Medical waste transfer robot

Abstract

The invention relates to the technical field of medical waste treatment, in particular to a medical waste transfer robot which comprises a base and further comprises an avoiding groove, a walking mechanism, a collecting mechanism and a disinfecting mechanism, the walking mechanism comprises a rotating disc, a driving assembly, two front wheels and two rear wheels, and the collecting mechanism comprises a fixing frame, a moving assembly, an overturning assembly and two collecting shovels. The disinfection mechanism comprises a storage box, a water inlet pipe, a storage barrel, a water outlet pipe, a supporting table, a suction assembly, a transmission assembly and an output assembly, the collection mechanism is arranged, medical waste can be collected, meanwhile, a first camera and a walking mechanism are matched, and walking of the robot can be achieved; the robot can collect medical waste at any position and dump and abandon the waste, manual transfer can be replaced, labor force is reduced, meanwhile, workers can be prevented from making direct contact with the medical waste, and the infection risk is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of medical waste treatment, in particular to a medical waste transporting robot. Background Art

[0002] Medical waste refers to waste generated by medical institutions in the course of medical treatment, prevention, health care and other related activities. Medical waste generally contains a large number of bacteria, viruses, etc., which are highly contagious. Therefore, medical waste needs to be centrally processed; When handling medical waste, it is generally collected manually and then transported to a designated location. During the transportation process, since medical waste contains bacteria, manual handling and transportation are prone to secondary infection, which poses certain safety hazards. At the same time, manual transportation is inefficient. To address this problem, a medical waste transportation robot is now provided. Summary of the invention

[0003] The purpose of the present invention is to provide a medical waste transfer robot to solve the problems raised in the above background technology.

[0004] To achieve the above object, the present invention provides the following technical solutions: A medical waste transport robot comprises a base, an avoidance groove, a walking mechanism, a collecting mechanism and a disinfection mechanism, wherein the avoidance groove is integrally formed and opened on one side of the base; The walking mechanism is installed at the bottom of the base, and the walking mechanism includes a turntable, a driving assembly, two front wheels and two rear wheels. The turntable is rotatably arranged at the bottom of one end of the base through a rotating shaft, the two front wheels are symmetrically rotatably arranged below the turntable, and the two rear wheels are symmetrically rotatably arranged on both sides of one end of the base away from the turntable, and the driving assembly is installed on the turntable; The collecting mechanism comprises a fixed frame, a moving assembly, a flipping assembly and two collecting shovels, wherein the fixed frame is located above the base, the two collecting shovels are symmetrically arranged on both sides below the fixed frame, the moving assembly is located between the fixed frame and the two collecting shovels, and the flipping assembly is located between the fixed frame and the base; The disinfection mechanism includes a storage box, a water inlet pipe, a storage cylinder, a water outlet pipe, a support platform, a suction assembly, a transmission assembly and an output assembly. The storage box is installed at the top of the base, the support platform is fixed above the storage box, the storage cylinder is installed above the support platform, the water outlet pipe is installed at one end of the storage cylinder, one end of the water inlet pipe is connected to one end of the storage cylinder close to the water outlet pipe, and the other end of the water inlet pipe is connected to the storage box, the output assembly is located between the water outlet pipe and two collecting shovels, the suction assembly is installed on the storage cylinder, and the transmission assembly is located between the suction assembly and the flip assembly.

[0005] As a further solution of the present invention: the flip assembly includes two vertical plates, two second motors, two second driving gears, two second driven gears and two rotating rods, the two vertical plates are symmetrically fixed at the bottom ends of both sides of the base, one end of each rotating rod is rotatably set on a vertical plate through a rotating shaft, the other end of each rotating rod is fixedly connected to the fixed frame, each second driven gear is located on one side of a vertical plate and is fixedly connected to the rotating shaft at the end of the rotating rod, each second driving gear is located below a second driven gear and is rotatably set on the vertical plate, each second driving gear is meshed with a second driven gear, each second motor is installed on the side of the vertical plate away from the second driving gear, and the output end of each second motor is fixedly connected to a second driving gear.

[0006] As a further scheme of the present invention: the transmission assembly includes a driving wheel, a driven wheel, a transmission belt, a second mounting plate, a rotating plate, a first mounting plate, a rocker arm, a second slot and a second plug rod. The second mounting plate is fixed to the top of the base, and the rotating plate is rotatably arranged on one side of the second mounting plate. The driven wheel is located on the other side of the second mounting plate and is coaxially fixedly connected to the rotating plate. The driving wheel is fixed on one side of one of the second driven gears. The transmission belt is sleeved on the driving wheel and the driven wheel. The first mounting plate is located on one side of the second mounting plate and is fixed on the base. The rocker arm is rotatably arranged on one side of the first mounting plate through a rotating shaft. The second slot is opened on the bottom end surface of the rocker arm, the second plug rod is inserted into the inside of the second slot, and one end of the second plug rod is fixedly connected to the surface of the rotating plate.

