High-safety data-unified intelligent hospital trolley and system

Abstract

The invention discloses a high-safety data unification intelligent hospital trolley and system, and relates to the technical field of medical transfer trolleys. The problem of energy recovery is solved. The robot specifically comprises a robot body and a bearing box structure arranged at the top of the robot body, the robot body comprises a base and a shell which are welded and fixed, and a front wheel steering part and a rear driving wheel are arranged on the front portion and the rear portion of the base correspondingly; the rear driving wheel is used in cooperation with an energy recovery type driving part and a braking assembly; the energy recovery type driving part comprises a main shaft, a generator and a driving assembly, the main shaft is in transmission fit with the top of the rear driving wheel, and the generator and the driving assembly are fixedly installed on the top of the base. Kinetic energy of the main shaft is transmitted to the generator through the driven wheel, the transmission wheel and the driving wheel, so that the generator is driven to rotate, the power generation function is achieved, kinetic energy recovery is achieved, and endurance is prolonged.

Description

Technical Field

[0001] The present invention relates to the technical field of medical transport vehicles, and in particular to a high-security, data-unified, intelligent in-hospital trolley and system. Background Art

[0002] A trolley is also called a transfer trolley. It is named a trolley because it needs to be driven manually in its initial use. With the development of intelligent machinery, trolley has also become a general concept, which includes both primitive manual trolleys and intelligent automatic transfer robots.

[0003] After searching, the Chinese patent publication number CN 205058021U discloses a logistics robot, including a load plate, a load plate battery, a load plate angle encoder, a drive wheel angle encoder, a drive wheel angle motor, a load plate lifting screw, a body gear, a drive wheel battery, a drive wheel, a load plate lifting motor, a body, a drive wheel motor, an automatic charging device and a receiving processor.

[0004] The above patent has the following shortcomings: the robot cannot recover energy when braking and slowing down. Since the cart / robot is loaded, its mass is relatively large and its kinetic energy is large. The inability to recover energy will cause a lot of energy waste, which makes the robot's endurance lower. Summary of the Invention

[0005] The purpose of the present invention is to solve the shortcomings of the existing technology and propose a high-security data unified intelligent hospital trolley and system.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions:

[0007] High-security data unified intelligent hospital trolley, including a robot body and a carrying box structure set on the top of the robot body,

[0008] The robot body includes a base and a shell that are welded and fixed, and the front and rear parts of the base are respectively provided with a front wheel steering part and a rear driving wheel;

[0009] The rear drive wheel is used in conjunction with an energy recovery drive unit and a brake assembly;

[0010] The energy recovery drive unit includes a main shaft that is coupled to the top of the rear drive wheel and a generator and a drive assembly that are fixedly installed on the top of the base. The main shaft is rotatably connected to the base, and the main shaft is respectively connected to the generator and the drive assembly through two sets of switchable transmission parts.

[0011] Preferably, the transmission member includes two driven wheels fixed to the outer wall of the main shaft and two generators fixed to the generator input shaft and the drive assembly output shaft respectively, and a transmission wheel is engaged between the driven wheel and the driving wheel, and the two transmission wheels are arranged in an alternating manner.

[0012] Furthermore: the transmission wheels are arranged in an interlaced manner, and are all rotatably connected to a switching shaft through bearings. The switching shaft can only be axially slidably connected to a support plate 1, and the support plate 1 is fixedly installed on the top outer wall of the robot body, and an adaptive driving component for driving its switching is provided on one side of the switching shaft.

[0013] On the basis of the above-mentioned scheme: the adaptive driving component includes a support plate 2 fixedly mounted on the top outer wall of the base and a sliding rod slidably connected to the inner wall of the support plate 2, one end of the sliding rod is fixedly mounted with a counterweight block, the other end of the sliding rod is rotatably connected to a connecting rod, the other end of the connecting rod is rotatably connected to a shaft sleeve, the shaft sleeve is rotatably connected to the end of the switching shaft, and a spring 2 is provided on the opposite side of the support plate 2 and the counterweight block.

