Automatic docking and distribution robot system suitable for hospital box type logistics system

Abstract

The utility model discloses an automatic docking and distribution robot system suitable for a hospital box-type logistics system. The automatic docking and distribution robot system comprises a distribution robot. The distribution robot comprises an AMR chassis and a distribution cabinet body mounted at the top of the AMR chassis; the distribution cabinet body is provided with a first containing cavity with an opening in the front face, and a plurality of first supporting frames are installed in the first containing cavity in the vertical direction at intervals. Each first supporting frame is further provided with a first transmission module. The two sides of the top of the first supporting frame are each connected with a first supporting plate, a first infrared transmitter is installed on the top of one first supporting plate, and a first infrared receiver is further installed at the position, corresponding to the first infrared transmitter, of the top of the other first supporting plate. According to the utility model, the automatic connection robot and the double-layer receiving and dispatching cabinet are connected, so that the problems of low efficiency, high error rate and the like caused by dependence on manual operation in the final link of the existing box-type logistics system can be solved.

Description

Technical Field

[0001] The utility model relates to the technical field of medical robots, in particular to a robot system for automatic docking and distribution applicable to the hospital box-type logistics system. Background Technique

[0002] In the hospital scenario, the box-type automatic control system can carry out the transmission of drugs across floors and buildings, so as to help the hospital efficiently solve the problem of item distribution. At the same time, due to its safety and sealing characteristics, it is widely used in hospital logistics transmission. However, due to safety considerations, the exits of the box-type logistics control system are usually set in places far from the nurse stations on each floor, or due to the new demand for drug distribution between different floors, drugs can often only be received and distributed manually. During the peak drug use period, medical staff need to perform frequent interspersed tasks at places such as box-type stations, nurse stations, and distribution points, which easily causes congestion in distribution tasks or delays in patient drug use. Content of the Utility Model

[0003] The purpose of the utility model is to provide a robot system for automatic docking and distribution applicable to the hospital box-type logistics system. By connecting an automatic docking robot and a double-layer receiving and sending cabinet, it can solve the problems of low efficiency and easy error caused by relying on manual operation in the last link of the existing box-type logistics system. The utility model utilizes the functions of the robot to automatically plan the path and automatically dock with the double-layer receiving and sending cabinet, and can communicate with the service end of the box-type logistics control system in real time, and efficiently and accurately complete the whole process of drug distribution from point to point.

[0004] To achieve the above purpose, the following technical solutions are adopted:

[0005] A robot system for automatic docking and distribution applicable to the hospital box-type logistics system includes a distribution robot; the distribution robot includes an AMR chassis and a distribution cabinet installed on the top of the AMR chassis; the distribution cabinet is provided with a first cavity with an opening on its front surface, and a plurality of first support frames are vertically and spacedly installed in the first cavity; each of the first support frames is also installed with a first transmission module; both sides of the top of each first support frame are respectively connected with a first support plate, and a first infrared emitter is installed on the top of one of the first support plates, and a first infrared receiver is also installed at the corresponding position of the top of the other first support plate with respect to the first infrared emitter; a first blocking mechanism is also installed on the first support frame near the opening of the first cavity.

[0006] Further, the first transmission module includes a plurality of first transmission rollers connected between the inner walls on both sides of the first support frame, a first synchronous belt wound between the first transmission rollers, and a first transmission motor assembly installed on the outer wall of one side of the first support frame and connected to the end of one of the first transmission rollers.

[0007] Further, the first blocking mechanism includes a first support, a first rotating motor, a first rotating shaft, a first blocking plate, and a first fixing plate; the first support is installed on the first support frame, and the first support is located below one set of two adjacent first transmission rollers; the first rotating motor is installed on one side of the first support, and the first fixing plate is arranged on the other side of the first support; the first rotating shaft is arranged between the first fixing plate and the first support, and one end of the first rotating shaft is rotatably connected to the first fixing plate, and the other end of the first rotating shaft is connected to the output shaft of the first rotating motor; the lower part of the first blocking plate is installed on the first rotating shaft.

