Medical transport robot with mechanical arm

Abstract

The invention discloses a medical transportation robot with a mechanical arm, and belongs to the field of medical transportation robots. Comprising a movable box body, a placement groove is formed in the upper surface of the movable box body, a fixed box is fixedly connected to the left side of the lower surface of the interior of the placement groove, a driving module is arranged on the lower surface of the movable box body, and a mechanical arm clamping mechanism is arranged on the upper surface of the fixed box; the movable frame achieves automatic lifting through combination of a control motor, a belt wheel and a transmission belt, the movable frame is matched with round pull grooves in the two sides of the conveying frame, medical workers can easily take and place the conveying frame, manual adjustment or strenuous carrying is not needed, the mechanical arm clamping mechanism can automatically complete grabbing and placing of medical articles, manual operation links are reduced, and the working efficiency is improved. And meanwhile, positioning plates in the movable frame are matched with positioning grooves of the transportation frame, and limiting blocks in placing grooves are combined, so that the transportation frame is fixed in all directions.

Description

Technical Field

[0001] The present invention relates to the field of medical transportation robots, and particularly to a medical transportation robot with a robotic arm. Background Art

[0002] In medical places such as hospitals, medical staff need to frequently transport various medical items, such as drugs, specimens, medical devices, etc. These transportation tasks take up a large amount of time and energy of medical staff, affecting their direct care work for patients. A medical transportation robot with a robotic arm can undertake these transportation tasks, freeing medical staff from the cumbersome transportation work, enabling them to focus more on the treatment and care of patients, and improving the quality and efficiency of medical services;

[0003] However, existing medical transportation robots are often not convenient to use and have poor stability. At the same time, when the device is moving for transportation, due to the complex environment of hospital corridors, the risk of collision is easily increased, which is likely to reduce the overall service life of the medical transportation robot. Summary of the Invention

[0004] Object of the Invention: The object of the present invention is to solve the problems that existing medical transportation robots are often not convenient to use and have poor stability; another object of the present invention is to solve the problem that when existing medical transportation robots are moving for transportation, due to the complex environment of hospital corridors, the risk of collision is easily increased.

[0005] Technical Solution: A medical transportation robot with a robotic arm includes a moving box body. A placement groove is formed on the upper surface of the moving box body. A fixed box is fixedly connected to the left side of the lower surface inside the placement groove. A driving module is arranged on the lower surface of the moving box body. A robotic arm clamping mechanism is arranged on the upper surface of the fixed box;

[0006] A moving frame is arranged inside the placement groove and on the right side of the fixed box. A transportation frame is arranged inside the moving frame. Rotating sleeves are symmetrically and fixedly connected to the lower surface inside the placement groove. Stretch rods are threadedly connected to the interiors of the two rotating sleeves. The tops of the two stretch rods are fixedly connected to the lower surface of the moving frame. Pulley 1 is fixedly connected to the outer side walls of the two rotating sleeves. A Pulley 2 is rotatably connected to the lower surface inside the placement groove and between the two Pulley 1s through a rotating shaft. A transmission belt is commonly connected to the outer side wall of Pulley 2 and the outer side walls of the two Pulley 1s in a driving manner. A control motor is arranged above Pulley 2. The bottom end of the output shaft of the control motor is fixedly connected to the center of the upper surface of Pulley 2.

[0007] Furthermore, a power module is arranged inside the fixed box, and a plurality of heat dissipation pipes are fixedly connected to the left side of the movable box and the right side inside the fixed box.

[0008] Furthermore, an inflatable box is fixedly connected to the inner lower surface of the placement groove and located behind the two rotating sleeves, and a sliding plate is slidably connected to the interior of the two inflatable boxes. The upper surfaces of the two sliding plates are symmetrically fixedly connected with resistance rods, and the top ends of multiple resistance rods are in contact with the lower surface of the movable frame. The upper surfaces of the two sliding plates are respectively fixedly connected to the inner upper surfaces of the two inflatable boxes with multiple springs, an anti-collision airbag is fixedly connected to the outer side of the movable box body, and air pipes are fixedly connected to the opposite sides of the two inflatable boxes, and the rear ends of the two air pipes are communicated with the anti-collision airbags.