[0014] A better solution among the above solutions is: the switching shaft is slidably fitted with the inner wall of the support plate 1 through a key groove opened on its inner wall, the inner wall of the switching shaft is slidably connected with a retraction plate, the outside of the retraction plate is rollingly fitted with a ball, and a spring 1 is fixedly installed on the bottom of the retraction plate, and the other end of the spring 1 is in contact with a stud, and the stud is connected to the inner wall of the switching shaft through a thread.

[0015] As a further solution of the present invention: a push-to-close signal switch is clamped on the inner wall of the support plate 1, and two buttons of the push-to-close signal switch face two sides respectively.

[0016] At the same time, the robot body also includes a control system for controlling electrical components and a battery for power supply.

[0017] As a preferred embodiment of the present invention: the carrying box structure includes four groups of box edge components, the box edge components include a plurality of baffles arranged longitudinally and hinged by embedded hinges, the carrying box structure also includes a limit frame, the inner wall of the limit frame is fixedly installed with a card block, and the outer inner walls of the baffles are provided with card slots that cooperate with the card blocks.

[0018] The control system of the high-security, data-unified, intelligent hospital trolley includes a mainboard, a battery, and a central control module, a communication module, a power module, a path planning module, a control module, and a GPS module integrated on the mainboard. The mainboard is communicatively connected to the control management center and the Beidou positioning system, and a steering angle sensor and a wheel speed sensor are provided at the front wheel steering part.

[0019] As a more optimal solution of the present invention: the planning logic of the path planning module is:

[0020] A1: Collect the minimum turning radius of the device and draw a warehouse path map based on the minimum turning radius and the warehouse topography. The radius of the turning part in the path is the minimum turning radius of the device;

[0021] A2: Based on the input end point, take the current position as the starting point and calculate The smallest path is the optimal path;

[0022] A3: When the device is moving, the device calculates the distance it has moved in real time based on the angle sensor and wheel speed sensor. , based on the current position, calculate the position closest to the end point ;

[0023] A4: If + No greater than - , then continue to follow the preset path, where is the threshold of the increase in the path deviation distance, and this step is performed intermittently;

[0024] A5: If + Greater than - , the path will deviate significantly. In this case, take the current position as the starting point and re-plan the optimal path.

[0025] The beneficial effects of the present invention are:

[0026] 1. In the present invention, when the device decelerates, the transmission chain of the drive assembly is disconnected, and the brake assembly brakes at the same time. The kinetic energy of the main shaft is also transmitted to the generator through the driven wheel-transmission wheel-driving wheel, thereby driving the generator to rotate and realize the power generation function, thereby recovering kinetic energy and increasing endurance.

[0027] 2. The present invention provides a counterweight block which cooperates with the second spring and utilizes the effect of "inertia force" to achieve the energy recovery when the device decelerates and the automatic switching function of the drive connection when the deceleration ends.

[0028] 3. The present invention sets a counterweight. When the robot is going uphill or downhill, the gravity acting on the counterweight will have a component along the slope. Since the brake intervenes first when switching, the counterweight will not move until a certain acceleration is reached. This allows energy recovery to intervene earlier when the robot is going downhill, reducing the waste of dynamic potential energy other than kinetic energy and increasing energy recovery efficiency. Conversely, when the robot is going uphill, the intervention is later, reducing the waste of kinetic energy caused by kinetic energy recovery and ensuring reliable driving force for climbing.

[0029] 4. The present invention provides resistance to the movement and resetting of the unswitched shaft by setting a ball. On the one hand, the curvature of the ball is utilized. Once it moves, the limiting force on the support plate 1 will be reduced, thereby increasing the movement rate of the switching shaft and ensuring the response speed of the device. On the other hand, it changes the critical point force of the state switching from a point value to a regional value, which is more suitable for actual conditions.

