaft 36 produce relative displacement can be reduced by the provided pulley 320, and the protrusion position and the mounting groove 317 that cooperate with each other can ensure that when the connecting shaft 36 slides up and down in the main shaft 3, the main shaft 3 can still maintain the rotation drive of the connecting shaft 36.

[0061] The intelligent storage climbing frame transport robot also includes a limit mechanism, which is installed on the base 7 and connected to the two connecting friction discs 43. When the robot gripping body 10 places the container containing medical waste on the placement plate 29 and makes the placement plate 29 rise and performs the second gripping of the container containing medical waste, the limit mechanism is used to disconnect the screw rod 2 45 from the screw rod 1 41 and the worm gear 61. When the robot gripping body 10 performs the second gripping of the container containing medical waste, when the worm gear 61 rotates the screw rod 1 41 through the connecting rod 46, the screw rod 2 45 stops rotating, so that when the robot gripping body 10 grips the container containing medical waste for the second time, the placement plate 2 9 will not rise, and the placement plate 2 9 will rise to the position in sequence, so as to prevent the placement plate 2 9 from rising too high and causing the problem of unstable center of gravity.

[0062] The limiting mechanism includes a vertical plate 5 fixedly arranged on the base 7, two racks 53 are slidably arranged on the vertical plate 5, and the positions where the two racks 53 are close to each other are meshed with a gear 1 54. The two racks 53 are respectively connected to the outer surfaces of the two connected friction plates 43 through two connecting slides 51, and the two connecting slides 51 are slidably arranged on the surface of the vertical plate 5. The landing gear 4 is fixedly provided with two driven plates 57 sliding on the surface of the vertical plate 5 through a cross plate 56, and a slider 510 is slidably arranged on the surfaces of the two driven plates 57 close to each other. A rotating plate 52 is arranged on the slider 510 through a torsion spring, and a fixed block 58 is fixedly arranged on the surfaces of the two racks 53 away from each other. The ends of the two racks 53 close to each other are arranged to fit on the inclined surface of the surface of the vertical plate 5, and the two sliders 510 are connected to the driven plate 57 through springs 459.

[0063] When the placing plate 29 on the screw rod 2 45 rises, the landing gear 4 on the screw rod 1 41 also drives the driven plate 57 to move upward through the cross plate 56 until the rotating plate 52 and the like are lifted. Fig.10 The fixed block 58 on the rack 53 at the higher position shown in the figure abuts against each other, and then the driven plate 57 will continue to rise for a distance. The two racks 53 pull the two connecting slide plates 51 closer to each other through the meshing structure with the gear one 54, so that the spring three 44 is compressed and deformed, and the friction force connecting the friction disk 43 and the surface of the worm gear 61 and the screw rod one 41 gradually decreases until they are completely separated. At this time, the placement plate two 9 rises to the maximum height. This is the first time that the robot gripper body 10 grips the container containing medical waste. When the second grip is performed, since the screw rod two 45 is separated from the screw rod one 41 and the worm gear 61, the screw rod two 45 does not rotate with the screw rod one 41, and the placement plate two 9 cannot continue to rise.

[0064] Please note that Fig.10 and Fig.12At the end of the second movement cycle of grabbing the container containing medical waste, the rotating plate 52 continues to pull the rack 53 up until the rotating plate 52 is against the pressure rod 55. When the rotating plate 52 rises, the pressure rod 55 presses the rotating plate 52 to deform the torsion spring, and the rotating plate 52 and the fixed block 58 are separated. The spring three 44 recovers its deformation and makes the connecting friction plate 43 and the surfaces of the worm gear 61 and the screw rod 41 abut against each other again. At this time, the process of storing the container containing medical waste on the placement plate 1 8 and the placement plate 2 9 is completed. Later, the robot gripper body 10 pushes the container containing medical waste on the placement plate 1 8 and the placement plate 2 9 into the medical waste temporary storage rack. At this time, the landing gear 4, the cross plate 56 and the driven plate 57 are at the highest point. After the container containing medical waste is pushed from the placement plate 1 8 to the medical waste temporary storage rack for the first time, the landing gear 4, the cross plate 56 and the driven plate 57 begin to descend in height. Please refer to Fig.10 and Fig.12 When the two driven plates 57 begin to descend, one of the driven plates 57 moves downward and Fig.10 The fixed block 58 on the higher rack 53 abuts against each other until the higher rack 53 moves downward to separate the connecting friction plate 43 from the worm gear 61 and the screw rod 1 41, until the second descent, the landing gear 4, the cross plate 56 and the driven plate 57 descend to the initial position, the rotating plate 52 abuts against the pressure rod 55, and the torsion spring is deformed, the rotating plate 52 is separated from the fixed block 58, the spring 3 44 recovers its deformation, and the screw rod 2 45 is reconnected with the screw rod 1 41 and the worm gear 61 for the next use;