[0007] As a further solution of the present invention: the suction assembly includes a piston plate, a push rod, a moving rod, a guide rail, a first slot and a first insertion rod, the first slot is opened on the top surface of the rocker rod, the first insertion rod is inserted into the inside of the first slot, the piston plate is slidably arranged inside the storage cylinder, one end of the push rod is connected to the piston plate, the other end of the push rod passes through the storage cylinder and is connected to one end of the moving rod, the first insertion rod is fixed to the other end surface of the moving rod, the guide rail is fixedly arranged on the support platform, and the moving rod is slidably arranged inside the guide rail.

[0008] As a further solution of the present invention: the output component includes a drain pipe, two first hoses, two delivery pipes, two second hoses, two diversion pipes and a plurality of nozzles. The drain pipe is installed above the base, and the end of the water outlet pipe away from the storage cylinder is connected to the drain pipe. The two first hoses are respectively installed at both ends of the drain pipe, each delivery pipe is fixed on one side of a rotating rod, one end of each delivery pipe is connected to an end of a first hose away from the drain pipe, and the other end of each delivery pipe is connected to a second hose. The two diversion pipes are respectively fixed on one side of two collecting shovels, and the other end of each second hose is connected to a diversion pipe. A plurality of nozzles are symmetrically arranged on the two diversion pipes, and each nozzle passes through the collecting shovel.

[0009] As a further solution of the present invention: the moving assembly includes a third motor, a bidirectional screw and two moving blocks, the bidirectional screw is rotatably arranged inside the fixed frame, the third motor is installed at one end of the fixed frame, the output end of the third motor is fixedly connected to one end of the bidirectional screw, the two moving blocks are symmetrically arranged on both sides of the surface of the bidirectional screw, each moving block is threadedly matched with the bidirectional screw, and each moving block is slidably arranged inside the fixed frame, and each collecting shovel is fixedly connected to a moving block.

[0010] As a further solution of the present invention: the driving assembly includes a first driving gear, a first driven gear, a first motor, a dual-axis motor and a rotating rod. The dual-axis motor is installed below the turntable. The two output ends of the dual-axis motor are fixedly connected to the rotating shafts of the two front wheels respectively. The rotating rod is fixed to the middle of the top end of the turntable. The top end of the rotating rod is rotatably set on the base through a bearing. The first driven gear is fixed to the surface of the rotating rod. The first driving gear is rotatably set on the base. The first driving gear is located on one side of the first driven gear and meshes with the first driven gear. The first motor is fixedly installed at the top end of the base. The output end of the first motor is fixedly connected to the first driving gear.

[0011] As a further solution of the present invention: a plurality of pipe clamps for fixing the conveying pipes are installed on each rotating rod.

[0012] As a further solution of the present invention: an inner wall on one side of each collecting shovel is provided with an oblique angle, and a side of each collecting shovel away from the fixed frame is inclined.

[0013] As a further solution of the present invention: two first cameras are installed on the top of the storage box, and a second camera is installed on the side of one of the collecting shovels away from the fixed frame.

[0014] Compared with the prior art, the present invention has the following beneficial effects: 1. A medical waste transfer robot of the present invention can collect medical waste by setting a collection mechanism, and can realize the walking function of the robot in conjunction with the first camera and the walking mechanism, so that the robot can collect medical waste at any position. After the collection is completed, the medical waste can be flipped to the top of the trash can at a designated position through the flipping component, so as to realize the dumping and abandonment of the waste, realize the automatic collection and transfer of medical waste, and can replace manual transfer, which not only reduces labor, but also avoids direct manual contact with medical waste, and reduces the risk of infection caused by manual collection and treatment of medical waste.

[0015] 2. A medical waste transfer robot of the present invention can disinfect the medical waste collected in two collecting shovels by setting a disinfection mechanism, thereby achieving a sterilization effect and reducing the risk of bacteria breeding in the medical waste inside the collecting shovels. At the same time, during the transfer process, the two collecting shovels can seal and store the medical waste, thereby preventing the spread of bacteria by the medical waste and reducing the risk of infection, and at the same time preventing the problem of odor spreading.

[0016] 3. A medical waste transport robot of the present invention is provided with a transmission assembly. When two collecting shovels are rotated from a horizontal state to a vertical state, a disinfection mechanism can spray disinfectant toward the inside of the collecting shovel to achieve disinfection of the medical waste in the collecting shovel. At the same time, when the collecting shovel is turned over, the medical waste is also turned over inside the collecting shovel synchronously, thereby achieving uniform spraying of the medical waste and achieving more comprehensive disinfection. 4. A medical waste transfer robot of the present invention can achieve a linkage effect between the collection mechanism and the disinfection mechanism through a transmission component. When it is necessary to collect medical waste, the rotating rod is first rotated from a vertical state to a horizontal state. At this time, the transmission component is used to make the piston plate move toward the side away from the water outlet pipe. Under the action of negative pressure, the disinfectant inside the storage box can enter the storage cylinder for storage. When the two collecting shovels have completed collecting the medical waste, the rotating rod is controlled to rotate to a vertical state again. At this time, the transmission component is used to make the piston plate move toward the side close to the water outlet pipe to squeeze out the disinfectant stored in the storage cylinder to achieve the disinfection of the medical waste inside the collecting shovel. That is, one driving source can be used to achieve the synchronous operation of the flipping component and the suction component, which greatly reduces the number of driving sources used in the robot and reduces power consumption, thereby helping to reduce costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 The structure of the present invention is schematically shown Figure 1 .

