A medical delivery robot facilitating height adjustment

Abstract

The present invention discloses a medical delivery robot with adjustable height, which relates to the field of medical robots. A closing door is rotatably connected to the side of the main body, and an adjusting component is fixedly connected to the bottom of the main body. By setting the adjusting component, when the robot approaches the delivery destination, the height characteristics of the docking device are identified through the visual navigation system, and combined with the data of the laser range finder sensor, the height to be adjusted is calculated. The intelligent control module sends a control instruction to the electric lifting column of the height adjusting mechanism to start the electric lifting column for height adjustment. During the adjustment process, the feedback information of the laser range finder 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 rising or falling to the target height, and the robot main body always remains balanced and stable, so as to perform appropriate adjustment work according to the usage scenarios 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:

[0005] 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;

[0006] 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;

[0007] The adjustment component includes 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 with an electric lifting column, the output end of the electric lifting column is fixedly connected with 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, it identifies the height characteristics of the docking device through the visual navigation system, combines the data of the laser range finder sensor, calculates the height to be adjusted, and the intelligent control module sends a control command to the electric lifting column of the height adjustment mechanism to start the electric lifting column for height adjustment. During the adjustment process, it continuously receives the feedback information of the laser range finder sensor, inertial measurement unit, and inclination sensor, and adjusts the motion state of the electric lifting column in real time to ensure smooth rising or falling to the target height, and the robot main body always maintains balance and stability, so as to perform appropriate adjustment work according to different height usage scenarios;

[0008] Preferably, the placement component includes a placement rack, the side of the placement rack is fixedly connected to the inner side of the main body, a lead screw is rotatably connected to the inner side of the placement rack, a first motor is fixedly connected to the side of the placement rack, the output end of the first motor is fixedly connected to the lead screw, a connecting rack is slidably connected to the inner side of the placement rack, the inner side of the connecting rack is threadedly connected to the side of the lead screw, a limiting plate is fixedly connected to the side of the placement rack, a placement plate is fixedly connected to the side of the connecting rack away from the placement rack, both sides of the placement plate are slidably connected to the inner side of the limiting plate, and a buffer mechanism is fixedly connected to the inner side of the placement plate; after opening the closed door, by operating the control panel, a command is issued to start the first motor, and the output end of the first motor drives the lead screw to rotate in the inner side of the placement rack, so that the lead screw drives the connecting rack to move in the inner side of the placement rack, and further makes the connecting rack drive the placement plate to continuously slide on the limiting plate until the limiting plate disengages from the inner side of the main body, and then the sampling reagent tube is placed on the buffer mechanism, so as to avoid vibrations, shakes, etc. when the main body drives the sampling reagent tube to move;

[0009] Preferably, the buffer mechanism includes a buffer housing, a rubber block is fixedly connected to the inner side of the buffer housing, a slider is fixedly connected to the side of the buffer housing, 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 housing, the 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; By placing the test tube in two buffer housings, and by arranging a rubber block on the inner side of the buffer housing, the rubber block is brought into contact with the side of the sampling reagent tube, so as to avoid squeezing damage to the side of the sampling reagent tube when limiting and fixing the sampling reagent tube. At the same time, when carrying out the distribution and transportation work of the sampling reagent tube, when there are foreign objects on the ground when the main body moves and bumps occur, the connecting shaft drives the slider to slide in 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 bumps when transporting the test tube, thus causing squeezing damage to the sampling reagent tube;

[0010] Preferably, the driving component includes a bottom plate, the inner side of the bottom plate is fixedly connected to the side of the base, a driving wheel is rotatably connected to the inner side of the bottom plate, a cleaning mechanism is fixedly connected to the inner side of the bottom plate near the driving wheel, and a rotating mechanism is rotatably connected to the center of the bottom of the bottom plate; The bottom plate is made of high-strength aluminum alloy material, which has the characteristics of light weight and firmness. Four rubber driving wheels are equipped at the bottom of the bottom plate, and each driving wheel is driven by an independent motor, which can realize omnidirectional movement, so as to flexibly shuttle in the complex corridor and room layout 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 main body, meeting the long-term distribution needs of the hospital. When the driving wheel is working, at the same time, by arranging a cleaning mechanism on the side of the bottom plate near the driving wheel, the cleaning mechanism can clean the driving wheel when the driving wheel rotates;