[0008] Further, a first installation groove is also opened on one side of the top of the distribution cabinet body, and a first display screen is also installed in the first installation groove; a first fingerprint module, a first camera module, and a first RFID module are also installed in the first installation groove; a plurality of first scanners are also installed on the inner wall of the first cavity, and each first scanner is correspondingly arranged above one side of a first transmission module.

[0009] Further, the distribution robot further includes anti-collision strips; first fixing members are installed on both lower parts of the two sides of the AMR chassis, the anti-collision strips are closely attached to the outer wall of the AMR chassis, and both ends of the anti-collision strips are respectively connected to a first fixing member; a first driving recorder is also installed in the distribution cabinet body; a first sound and light alarm and a first speaker are also installed in the AMR chassis.

[0010] Further, it further includes a medicine receiving and sending cabinet; the medicine receiving and sending cabinet includes a receiving and sending cabinet body; the receiving and sending cabinet body is provided with a second cavity with an opening on its front surface, and a plurality of second support frames are vertically and spacedly installed in the second cavity; a second transmission module is also installed on each of the second support frames; both sides of the top of the second support frame are respectively connected to a second support plate, and a second infrared emitter is installed on the top of one of the second support plates, and a second infrared receiver corresponding to the second infrared emitter is also installed on the top of the other second support plate; a second blocking mechanism is also installed on the second support frame near the opening of the second cavity.

[0011] Further, a second installation groove is also opened on the upper part of the front surface of the receiving and sending cabinet body, and a second display screen is also installed in the second installation groove; a second fingerprint module and a second camera module are also installed in the second installation groove; a plurality of second scanners are also installed on the inner wall of the second cavity, and each second scanner is correspondingly arranged above one side of a second transmission module.

[0012] Adopting the above scheme, the beneficial effects of the utility model are:

[0013] 1) For the nurse station or distribution point, a medicine receiving and dispatching cabinet is designed, which can realize automatic receiving and dispatching of medicines, enabling medical staff to temporarily store, transfer and track the safety control of medicines;

[0014] 2) Link the robot background management system with the hospital logistics control system. By issuing medicine distribution tasks and the robot receiving and responding, the operation and configuration of the robot can be realized, and at the same time, the distribution and receiving tasks of the upper and lower medical boxes can be completed, which can solve the problem that the boxed sites in most hospitals are too far from the shipping point and the receiving point;

[0015] 3) It can carry large-weight infusion boxes and medicine boxes, realize the automated distribution of the whole process of boxed logistics, and can adapt to most of the existing hospital boxed logistics systems, which can effectively optimize the hospital management level and make the in-hospital medicine distribution more standardized, worry-free and efficient. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic structural diagram of the present utility model;

[0017] Figure 2 It is a schematic structural diagram of the AMR chassis of the present utility model;

[0018] Figure 3 It is a schematic structural diagram of the first blocking mechanism of the present utility model;

[0019] Figure 4 It is a schematic structural diagram of the medicine receiving and dispatching cabinet of the present utility model;

[0020] Among them, the description of the attached drawing reference signs:

[0021] 1. Distribution robot; 2. Medicine receiving and dispatching cabinet; 11. AMR chassis; 12. Distribution cabinet body; 13. First support frame; 14. First support plate; 15. First infrared emitter; 16. First infrared receiver; 17. First blocking mechanism; 18. First transmission roller; 19. First display screen; 21. Second transmission module; 22. Second blocking mechanism; 23. Second display screen; 101. Anti-collision strip; 102. First fixing piece; 171. First bracket; 172. First rotating motor; 173. First blocking plate; 174. First fixing plate; 191. First fingerprint module; 192. First camera module. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0022] The following combines the attached drawings and specific embodiments to describe the present utility model in detail.

[0023] Refer to Figures 1 to 4As shown in the figure, the present utility model provides a robot system for automatic docking and distribution applicable to the hospital box-type logistics system. In one embodiment, it includes a distribution robot 1; the distribution robot 1 includes an AMR chassis 11 and a distribution cabinet 12 installed on the top of the AMR chassis 11; the distribution cabinet 12 is provided with a first cavity with an opening on its front, and a plurality of first support frames 13 are installed at intervals in the vertical direction in the first cavity; each of the first support frames 13 is also installed with a first transmission module; both sides of the top of each first support frame 13 are respectively connected to a first support plate 14, and a first infrared emitter 15 is installed on the top of one of the first support plates 14, and a first infrared receiver 16 is also installed at the corresponding position of the other first support plate 14 with respect to the first infrared emitter 15; a first blocking mechanism 17 is also installed on the first support frame 13 near the opening of the first cavity.

