Medical distribution robot with height convenient to adjust

Abstract

The invention discloses a medical distribution robot with the height convenient to adjust, and relates to the field of medical robotics.The side face of a main body is rotationally connected with a sealing door, and the bottom of the main body is fixedly connected with an adjusting component. The height characteristics of the butt joint equipment are recognized through the visual navigation system, the height needing to be adjusted is calculated in combination with data of the laser distance measuring sensor, the intelligent control module sends a control instruction to an electric lifting column of the height adjusting mechanism, the electric lifting column is started for height adjustment, and in the adjusting process, the height is adjusted. Feedback information of the laser distance measuring sensor, the inertia measuring unit and the tilt angle sensor is continuously received, the motion state of the electric lifting column is adjusted in real time, it is ensured that the robot stably ascends or descends to the target height, the robot body is kept balanced and stable all the time, and therefore appropriate adjustment work is conducted according to using scenes of different heights.

Description

Technical Field

[0001] The present invention relates to the field of medical robots, and in particular to a medical delivery robot which is easy to adjust in height. Background Art

[0002] A medical delivery robot is an automated device specifically designed to transport medicines, medical devices, samples and other items in a medical environment. It can accurately deliver supplies between various departments, wards, pharmacies, laboratories and other departments of a hospital according to preset routes and task instructions. For example, it can deliver medicines prepared by the pharmacy to the nurse station in a designated ward, or transport blood samples from the laboratory to the laboratory for testing. The shell material of a medical delivery robot is usually easy to clean and disinfect, for example, stainless steel or antibacterial plastic is used to prevent the attachment and spread of pathogens such as bacteria and viruses. In addition, the surface design of the robot tries to avoid gaps and dead corners to facilitate cleaning staff to thoroughly clean and disinfect in accordance with the hospital's hygiene standards.

[0003] Medical delivery robots are responsible for the important task of transporting blood samples from the laboratory and sampling reagent tubes. However, different departments and different usage scenarios have different requirements for the placement height of delivery items. Existing medical delivery robots have many inconveniences in height adjustment. For example, some robots have a fixed height and cannot adapt to shelves or receiving devices of different heights. Some robots with adjustable height have complex structures, cumbersome operations, low adjustment accuracy, and poor stability during the adjustment process. They are prone to shaking or even tipping over, affecting the safety and efficiency of delivery. Summary of the invention