[0030] 5. The present invention provides a push-to-close signal switch. When different transmission wheels engage, they compress the push-to-close signal switches on different sides, thereby generating an electrical signal. On the one hand, this electrical signal can be used as a monitoring signal for the engagement position of the transmission wheels to ensure its reliability. On the other hand, it can also serve as a braking force change signal for the rear brake assembly, allowing part of the braking force to be borne by the generator for energy recovery.

[0031] 6. The present invention provides a ball bearing whose resistance is provided by the deformation of spring 1, and the deformation of spring 1 can be changed according to the matching position of the stud and the switching shaft, thereby realizing the control of the timing of energy intervention, so that the timing of energy recovery intervention can be targetedly adjusted according to the actual load conditions.

[0032] 7. The present invention, by setting up a path planning module, can not only plan the optimal route, but also, in combination with the GPS module during operation, can correct the path after it deviates, ensuring the optimal route, thereby improving the transportation efficiency.

[0033] 8. The present invention provides a baffle that can rotate relative to the baffle below, thereby achieving flexible adjustment of the storage space and improving adaptability to the amount of cargo. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 This is a schematic diagram of the overall structure of the high-security data unified intelligent in-hospital trolley proposed by the present invention;

[0035] Figure 2 This is a schematic diagram of the internal structure of the robot body of the high-security data unified intelligent hospital cart proposed by the present invention;

[0036] Figure 3 This is a schematic diagram of the energy recovery drive structure of the high-security, data-unified, intelligent in-hospital cart proposed by the present invention;

[0037] Figure 4 This is a schematic diagram of the transmission structure of the high-security data unified intelligent in-hospital trolley proposed by the present invention;

[0038] Figure 5 Schematic diagram of the switching axis cross-section structure of the high-security data unified intelligent in-hospital trolley proposed by the present invention Figure 1 ;

[0039] Figure 6 Schematic diagram of the switching axis structure of the high-security data unified intelligent hospital trolley proposed by the present invention Figure 2 ;

[0040] Figure 7 This is a schematic diagram of the adaptive drive structure of the high-security, data-unified, intelligent in-hospital cart proposed by the present invention;

[0041] Figure 8 This is a schematic diagram of the carrying box structure of the high-security data unified intelligent in-hospital trolley proposed by the present invention;

[0042] Figure 9 This is a schematic diagram of the control system of the high-security, data-unified, intelligent in-hospital trolley proposed by the present invention.

[0043] In the figure: 1. Robot body; 2. Carrier box structure; 3. Base; 4. Shell; 5. Rear drive wheel; 6. Energy recovery drive unit; 7. Front wheel steering unit; 8. Control system; 9. Battery; 10. Transmission member; 11. Spindle; 12. Support plate 1; 13. Switching shaft; 14. Adaptive drive member; 15. Driven wheel; 16. Transmission wheel; 17. Driving wheel; 18. Generator; 19. Drive assembly; 20. Keyway; 21. Ball; 22. Stud; 23. Spring 1; 24. Retraction plate; 25. Push-to-close signal switch; 26. Bushing; 27. Connecting rod; 28. Support plate 2; 29. Spring 2; 30. Counterweight; 31. Box side assembly; 32. Embedded hinge; 33. Baffle; 34. Slot; 35. Limit frame; 36. Block; 37. Angle sensor; 38. Wheel speed sensor; 39. Main board; 40. Central control module; 41. Communication module; 42. Power module; 43. Path planning module; 44. Control module; 45. GPS module. DETAILED DESCRIPTION

[0044] The technical solution of this patent is further described in detail below in conjunction with specific implementation methods.

[0045] The following describes in detail embodiments of the present invention, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0046] Example 1:

[0047] High-security data unified intelligent hospital trolley, such as Figure 1-9As shown, it includes a robot body 1 for mobile carrying and a carrying box structure 2 arranged on the top of the robot body 1 and used to accommodate goods; when in use, the goods can be placed in the carrying box structure 2, and the movement of the robot body 1 is controlled to realize the transportation steps in the medical transfer process.