[0011] Preferably, the cleaning mechanism includes a fixed block and a fixed frame. The side of the fixed block is fixedly connected to the inner side of the bottom plate. The side of the fixed frame is slidably connected to the inner side of the bottom plate. A connecting rod is slidably connected to one side of the fixed block close to the driving wheel. The end of the connecting rod away from the fixed block is fixedly connected to the fixed frame. A second spring is sleeved on the connecting rod. One end of the second spring is fixedly connected to the fixed block, and the other end of the second spring is fixedly connected to the fixed frame. A cleaning plate is fixedly connected to the side of the fixed frame away from the fixed block. A sliding rod is slidably connected to the inner side of the fixed frame. A third spring is sleeved on the sliding rod. One end of the third spring is fixedly connected to the connecting plate, and the other end of the third spring is fixedly connected to the inner side of the fixed frame. The end of the sliding rod away from the fixed frame is fixedly connected to the connecting plate. Both sides of the connecting plate are slidably connected to the inner side of the fixed frame. A roller is rotatably connected to one side of the connecting plate. A scraping plate is fixedly connected to the side of the connecting plate away from the roller; when the driving wheel rotates and moves, when the driving wheel contacts and moves with the cleaning plate on the fixed frame, the cleaning plate can scrape off the impurities attached to the driving wheel. At the same time, by arranging a scraping plate inside the connecting frame, it is avoided that viscous substances will adhere to the grooves on the side of the driving wheel during long-term movement and continuously adhere to the driving wheel. When the scraping plate contacts and cleans the driving wheel, when the extrusion force between the scraping plate and the driving wheel is greater than the tensile force of the third spring, the sliding rod drives the scraping plate to move inside the fixed frame. At the same time, through the buffering work of the third spring, it is avoided that the extrusion force between the scraping plate and the driving wheel is too large, which will cause extrusion damage to the side of the driving wheel. At the same time, by arranging a roller on the side of the connecting plate away from the scraping plate, the roller abuts and rotates with the side of the driving wheel, so as to avoid the surface of the driving wheel from adhering to the water stains on the ground when the driving wheel moves, resulting in a slipping phenomenon when the driving wheel moves;

[0012] 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.

[0013] The beneficial effects of the present invention are as follows:

[0014] 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.

[0015] 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.

[0016] 3. The present invention is provided with a buffer mechanism. The test tube is placed in two buffer housings, and rubber blocks are arranged on the inner sides of the buffer housings, so that the rubber blocks are in contact with the side surface of the sampling reagent tube, thereby avoiding squeezing damage to the side surface of the sampling reagent tube when the sampling reagent tube is limited and fixed. At the same time, when the sampling reagent tube is transported, when there are foreign objects on the ground during the movement of the main body and bumps occur, the connecting shaft drives the slider to slide inside the placement plate, and at the same time, through the buffering work of the first spring, it is avoided that the main body bumps during the transportation of the test tube, thereby causing squeezing damage to the sampling reagent tube.

[0017] 4. The present invention is provided with a rotating mechanism. There may be plastic bags randomly discarded by patients on the ground in the hospital, as well as flocculent dust gathered on the ground. The plastic bags may interfere with the sensors of the robot main body. Therefore, when the driving wheel passes by, the plastic belt will wind and wrap around the driving wheel, causing the driving wheel to stop rotating, and thus causing the main body to tilt. When the rotating rod rotates following the rotating block, due to the action of centrifugal force, the grasping rod rotates in the rotating groove. At the same time, grasping grooves are provided at both ends of the grasping rod, so as to rotate and grasp the plastic bags floating on the ground, thereby avoiding the phenomenon that the plastic bags and flocculent dust strips floating on the ground will wind around the driving wheel when the driving wheel moves, thereby interfering with the movement work of the driving wheel. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a schematic structural diagram of the medical delivery robot with adjustable height according to the present invention;