[0004] In view of the shortcomings of the prior art, the present invention adopts a technical solution to solve the technical problem: a medical delivery robot that is easy to adjust the height of the medical delivery robot comprises: A main body, wherein a closed door is rotatably connected to the side of the main body, a control panel is fixedly connected to the top of the main body, an adjusting component is fixedly connected to the bottom of the main body, and a driving component is fixedly connected to the bottom of the adjusting component; A placing component, which is used to fix the sampling reagent tube, and the side surface of the placing component is fixedly connected to the inner side of the main body; The adjusting component comprises a base, the side of the base is fixedly connected to the inner side of the driving component, the top of the base is fixedly connected to an electric lifting column, the output end of the electric lifting column is fixedly connected to a top plate, and the top of the top plate is fixedly connected to the bottom of the main body; when the robot arrives near the delivery destination, the height characteristics of the docking device are identified by the visual navigation system, and the height to be adjusted is calculated in combination with the data of the laser ranging sensor, and the intelligent control module sends a control instruction to the electric lifting column of the height adjustment mechanism to start the electric lifting column to adjust the height. During the adjustment process, the feedback information of the laser ranging sensor, the inertial measurement unit and the inclination sensor is continuously received, and the motion state of the electric lifting column is adjusted in real time to ensure smooth ascent or descent to the target height, and the robot body always remains balanced and stable, so as to perform appropriate adjustment work according to the usage scenarios of different heights; Preferably, the placing component includes a placing rack, the side surface of the placing rack is fixedly connected to the inner side of the main body, the inner side of the placing rack is rotatably connected to a screw rod, the side surface of the placing rack is fixedly connected to a first motor, the output end of the first motor is fixedly connected to the screw rod, the inner side of the placing rack is slidably connected to a connecting rack, the inner side of the connecting rack is threadedly connected to the side surface of the screw rod, the side surface of the placing rack is fixedly connected to a limiting plate, the side of the connecting rack away from the placing rack is fixedly connected to a placing plate, both sides of the placing plate are slidably connected to the inner side of the limiting plate, and the inner side of the placing plate is fixedly connected to a buffer mechanism; after opening the closed door, by operating the control panel, an instruction is issued to start the first motor, and the screw rod is driven to rotate in the inner side of the placing rack through the output end of the first motor, so that the screw rod drives the connecting rack to move in the inner side of the placing rack, and then the connecting rack drives the placing plate to continue to slide on the limiting plate until the limiting plate is separated from the inner side of the main body, and then the sampling reagent tube is placed on the buffer mechanism, and then when the main body drives the sampling reagent tube to move, it is prevented that the robot body will vibrate, shake, etc. during the movement process; Preferably, the buffer mechanism comprises a buffer shell, a rubber block is fixedly connected to the inner side of the buffer shell, a slider is fixedly connected to the side of the buffer shell, the side of the slider is slidably connected to the inner side of the placement plate, a connecting shaft is fixedly connected to the side of the slider away from the buffer shell, one end of the connecting shaft away from the slider is slidably connected to the inner side of the placement plate, a first spring is sleeved on the connecting shaft, one end of the first spring is fixedly connected to the side of the slider, and the other end of the first spring is fixedly connected to the inner side of the placement plate; the test tube is placed in the two buffer shells, and a rubber block is arranged on the inner side of the buffer shell, so that the rubber block is in contact with the side of the sampling reagent tube, so as to avoid the sampling reagent tube being squeezed and damaged when the sampling reagent tube is limited and fixed, and at the same time, when the sampling reagent tube is distributed and transported, when there are foreign objects on the ground when the main body is moving and bumps occur, the connecting shaft drives the slider to slide on the inner side of the placement plate, and at the same time, through the buffering work of the first spring, it is avoided that the main body is bumped when the test tube is transported, thereby causing squeezing damage to the sampling reagent tube; Preferably, the driving component comprises a bottom plate, the inner side of the bottom plate is fixedly connected to the side of the base, the inner side of the bottom plate is rotatably connected to a driving wheel, the inner side of the bottom plate close to the driving wheel is fixedly connected to a cleaning mechanism, and the axis of the bottom of the bottom plate is rotatably connected to a rotating mechanism; the bottom plate is made of high-strength aluminum alloy material, which has the characteristics of light weight and firmness, and the bottom of the bottom plate is equipped with four driving wheels made of rubber material, each of which is driven by an independent motor and can achieve omnidirectional movement, so as to flexibly shuttle through the complex corridors and room layouts of the hospital. At the same time, a large-capacity lithium battery is installed inside the bottom plate to provide lasting power support for the operation of the robot body and meet the long-term distribution needs of the hospital. When the driving wheel is working, a cleaning mechanism is provided on the side of the bottom plate close to the driving wheel, so that when the driving wheel rotates, the cleaning mechanism can clean the driving wheel; The cam is connected with the drive gear of the driving member, and the cam is connected with the control wheel of the driving member, and the control wheel is connected with the control wheel of the driving member, and the control wheel is connected with the control wheel of the driving member. The scraper; when the driving wheel rotates and moves, the driving wheel contacts and moves with the cleaning plate on the fixed frame, so that the cleaning plate can scrape off the impurities attached to the driving wheel. At the same time, a scraper is arranged on the inner side of the connecting frame to prevent sticky substances from sticking to the groove on the side of the driving wheel during long-term movement, thereby preventing the sticky substances from sticking to the driving wheel continuously. When the scraper contacts and cleans the driving wheel, the extrusion force between the scraper and the driving wheel is greater than the tensile force of the third spring, so that the sliding rod drives the scraper to move inside the fixed frame. At the same time, the buffering work of the third spring is performed to prevent the extrusion force between the scraper and the driving wheel from being too large, thereby causing extrusion damage to the side of the driving wheel. At the same time, a roller is arranged on the side of the connecting plate away from the scraper, so that the roller and the side of the driving wheel are rotated against each other, thereby preventing the surface of the driving wheel from adhering to water stains on the ground when the driving wheel moves, thereby preventing the driving wheel from slipping when the driving wheel moves. Preferably, the rotating mechanism comprises a rotating block and a second motor, the top of the rotating block is rotatably connected to the bottom of the base plate, the output end of the second motor is fixedly connected to the top of the rotating block, the side of the second motor is fixedly connected to the inner side of the base plate, both sides of the rotating block are fixedly connected with rotating rods, a rotating groove is provided on the side of the rotating rod away from the rotating block, a grabbing rod is rotatably connected to the inner side of the rotating groove, and grabbing grooves are provided on both sides of the grabbing rod; when the driving wheel drives the main body to move, the second motor is turned on at the same time, and the output end of the second motor drives the rotating block to rotate at the bottom of the base plate, so that the rotating block drives the rotating rod to rotate on the base plate, avoiding the hospital's There will be plastic bags discarded by patients at will and flocculent dust gathered on the ground. The plastic bags may interfere with the sensors of the robot body. When the driving wheel passes by, the plastic belt will be wrapped around the driving wheel, causing the driving wheel to stop rotating, which will cause the body to tip over. When the rotating rod rotates with the rotating block, the grabbing rod rotates in the rotating groove due to the action of centrifugal force. At the same time, grabbing grooves are provided at both ends of the grabbing rod, so that the plastic bags falling on the ground can be rotated and grabbed, thereby preventing the plastic bags and flocculent dust strips falling on the ground from being entangled on the driving wheel when the driving wheel moves, thereby interfering with the movement of the driving wheel.