[0048] The robot body 1 includes a welded base 3 and a shell 4, and the front and rear parts of the base 3 are respectively provided with a front wheel steering part 7 and a rear drive wheel 5. The front wheel steering part 7 is a prior art, which includes a steering wheel and a steering drive assembly. It is a prior art and is a conventional component in the field of wheeled walking robots. This embodiment does not make creative improvements to it, so it is not described in detail. The rear drive wheel 5 is used in conjunction with an energy recovery drive part 6 and a brake assembly; the brake assembly is a prior art, which is a conventional component whether in the field of wheeled walking robots or vehicles. Its principle and structure are common knowledge of those skilled in the art. This embodiment does not make creative improvements to it, so it is not described in detail. The energy recovery drive part 6 can drive the rear drive wheel 5 to rotate, and the front wheel steering part 7 is responsible for steering, thereby realizing the movement function of the entire robot body 1.

[0049] The energy recovery drive unit 6 includes a main shaft 11 that is coupled to the top of the rear drive wheel 5, a generator 18 fixed to the top of the base 3 by bolts, and a drive assembly 19. The main shaft 11 is rotatably connected to the base 3, and the main shaft 11 is respectively connected to the generator 18 and the drive assembly 19 through two switchable transmission parts 10. In this embodiment, the specific type of the drive assembly 19 is not limited. In order to match the system and recover energy, the drive assembly 19 is an electric motor.

[0050] The transmission member 10 includes two driven wheels 15 fixed to the outer wall of the main shaft 11 and two generators 18 fixed to the input shaft of the generator 18 and the output shaft of the drive assembly 19, respectively, and a transmission wheel 16 is engaged between the driven wheel 15 and the driving wheel 17, and the two transmission wheels 16 are arranged alternately; in this device, when the device moves normally, the output shaft of the driving assembly 19 is transmitted to the main shaft 11 through the driving wheel 17-transmission wheel 16-driven wheel 15, thereby driving the main shaft 11 to rotate and driving the rear drive wheel 5 to rotate; when the device decelerates, the transmission chain of the drive assembly 19 is disconnected, and the brake assembly brakes at the same time. The kinetic energy of the main shaft 11 is also transmitted to the generator 18 through the driven wheel 15-transmission wheel 16-driving wheel 17, thereby driving the generator 18 to rotate, realizing the power generation function, thereby recovering kinetic energy and increasing endurance.

[0051] In order to solve the switching problem; Figure 4As shown, the transmission wheels 16 are arranged in an interlaced manner and are all rotatably connected to the switching shaft 13 through bearings. The switching shaft 13 can only be axially slidably connected to the support plate 12. The support plate 12 is fixed to the top outer wall of the robot body 1 by bolts, and an adaptive driving member 14 for driving its switching is provided on one side of the switching shaft 13; two interlaced transmission wheels 16 are used to respectively control the two groups of rear drive wheels 5 to cooperate with the front wheel steering part 7, and the adaptive driving member 14 can control the position of the switching shaft 13 according to the actual deceleration acceleration, thereby controlling the engagement position of the transmission wheel 16.

[0052] The adaptive drive member 14 includes a support plate 28 fixed to the outer wall of the top of the base 3 by bolts and a sliding rod slidably connected to the inner wall of the support plate 28. A counterweight 30 is fixed to one end of the sliding rod by bolts, and the other end of the sliding rod is rotatably connected to the connecting rod 27. The other end of the connecting rod 27 is rotatably connected to the shaft sleeve 26. The shaft sleeve 26 is rotatably connected to the end of the switching shaft 13. A spring 29 is provided on the opposite side of the support plate 28 and the counterweight 30. When the device needs to decelerate, the brake assembly intervenes, so that the device has a certain deceleration acceleration. Due to inertia, the counterweight 30 will move toward the front end of the device, thereby driving the switching shaft 13 to move through the connecting rod 27, connecting the generator 18 to the main shaft 11, and disconnecting the drive assembly 19. This is the energy recovery process during deceleration. When the deceleration ends, the forward "inertia force" exerted on the counterweight 30 disappears, and the counterweight 30 is reset by the elastic force of the spring 29, disconnecting the generator 18 and connecting the drive assembly 19. This is the driven walking process.