[0024] In this embodiment, this robot system is applied to the automatic docking box-type logistics control system in the hospital and the drug distribution of the nurse station and other departments, including a box-type logistics system, a distribution robot 1, a drug receiving and dispatching cabinet 2, and a background management control system. Among them, the box-type logistics system is a commonly used system in hospitals at present, and the present utility model does not limit it. The box-type logistics system includes a receiving and dispatching workstation (circulation workstation), a vertical elevator, a horizontal transmission line, a commutator, a transmission box, an isolation door, a control system, a power supply system, etc. The distribution robot 1 communicates with the control system of the circulation workstation through a background management system (an existing robot background management system can be used, and the present utility model does not limit it), docks with the robot through the linkage of the upper and lower transmission devices, and automatically pushes the drug transmission box into the robot, and the robot executes the distribution task.

[0025] In this embodiment, a drive motor assembly is also installed in the AMR chassis 11 of the distribution robot 1, and drive wheels connected to the drive motor assembly. Moreover, universal traveling wheels are installed at the four corners of the bottom of the AMR chassis 11. Driven by the drive motor assembly, the distribution robot 1 can be driven to move to execute corresponding distribution tasks; at the same time, in this embodiment, the number of the first support frames 13 is two, and a first transmission module is installed on each first support frame 13, that is, it is divided into upper and lower layers. Among them, the first transmission module includes a plurality of first transmission rollers 18 connected between the inner walls on both sides of the first support frame 13, a first synchronous belt wound between the first transmission rollers 18, and a first transmission motor assembly installed on the outer wall of one side of the first support frame 13 and connected to the end of one of the first transmission rollers 18.

[0026] The transmission motor assembly includes a motor, which adopts a 24V DC driver. The robot control system issues forward and reverse actions through the motor driver to drive the first transmission roller 18 to rotate forward and backward for connecting and transporting drugs. At the same time, there are two sets of first infrared transmitters 15 and two sets of first infrared receivers 16 to detect the entry and exit status of the drug transmission box. In addition, a first installation groove is opened on one side of the top of the distribution cabinet 12, and a first display screen 19 is installed in the first installation groove. A first fingerprint module 191, a first camera module 192 and a first RFID module are also installed in the first installation groove. A number of first scanners are installed on the inner wall of the first cavity, and each first scanner is correspondingly arranged above one side of a first transmission module.

[0027] The interface of the first display screen 19 is installed with a robot software system APP (an existing APP is sufficient) to control the movement of the robot and receive tasks and requests pushed by the background server. At the same time, a number of first scanners (two-dimensional code scanners) are installed on the inner wall of the first cavity to identify the status information of the two-dimensional code when the drug transmission box enters. In addition, the distribution robot 1 further includes a bumper strip 101. First fixing members 102 are installed on the lower parts of both sides of the AMR chassis 11. The bumper strip 101 is closely attached to the outer wall of the AMR chassis 11, and both ends of the bumper strip 101 are respectively connected to a first fixing member 102. A first driving recorder is also installed in the distribution cabinet 12. A first sound and light alarm and a first speaker are installed in the AMR chassis 11. Through the bumper strip 101, the robot can be prevented from being knocked and its service life can be extended. Through the driving recorder, the task process status during the operation of the robot can be recorded. At the same time, with the first sound and light alarm and the first speaker, the user can be reminded when encountering emergencies during the execution of tasks. In addition, a first blocking mechanism 17 is provided to prevent the drug transmission box from being transported into the distribution cabinet 12 in advance and also prevent the drug transmission box from falling out of the distribution cabinet 12 when the robot is moving.