[0018] Figure 2 For the present invention Figure 1 Schematic diagram of the enlarged structure of part A.

[0019] Figure 3 It is a schematic diagram of the internal structure of the storage cylinder in the present invention.

[0020] Figure 4 The structure of the present invention is schematically shown Figure 2 .

[0021] Figure 5 For the present invention Figure 4 Schematic diagram of the enlarged structure of part B.

[0022] Figure 6 For the present invention Figure 4Schematic diagram of the enlarged structure of part C.

[0023] Figure 7 It is a schematic diagram of the structure in which the transfer rod rotates to a horizontal state in the present invention.

[0024] Figure 8 It is a partial structural schematic diagram of the walking mechanism in the present invention.

[0025] Fig. 9 It is a structural schematic diagram of the mobile component in the present invention.

[0026] Among them: base 11, base; avoidance groove 12, avoidance groove; front wheel 13, front wheel; rear wheel 14, rear wheel; turntable 15, turntable; first driving gear 16, first driving gear; first driven gear 17, first driven gear; first motor 18, first motor; dual-axis motor 19, dual-axis motor; vertical plate 20, vertical plate; second motor 21, second motor; second driving gear 22, second driving gear; second driven gear 23, second driven gear; driving wheel 24, driving wheel; driven wheel 25, driven wheel; transmission belt 26, transmission belt; rotating rod 27, rotating rod; fixed frame 28, fixed frame; third motor 29, third motor; bidirectional screw rod 30, bidirectional screw rod; moving block 31, moving block; collecting shovel 32, collecting shovel; storage box 33, storage box; water inlet pipe 34, water inlet pipe; Storage cylinder 35, storage cylinder; water outlet pipe 36, water outlet pipe; piston plate 37, piston plate; push rod 38, push rod; moving rod 39, moving rod; guide rail 40, guide rail; first mounting plate 41, first mounting plate; swing rod 42, swing rod; first slot 43, first slot; first plug rod 44, first plug rod; second slot 45, second slot; second plug rod 46, second plug rod; rotating plate 47, rotating plate; second mounting plate 48, second mounting plate; drain pipe 49, drain pipe; first hose 50, first hose; delivery pipe 51, delivery pipe; second hose 52, second hose; diverter pipe 53, diverter pipe; nozzle 54, nozzle; bevel 55, bevel; first camera 56, first camera; second camera 57, second camera; support platform 59, support platform; rotating rod 60, rotating rod. DETAILED DESCRIPTION

[0027] The principles and features of the present invention are described below in conjunction with the accompanying drawings. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0028] The present invention provides the following preferred embodiments: Embodiment 1, as Figure 1-Figure 9As shown, a medical waste transport robot includes a base 11, an avoidance groove 12, a walking mechanism, a collecting mechanism and a disinfecting mechanism. The avoidance groove 12 is integrally formed and opened on one side of the base 11. The avoidance groove 12 can play an avoidance role. When it is necessary to transport medical waste, the robot moves to a designated position so that the trash can is inside the avoidance groove 12, so as to facilitate dumping and discarding of the medical waste. The walking mechanism is installed at the bottom of the base 11, and the walking mechanism includes a turntable 15, a driving assembly, two front wheels 13 and two rear wheels 14. The turntable 15 is rotatably arranged at the bottom of one end of the base 11 through a rotating shaft, the two front wheels 13 are symmetrically rotatably arranged below the turntable 15, and the two rear wheels 14 are symmetrically rotatably arranged on both sides of one end of the base 11 away from the turntable 15. The driving assembly is installed on the turntable 15, and the driving assembly is electrically connected to the controller. The driving assembly is used to drive the turntable 15 and the two front wheels 13 to rotate. When the two front wheels 13 rotate, the robot can walk, and when the turntable 15 rotates, the steering function during walking can be realized; The collecting mechanism includes a fixed frame 28, a moving component, a flipping component and two collecting shovels 32. The fixed frame 28 is located above the base 11. The two collecting shovels 32 are symmetrically arranged on both sides of the lower side of the fixed frame 28. The moving component is located between the fixed frame 28 and the two collecting shovels 32. The moving component is used to drive the collecting shovels 32 to move along the length direction of the fixed frame 28 to collect medical waste. The flipping component is located between the fixed frame 28 and the base 11. The moving component and the flipping component are both electrically connected to the controller. The flipping component can realize the rotation of the two collecting shovels 32. When it is necessary to collect medical waste, the fixed frame 28 is first rotated to a horizontal state so that one side of the two collecting shovels 32 can contact the ground to facilitate the collection of medical waste. Subsequently, the fixed frame 28 is rotated to a vertical state again. At this time, the two collecting shovels 32 and the medical waste inside are also rotated to a vertical state with the fixed frame 28, which is not only convenient for the subsequent dumping of medical waste, but also after the fixed frame 28 is rotated vertically, the collecting shovels 32 do not contact the ground, and will not affect the walking of the robot. Through the cooperation of the walking mechanism and the collecting mechanism, the medical waste can be turned over to the top of the trash can at the designated position, so as to realize the dumping and abandonment of the waste, realize the automatic collection and transportation of medical waste, and replace the manual transportation, which not only reduces the labor force, but also avoids the direct contact of human beings with medical waste, and reduces the risk of secondary infection caused by manual collection and treatment of medical waste; The disinfection mechanism includes a storage box 33, a water inlet pipe 34, a storage cylinder 35, a water outlet pipe 36, a support platform 59, a suction assembly, a transmission assembly and an output assembly. The storage box 33 is installed at the top of the base 11. The storage box 33 stores disinfectant inside. The support platform 59 is fixed above the storage box 33. The storage cylinder 35 is installed above the support platform 59. The support platform 59 provides a mounting platform for the storage cylinder 35. The water outlet pipe 36 is installed at one end of the storage cylinder 35. One end of the water inlet pipe 34 is connected to one end of the storage cylinder 35 close to the water outlet pipe 36. The other end of the water inlet pipe 34 is connected to the storage box 33. The water inlet pipe 34 can realize the storage box 33. 3 and the storage cylinder 35, so as to facilitate the subsequent disinfectant to flow from the inside of the storage box 33 into the inside of the storage cylinder 35. It should be noted here that both the outlet pipe 36 and the inlet pipe 34 are equipped with a one-way valve component, and the output assembly is located between the outlet pipe 36 and the two collecting shovels 32. The output assembly enables the disinfectant in the storage cylinder 35 to flow into the two collecting shovels 32, and can disinfect the medical waste collected in the two collecting shovels 32 to achieve a sterilization effect and reduce the risk of bacteria breeding in the medical waste inside the collecting shovels 32. The suction assembly is installed on the storage cylinder 35, and the transmission assembly is located between the suction assembly and the flip assembly.