[0065] It should also be noted that in Fig.12 When the driven plate 57 on the right side rises, it is in Fig.12 The rotating plate 52 on the left driven plate 57 will be in contact with the Fig.12 The inclined surface on the end of the rack 53 on the left side contacts the spring 4 59, thereby deforming the slider 510 and the rotating plate 52 on the driven plate 57 on the left side move to a position away from the vertical plate 5, so that the rotating plate 52 on the left side can pass over the fixed block 58 on the rack 53 on the left side to prevent movement interference. Similarly, when the driven plate 57 descends from the highest point, Fig.12 The rotating plate 52 on the right driven plate 57 will also contact the inclined surface on the end of the right rack 53, so that the rotating plate 52 on the right passes over the right fixed block 58 to prevent movement interference.

[0066] The above description is only by way of illustration of certain exemplary embodiments of the present invention. It is undoubted that those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the above drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. An intelligent medical waste storage climbing frame transport robot, comprising a climbing frame robot body (1) and a climbing frame wheel body (2) arranged on the climbing frame robot body (1), the climbing frame robot body (1) is provided with a placement plate (8) for storing containers containing medical waste through a base (7), and the climbing frame robot body (1) is also equipped with a main shaft (3) through a driving device, and the main shaft (3) is provided with a robot gripping body (10) for gripping containers containing medical waste, characterized in that: The intelligent storage climbing frame transport robot also includes: A second placement plate (9) is mounted on the base (7) by a lifting mechanism. After a container containing medical waste is placed on the surface of the second placement plate (9), the lifting mechanism is used to raise the second placement plate (9) and to grip the next container containing medical waste onto the first placement plate (8) through the robot gripping body (10); A drive assembly is arranged on the main shaft (3) and connected to the lifting mechanism through an adjustment mechanism. When the robot gripping body (10) grips the container containing medical waste onto the second placement plate (9) and performs a reciprocating motion, the reciprocating motion of the robot gripping body (10) is converted into a unidirectional motion through the drive assembly. After the robot gripping body (10) grips the container containing medical waste onto the second placement plate (9) and separates from the container containing medical waste, the adjustment mechanism is used to enable the main shaft (3) to drive the lifting mechanism via the drive assembly to raise the second placement plate (9).

2. The intelligent medical waste storage climbing frame transport robot according to claim 1 is characterized in that: The driving assembly comprises a bevel gear 1 (31) and a bevel gear 3 (34) which are symmetrically and rotatably arranged on a mounting frame (35), and a bevel gear 2 (33) which is simultaneously meshed with the bevel gear 1 (31) and the bevel gear 3 (34); the mounting frame (35) is fixedly arranged on a climbing robot body (1), and a through groove is provided in the center of the bevel gear 1 (31) and the bevel gear 3 (34); The drive assembly also includes a drive shaft 1 (314) and a drive shaft 2 (312) which are respectively arranged in the through grooves of the bevel gear 1 (31) and the bevel gear 3 (34) and connected by a connecting portion, wherein the drive shaft 1 (314) is inserted with a shaft body 1 (37), and the drive shaft 2 (312) is inserted with a shaft body 2 (39) which is rotatably arranged, and the shaft body 1 (37) and the shaft body 2 (39) are connected by a spring 1 (38). 7) is connected to the main shaft (3) through a connecting shaft (36), and a one-way transmission part is respectively arranged between the driving shaft 1 (314) and the shaft body 1 (37) and between the driving shaft 2 (312) and the shaft body 2 (39). When the main shaft (3) drives the robot gripping body (10) to perform a complete reciprocating motion, the one-way transmission part is used to make the bevel gear 1 (31) and the bevel gear 3 (34) rotate alternately and actively, so as to realize the one-way rotation action of the bevel gear 3 (34).