[0028] Specifically, the first blocking mechanism 17 includes a first bracket 171, a first rotating motor 172, a first rotating shaft, a first blocking plate 173, and a first fixing plate 174. The first bracket 171 is installed on the first support frame 13 and is located below one set of adjacent first transmission rollers 18. The first rotating motor 172 is installed on one side of the first bracket 171, and the first fixing plate 174 is arranged on the other side of the first bracket 171. The first rotating shaft is arranged between the first fixing plate 174 and the first bracket 171, and one end of the first rotating shaft is rotatably connected to the first fixing plate 174, and the other end of the first rotating shaft is connected to the output shaft of the first rotating motor 172. The lower part of the first blocking plate 173 is installed on the first rotating shaft. By the first rotating motor 172, the first rotating shaft can be driven to rotate, and then the first blocking plate 173 can be driven to rotate to a vertical state to block the medicine transmission box from being transmitted into the distribution cabinet body 12 in advance. At the same time, when it is necessary to connect medicines or transmit medicines to the medicine receiving and sending cabinet 2, the first rotating motor 172 drives the first blocking plate 173 to rotate to a horizontal state, so that it is hidden between two adjacent first transmission rollers 18 to form an avoidance position, facilitating the transmission of medicines.

[0029] In one embodiment, it further includes a medicine receiving and sending cabinet 2. The medicine receiving and sending cabinet 2 includes a receiving and sending cabinet body. The receiving and sending cabinet body is provided with a second cavity with an opening on its front surface, and a plurality of second support frames are installed at intervals in the vertical direction in the second cavity. Each of the second support frames is further installed with a second transmission module 21. Both sides of the top of each second support frame are connected with a second support plate, and a second infrared emitter is installed on the top of one of the second support plates, and a second infrared receiver corresponding to the second infrared emitter is also installed on the top of the other second support plate. A second blocking mechanism 22 is also installed on the second support frame near the opening of the second cavity. At the same time, a second installation groove is further opened in the upper part of the front surface of the receiving and sending cabinet body, and a second display screen 23 is installed in the second installation groove. A second fingerprint module and a second camera module are also installed in the second installation groove. A plurality of second scanners are installed on the inner wall of the second cavity, and each second scanner is correspondingly arranged above one side of a second transmission module 21.

[0030] In this embodiment, the working principle and structure of the second transmission module 21, the second infrared emitter, the second infrared receiver, and the second blocking mechanism 22 of the medicine receiving and dispatching cabinet 2 are similar to those of the corresponding mechanisms of the distribution robot 1, which will not be elaborated here. There are also two second support frames in the medicine receiving and dispatching cabinet 2, divided into upper and lower layers. The medicine receiving and dispatching cabinet 2 is installed near the nurse station. The positions of the upper and lower electric rollers of the medicine receiving and dispatching cabinet 2 are at the same height as the double-layer automatic connection robot, which is used to receive and transport medicine boxes. There is also a second camera module for personnel permission operation and identification. At the same time, casters and feet are installed at the four corners of the bottom of the receiving and dispatching cabinet body to facilitate the fixing or moving of the double-layer medicine receiving and dispatching cabinet 2.

[0031] The working process of the present utility model is as follows:

[0032] In the hospital medicine distribution center, the RFID medical box with destination attributes is automatically distributed to the designated circulation workstation through the box-type logistics system; when the RFID medical box arrives at the workstation, the starting infrared sensor devices on the upper and lower layers will be triggered. The circulation workstation system and the robot scheduling system issue tasks through the MQTT protocol. The double-layer automatic distribution robot 1 independently navigates and moves to locate the station of the box-type logistics circulation workstation according to the pushed task information (the navigation system can adopt the existing system, and there is no limitation on this), and executes the task of receiving or distributing the upper and lower medical box bodies; the double-layer connection robot automatically flips the roller device according to the distribution task situation. The roller rotates forward to receive the medical box body, and the roller rotates in reverse to distribute the medical box body; it is known whether the box body enters or exits the warehouse through the built-in infrared pair emission device; finally, after the judgment is completed, the double-layer distribution robot 1 distributes the medical box with medical items to the medicine receiving and dispatching cabinet 2 beside the nurse station. At this time, the robot and the medicine receiving and dispatching cabinet 2 are linked through the robot management system, allowing the robot to transfer the box body to the upper and lower layers of the receiving and dispatching cabinet body; at the same time, it will also automatically distribute or receive the medical box according to the pushed task of the robot background management system, and return to the circulation workstation or the robot standby area.