[0029] like Figure 1-Figure 9 As shown, the flip assembly includes two vertical plates 20, two second motors 21, two second driving gears 22, two second driven gears 23 and two rotating rods 27. The two vertical plates 20 are symmetrically fixed to the bottom ends of both sides of the base 11. One end of each rotating rod 27 is rotatably set on a vertical plate 20 through a rotating shaft, and the other end of each rotating rod 27 is fixedly connected to a fixed frame 28. Each second driven gear 23 is located on one side of a vertical plate 20 and is fixedly connected to the rotating shaft at the end of the rotating rod 27, that is, when the second driven gear 23 rotates, it can drive the rotating rod 27 to rotate around the axis of the second driven gear 23. Each second driving gear 22 is located below a second driven gear 23 and is rotatably set on the vertical plate 20. Each second driving gear 22 is meshed with a second driven gear 23. Each second motor 21 is installed on a side of the vertical plate 20 away from the second driving gear 22, and the output end of each second motor 21 is fixedly connected to a second driving gear 22. When the collecting shovel 32 needs to be rotated, the controller controls the two second motors 21 to work synchronously, and the second motor 21 can drive the second driving gear 22 to rotate. Since the second driving gear 22 and the second driven gear 23 are meshed with each other, when the second driving gear 22 rotates, it can drive the second driven gear 23 to rotate, so that the two rotating rods 27 can rotate synchronously, and the rotating rod 27 can drive the collecting shovel 32 to rotate through the fixed frame 28. When the collecting shovel 32 rotates to a horizontal state, one side of the collecting shovel 32 can contact the ground, and then the two collecting shovels 32 brought by the moving component are brought close to each other, thereby realizing the collection of medical waste on the ground. When the collection is completed, the collecting shovel 32 is rotated to a vertical position again by the second motor 21.

[0030] like Figure 1-Figure 9 As shown, the transmission assembly includes a driving wheel 24, a driven wheel 25, a transmission belt 26, a second mounting plate 48, a rotating plate 47, a first mounting plate 41, a swing rod 42, a second slot 45 and a second plug rod 46. The second mounting plate 48 is fixed to the top of the base 11, and the rotating plate 47 is rotatably arranged on one side of the second mounting plate 48. The driven wheel 25 is located on the other side of the second mounting plate 48 and is coaxially fixedly connected with the rotating plate 47. The driving wheel 24 is fixed on one side of one of the second driven gears 23. The transmission belt 26 is sleeved on the driving wheel 24 and the driven wheel 25. The first mounting plate 41 is located on one side of the second mounting plate 48 and is fixed on the base 11. The swing rod 42 is rotatably arranged on one side of the first mounting plate 41 through a rotating shaft. The second slot 45 is opened on the bottom end surface of the swing rod 42. The second plug rod 46 is inserted into the inside of the second slot 45. One end of the second plug rod 46 is fixedly connected to the surface of the rotating plate 47. When the second driven gear 23 rotates, it can drive the driving wheel 24 to rotate. Under the action of the transmission belt 26, when the driving wheel 24 rotates, it can drive the driven wheel 25 to rotate. The driven wheel 25 drives the rotating plate 47 to rotate. The rotating plate 47 drives the second plug rod 46 to rotate. Since the second plug rod 46 is inserted into the inside of the second slot 45, when the second plug rod 46 rotates, it can drive the swing rod 42 to swing.