[0053] By providing the counterweight 30 , which cooperates with the spring 29 and utilizes the “inertia force”, the energy recovery during deceleration of the device and the automatic switching function of the drive connection at the end of deceleration are realized.

[0054] In addition, by setting up the counterweight 30, when the robot is going uphill or downhill, the gravity acting on the counterweight 30 will have a component along the slope surface, and because the brake intervenes first when switching, the counterweight 30 will not move until a certain acceleration is reached, thereby achieving earlier intervention in energy recovery when the robot is going downhill, reducing the waste of dynamic potential energy in addition to kinetic energy, and increasing energy recovery efficiency. Conversely, when the robot is going uphill, intervention is later, reducing the waste of kinetic energy caused by kinetic energy recovery, and ensuring reliable driving force for climbing.

[0055] In order to solve the problem of reliable switching; Figure 5As shown, the switching shaft 13 is slidably fitted in the inner wall of the support plate 12 through the key groove 20 opened on the inner wall thereof, and the inner wall of the switching shaft 13 is slidably connected with a contraction plate 24, and the outer rolling surface of the contraction plate 24 is fitted with a ball 21, and a spring 23 is welded to the bottom of the contraction plate 24, and the other end of the spring 23 is in contact with a stud 22, and the stud 22 is connected to the inner wall of the switching shaft 13 through a thread; by providing the ball 21, resistance is provided for the movement and reset of the switching shaft 13, and on the one hand, the curvature of the ball 21 is utilized, and once it moves, the limiting force on the support plate 12 will be reduced, thereby increasing the movement rate of the switching shaft 13 and ensuring the response speed of the device; on the other hand, it changes the critical point force of the state switching from a point value to a regional value, which is more suitable for actual conditions.

[0056] That is, if the ball 21 is not provided, when the acceleration changes, no matter how big or small the change is, the force balance of the switching shaft 13 is broken, and it will move at any time. After the ball 21 is installed, the force balance will have two limits, that is, after reaching a certain deceleration acceleration, the switching shaft 13 switches to the energy recovery state. At this time, the acceleration is slightly reduced and it will not move until the acceleration is reduced to a certain limit, and it will receive the elastic force of spring 29 to rebound.

[0057] The inner wall of the support plate 1 12 is clamped with a push-to-close signal switch 25 , and two buttons of the push-to-close signal switch 25 face two sides respectively.

[0058] By setting up a push-to-close signal switch 25, when different transmission wheels 16 are engaged, they will compress the push-to-close signal switches 25 on different sides, thereby generating an electrical signal. On the one hand, this electrical signal can be used as a monitoring signal for the engagement position of the transmission wheel 16 to ensure its reliability. On the other hand, it can also be used as a braking force change signal for the rear brake assembly, so that part of the braking force is borne by the generator 18 to recover energy.

[0059] In addition, by setting the ball 21, the resistance provided by it is provided by the deformation of the spring 1 23, and the deformation of the spring 1 23 can be changed according to the matching position of the stud 22 and the switching shaft 13, thereby realizing the control of the timing of energy intervention, so that the timing of energy recovery intervention can be targetedly adjusted according to the actual load situation.