[0005] The beneficial effects of the present invention are as follows: 1. The present invention sets an adjustment component. When the robot arrives near the delivery destination, it identifies the height characteristics of the docking device through the visual navigation system, and calculates the height that needs to be adjusted in combination with the data of the laser ranging sensor. The intelligent control module sends a control instruction to the electric lifting column of the height adjustment mechanism, starts the electric lifting column to adjust the height. During the adjustment process, it continuously receives feedback information from the laser ranging sensor, the inertial measurement unit and the inclination sensor, adjusts the motion state of the electric lifting column in real time, ensures a smooth ascent or descent to the target height, and the robot body always remains balanced and stable, so that appropriate adjustment work can be performed according to usage scenarios at different heights.

[0006] 2. The present invention sets a placement component, and after opening the closed door, issues a command to start the first motor by operating the control panel, and drives the screw rod to rotate inside the placement rack through the output end of the first motor, so that the screw rod drives the connecting rack to move inside the placement rack, and then the connecting rack drives the placement plate to continue to slide on the limit plate until the limit plate is separated from the inner side of the main body, and then the sampling reagent tube is placed on the buffer mechanism, and then when the main body drives the sampling reagent tube to move, it is prevented from vibrating, shaking, etc. during the movement of the robot main body.

[0007] 3. The present invention provides a buffer mechanism, wherein the test tube is placed in two buffer shells, and a rubber block is provided on the inner side of the buffer shell so that the rubber block is in contact with the side of the sampling reagent tube, thereby avoiding squeezing damage to the side of the sampling reagent tube when the sampling reagent tube is limited and fixed. At the same time, when the sampling reagent tube is distributed and transported, when the main body is moving and there are foreign objects on the ground and bumps occur, the connecting shaft drives the slider to slide on the inner side of the placement plate. At the same time, the buffering work of the first spring avoids bumps on the main body during transportation of the test tube, thereby avoiding squeezing damage to the sampling reagent tube.

[0008] 4. The present invention sets a rotating mechanism. Plastic bags discarded by patients at will and flocculent dust gathered on the ground may be stored on the floor of the hospital. The plastic bags may interfere with the sensor of the robot body. As a result, when the driving wheel passes by, the plastic belt will be wound around the driving wheel, causing the driving wheel to stop rotating, thereby causing the body to tip over. When the rotating rod rotates following the rotating block, the grabbing rod is rotated in the rotating groove due to the action of centrifugal force. At the same time, grabbing grooves are provided at both ends of the grabbing rod, so that the plastic bags falling on the ground can be rotated and grabbed, thereby preventing the plastic bags and flocculent dust strips falling on the ground from being wound around the driving wheel when the driving wheel moves, thereby interfering with the movement of the driving wheel. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 It is a schematic diagram of the structure of the medical delivery robot that is convenient for adjusting the height of the present invention; Figure 2 is a cutaway view of the present invention; Figure 3 It is the shaft side of the present invention; Figure 4 It is a schematic diagram of the structure of the regulating component of the present invention; Figure 5 It is a schematic diagram of the structure of the placement components of the present invention; Figure 6 The present invention Figure 5 Figure A in the middle; Figure 7 It is a schematic diagram of the structure of the driving component of the present invention; Figure 8 It is a structural schematic diagram of the cleaning mechanism of the present invention; Fig. 9 It is a structural schematic diagram of the rotating mechanism of the present invention; In the figure: 1, main body; 2, control panel; 3, closing door; 4, driving component; 41, bottom plate; 42, driving wheel; 43, cleaning mechanism; 431, fixed block; 432, fixed frame; 433, connecting rod; 434, second spring; 435, cleaning plate; 436, sliding rod; 437, connecting plate; 438, roller; 439, scraper; 4310, third spring; 44, rotating mechanism; 441, rotating block; 442, rotating rod; 44 3. Rotating groove; 444. Grabbing rod; 445. Grabbing groove; 446. Second motor; 5. Adjusting component; 51. Base; 52. Electric lifting column; 53. Top plate; 6. Placing component; 61. Placing frame; 62. Screw rod; 63. First motor; 64. Connecting frame; 65. Limiting plate; 66. Buffer mechanism; 661. Buffer shell; 662. Rubber block; 663. Connecting shaft; 664. First spring; 665. Slider; 67. Placing plate. DETAILED DESCRIPTION