[0019] Figure 2 is a cross-section of the present invention;

[0020] Figure 3 is an axonometric view of the present invention;

[0021] Figure 4 is a schematic structural diagram of the adjustment component of the present invention;

[0022] Figure 5 is a schematic structural diagram of the placement component of the present invention;

[0023] Figure 6 is the present invention Figure 5 Figure A in;

[0024] Figure 7 is a schematic structural diagram of the driving component of the present invention;

[0025] Figure 8 is a schematic structural diagram of the cleaning mechanism of the present invention;

[0026] Figure 9It is a schematic structural diagram of the rotation mechanism of the present invention;

[0027] In the figure: 1. Main body; 2. Control panel; 3. Enclosure door; 4. Driving component; 41. Base 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. Rotation mechanism; 441. Rotating block; 442. Rotating rod; 443. Rotation 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 rack; 62. Lead screw; 63. First motor; 64. Connecting frame; 65. Limiting plate; 66. Buffer mechanism; 661. Buffer housing; 662. Rubber block; 663. Connecting shaft; 664. First spring; 665. Slide block; 67. Placing plate. Detailed implementation manners

[0028] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific implementation manners. The embodiments of the present invention are given for the purpose of illustration and description, and are not exhaustive or limited to the disclosed form. Many modifications and variations will be obvious to those of ordinary skill in the art. The embodiments are selected and described to better illustrate the principles and practical applications of the present invention, and enable those of ordinary skill in the art to understand the present invention and thus design various embodiments with various modifications suitable for specific purposes.

[0029] Embodiment 1, Use Figures 1 - 6 A medical delivery robot with adjustable height according to an embodiment of the present invention is described as follows;

[0030] As Figures 1 - 6 shown, a medical delivery robot with adjustable height of the present invention includes:

[0031] A main body 1, on the side of the main body 1 is rotatably connected with an enclosure door 3, on the top of the main body 1 is fixedly connected with a control panel 2, on the bottom of the main body 1 is fixedly connected with an adjusting component 5, and at the bottom of the adjusting component 5 is fixedly connected with a driving component 4;

[0032] A placing component 6, which is used for fixing the sampling reagent tubes, and the side of the placing component 6 is fixedly connected with the inner side of the main body 1;

[0033] The adjustment 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 with an electric lifting column 52. The output end of the electric lifting column 52 is fixedly connected with a top plate 53. 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, it identifies the height characteristics of the docking device through the visual navigation system, and combines the data of the laser range finder sensor to calculate the height that needs to be adjusted. The intelligent control module sends a control command to the electric lifting column 52 of the height adjustment mechanism to start the electric lifting column 52 for height adjustment. During the adjustment process, it continuously receives the feedback information of the laser range finder sensor, inertial measurement unit, and tilt sensor, and adjusts the motion state of the electric lifting column 52 in real time to ensure smooth rising or falling 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;

[0034] The placement component 6 includes a placement rack 61. The side of the placement rack 61 is fixedly connected to the inner side of the main body 1. A lead screw 62 is rotatably connected to the inner side of the placement rack 61. A first motor 63 is fixedly connected to the side of the placement rack 61. The output end of the first motor 63 is fixedly connected to the lead screw 62. A connecting frame 64 is slidably connected to the inner side of the placement rack 61. The inner side of the connecting frame 64 is threadedly connected to the side of the lead screw 62. A limiting plate 65 is fixedly connected to the side of the placement rack 61. A placement plate 67 is fixedly connected to the side of the connecting frame 64 away from the placement rack 61. Both sides of the placement plate 67 are slidably connected to the inner side of the limiting plate 65. A buffer mechanism 66 is fixedly connected to the inner side of the placement plate 67. After opening the closing door 3, by operating the control panel 2, a command is issued to start the first motor 63. The output end of the first motor 63 drives the lead screw 62 to rotate inside the placement rack 61, so that the lead screw 62 drives the connecting frame 64 to move inside the placement rack 61, and then the connecting frame 64 drives the placement plate 67 to continuously slide on the limiting plate 65 until the limiting plate 65 disengages from the inner side of the main body 1, and then the sampling reagent tube is placed on the buffer mechanism 66. When the main body 1 drives the sampling reagent tube to move, it can avoid vibrations, shaking and other situations during the movement of the robot main body 1;