[0060] The following is the force analysis:

[0061] When switching, the inertial force provided by the counterweight 30 not only overcomes the resistance of the device movement, , the elastic force of spring 29 In addition, the limiting force between the ball 21 and the support plate 12 must be overcome. , the switching shaft 13 will move. For example, if the device does not change, it is constant. The specific measurement method is to temporarily remove the counterweight 30, spring 29 and ball 21, and push the slide bar with a thrust mechanism with pressure detection. At the moment of its movement, it is ,and is related to the deformation of spring 29, which is also a known quantity, and You can also use The determination method is to subtract the result from You can get .

[0062] When the driving state is changed to the energy recovery state, assuming that the total axial displacement of the switching shaft 13 is L, the formula is satisfied: , where M is the mass of the counterweight 30, a1 is the acceleration limit when energy recovery intervenes. When the energy recovery state changes to the driving state, the acceleration of the device decreases, and the formula is satisfied. , a2 is the acceleration limit when energy recovery is released.

[0063] Based on the above, the operating logic of energy intervention is: when the device operates normally, when the backward acceleration is greater than or equal to a1, energy recovery intervenes. After energy recovery intervenes, if the acceleration continues to be greater than a2, energy recovery continues to intervene. When it is less than a2, energy recovery is released and drive intervention is performed at the same time.

[0064] During use of this embodiment, a hospital route map is input into the main board 39, cargo is placed into the carrying box structure 2, and the destination location is input. The route planning module 43 then plans a route, controls the drive assembly 19 to start, and cooperates with the front wheel steering unit 7, combined with the positioning function of the GPS module 45, to move according to the planned route. During the walking process, if the device encounters a turn or other deceleration situation requiring deceleration, the preset deceleration acceleration is reached. At this time, the counterweight 30 moves due to inertia, thereby driving the switching shaft 13 through the connecting rod 27 to drive the generator 18 to the main shaft 11 for kinetic energy recovery. At the same time, the support plate 12 will squeeze and press the closed signal switch 25, generating an electrical signal to determine the kinetic energy recovery state and synchronously reduce the brake assembly resistance torque to ensure that energy recovery does not affect the overall required acceleration during intervention, thereby ensuring safety. The deceleration process then ends, the brake assembly resistance torque is removed or reduced, and the deceleration acceleration decreases. When it decreases to a limit, the switching shaft 13 rebounds due to the elastic force of the spring 29, and the drive assembly 19 is driven and connected to the main shaft 11, and the device is in the driving state.

[0065] Example 2:

[0066] High-security data unified intelligent hospital trolley control system, such as Figure 9 As shown,

[0067] To solve control problems such as Figure 1-9 As shown, the robot body 1 also includes a control system 8 for controlling electrical components and a battery 9 for power supply. The control system 8 includes a main board 39 and a central control module 40, a communication module 41, a power module 42, a path planning module 43, a control module 44 and a GPS module 45 integrated on the main board 39. The main board 39 is communicatively connected to the control management center and the Beidou positioning system, and a turning angle sensor 37 and a wheel speed sensor 38 are provided at the front wheel steering part 7; the turning angle sensor 37 and the wheel speed sensor 38 can monitor the walking wheel speed and steering angle respectively. The communication module is used to connect to the control management center and the Beidou positioning system, so as to realize remote monitoring of the device by the administrator and precise positioning in cooperation with the GPS module and the Beidou positioning system, and the path planning module can plan the specific walking path of the robot.

[0068] When the device is in use, the specific calibration method is as follows:

[0069] S1: Determine the maximum acceleration G value of the device tipping based on the volume and height of the loaded cargo;

[0070] S2: Yes 、 and Measure and generate driving resistance torque when the generator 18 recovers energy Carry out measurement, that is, determine the relationship between generated power and input shaft speed and torque according to the nameplate;

[0071] S3: Determine the maximum acceleration limit that the device can withstand during operation based on the maximum acceleration G value and the safety limit ratio a%. ;

[0072] S4: Determine the maximum braking resistance torque provided by the brake assembly based on the maximum acceleration limit ;

[0073] S5: According to Determine the reduction in the resistance torque of the brake assembly when kinetic energy is recovered, which is - ;

[0074] S6: Determine a1, the acceleration value of the kinetic energy intervention time, and and Combined formula ,Sure The value of

[0075] S7: According to The determination method and the determined limit value can be adjusted to the required value through the stud 22.