[0009] Furthermore, two partitions are fixedly connected inside the transport frame.

[0010] Furthermore, the movable frame is provided with an extrusion cavity on the left and right sides thereof, the two extrusion cavities are slidably connected with movable plates inside, the opposite sides of the two movable plates are fixedly connected with inclined plates, the opposite sides of the two inclined plates are respectively in contact with the inner left and inner right sides of the placement groove, the opposite sides of the two movable plates are symmetrically fixedly connected with positioning plates, the left and right sides of the transport frame are symmetrically provided with positioning grooves, a plurality of positioning plates extend from one side of the two movable plates to the inside of a plurality of positioning grooves respectively, and the opposite sides of the two movable plates are respectively fixedly connected with a plurality of springs 2 with the insides of the two extrusion cavities.

[0011] Furthermore, the inner left side and the inner right side of the placement slot and located below the movable frame are fixedly connected with limiting blocks.

[0012] Furthermore, an inspection cover is fixedly connected to the upper surface of the fixed box by a plurality of bolts.

[0013] Furthermore, circular grooves are provided on the inner left side and the inner right side of the transport frame.

[0014] Beneficial effects: The mobile frame can realize automatic lifting through the combination of the control motor, pulley and transmission belt. With the circular grooves on both sides of the transport frame, medical staff can easily pick up and place the transport frame without manual adjustment or laborious handling. The mechanical arm clamping mechanism can automatically complete the grabbing and placement of medical supplies, reducing manual operation links, greatly improving the operational convenience of medical transportation. At the same time, the positioning plate in the mobile frame cooperates with the positioning groove of the transport frame, combined with the limit block in the placement groove, to fix the transport frame in all directions to prevent it from shaking and shifting during transportation. The elastic force provided by the second spring ensures that the positioning plate and the positioning groove are closely matched, further enhancing the stability of the transport frame and ensuring the safe transportation of medical supplies.

[0015] The anti-collision system composed of an inflatable box, a sliding plate, a spring 1 and an anti-collision airbag plays a key role. When the mobile frame descends, the resistance rod pushes the sliding plate to compress the spring 1, and the gas in the inflatable box is transported to the anti-collision airbag to make it expand, forming a buffer barrier in advance. When encountering a collision, the anti-collision airbag absorbs the impact energy, and the spring 1 also has a shock-absorbing effect on the mobile frame. The double protection effectively reduces the risk of collision and protects the robot and internal medical supplies, thereby significantly improving the efficiency and safety of hospital logistics transportation. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0017] Figure 2 It is a schematic diagram of the front cross-section structure of the mobile box of the present invention;

[0018] Figure 3 It is a schematic diagram of the side section structure of the inflatable box of the present invention;

[0019] Figure 4 The present invention Figure 2 Schematic diagram of the enlarged structure at point A in the middle.

[0020] In the figure: 1. moving box; 2. placement slot; 3. fixed box; 4. driving module; 5. robot arm clamping mechanism; 6. moving frame; 7. transport frame; 8. rotating sleeve; 9. extension rod; 10. pulley one; 11. pulley two; 12. transmission belt; 13. power module; 14. heat dissipation pipe; 15. inflatable box; 16. sliding plate; 17. resistance rod; 18. spring one; 19. anti-collision airbag; 20. air delivery pipe; 21. partition; 22. extrusion chamber; 23. movable plate; 24. oblique plate; 25. positioning plate; 26. positioning slot; 27. spring two; 28. limit block; 29. ​​inspection cover; 30. circular groove; 31. control motor. DETAILED DESCRIPTION

[0021] To make the technical solution of the present invention clearer, the following further describes the present invention in detail with reference to the accompanying drawings and specific embodiments.