[0035] The buffer mechanism 66 includes a buffer housing 661. A rubber block 662 is fixedly connected to the inner side of the buffer housing 661. A slider 665 is fixedly connected to the side of the buffer housing 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 housing 661. One 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. When the test tube is placed in the two buffer housings 661, and a rubber block 662 is arranged on the inner side of the buffer housing 661, the rubber block 662 is in contact with the side of the sampling reagent tube, so as to avoid 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 transported, when there are foreign objects on the ground when the main body 1 moves and jolts occur, the connecting shaft 663 drives the slider 665 to slide in the inner side of the placement plate 67, and at the same time, through the buffering work of the first spring 664, when the test tube is transported, the main body 1 jolts, so as to avoid squeezing damage to the sampling reagent tube;

[0036] Embodiment 2, use Figures 7 - 9 The following description is made for a medical delivery robot with adjustable height according to the present invention;

[0037] As Figures 7 - 9 shown, a medical delivery robot with adjustable height according to the present invention is based on Embodiment 1;

[0038] 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. A driving wheel 42 is rotatably connected to the inner side of the bottom plate 41. A cleaning mechanism 43 is fixedly connected to the inner side of the bottom plate 41 near the driving wheel 42. The center of the bottom of the bottom plate 41 is rotatably connected to a rotating mechanism 44. The bottom plate 41 is made of high-strength aluminum alloy material, which has the characteristics of light weight and firmness. Four rubber driving wheels 42 are equipped at the bottom of the bottom plate 41. Each driving wheel 42 is driven by an independent motor and can realize omnidirectional movement, so as to flexibly shuttle in the complex corridor and room layout of the hospital. At the same time, a large-capacity lithium battery is installed inside the bottom plate 41 to provide lasting power support for the operation of the robot main body 1 and meet the long-term delivery needs of the hospital. When the driving wheel 42 works, at the same time, a cleaning mechanism 43 is arranged 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;

[0039] The cleaning mechanism 43 includes a fixed block 431 and a fixed bracket 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 bracket 432 is slidably connected to the inner side of the bottom plate 41. A connecting rod 433 is slidably connected to one side of the fixed block 431 close to the driving wheel 42. One end of the connecting rod 433 away from the fixed block 431 is fixedly connected to the fixed bracket 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 bracket 432. A cleaning plate 435 is fixedly connected to the side of the fixed bracket 432 away from the fixed block 431. A sliding rod 436 is slidably connected to the inside of the fixed bracket 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, and the other end of the third spring 4310 is fixedly connected to the inside of the fixed bracket 432. One end of the sliding rod 436 away from the fixed bracket 432 is fixedly connected to the connecting plate 437. Both sides of the connecting plate 437 are slidably connected to the inside of the fixed bracket 432. A roller 438 is rotatably connected to one side of the connecting plate 437. A scraping plate 439 is fixedly connected to the side of the connecting plate 437 away from the roller 438; when the driving wheel 42 rotates and moves, when the driving wheel 42 contacts and moves with the cleaning plate 435 on the fixed bracket 432, the cleaning plate 435 can scrape off the impurities attached to the driving wheel 42. At the same time, by arranging the scraping plate 439 inside the connecting frame 64, it is avoided that when moving for a long time, viscous substances will adhere to the grooves on the side of the driving wheel 42 and continuously adhere to the driving wheel 42. When the scraping plate 439 contacts and cleans the driving wheel 42, when the extrusion force between the scraping plate 439 and the driving wheel 42 is greater than the tensile force of the third spring 4310, the sliding rod 436 drives the scraping plate 439 to move inside the fixed bracket 432. At the same time, through the buffering work of the third spring 4310, it is avoided that the extrusion force between the scraping plate 439 and the driving wheel 42 is too large, which will cause extrusion damage to the side of the driving wheel 42. At the same time, by arranging the roller 438 on the side of the connecting plate 437 away from the scraping plate 439, the roller 438 abuts and rotates with the side of the driving wheel 42, so as to avoid that when the driving wheel 42 moves, the surface of the driving wheel 42 will adhere to the water stains on the ground, resulting in a slipping phenomenon when the driving wheel 42 moves;