[0031] like Figure 1-Figure 9As shown, the suction assembly includes a piston plate 37, a push rod 38, a moving rod 39, a guide rail 40, a first slot 43 and a first plug rod 44. The first slot 43 is opened on the top surface of the swing rod 42, and the first plug rod 44 is inserted into the first slot 43. The piston plate 37 is slidably arranged in the storage cylinder 35. One end of the push rod 38 is connected to the piston plate 37, and the other end of the push rod 38 passes through the storage cylinder 35 and is connected to one end of the moving rod 39. The push rod 38 and the storage cylinder 35 are slidably connected. It should be noted here that a through hole is opened on the end surface of the storage cylinder 35 away from the water outlet pipe 36, and the first plug rod 44 is fixed on the other end surface of the moving rod 39. The guide rail 40 is fixedly arranged on the support platform 59, and the moving rod 39 is slidably arranged in the guide rail 40; When the swing rod 42 swings under the action of the second plug rod 46, the first plug rod 44 can drive the moving rod 39 to move inside the guide rail 40. When the moving rod 39 moves, the piston plate 37 can be driven to move toward the end away from the water outlet pipe 36 through the push rod 38. At this time, under the action of negative pressure, the disinfectant in the storage box 33 can enter the interior of the storage cylinder 35 through the water inlet pipe 34; When the two collecting shovels 32 have completed collecting the medical waste, the rotating rod 27 rotates to the vertical state again, and the driving wheel 24 rotates in the opposite direction, so that the swing rod 42 swings in the opposite direction to the initial state. At this time, the piston plate 37 can squeeze the disinfectant in the storage cylinder 35 through the water outlet pipe 36, that is, through the transmission component, the collection mechanism and the disinfection mechanism can achieve a linkage effect. When it is necessary to collect the medical waste, the rotating rod 27 is first rotated from the vertical state to the horizontal state. At this time, the transmission component is used to make the piston plate 37 move toward the side away from the water outlet pipe 36. Under the action of negative pressure, the disinfectant in the storage box 33 can enter the storage cylinder 35 for storage. When the two collecting shovels 32 have completed collecting the medical waste, the rotating rod 27 is controlled to rotate to the vertical state again. At this time, the transmission component is used to make the piston plate 37 move toward the side close to the water outlet pipe 36, and the disinfectant stored in the storage cylinder 35 is squeezed out to achieve the disinfection of the medical waste inside the collecting shovel 32.

[0032] like Figure 1-Figure 9As shown, the output assembly includes a drain pipe 49, two first hoses 50, two delivery pipes 51, two second hoses 52, two diverter pipes 53 and a plurality of nozzles 54. The drain pipe 49 is installed above the base 11. One end of the water outlet pipe 36 away from the storage cylinder 35 is connected to the drain pipe 49. The two first hoses 50 are respectively installed at both ends of the drain pipe 49. Each delivery pipe 51 is fixed on one side of a rotating rod 27. One end of each delivery pipe 51 is connected to one end of a first hose 50 away from the drain pipe 49. The other end of each delivery pipe 51 is connected to a second hose 52. The two diverter pipes 53 are respectively fixed on one side of two collecting shovels 32. The other end of each second hose 52 is connected to a diverter pipe 53. A plurality of nozzles 54 are symmetrically arranged on the two diverter pipes 53. Each nozzle 54 passes through the collecting shovel 32. When the disinfectant inside the storage cylinder 35 is squeezed out through the water outlet pipe 36, the disinfectant is sprayed onto the inside of the collecting shovel 32 through the drain pipe 49, the first hose 50, the delivery pipe 51, the second hose 52, the diversion pipe 53 and the nozzle 54 in sequence, thereby achieving disinfection of the medical waste in the collecting shovel 32. At the same time, when the collecting shovel 32 is turned over, the medical waste is also turned over synchronously inside the collecting shovel 32, thereby achieving uniform spraying of the medical waste and achieving more comprehensive disinfection.

[0033] like Figure 1-Figure 9 As shown, the moving assembly includes a third motor 29, a bidirectional screw 30 and two moving blocks 31. The bidirectional screw 30 is rotatably arranged inside the fixed frame 28. The third motor 29 is installed at one end of the fixed frame 28. The output end of the third motor 29 is fixedly connected to one end of the bidirectional screw 30. The two moving blocks 31 are symmetrically arranged on both sides of the surface of the bidirectional screw 30. Each moving block 31 is threadedly matched with the bidirectional screw 30, and each moving block 31 is slidably arranged inside the fixed frame 28. Each collecting shovel 32 is fixedly connected to a moving block 31. When it is necessary to collect medical waste, the controller first controls the third motor 29 to work, and the third motor 29 drives the bidirectional screw rod 30 to rotate. Since the moving block 31 and the bidirectional screw rod 30 are threadedly matched, and the moving block 31 slides inside the fixed frame 28, when the bidirectional screw rod 30 rotates, the two moving blocks 31 can move in a direction away from each other, and then flip and rotate to drive the collecting shovel 32 to rotate to a horizontal state. At this time, one side of the collecting shovel 32 contacts the ground, and finally the two collecting shovels 32 are driven to move again by the third motor 29, so that the two collecting shovels 32 can approach each other, thereby collecting the medical waste on the ground inside the two collecting shovels 32.