[0022] Embodiment 1

[0023] As Figure 1 and Figure 2 shown, a medical transportation robot with a robotic arm is provided, including a moving box body 1. A placement groove 2 is formed on the upper surface of the moving box body 1. A fixed box 3 is fixedly connected to the left side of the inner lower surface of the placement groove 2. A driving module 4 is arranged on the lower surface of the moving box body 1. A robotic arm clamping mechanism 5 is arranged on the upper surface of the fixed box 3;

[0024] A moving frame 6 is arranged inside the placement groove 2 and on the right side of the fixed box 3. A transportation frame 7 is arranged inside the moving frame 6. Rotating sleeves 8 are symmetrically and fixedly connected to the inner lower surface of the placement groove 2. Threaded rods 9 are threadedly connected to the interiors of the two rotating sleeves 8. The tops of the two threaded rods 9 are fixedly connected to the lower surface of the moving frame 6. Pulley one 10 is fixedly connected to the outer side wall of each of the two rotating sleeves 8. A pulley two 11 is rotatably connected to the inner lower surface of the placement groove 2 through a rotating shaft between the two pulley one 10. A transmission belt 12 is commonly connected to the outer side walls of the pulley two 11 and the two pulley one 10. A control motor 31 is arranged above the pulley two 11. The bottom end of the output shaft of the control motor 31 is fixedly connected to the center of the upper surface of the pulley two 11;

[0025] Before the device is used, the control motor 31 drives the pulley two 11 to rotate. Through the transmission belt 12, the two pulley one 10 rotate synchronously. Since the rotating sleeve 8 is fixedly connected to the pulley one 10, the rotating sleeve 8 rotates accordingly. And the threaded rod 9 is threadedly connected to the rotating sleeve 8. The rotation of the rotating sleeve 8 causes the threaded rod 9 to move up and down inside the rotating sleeve 8, thereby driving the moving frame 6 to rise and fall, realizing the height adjustment of the transportation frame 7, facilitating medical staff to place medical items. After that, the driving module 4 can make the moving box body 1 start to move in the hospital environment, transport the device to the designated location. Then, the robotic arm clamping mechanism 5 can flexibly clamp various medical items according to needs and deliver the items to the designated position, thus realizing the automatic adjustment of the height of the transportation frame 7 without manual operation by medical staff, improving the convenience and efficiency of operation.

[0026] As Figure 2 shown, limiting blocks 28 are fixedly connected to both the left side and the right side inside the placement groove 2 and below the moving frame 6;

[0027] The two limiting blocks 28 provided prevent the moving frame 6 from descending excessively and damaging the internal components of the device, prolong the service life of each component, and reduce the equipment maintenance cost.

[0028] As Figure 1 and Figure 2 shown, two partitions 21 are fixedly connected inside the transport box 7;

[0029] By means of the two partitions 21 provided, the interior of the transport box 7 is divided into three independent storage spaces. During transportation, medical articles of different types and uses can be classified and placed in each compartment, thus effectively avoiding mutual collision and extrusion between the articles, preventing damage or loss of medical articles caused by friction or extrusion, further optimizing the storage management of medical articles, and enhancing the standardization and safety of the transportation process.

[0030] As Figures 1-3 shown, air inflation boxes 15 are fixedly connected to the lower surfaces inside the placement grooves 2 and behind the two rotating sleeves 8. Sliding plates 16 are slidably connected inside the two air inflation boxes 15. Oppositely disposed push rods 17 are symmetrically and fixedly connected to the upper surfaces of the two sliding plates 16. The tops of the plurality of push rods 17 are in contact with the lower surface of the moving frame 6. A plurality of first springs 18 are fixedly connected between the upper surfaces of the two sliding plates 16 and the upper surfaces inside the two air inflation boxes 15 respectively. An anti-collision airbag 19 is fixedly connected to the outer side of the moving box body 1. Air delivery pipes 20 are fixedly connected to the opposite sides of the two air inflation boxes 15. The rear ends of the two air delivery pipes 20 are communicated with the anti-collision airbag 19;

[0031] When the moving frame 6 moves into the placement groove 2 under the drive of the control motor 31, the lower surface of the moving frame 6 will gradually come into contact with and press down on the tops of the plurality of push rods 17. As the moving frame 6 continues to descend, the push rods 17 drive the sliding plates 16 to slide downward inside the air inflation boxes 15, compressing the first springs 18. While the first springs 18 accumulate elastic potential energy, the sliding plates 16 squeeze the gas inside the air inflation boxes 15, causing the gas to be delivered to the anti-collision airbag 19 through the air delivery pipes 20. The anti-collision airbag 19 gradually expands under the injection of gas. When the robot encounters a collision during movement, the expanded anti-collision airbag 19 can play a buffering role, absorbing the impact energy and reducing the impact of the collision on the moving box body 1 and the medical articles inside. When the moving frame 6 ascends, the first springs 18 recover their deformation, pushing the sliding plates 16 upward and sucking the gas inside the anti-collision airbag 19 back into the air inflation boxes 15, causing the anti-collision airbag 19 to return to its original state for the next protection use, thereby effectively reducing the risks of damage and leakage of medical articles caused by collision, and further enhancing the applicability and reliability of the entire medical transport robot in a complex hospital environment.