[0076] In order to solve the path problem, this embodiment makes the following improvements based on embodiment 1: the planning logic of the path planning module 43 is:

[0077] A1: Collect the minimum turning radius of the device and draw a warehouse path map based on the minimum turning radius and the warehouse topography. The radius of the turning part in the path is the minimum turning radius of the device;

[0078] A2: Based on the input end point, take the current position as the starting point and calculate The smallest path is the optimal path;

[0079] A3: When the device is moving, the device calculates the distance it has moved in real time based on the rotation angle sensor 37 and the wheel speed sensor 38. , based on the current position, calculate the position closest to the end point ;

[0080] A4: If + No greater than - , then continue to follow the preset path, where is the threshold of the increase in the path deviation distance, and this step is performed intermittently;

[0081] A5: If + Greater than - , the path will deviate significantly. In this case, take the current position as the starting point and re-plan the optimal path.

[0082] In this embodiment, by setting up a path planning module 43, it can not only plan the optimal route, but also combine with the GPS module 45 during operation to make corrections after the path deviates, ensuring the optimal route, thereby improving warehousing efficiency.

[0083] Example 3:

[0084] High-security data unified intelligent hospital trolley, such as Figure 8 As shown, the load-bearing box structure 2 includes four groups of box side components 31, and the box side components 31 include multiple baffles 33 arranged longitudinally and hinged by embedded hinges 32; by setting the baffles 33, they can rotate relative to the baffles 33 below, thereby realizing flexible adjustment of the storage space and improving adaptability to the amount of cargo.

[0085] The carrying box structure 2 also includes a limit frame 35, the inner wall of which is welded with a clamping block 36, and the outer inner wall of the baffle 33 is provided with a clamping groove 34 that cooperates with the clamping block 36; the cooperation between the clamping groove 34 and the limit frame 356 can limit the position of the baffle 33 and fix it.

[0086] A magnet is provided inside the baffle 33 , and the clamping block 36 is made of a material that can be attracted by magnets; the magnet can absorb the clamping block 36 to ensure its longitudinal position.

[0087] In this embodiment, by providing a baffle 33 that can rotate relative to the baffle 33 below, flexible adjustment of the storage space is achieved, thereby improving adaptability to the amount of cargo.

[0088] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with the technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solution and inventive concept of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. A high-security, data-unified, intelligent in-hospital trolley, comprising a robot body (1) and a carrying box structure (2) disposed on top of the robot body (1), characterized in that: The robot body (1) comprises a base (3) and a shell (4) that are fixed by welding, and the front and rear parts of the base (3) are respectively provided with a front wheel steering part (7) and a rear driving wheel (5); The rear drive wheel (5) is used in conjunction with an energy recovery drive unit (6) and a brake assembly; The energy recovery drive unit (6) includes a main shaft (11) that is transmission-matched with the top of the rear drive wheel (5), a generator (18) fixedly mounted on the top of the base (3), and a drive assembly (19); the main shaft (11) is rotationally connected to the base (3), and the main shaft (11) is transmission-connected to the generator (18) and the drive assembly (19) respectively through two groups of switchable transmission members (10).

2. The high-security data unified intelligent hospital trolley according to claim 1 is characterized in that: The transmission member (10) includes two driven wheels (15) fixed to the outer wall of the main shaft (11) and two generators (18) respectively fixed to the input shaft of the generator (18) and the output shaft of the drive assembly (19), and a transmission wheel (16) is meshed between the driven wheel (15) and the driving wheel (17), and the two transmission wheels (16) are arranged in an alternating manner.