[0040] 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. 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 formed on the side of the rotating rod 442 away from the rotating block 441. A grasping rod 444 is rotatably connected to the inner side of the rotating groove 443. Grasping grooves 445 are formed on both sides of the grasping rod 444. When the driving wheel 42 drives the main body 1 to move, the second motor 446 is simultaneously turned on. 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. When the driving wheel 42 drives the main body 1 to move, there may be plastic bags randomly discarded by patients on the hospital floor and flocculent dust gathered on the floor. The plastic bags may interfere with the sensors of the robot main body 1. When the driving wheel 42 passes by, the plastic bags may be wound around the driving wheel 42, causing the driving wheel 42 to stop rotating, and thus causing the main body 1 to tip over. When the rotating rod 442 rotates following the rotating block 441, due to the action of centrifugal force, the grasping rod 444 rotates in the rotating groove 443. At the same time, grasping grooves 445 are formed at both ends of the grasping rod 444, so as to perform a rotating grasping operation on the plastic bags floating on the ground, thus avoiding the phenomenon that the plastic bags and flocculent dust strips floating on the ground will be wound around the driving wheel 42 when the driving wheel 42 moves, and further interfering with the movement of the driving wheel 42;

[0041] The specific working process is as follows:

[0042] The robot body 1 adopts a method that combines lidar navigation and visual navigation. The lidar is installed on the top of the body 1 and can quickly scan the surrounding environment to construct a high-precision map model, providing accurate position information and navigation path planning for the robot body 1. The visual navigation system consists of multiple cameras, which are distributed around the front, back, left, and right of the body 1. The image information collected by the cameras is processed by the image recognition algorithm in the intelligent control module to identify landmark objects such as corridors, ward doors, and elevators, assisting the lidar navigation to improve the accuracy and reliability of navigation. For example, when the lidar has a navigation deviation due to strong light interference or local occlusion, the visual navigation system can correct it in a timely manner 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 sensors detect an obstacle ahead, the intelligent control module calculates the best obstacle avoidance strategy based on information such as 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 path in advance; if the obstacle is close and approaching, the robot will immediately decelerate and brake urgently, waiting for the obstacle to leave or choosing other feasible obstacle avoidance directions;

[0043] The adjustment component 5 drives the body 1 to perform height lifting work. By placing the medicine test tube in the placement component 6, after closing the closing door 3, the driving component 4 drives the body 1 to perform medical delivery work;

[0044] 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 to be adjusted in combination with the data of the laser distance sensor. The intelligent control module sends a control command to the electric lifting column 52 of the height adjustment mechanism to start the electric lifting column 52 for height adjustment. During the adjustment process, it continuously receives the feedback information of the laser distance sensor, inertial measurement unit, and tilt sensor, and adjusts the motion state of the electric lifting column 52 in real time to ensure smooth rising or falling to the target height, and the robot body 1 always maintains balance and stability, so as to perform appropriate adjustment work according to different height usage scenarios;

[0045] After opening the closing door 3, by operating the control panel 2, a command is issued to turn on the first motor 63. The output end of the first motor 63 drives the lead screw 62 to rotate inside the placement rack 61, so that the lead screw 62 drives the connecting frame 64 to move inside the placement rack 61, and then the connecting frame 64 drives the placement plate 67 to continuously slide on the limiting plate 65 until the limiting plate 65 disengages from the inside of the body 1, and then the sampling reagent tube is placed on the buffer mechanism 66. When the body 1 drives the sampling reagent tube to move, it can avoid vibrations, shakes, etc. during the movement of the robot body 1;