[0034] like Figure 1-Figure 9As shown, the driving assembly includes a first driving gear 16, a first driven gear 17, a first motor 18, a dual-axis motor 19 and a rotating rod 60. The dual-axis motor 19 is installed below the turntable 15. The two output ends of the dual-axis motor 19 are respectively fixedly connected to the rotating shafts of the two front wheels 13. Specifically, two side plates are symmetrically fixed below the turntable 15. Each front wheel 13 is rotatably arranged on a side plate through a rotating shaft. The dual-axis motor 19 is located between the two side plates and is fixedly installed on the turntable 15. Therefore, when the dual-axis motor 19 is working, it can drive The two front wheels 13 rotate to realize the walking of the robot. The rotating rod 60 is fixed to the middle of the top of the turntable 15. The top of the rotating rod 60 is rotatably set on the base 11 through a bearing. The first driven gear 17 is fixed to the surface of the rotating rod 60. The first driving gear 16 is rotatably set on the base 11. The first driving gear 16 is located on one side of the first driven gear 17 and meshes with the first driven gear 17. The first motor 18 is fixedly installed on the top of the base 11, and the output end of the first motor 18 is fixedly connected to the first driving gear 16. When steering is required, the controller controls the first motor 18 to work, the first motor 18 drives the first driving gear 16 to rotate, and the first driving gear 16 can drive the first driven gear 17 to rotate, so that the turntable 15 can rotate through the rotating rod 60, thereby changing the direction of the front wheel 13 to achieve the steering effect.

[0035] like Figure 1-Figure 9 As shown, a plurality of pipe clamps for fixing the delivery pipe 51 are installed on each rotating rod 27 , and the pipe clamps can realize the installation and fixation of the delivery pipe 51 , so that when the rotating rod 27 rotates, the delivery pipe 51 can rotate synchronously with the rotating rod 27 .

[0036] like Figure 1-Figure 9 As shown, an inner wall of one side of each collecting shovel 32 is provided with an angle 55. When the two collecting shovels 32 are close to each other, the angle 55 is utilized to allow medical waste to more easily enter the interior of the two collecting shovels 32 to complete the collection work. The side of each collecting shovel 32 away from the fixed frame 28 is inclined. When the collecting shovel 32 is in a vertical state during rotation, the inclined surface is at the bottom of the collecting shovel 32. Therefore, when dumping medical waste, the inclined surface can be utilized to guide the medical waste, so that when the two collecting shovels 32 are away from each other, the medical waste can be quickly dumped from the inside of the collecting shovel 32 into the inside of the trash can.

[0037] like Figure 1-Figure 9 As shown, two first cameras 56 are installed on the top of the storage box 33, and a second camera 57 is installed on the side of one of the collecting shovels 32 away from the fixed frame 28. The first camera 56 and the second camera 57 are both electrically connected to the controller, and the monitoring directions of the two first cameras 56 are opposite to each other, providing a field of view for the walking mechanism; The second camera 57 can take pictures of the medical waste storage situation inside the trash can. The second camera 57 is connected to the user's remote terminal to facilitate the user's viewing. When the medical waste inside the trash can is full, it is convenient to notify the logistics department to remove it.