[0032] As Figure 2 and Figure 4As shown in the figure, extrusion cavities 22 are provided on both the inner left side and the inner right side of the moving frame 6. Movable plates 23 are slidably connected to the interiors of the two extrusion cavities 22. Oblique plates 24 are fixedly connected to the opposite sides of the two movable plates 23. The opposite sides of the two oblique plates 24 are respectively in contact with the inner left side and the inner right side of the placement groove 2. Positioning plates 25 are symmetrically and fixedly connected to the opposite sides of the two movable plates 23. Positioning grooves 26 are symmetrically provided on both the left side and the right side of the transport frame 7. One sides of the multiple positioning plates 25 away from the two movable plates 23 respectively extend into the interiors of the multiple positioning grooves 26. Multiple spring two 27 are fixedly connected between the opposite sides of the two movable plates 23 and the interiors of the two extrusion cavities 22;

[0033] When the moving frame 6 descends and moves into the interior of the placement groove 2, as the moving frame 6 moves downward, the oblique plate 24 will contact and be squeezed by the inner wall of the placement groove 2. Since the oblique plate 24 is fixedly connected to the movable plate 23, this squeezing will push the movable plate 23 to slide in the extrusion cavity 22, compressing the spring two 27. During the sliding process of the movable plate 23, the positioning plate 25 connected thereto moves accordingly. The multiple positioning plates 25 gradually snap into the positioning grooves 26 symmetrically provided on the left and right sides of the transport frame 7, thereby firmly positioning and fixing the transport frame 7 within the moving frame 6. At the same time, the elastic force provided by the spring two 27 ensures the tight fit between the positioning plate 25 and the positioning groove 26, preventing the transport frame 7 from shaking or shifting during transportation. On the contrary, when the moving frame 6 ascends, the oblique plate 24 is no longer squeezed by the inner wall of the placement groove 2, the spring two 27 resumes its deformation, pushes the movable plate 23 to slide in the reverse direction, and then drives the positioning plate 25 to be withdrawn from the positioning groove 26, canceling the limit on the transport frame 7. Medical staff can easily take out the transport frame 7 to perform operations such as taking and replenishing medical supplies. Thus, it effectively avoids the displacement of the transport frame 7 caused by factors such as vibration and collision during the movement of the robot, ensures the stability and safety of the transportation of medical supplies, and at the same time greatly improves the efficiency of medical staff in taking the transport frame 7.

[0034] As Figure 1 and Figure 2 shown, circular pulling grooves 30 are provided on both the inner left side and the inner right side of the transport frame 7;

[0035] The two circular pulling grooves 30 provided offer convenient force application points for medical staff, greatly reducing the operation difficulty of taking and placing the transport frame 7 and improving work efficiency.

[0036] As Figure 2 shown, a power module 13 is provided inside the fixed box 3. Multiple heat dissipation tubes 14 are fixedly connected between the left side of the movable box body 1 and the inner right side of the fixed box 3; The upper surface of the fixed box 3 is fixedly connected with a maintenance cover plate 29 through multiple bolts;

[0037] During the operation of the robot, the power supply module 13 continuously outputs electrical energy and generates heat itself. At this time, the heat generated by the power supply module 13 is exchanged with the fresh air outside through multiple heat dissipation tubes 14. At the same time, the detachable design of the maintenance cover plate 29 makes the maintenance work more convenient and efficient, without the need to disassemble the entire robot on a large scale, reducing the maintenance time and cost, and further ensuring the stability and safety of the internal structure of the robot.