[0046] It is placed in two buffer housings 661 through a test tube. By arranging rubber blocks 662 on the inner side of the buffer housings 661, the rubber blocks 662 are in contact with the side surface of the sampling reagent tube, so as to avoid squeezing damage to the side surface of the sampling reagent tube when the sampling reagent tube is limited and fixed. At the same time, when the sampling reagent tube is transported, when there are foreign objects on the ground when the main body 1 moves and bumps occur, the connecting shaft 663 drives the slider 665 to slide inside the placement plate 67. At the same time, through the buffering work of the first spring 664, it is avoided that the main body 1 bumps during the transportation of the test tube, so as to cause squeezing damage to the sampling reagent tube;

[0047] The bottom plate 41 is made of high-strength aluminum alloy material, with the characteristics of light weight and firmness. Four rubber drive wheels 42 are equipped at the bottom of the bottom plate 41. Each drive wheel 42 is driven by an independent motor and can achieve omnidirectional movement, so as to flexibly shuttle in the complex corridor and room layout of the hospital. At the same time, a large-capacity lithium battery is installed inside the bottom plate 41 to provide lasting power support for the operation of the robot main body 1 and meet the long-term distribution needs of the hospital. When the drive wheels 42 are working, a cleaning mechanism 43 is arranged on one side of the bottom plate 41 close to the drive wheels 42, so that the cleaning mechanism 43 can clean the drive wheels 42 when the drive wheels 42 rotate;

[0048] When the drive wheels 42 rotate and move, when the drive wheels 42 come into contact with and move on the cleaning plate 435 on the fixed frame 432, the cleaning plate 435 can scrape off the impurities attached to the drive wheels 42. At the same time, a scraping plate 439 is arranged inside the connecting frame 64, so as to avoid that viscous substances adhere to the grooves on the side surface of the drive wheels 42 during long-term movement and continue to adhere to the drive wheels 42. When the scraping plate 439 comes into contact with and cleans the drive wheels 42, when the extrusion force between the scraping plate 439 and the drive wheels 42 is greater than the tensile force of the third spring 4310, the sliding rod 436 drives the scraping plate 439 to move inside the fixed frame 432. At the same time, through the buffering work of the third spring 4310, it is avoided that the extrusion force between the scraping plate 439 and the drive wheels 42 is too large, which will cause extrusion damage to the side surface of the drive wheels 42. At the same time, a roller 438 is arranged on the side of the connecting plate 437 away from the scraping plate 439, so that the roller 438 is in contact with and rotates against the side surface of the drive wheels 42, so as to avoid that the surface of the drive wheels 42 adheres to the water stains on the ground when the drive wheels 42 move, resulting in a slipping phenomenon when the drive wheels 42 move;

[0049] When the driving wheel 42 drives the main body 1 to move, the second motor 446 is turned on at the same time. 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. When the driving wheel 42 drives the main body 1 to move, there may be plastic bags randomly discarded by patients on the ground of the hospital, as well as flocculent dust gathered on the ground. The plastic bags may interfere with the sensors of the robot main body 1. When the driving wheel 42 passes by, the plastic belt may wind and wrap around the driving wheel 42, causing the driving wheel 42 to stop rotating, and thus causing the main body 1 to topple. When the rotating rod 442 rotates following the rotating block 441, due to the action of centrifugal force, the grasping rod 444 rotates in the rotating groove 443. At the same time, grasping grooves 445 are provided at both ends of the grasping rod 444, so as to perform the rotating grasping work on the plastic bags floating on the ground, thus avoiding the phenomenon that the plastic bags and flocculent dust strips floating on the ground will wind around the driving wheel 42 when the driving wheel 42 moves, and further interfering with the moving work of the driving wheel 42.