[0010] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. The embodiments of the present invention are provided for the purpose of illustration and description, and are not intended to be exhaustive or to limit the present invention to the disclosed forms. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiments are selected and described in order to better illustrate the principles and practical applications of the present invention, and to enable those of ordinary skill in the art to understand the present invention and thereby design various embodiments with various modifications suitable for specific uses.

[0011] Example 1, using Figure 1-Figure 6 A medical delivery robot that is easy to adjust in height according to one embodiment of the present invention is described as follows; like Figure 1-Figure 6 The present invention shows a medical delivery robot that is easy to adjust in height, comprising: A main body 1, a closed door 3 is rotatably connected to the side of the main body 1, a control panel 2 is fixedly connected to the top of the main body 1, an adjusting component 5 is fixedly connected to the bottom of the main body 1, and a driving component 4 is fixedly connected to the bottom of the adjusting component 5; A placing component 6, which is used to fix the sampling reagent tube, and the side surface of the placing component 6 is fixedly connected to the inner side of the main body 1; The adjusting component 5 includes a base 51, the side of the base 51 is fixedly connected to the inner side of the driving component 4, the top of the base 51 is fixedly connected to an electric lifting column 52, the output end of the electric lifting column 52 is fixedly connected to a top plate 53, and the top of the top plate 53 is fixedly connected to the bottom of the main body 1; when the robot arrives near the delivery destination, the visual navigation system identifies the height characteristics of the docking device, and combines the data of the laser ranging sensor to calculate the height to be adjusted, and the intelligent control module sends a control instruction to the electric lifting column 52 of the height adjustment mechanism to start the electric lifting column 52 to adjust the height. During the adjustment process, the feedback information of the laser ranging sensor, the inertial measurement unit and the inclination sensor is continuously received, and the motion state of the electric lifting column 52 is adjusted in real time to ensure smooth ascent or descent to the target height, and the robot main body 1 always remains balanced and stable, so as to perform appropriate adjustment work according to the usage scenarios of different heights; The placing component 6 includes a placing frame 61, the side of the placing frame 61 is fixedly connected to the inner side of the main body 1, the inner side of the placing frame 61 is rotatably connected to a screw rod 62, the side of the placing frame 61 is fixedly connected to a first motor 63, the output end of the first motor 63 is fixedly connected to the screw rod 62, the inner side of the placing frame 61 is slidably connected to a connecting frame 64, the inner side of the connecting frame 64 is threadedly connected to the side of the screw rod 62, the side of the placing frame 61 is fixedly connected to a limiting plate 65, the side of the connecting frame 64 away from the placing frame 61 is fixedly connected to a placing plate 67, both sides of the placing plate 67 are slidably connected to the inner side of the limiting plate 65, and the inner side of the placing plate 67 is fixedly connected to Buffer mechanism 66; after opening the closed door 3, the control panel 2 is controlled to issue a command to start the first motor 63, and the output end of the first motor 63 drives the screw rod 62 to rotate inside the placement rack 61, so that the screw rod 62 drives the connecting rack 64 to move inside the placement rack 61, and then the connecting rack 64 drives the placement plate 67 to slide continuously on the limit plate 65 until the limit plate 65 is separated from the inner side of the main body 1, and then the sampling reagent tube is placed on the buffer mechanism 66, and then when the main body 1 drives the sampling reagent tube to move, it is prevented that the robot main body 1 will vibrate, shake, etc. during the movement; The buffer mechanism 66 includes a buffer shell 661, a rubber block 662 is fixedly connected to the inner side of the buffer shell 661, a slider 665 is fixedly connected to the side of the buffer shell 661, the side of the slider 665 is slidably connected to the inner side of the placement plate 67, a connecting shaft 663 is fixedly connected to the side of the slider 665 away from the buffer shell 661, an end of the connecting shaft 663 away from the slider 665 is slidably connected to the inner side of the placement plate 67, a first spring 664 is sleeved on the connecting shaft 663, one end of the first spring 664 is fixedly connected to the side of the slider 665, and the other end of the first spring 664 is fixedly connected to the inner side of the placement plate 67; the test tube is placed on two In the buffer shell 661, a rubber block 662 is arranged on the inner side of the buffer shell 661, so that the rubber block 662 is in contact with the side of the sampling reagent tube, thereby preventing the side of the sampling reagent tube from being squeezed and damaged when the sampling reagent tube is limited and fixed. At the same time, when the sampling reagent tube is distributed and transported, when there are foreign objects on the ground when the main body 1 is moving and bumps occur, the connecting shaft 663 drives the slider 665 to slide on the inner side of the placement plate 67. At the same time, the buffering work of the first spring 664 is used to prevent the main body 1 from being bumped when the test tube is transported, thereby preventing the sampling reagent tube from being squeezed and damaged; Embodiment 2, use Figure 7-Figure 9 A medical delivery robot that is easy to adjust in height according to the present invention is described as follows; like Figure 7-Figure 9 The present invention shows a medical delivery robot that is easy to adjust in height, based on the first embodiment; The driving component 4 includes a bottom plate 41, the inner side of the bottom plate 41 is fixedly connected to the side of the base 51, the inner side of the bottom plate 41 is rotatably connected to a driving wheel 42, a cleaning mechanism 43 is fixedly connected to the inner side of the bottom plate 41 near the driving wheel 42, and a rotating mechanism 44 is rotatably connected to the axis at the bottom of the bottom plate 41; the bottom plate 41 is made of high-strength aluminum alloy material, which is light and strong. The bottom of the