[0038] The above-described embodiments merely represent several implementation manners of the present invention, and the description thereof is relatively specific and detailed. However, it should not be construed as a limitation on the scope of the patent for the present invention. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can still be made, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent for the present invention shall be subject to the appended claims.

Claims

1. A medical transport robot with a mechanical arm, comprising a mobile box (1), characterized in that: The upper surface of the mobile box (1) is provided with a placement groove (2), the left side of the inner lower surface of the placement groove (2) is fixedly connected with a fixed box (3), the lower surface of the mobile box (1) is provided with a driving module (4), and the upper surface of the fixed box (3) is provided with a mechanical arm clamping mechanism (5); A movable frame (6) is arranged inside the placement groove (2) and on the right side of the fixed box (3); a transport frame (7) is arranged inside the movable frame (6); a rotating sleeve (8) is symmetrically fixedly connected to the lower surface of the placement groove (2); the interiors of the two rotating sleeves (8) are both threadedly connected with extension rods (9); the top ends of the two extension rods (9) are both fixedly connected to the lower surface of the movable frame (6); the outer walls of the two rotating sleeves (8) are both fixedly connected with pulleys one (10); a pulley two (11) is rotatably connected to the lower surface of the placement groove (2) and is located between the two pulleys one (10) through a rotating shaft; the outer wall of the pulley two (11) and the outer walls of the two pulleys one (10) are jointly connected to a transmission belt (12); a control motor (31) is arranged above the pulley two (11); the bottom end of the output shaft of the control motor (31) is fixedly connected to the center of the upper surface of the pulley two (11).

2. A medical transport robot with a mechanical arm according to claim 1, characterized in that: A power module (13) is arranged inside the fixed box (3), and a plurality of heat dissipation pipes (14) are fixedly connected to the left side of the movable box (1) and the right side inside the fixed box (3).

3. The medical transport robot with a mechanical arm according to claim 1, characterized in that: An inflatable box (15) is fixedly connected to the inner lower surface of the placement groove (2) and located behind the two rotating sleeves (8). The interiors of the two inflatable boxes (15) are slidably connected to sliding plates (16). The upper surfaces of the two sliding plates (16) are symmetrically fixedly connected to resistance rods (17). The top ends of the plurality of resistance rods (17) are in contact with the lower surface of the movable frame (6). The upper surfaces of the two sliding plates (16) are respectively fixedly connected to the inner upper surfaces of the two inflatable boxes (15) with a plurality of springs (18). An anti-collision airbag (19) is fixedly connected to the outer side of the movable box body (1). The opposite sides of the two inflatable boxes (15) are fixedly connected to air pipes (20). The rear ends of the two air pipes (20) are connected to the anti-collision airbags (19).

4. The medical transport robot with a mechanical arm according to claim 1, characterized in that: Two partitions (21) are fixedly connected inside the transport frame (7).

5. The medical transport robot with a mechanical arm according to claim 1, characterized in that: The movable frame (6) is provided with an extrusion cavity (22) on the left and right sides inside, and the two extrusion cavities (22) are slidably connected with movable plates (23) inside, and the opposite sides of the two movable plates (23) are fixedly connected with oblique plates (24), and the opposite sides of the two oblique plates (24) are respectively in contact with the left and right sides inside the placement groove (2), and the opposite sides of the two movable plates (23) are symmetrically fixedly connected with positioning plates (25), and the left and right sides of the transport frame (7) are symmetrically provided with positioning grooves (26), and the sides of the plurality of positioning plates (25) away from the two movable plates (23) respectively extend to the inside of the plurality of positioning grooves (26), and the opposite sides of the two movable plates (23) are respectively fixedly connected with the inside of the two extrusion cavities (22) with a plurality of springs (27).

6. The medical transport robot with a mechanical arm according to claim 1, characterized in that: Limiting blocks (28) are fixedly connected to the inner left side and the inner right side of the placement groove (2) and located below the movable frame (6).

7. The medical transport robot with a mechanical arm according to claim 2, characterized in that: An inspection cover plate (29) is fixedly connected to the upper surface of the fixed box (3) via a plurality of bolts.

8. The medical transport robot with a mechanical arm according to claim 1, characterized in that: Circular grooves (30) are provided on the inner left side and the inner right side of the transport frame (7).

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