[0050] Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art and related fields without creative efforts shall fall within the protection scope of the present invention. The structures, devices, and operation methods not specifically described and explained in the present invention shall be implemented by conventional means in the art without special description and limitation.

Claims

1. A medical delivery robot that is convenient for adjusting the height, characterized in that, Comprising: A main body (1), a closing 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), a driving component (4) is fixedly connected to the bottom of the adjusting component (5), the driving component (4) includes a bottom plate (41), a rotating mechanism (44) is rotatably connected to the axis at the bottom of the bottom plate (41), a cleaning mechanism (43) is fixedly connected to one side of the inner side of the bottom plate (41) close to the driving wheel (42), the cleaning mechanism (43) includes a fixing block (431) and a fixing frame (432), the side of the fixing block (431) is fixedly connected to the inner side of the bottom plate (41), the side of the fixing frame (432) is slidably connected to the inner side of the bottom plate (41), a cleaning plate (435) is fixedly connected to the side of the fixing frame (432) away from the fixing block (431), 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), a connecting plate (437) is fixedly connected to the end of the sliding rod (436) away from the fixing frame (432), a roller (438) is rotatably connected to one side of the connecting plate (437), a scraping plate (439) is fixedly connected to the side of the connecting plate (437) away from the roller (438); the rotating mechanism (44) includes a rotating block (441) and a second motor (446), rotating rods (442) are fixedly connected to both sides of the rotating block (441), a rotating groove (443) is formed on the side of the rotating rod (442) away from the rotating block (441), a grasping rod (444) is rotatably connected to the inner side of the rotating groove (443), and grasping grooves (445) are formed on both sides of the grasping rod (444). A placing component (6) for fixing the sampling reagent tubes, the side 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), an electric lifting column (52) is fixedly connected to the top of the base (51), an 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 placing component (6) includes a placing rack (61), a lead screw (62) is rotatably connected to the inner side of the placing rack (61), a first motor (63) is fixedly connected to the side of the placing rack (61), an output end of the first motor (63) is fixedly connected to the lead screw (62), a connecting rack (64) is slidably connected to the inner side of the placing rack (61), a limiting plate (65) is fixedly connected to the side of the placing rack (61), a placing plate (67) is fixedly connected to the side of the connecting rack (64) away from the placing rack (61), and a buffering mechanism (66) is fixedly connected to the inner side of the placing plate (67).

2. The medical delivery robot with adjustable height according to claim 1, wherein: The side of the placement rack (61) is fixedly connected to the inner side of the main body (1). The inner side of the connecting rack (64) is threadedly connected to the side of the lead screw (62). 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 adjustable height according to claim 2, wherein: The buffer mechanism (66) includes a buffer housing (661). A rubber block (662) is fixedly connected to the inner side of the buffer housing (661). A slider (665) is fixedly connected to the side of the buffer housing (661). A connecting shaft (663) is fixedly connected to the side of the slider (665) away from the buffer housing (661). The 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).

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

5. A medical delivery robot with adjustable height according to claim 1, characterized in that: The inner side of the bottom plate (41) is fixedly connected to the side of the base (51). A driving wheel (42) is rotatably connected to the inner side of the bottom plate (41).

6. The medical delivery robot with adjustable height according to claim 5, characterized in that: One side of the fixed block (431) close to the driving wheel (42) is slidably connected to a connecting rod (433). The end of the connecting rod (433) away from the fixed block (431) is fixedly connected to a fixed frame (432). A second spring (434) is sleeved on the connecting rod (433).

7. The medical delivery robot with adjustable height according to claim 6, wherein: One end of the second spring (434) is fixedly connected to the fixed block (431). 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). The other end of the third spring (4310) is fixedly connected to the inner side of the fixed frame (432).

8. A medical delivery robot with adjustable height according to claim 7, characterized in that: The side of the second motor (446) is fixedly connected to the inner side of the bottom plate (41).

9. The medical delivery robot with adjustable height according to claim 8, wherein: 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).

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