bottom plate 41 is equipped with four driving wheels 42 made of rubber material, each of which is driven by an independent motor and can achieve omnidirectional movement, so as to flexibly shuttle in the complex corridors and room layouts of the hospital. At the same time, a large-capacity lithium battery is installed inside the bottom plate 41 to provide long-lasting power support for the operation of the robot body 1 to meet the long-term distribution needs of the hospital. When the driving wheel 42 is working, a cleaning mechanism 43 is provided on the side of the bottom plate 41 near the driving wheel 42, so that when the driving wheel 42 rotates, the cleaning mechanism 43 can clean the driving wheel 42; The cleaning mechanism 43 includes a fixed block 431 and a fixed frame 432. The side of the fixed block 431 is fixedly connected to the inner side of the bottom plate 41, and the side of the fixed frame 432 is slidably connected to the inner side of the bottom plate 41. The side of the fixed block 431 close to the driving wheel 42 is slidably connected with a connecting rod 433. The end of the connecting rod 433 away from the fixed block 431 is fixedly connected to the fixed frame 432. A second spring 434 is sleeved on the connecting rod 433. One end of the second spring 434 is fixedly connected to the fixed block 431, and the other end of the second spring 434 is fixedly connected to the fixed frame 432. The fixed frame 432 is away from the fixed block 431. A cleaning plate 435 is fixedly connected to one side of the fixing frame 432, a sliding rod 436 is slidably connected to the inner side of the fixing frame 432, a third spring 4310 is sleeved on the sliding rod 436, one end of the third spring 4310 is fixedly connected to the connecting plate 437, the other end of the third spring 4310 is fixedly connected to the inner side of the fixing frame 432, one end of the sliding rod 436 away from the fixing frame 432 is fixedly connected to the connecting plate 437, both sides of the connecting plate 437 are slidably connected to the inner side of the fixing frame 432, one side of the connecting plate 437 is rotatably connected to a roller 438, and the side of the connecting plate 437 away from the roller 438 is fixedly connected to a scraper When the driving wheel 42 rotates and moves, the cleaning plate 435 on the fixing frame 432 contacts and moves with the driving wheel 42, so that the cleaning plate 435 can scrape off the impurities attached to the driving wheel 42. At the same time, a scraper 439 is provided on the inner side of the connecting frame 64 to prevent the sticky substance from sticking to the groove on the side of the driving wheel 42 during long-term movement, thereby preventing the sticky substance from sticking to the driving wheel 42 continuously. When the scraper 439 contacts and cleans the driving wheel 42, the extrusion force between the scraper 439 and the driving wheel 42 is greater than the tensile force of the third spring 4310. The sliding rod 436 drives the scraper 439 to move inside the fixing frame 432, and the third spring 4310 works as a buffer, thereby preventing the extrusion force between the scraper 439 and the driving wheel 42 from being too large, thereby causing extrusion damage to the side of the driving wheel 42. At the same time, a roller 438 is provided on the side of the connecting plate 437 away from the scraper 439, so that the roller 438 and the side of the driving wheel 42 rotate against each other, thereby preventing the surface of the driving wheel 42 from adhering to water stains on the ground when the driving wheel 42 moves, thereby preventing the driving wheel 42 from slipping when it moves. The rotating mechanism 44 includes a rotating block 441 and a second motor 446. The top of the rotating block 441 is rotatably connected to the bottom of the bottom plate 41, the output end of the second motor 446 is fixedly connected to the top of the rotating block 441, and the side of the second motor 446 is fixedly connected to the inner side of the bottom plate 41. Rotating rods 442 are fixedly connected to both sides of the rotating block 441. A rotating groove 443 is provided on the side of the rotating rod 442 away from the rotating block 441. A grabbing rod 444 is rotatably connected to the inner side of the rotating groove 443. Grabbing grooves 445 are provided on both sides of the grabbing rod 444. When the driving wheel 42 drives the main body 1 to move, the second motor 446 is turned on at the same time, and the output end of the second motor 446 drives the rotating block 441 to rotate at the bottom of the bottom plate 41, so that the rotating block 441 drives the rotating rod 442 to rotate on the bottom plate 41, avoiding the driving wheel 42 driving When the main body 1 is moving, there will be plastic bags discarded by patients at will and flocculent dust gathered on the ground in the hospital. The plastic bags may interfere with the sensor of the robot main body 1, so that when the driving wheel 42 passes by, the plastic belt will be wound around the driving wheel 42, causing the driving wheel 42 to stop rotating, thereby causing the main body 1 to fall over. When the rotating rod 442 rotates following the rotating block 441, the grabbing rod 444 is rotated in the rotating groove 443 by the action of centrifugal force. At the same time, grabbing grooves 445 are provided at both ends of the grabbing rod 444, so that the plastic bags falling on the ground are rotated and grabbed, thereby preventing the plastic bags and flocculent dust strips falling on the ground from being wound around the driving wheel 42 when the driving wheel 42 moves, thereby interfering with the movement of the driving wheel 42. The specific workflow is as follows: The robot body 1 adopts a fusion of laser radar navigation and visual navigation. The laser radar is installed on the top of the body 1, which can quickly scan the surrounding environment and build a high-precision map model to provide accurate location information and navigation path planning for the robot body 1. The visual navigation system is composed of multiple cameras, which are distributed in front, behind, left and right of the body 1. The image information collected by the camera is processed by the image recognition algorithm in the intelligent control module to identify landmark objects such as corridors, ward doors, elevators, etc., to assist the laser radar navigation and improve the accuracy and reliability of navigation. For example, when the laser radar has navigation deviation due to strong light interference or partial occlusion, the visual navigation system can make corrections in time to ensure that the robot body 1 travels along the correct path. The obstacle avoidance sensor group composed of ultrasonic sensors and infrared sensors is distributed