[0038] The specific working process of the present invention is as follows: The robot is connected to the remote terminal via a wireless connection, and medical staff can remotely control the robot, that is, the robot can automatically collect medical waste through the operation of the medical staff, and after the collection is completed, the robot will automatically transfer it to the inside of the trash can at the designated location; When it is necessary to collect medical waste, the controller controls the dual-axis motor 19 to work, and the dual-axis motor 19 can drive the two front wheels 13 to rotate when working, so as to realize the walking of the robot. When turning is required, the controller controls the first motor 18 to work, and the first motor 18 drives the first driving gear 16 to rotate, and the first driving gear 16 can drive the first driven gear 17 to rotate, so that the turntable 15 can rotate through the rotating rod 60, so as to change the direction of the front wheels 13 and realize the turning effect. At the same time, the first camera 56 is cooperated to provide a field of view for the walking mechanism, so as to realize the walking function of the robot. When the robot walks to the specified position, the controller controls the third motor 29 to work, and the third motor 29 drives the bidirectional screw 30 to rotate. Since the moving block 31 and the bidirectional screw 30 are threadedly matched, and the moving block 31 slides inside the fixed frame 28, when the bidirectional screw 30 rotates, the two moving blocks 31 can move in a direction away from each other, and then the controller controls the two second motors 21 to work synchronously, and the second motor 21 can drive the second driving gear 22 to rotate. Since the second driving gear 22 and the second driven gear 23 are meshed with each other, when the second driving gear 22 rotates, it can drive the second driven gear 23 to rotate, so that the two rotating rods 27 can rotate synchronously, and the rotating rod 27 can drive the collecting shovel 32 to rotate through the fixed frame 28, so that the collecting shovel 32 rotates to a horizontal state. During this process, when the second driven gear 23 rotates, it can drive the driving wheel 24 to rotate. Under the action of the transmission belt 26, when the driving wheel 24 rotates, it can drive the driven wheel 25 to rotate. The driven wheel 25 drives the rotating plate 47 to rotate. The rotating plate 47 drives the second plug rod 46 to rotate. Since the second plug rod 46 is inserted into the inside of the second slot 45, when the second plug rod 46 rotates, it can drive the swing rod 42 to swing. Through the first plug rod 44, the moving rod 39 can be driven to move inside the guide rail 40. When the moving rod 39 moves, it can drive the piston plate 37 to move toward the end away from the water outlet pipe 36 through the push rod 38. At this time, under the action of negative pressure, the disinfectant inside the storage box 33 can enter the inside of the storage cylinder 35 through the water inlet pipe 34. Then, the two collecting shovels 32 driven by the third motor 29 are brought closer to each other, so that the medical waste on the ground can be collected inside the two collecting shovels 32. When the collection is completed, the collecting shovels 32 are rotated to a vertical position again by the second motor 21; During this process, the driving wheel 24 rotates in the opposite direction, so that the swing rod 42 swings in the opposite direction to the initial state. At this time, the piston plate 37 can squeeze out the disinfectant in the storage cylinder 35 through the water outlet pipe 36, and the disinfectant is sprayed on the inside of the collecting shovel 32 through the drainage pipe 49, the first hose 50, the delivery pipe 51, the second hose 52, the diverter pipe 53 and the nozzle 54 in sequence, so as to achieve the disinfection of the medical waste in the collecting shovel 32. At the same time, when the collecting shovel 32 is turned over, the medical waste is also turned over synchronously inside the collecting shovel 32, so as to achieve uniform spraying of the medical waste and achieve more comprehensive disinfection. Finally, the walking mechanism works, so that the machine moves to the specified position, so that the trash can is inside the avoidance groove 12, and by controlling the two collecting shovels 32 to move away from each other, the medical waste can be quickly dumped from the inside of the collecting shovel 32 into the inside of the trash can.

[0039] The beneficial effects of the present invention are specifically embodied in that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A medical waste transport robot, comprising a base (11), characterized in that: It also includes an avoidance groove (12), a walking mechanism, a collecting mechanism, and a disinfecting mechanism, wherein the avoidance groove (12) is integrally formed and opened on one side of the base (11); The walking mechanism is mounted at the bottom end of the base (11), and comprises a turntable (15), a driving assembly, two front wheels (13) and two rear wheels (14); the turntable (15) is rotatably mounted at the bottom of one end of the base (11) via a rotating shaft; the two front wheels (13) are symmetrically rotatably mounted below the turntable (15); the two rear wheels (14) are symmetrically rotatably mounted on both sides of one end of the base (11) away from the turntable (15); and the driving assembly is mounted on the turntable (15); The collecting mechanism comprises a fixed frame (28), a moving assembly, a flipping assembly and two collecting shovels (32), wherein the fixed frame (28) is located above the base (11), the two collecting shovels (32) are symmetrically arranged on both sides below the fixed frame (28), the moving assembly is located between the fixed frame (28) and the two collecting shovels (32), and the flipping assembly is located between the fixed frame (28) and the base (11); The disinfection mechanism comprises a storage box (33), a water inlet pipe (34), a storage cylinder (35), a water outlet pipe (36), a support platform (59), a suction assembly, a transmission assembly and an output assembly. The storage box (33) is mounted on the top of the base (11), the support platform (59) is fixed above the storage box (33), the storage cylinder (35) is mounted above the support platform (59), the water outlet pipe (36) is mounted on one end of the storage cylinder (35), one end of the water inlet pipe (34) is connected to one end of the storage cylinder (35) close to the water outlet pipe (36), the other end of the water inlet pipe (34) is connected to the storage box (33), the output assembly is located between the water outlet pipe (36) and the two collecting shovels (32), the suction assembly is mounted on the storage cylinder (35), and the transmission assembly is located between the suction assembly and the flip assembly.

2. A medical waste transport robot according to claim 1, characterized in that: The flip assembly comprises two vertical plates (20), two second motors (21), two second driving gears (22), two second driven gears (23) and two rotating rods (27). The two vertical plates (20) are symmetrically fixed to the bottom ends of both sides of the base (11). One end of each rotating rod (27) is rotatably arranged on one vertical plate (20) through a rotating shaft. The other end of each rotating rod (27) is fixedly connected to a fixing frame (28). Each second driven gear (23) is located on one side of one vertical plate (20) and is fixedly connected to the rotating shaft at the end of the rotating rod (27). Each second driving gear (22) is located below one second driven gear (23) and is rotatably arranged on the vertical plate (20). Each second driving gear (22) is meshed with one second driven gear (23). Each second motor (21) is installed on a side of the vertical plate (20) away from the second driving gear (22). The output end of each second motor (21) is fixedly connected to one second driving gear (22).