3. The intelligent medical waste storage climbing frame transport robot according to claim 2 is characterized in that: The adjustment mechanism comprises a driving disc (63), a driven rotating disc (67) and a gear three (66) rotatably arranged on a climbing robot body (1), and a synchronous belt (32) is installed between the driving disc (63) and the bevel gear two (33) via a synchronous wheel, the driven rotating disc (67) is provided with notches in a circumferential array and a gear two (65) meshing with the gear three (66) is fixedly arranged at one end, and a rotating knob (64) adapted to the notch of the driven rotating disc (67) is fixedly arranged on the surface of the driving disc (63). The gear three (66) is fixedly provided with a rotating rod (6) having a worm (62) mounted on one end thereof, the worm (62) is meshed with a worm wheel (61) rotatably provided on a base (7), and the lifting mechanism is provided on the worm wheel (61).

4. The intelligent medical waste storage climbing frame transport robot according to claim 3 is characterized in that: The lifting mechanism comprises a screw rod 1 (41) mounted on the worm wheel (61) via a connecting rod (46); a screw rod 2 (45) and a spring 3 (44) are sleeved on the outer peripheral side of the connecting rod (46); two ends of the screw rod 2 (45) are respectively mounted with connecting friction disks (43) via springs 3 (44); and the two connecting friction disks (43) respectively abut against the ends of the worm wheel (61) and the screw rod; and the placement plate 2 (9) is threadedly mounted on the screw rod 2 (45).

5. The intelligent medical waste storage climbing frame transport robot according to claim 4 is characterized in that: The lifting mechanism also includes a landing gear (4) threadedly mounted on the screw rod (41), and an end of the landing gear (4) away from the screw rod (41) is installed with a resistance rod (42) through a spring (327), and the resistance rod (42) is fixedly arranged on the bottom surface of the driving shaft (312).

6. The intelligent medical waste storage climbing frame transport robot according to claim 5, characterized in that: The connecting shaft (36) is provided with a mounting groove (317), and the inner wall surface of the main shaft (3) is provided with a protrusion matched with the mounting groove (317), and a pulley (320) is installed at the protrusion position on the inner wall of the main shaft (3) to abut against the surface of the mounting groove (317).

7. The intelligent medical waste storage climbing frame transport robot according to claim 6, characterized in that: The intelligent storage climbing frame transport robot also includes a limiting mechanism, which is installed on the base (7) and connected to the two connecting friction plates (43). When the robot gripping body (10) places the container containing medical waste on the placement plate 2 (9) and makes the placement plate 2 (9) rise and grips the container containing medical waste for the second time, the limiting mechanism is used to disconnect the screw rod 2 (45) from the screw rod 1 (41) and the worm gear (61).

8. The intelligent medical waste storage climbing frame transport robot according to claim 7, characterized in that: The limiting mechanism comprises a vertical plate (5) fixedly arranged on a base (7), two racks (53) being slidably arranged on the vertical plate (5), a gear 1 (54) being meshed with each other at positions where the two racks (53) are close to each other, the two racks (53) being connected to the outer surfaces of the two connecting friction plates (43) respectively through two connecting slide plates (51), the two connecting slide plates (51) being slidably arranged on the surface of the vertical plate (5), and the landing gear (4) being fixedly arranged with two slide plates through a transverse plate (56). A driven plate (57) is moved on the surface of the vertical plate (5), a slider (510) is slidably arranged on the surfaces of the two driven plates (57) that are close to each other, a rotating plate (52) is arranged on the slider (510) via a torsion spring, a fixed block (58) is fixedly arranged on the surfaces of the two racks (53) that are away from each other, the ends of the two racks (53) that are close to each other are arranged to be fitted on the inclined surface of the surface of the vertical plate (5), and the two sliders (510) are connected to the driven plate (57) via a spring four (59).

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