around the body of the robot body 1. When the sensor detects an obstacle in front, the intelligent control module calculates the best obstacle avoidance strategy based on the distance, size and moving speed of the obstacle. For example, if the obstacle is far away and stationary, the robot will plan a detour in advance; if the obstacle is close and approaching, the robot will immediately slow down and emergency brake, waiting for the obstacle to leave or choose other feasible obstacle avoidance directions; The main body 1 is driven to perform height lifting work by the adjusting component 5, and the medicine test tube is placed in the placing component 6, and after the closed door 3 is closed, the main body 1 is driven by the driving component 4 to perform medical delivery work; When the robot arrives near the delivery destination, it identifies the height characteristics of the docking device through the visual navigation system, and calculates the height that needs to be adjusted in combination with the data of the laser rangefinder sensor. The intelligent control module sends a control instruction to the electric lifting column 52 of the height adjustment mechanism, and starts the electric lifting column 52 to adjust the height. During the adjustment process, it continuously receives feedback information from the laser rangefinder sensor, the inertial measurement unit and the inclination sensor, and adjusts the motion state of the electric lifting column 52 in real time to ensure smooth ascent or descent to the target height, and the robot body 1 always maintains balance and stability, so as to perform appropriate adjustment work according to the usage scenarios at different heights; After opening the closed door 3, the control panel 2 is operated to issue a command to start the first motor 63, and the output end of the first motor 63 drives the screw rod 62 to rotate inside the placement rack 61, so that the screw rod 62 drives the connecting rack 64 to move inside the placement rack 61, and then the connecting rack 64 drives the placement plate 67 to slide continuously on the limit plate 65 until the limit plate 65 is separated from the inner side of the main body 1, and then the sampling reagent tube is placed on the buffer mechanism 66, and then when the main body 1 drives the sampling reagent tube to move, it is prevented that the robot main body 1 will vibrate or shake during the movement; The test tube is placed in the two buffer shells 661, and a rubber block 662 is provided on the inner side of the buffer shell 661, so that the rubber block 662 is in contact with the side of the sampling reagent tube, thereby preventing the side of the sampling reagent tube from being squeezed and damaged when the sampling reagent tube is limited and fixed. At the same time, when the sampling reagent tube is distributed and transported, when there are foreign objects on the ground when the main body 1 is moving and bumps occur, the connecting shaft 663 drives the slider 665 to slide on the inner side of the placement plate 67, and at the same time, the buffering work of the first spring 664 is used to prevent the main body 1 from being bumped when the test tube is transported, thereby preventing the sampling reagent tube from being squeezed and damaged; The bottom plate 41 is made of high-strength aluminum alloy, which is light and strong. Four rubber drive wheels 42 are provided at the bottom of the bottom plate 41. Each drive wheel 42 is driven by an independent motor, which can realize omnidirectional movement so as to flexibly shuttle through the complex corridors and room layouts of the hospital. At the same time, a large-capacity lithium battery is installed inside the bottom plate 41 to provide long-lasting power support for the operation of the robot body 1 and meet the long-term distribution needs of the hospital. When the drive wheel 42 is working, a cleaning mechanism 43 is provided on one side of the bottom plate 41 close to the drive wheel 42, so that when the drive wheel 42 rotates, the cleaning mechanism 43 can clean the drive wheel 42; When the driving wheel 42 rotates and moves, the driving wheel 42 contacts and moves with the cleaning plate 435 on the fixing frame 432, so that the cleaning plate 435 can scrape off the impurities attached to the driving wheel 42. At the same time, a scraper 439 is provided on the inner side of the connecting frame 64 to prevent sticky substances from sticking to the grooves on the side of the driving wheel 42 during long-term movement, thereby preventing the sticky substances from sticking to the driving wheel 42 continuously. When the scraper 439 contacts and cleans the driving wheel 42, the squeezing force between the scraper 439 and the driving wheel 42 is greater than the tensile force of the third spring 4310, so that the sliding The movable rod 436 drives the scraper 439 to move inside the fixed frame 432, and the third spring 4310 works as a buffer, thereby preventing the extrusion force between the scraper 439 and the driving wheel 42 from being too large, thereby causing extrusion damage to the side of the driving wheel 42. At the same time, a roller 438 is provided on the side of the connecting plate 437 away from the scraper 439, so that the roller 438 and the side of the driving wheel 42 rotate against each other, thereby preventing the surface of the driving wheel 42 from adhering to water stains on the ground when the driving wheel 42 moves, thereby preventing the driving wheel 42 from slipping when it moves. When the driving wheel 42 drives the main body 1 to move, the second motor 446 is turned on at the same time, and the output end of the second motor 446 drives the rotating block 441 to rotate at the bottom of the bottom plate 41, so that the rotating block 441 drives the rotating rod 442 to rotate on the bottom plate 41, so as to avoid the presence of plastic bags discarded by patients and flocculent dust accumulated on the ground when the driving wheel 42 drives the main body 1 to move. The plastic bags may interfere with the sensor of the robot main body 1, so that when the driving wheel 42 passes by, the plastic belt will be wound around the driving wheel 42. The driving wheel 42 stops rotating, which may cause the main body 1 to topple over. When the rotating rod 442 rotates following the rotating block 441, the grabbing rod 444 rotates in the rotating groove 443 due to the effect of centrifugal force. At the same time, grabbing grooves 445 are provided at both ends of the grabbing rod 444, so that the plastic bags falling on the ground can be rotated and grabbed, thereby preventing the plastic bags and flocculent dust strips falling on the ground from being entangled on the driving wheel 42 when the driving wheel 42 moves, thereby interfering with the movement of the driving wheel 42.