3. A medical waste transport robot according to claim 2, characterized in that: The transmission assembly comprises a driving wheel (24), a driven wheel (25), a transmission belt (26), a second mounting plate (48), a rotating plate (47), a first mounting plate (41), a swing rod (42), a second slot (45) and a second insertion rod (46), wherein the second mounting plate (48) is fixed to the top of the base (11), the rotating plate (47) is rotatably arranged on one side of the second mounting plate (48), the driven wheel (25) is located on the other side of the second mounting plate (48) and is coaxially fixedly connected to the rotating plate (47), and the driving wheel (24) is fixed therein. A second driven gear (23) is provided on one side, a transmission belt (26) is sleeved on the driving wheel (24) and the driven wheel (25), a first mounting plate (41) is located on one side of the second mounting plate (48) and is fixed on the base (11), a swing rod (42) is rotatably arranged on one side of the first mounting plate (41) via a rotating shaft, a second slot (45) is provided on the bottom end surface of the swing rod (42), a second insertion rod (46) is inserted into the interior of the second slot (45), and one end of the second insertion rod (46) is fixedly connected to the surface of the rotating plate (47).

4. A medical waste transport robot according to claim 3, characterized in that: The suction assembly comprises a piston plate (37), a push rod (38), a moving rod (39), a guide rail (40), a first slot (43) and a first insertion rod (44), wherein the first slot (43) is provided on the top surface of the swing rod (42), the first insertion rod (44) is inserted into the first slot (43), the piston plate (37) is slidably arranged inside the storage tube (35), one end of the push rod (38) is connected to the piston plate (37), the other end of the push rod (38) passes through the storage tube (35) and is connected to one end of the moving rod (39), the first insertion rod (44) is fixed to the other end surface of the moving rod (39), the guide rail (40) is fixedly arranged on the support platform (59), and the moving rod (39) is slidably arranged inside the guide rail (40).

5. A medical waste transport robot according to claim 4, characterized in that: The output assembly comprises a drain pipe (49), two first hoses (50), two delivery pipes (51), two second hoses (52), two diversion pipes (53) and a plurality of nozzles (54). The drain pipe (49) is installed above the base (11). One end of the water outlet pipe (36) away from the storage cylinder (35) is connected to the drain pipe (49). The two first hoses (50) are respectively installed at both ends of the drain pipe (49). Each delivery pipe (51) is fixed to one side of a rotating rod (27). One end of each delivery pipe (51) is connected to an end of a first hose (50) away from the drain pipe (49), and the other end of each delivery pipe (51) is connected to a second hose (52). Two diverter pipes (53) are respectively fixed to one side of two collecting shovels (32), and the other end of each second hose (52) is connected to a diverter pipe (53). A plurality of nozzles (54) are symmetrically arranged on the two diverter pipes (53), and each nozzle (54) passes through the collecting shovel (32).

6. A medical waste transport robot according to claim 5, characterized in that: The moving assembly comprises a third motor (29), a bidirectional screw rod (30) and two moving blocks (31); the bidirectional screw rod (30) is rotatably arranged inside the fixed frame (28); the third motor (29) is mounted on one end of the fixed frame (28); the output end of the third motor (29) is fixedly connected to one end of the bidirectional screw rod (30); the two moving blocks (31) are symmetrically arranged on both sides of the surface of the bidirectional screw rod (30); each moving block (31) is threadedly matched with the bidirectional screw rod (30); each moving block (31) is slidably arranged inside the fixed frame (28); and each collecting shovel (32) is fixedly connected to a moving block (31).

7. The medical waste transport robot according to claim 6, characterized in that: The driving assembly comprises a first driving gear (16), a first driven gear (17), a first motor (18), a double-axis motor (19) and a rotating rod (60). The double-axis motor (19) is mounted below the rotating disk (15). Two output ends of the double-axis motor (19) are respectively fixedly connected to the rotating shafts of the two front wheels (13). The rotating rod (60) is fixed to the middle of the top end of the rotating disk (15). The top end of the rotating rod (60) is rotatably arranged on the base (11) through a bearing. The first driven gear (17) is fixed to the surface of the rotating rod (60). The first driving gear (16) is rotatably arranged on the base (11). The first driving gear (16) is located on one side of the first driven gear (17) and meshes with the first driven gear (17). The first motor (18) is fixedly mounted on the top end of the base (11). The output end of the first motor (18) is fixedly connected to the first driving gear (16).

8. The medical waste transport robot according to claim 7, characterized in that: A plurality of pipe clamps for fixing the delivery pipe (51) are mounted on each rotating rod (27).

9. The medical waste transport robot according to claim 8, characterized in that: An inner wall on one side of each collecting shovel (32) is provided with an oblique angle (55), and a side of each collecting shovel (32) away from the fixing frame (28) is arranged in an inclined manner.

10. The medical waste transport robot according to claim 9, characterized in that: Two first cameras (56) are installed on the top of the storage box (33), and a second camera (57) is installed on the side of one of the collecting shovels (32) away from the fixed frame (28).

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