[0033] The above is only the preferred embodiment of the present utility model and is not used to limit the present utility model. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present utility model shall be included in the protection scope of the present utility model.

Claims

1. A robotic system for automatic docking and distribution applicable to the hospital box-type logistics system, characterized in that, It includes a delivery robot; the delivery robot includes an AMR chassis and a delivery cabinet installed on the top of the AMR chassis; the delivery cabinet is provided with a first cavity with an opening on its front, and a number of first support frames are installed at intervals in the vertical direction in the first cavity; a first transmission module is also installed on each of the first support frames; both sides of the top of each first support frame are connected to a first support plate, and a first infrared emitter is installed on the top of one of the first support plates, and a first infrared receiver is also installed at the position corresponding to the first infrared emitter on the top of the other first support plate; a first blocking mechanism is also installed on the first support frame near the opening of the first cavity.

2. The robot system for automatic docking and distribution applicable to the hospital box-type logistics system according to claim 1, characterized in that, The first transmission module includes a number of first transmission rollers connected between the inner walls on both sides of the first support frame, a first synchronous belt wound between the first transmission rollers, and a first transmission motor assembly installed on the outer wall of one side of the first support frame and connected to the end of one of the first transmission rollers.

3. The robot system for automatic docking and distribution applicable to the hospital box-type logistics system according to claim 2, wherein, The first blocking mechanism includes a first bracket, a first rotary motor, a first rotating shaft, a first blocking plate, and a first fixing plate; the first bracket is installed on the first support frame, and the first bracket is located below one of the adjacent pairs of first transmission rollers; the first rotary motor is installed on one side of the first bracket, and the first fixing plate is arranged on the other side of the first bracket; the first rotating shaft is arranged between the first fixing plate and the first bracket, and one end of the first rotating shaft is rotatably connected to the first fixing plate, and the other end of the first rotating shaft is connected to the output shaft of the first rotary motor; the lower part of the first blocking plate is installed on the first rotating shaft.

4. The robotic system for automatic docking and delivery applicable to the hospital box-type logistics system according to claim 1, characterized in that, On one side of the top of the delivery cabinet, a first installation groove is also provided, and a first display screen is installed in the first installation groove; a first fingerprint module, a first camera module, and a first RFID module are also installed in the first installation groove; a number of first scanners are also installed on the inner wall of the first cavity, and each first scanner is correspondingly arranged above one side of a first transmission module.

5. The robot system for automatic docking and distribution applicable to the hospital box-type logistics system according to claim 1, characterized in that, The delivery robot also includes anti-collision strips; first fixing pieces are installed on both lower sides of the AMR chassis, the anti-collision strips are closely attached to the outer wall of the AMR chassis, and both ends of the anti-collision strips are respectively connected to a first fixing piece; a first driving recorder is also installed in the delivery cabinet; a first sound and light alarm and a first speaker are also installed in the AMR chassis.

6. The robotic system for automatic docking and delivery applicable to the hospital box-type logistics system according to any one of claims 1 to 5, characterized in that It also includes a medicine receiving and dispatching cabinet; the medicine receiving and dispatching cabinet includes a receiving and dispatching cabinet body; the receiving and dispatching cabinet body is provided with a second cavity with an opening on its front, and a number of second support frames are installed at intervals in the vertical direction in the second cavity; a second transmission module is also installed on each of the second support frames; both sides of the top of each second support frame are connected to a second support plate, and a second infrared emitter is installed on the top of one of the second support plates, and a second infrared receiver is also installed at the position corresponding to the second infrared emitter on the top of the other second support plate; a second blocking mechanism is also installed on the second support frame near the opening of the second cavity.

7. The robot system for automatic docking and distribution applicable to the hospital box-type logistics system according to claim 6, characterized in that, A second installation groove is further formed in the upper part of the front surface of the transceiver cabinet body, and a second display screen is further installed in the second installation groove; a second fingerprint module and a second camera module are further installed in the second installation groove; a plurality of second scanners are further installed on the inner wall of the second cavity, and each second scanner is correspondingly arranged above one side of a second transmission module.

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