[0012] Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field and related fields without creative work should fall within the scope of protection of the present invention. The structures, devices and operating methods not specifically described and explained in the present invention are implemented according to the conventional means in the field unless otherwise specified and limited.

Claims

1. A medical delivery robot that is easy to adjust in height, characterized in that: include: A main body (1), a closed door (3) is rotatably connected to the side of the main body (1), a control panel (2) is fixedly connected to the top of the main body (1), an adjusting component (5) is fixedly connected to the bottom of the main body (1), and a driving component (4) is fixedly connected to the bottom of the adjusting component (5); A placement component (6), the placement component (6) being used to fix the sampling reagent tube, the side surface of the placement component (6) being fixedly connected to the inner side of the main body (1); The adjusting component (5) comprises a base (51), the side surface of the base (51) is fixedly connected to the inner side of the driving component (4), the top of the base (51) is fixedly connected to an electric lifting column (52), the output end of the electric lifting column (52) is fixedly connected to a top plate (53), and the top of the top plate (53) is fixedly connected to the bottom of the main body (1); The placement component (6) comprises a placement frame (61), the inner side of the placement frame (61) is rotatably connected to a screw rod (62), the side of the placement frame (61) is fixedly connected to a first motor (63), the output end of the first motor (63) is fixedly connected to the screw rod (62), the inner side of the placement frame (61) is slidably connected to a connecting frame (64), the side of the placement frame (61) is fixedly connected to a limiting plate (65), the side of the connecting frame (64) away from the placement frame (61) is fixedly connected to a placement plate (67), and the inner side of the placement plate (67) is fixedly connected to a buffer mechanism (66).