3. The high-security data unified intelligent hospital trolley according to claim 2 is characterized in that: The transmission wheels (16) are arranged in a staggered manner and are all rotatably connected to a switching shaft (13) through bearings. The switching shaft (13) is only axially slidably connected to a support plate (12). The support plate (12) is fixedly mounted on the top outer wall of the robot body (1), and an adaptive driving member (14) for driving its switching is provided on one side of the switching shaft (13).

4. The high-security data unified intelligent hospital trolley according to claim 3 is characterized in that: The adaptive driving member (14) includes a second support plate (28) fixedly mounted on the top outer wall of the base (3) and a sliding rod slidably connected to the inner wall of the second support plate (28), one end of the sliding rod is fixedly mounted with a counterweight (30), the other end of the sliding rod is rotatably connected to a connecting rod (27), the other end of the connecting rod (27) is rotatably connected to a shaft sleeve (26), the shaft sleeve (26) is rotatably connected to the end of the switching shaft (13), and a second spring (29) is provided on the opposite side of the second support plate (28) and the counterweight (30).

5. The high-security data unified intelligent in-hospital cart according to claim 3 is characterized in that: The switching shaft (13) is slidably engaged with the inner wall of the support plate (12) through a keyway (20) provided on the inner wall thereof. The inner wall of the switching shaft (13) is slidably connected with a contraction plate (24). The outer portion of the contraction plate (24) is rollingly engaged with a ball (21). A spring (23) is fixedly mounted on the bottom of the contraction plate (24). The other end of the spring (23) is contact-engaged with a stud (22). The stud (22) is connected to the inner wall of the switching shaft (13) through a thread.

6. The high-security data unified intelligent hospital trolley according to claim 5 is characterized in that: The inner wall of the support plate 1 (12) is clamped with a push-to-close signal switch (25), and the two buttons of the push-to-close signal switch (25) face the two sides respectively.

7. The high-security data unified intelligent hospital trolley according to claim 1 is characterized in that: The robot body (1) further includes a control system (8) for controlling electrical components and a storage battery (9) for powering the components.

8. The high-security data unified intelligent hospital trolley according to claim 1 is characterized in that: The carrying box structure (2) includes four sets of box side components (31), the box side components (31) include a plurality of baffles (33) arranged longitudinally and hinged by embedded hinges (32), the carrying box structure (2) also includes a limit frame (35), the inner wall of the limit frame (35) is fixedly mounted with a card block (36), and the outer inner wall of the baffle (33) is provided with a card slot (34) that cooperates with the card block (36).

9. High-security data unified intelligent hospital trolley control system, characterized by: It is used to control the high-security data unified intelligent in-hospital cart described in any one of claims 1 to 8, comprising a mainboard (39), a battery (9), and a central control module (40), a communication module (41), a power module (42), a path planning module (43), a control module (44), and a GPS module (45) integrated on the mainboard (39), wherein the mainboard (39) is communicatively connected to a control management center and a Beidou positioning system, and a rotation angle sensor (37) and a wheel speed sensor (38) are provided at the front wheel steering portion (7).

10. The high-security data unified intelligent hospital trolley control system according to claim 9 is characterized in that: The planning logic of the path planning module (43) is: A1: Collect the minimum turning radius of the device and draw a warehouse path map based on the minimum turning radius and the warehouse topography. The radius of the turning part in the path is the minimum turning radius of the device; A2: Based on the input end point, take the current position as the starting point and calculate The smallest path is the optimal path; A3: When the device is moving, the device calculates the distance it has moved in real time based on the rotation angle sensor (37) and the wheel speed sensor (38). , based on the current position, calculate the position closest to the end point ; A4: If + No more than - , then continue to follow the preset path, where is the threshold of the increase in the path deviation distance, and this step is performed intermittently; A5: If + Greater than - , the path will deviate significantly. In this case, take the current position as the starting point and re-plan the optimal path.

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