2. A medical delivery robot with easily adjustable height according to claim 1, characterized in that: The side surface of the placement frame (61) is fixedly connected to the inner side of the main body (1), the inner side of the connection frame (64) is threadedly connected to the side surface of the screw rod (62), and both sides of the placement plate (67) are slidably connected to the inner side of the limiting plate (65).

3. The medical delivery robot with easily adjustable height according to claim 1, characterized in that: The buffer mechanism (66) comprises a buffer shell (661), the inner side of which is fixedly connected to a rubber block (662), the side of which is fixedly connected to a slider (665), the side of which is away from the buffer shell (661) is fixedly connected to a connecting shaft (663), the end of which is away from the slider (665) is slidably connected to the inner side of a placement plate (67), and a first spring (664) is sleeved on the connecting shaft (663).

4. The medical delivery robot with easily adjustable height according to claim 3, characterized in that: The side surface of the slider (665) is slidably connected to the inner side of the placement plate (67), one end of the first spring (664) is fixedly connected to the side surface of the slider (665), and the other end of the first spring (664) is fixedly connected to the inner side of the placement plate (67).

5. The medical delivery robot with easily adjustable height according to claim 1, characterized in that: The driving component (4) comprises a bottom plate (41), the inner side of the bottom plate (41) being fixedly connected to the side of the base (51), the inner side of the bottom plate (41) being rotatably connected to a driving wheel (42), a cleaning mechanism (43) being fixedly connected to the inner side of the bottom plate (41) close to the driving wheel (42), and a rotating mechanism (44) being rotatably connected to the axis of the bottom of the bottom plate (41).

6. The medical delivery robot with easily adjustable height according to claim 5, characterized in that: The cleaning mechanism (43) comprises a fixed block (431) and a fixed frame (432), the side of the fixed block (431) being fixedly connected to the inner side of the bottom plate (41), the side of the fixed frame (432) being slidably connected to the inner side of the bottom plate (41), a connecting rod (433) being slidably connected to a side of the fixed block (431) close to the driving wheel (42), an end of the connecting rod (433) away from the fixed block (431) being fixedly connected to the fixed frame (432), a second spring (434) being sleeved on the connecting rod (433), and the A cleaning plate (435) is fixedly connected to a side of the fixed frame (432) away from the fixed block (431); a sliding rod (436) is slidably connected to the inner side of the fixed frame (432); a third spring (4310) is sleeved on the sliding rod (436); an end of the sliding rod (436) away from the fixed frame (432) is fixedly connected to a connecting plate (437); a roller (438) is rotatably connected to one side of the connecting plate (437); and a scraper (439) is fixedly connected to a side of the connecting plate (437) away from the roller (438).

7. The height-adjustable medical delivery robot according to claim 6, characterized in that: One end of the second spring (434) is fixedly connected to the fixed block (431), and the other end of the second spring (434) is fixedly connected to the fixed frame (432). Both sides of the connecting plate (437) are slidably connected to the inner side of the fixed frame (432). One end of the third spring (4310) is fixedly connected to the connecting plate (437), and the other end of the third spring (4310) is fixedly connected to the inner side of the fixed frame (432).

8. The medical delivery robot with easily adjustable height according to claim 5, characterized in that: The rotating mechanism (44) comprises a rotating block (441) and a second motor (446); the side of the second motor (446) is fixedly connected to the inner side of the bottom plate (41); rotating rods (442) are fixedly connected to both sides of the rotating block (441); a rotating groove (443) is provided on the side of the rotating rod (442) away from the rotating block (441); a grabbing rod (444) is rotatably connected to the inner side of the rotating groove (443); and grabbing grooves (445) are provided on both sides of the grabbing rod (444).

9. The medical delivery robot with easily adjustable height according to claim 8, characterized in that: The top of the rotating block (441) is rotatably connected to the bottom of the bottom plate (41), and the output end of the second motor (446) is fixedly connected to the top of the rotating block (441).

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