Lifting transfer robot

Abstract

The utility model relates to the technical field of transfer robots, and discloses a lifting transfer robot which comprises a storage and transportation bin and a transportation chassis arranged at the bottom of the storage and transportation bin, and the storage and transportation bin is connected with the transportation chassis through an installed lifting mechanism; the storage and transportation bin comprises a shell, the front face of the shell is divided into three layers to be provided with notches, a roller shutter door is arranged in each layer of notch, and the three layers of roller shutter doors are separated through layer plates arranged in the shell to form storage bins corresponding to the three roller shutter doors in position. The inner wall of the shell is provided with a door opening motor corresponding to each layer of roller shutter door. The lifting transfer robot has the intelligent door opening and closing and conveying functions, and solves the problems that in the prior art, part of transfer robots can only play a role in delivering articles, manual operation is needed in the taking and placing aspects, and when medical staff are busy, the transfer robots are caught in the situation of long-time waiting, so that the work efficiency is greatly improved. And the working efficiency of the transfer robot is reduced.

Description

TECHNICAL FIELD

[0001] The utility model relates to a transfer robot technical field, concretely is a lifting transfer robot. BACKGROUND

[0002] With the development of intelligent technology, communication technology, medical equipment is more and more intelligent, in order to reduce the burden of medical staff to and fro delivery goods, endoscope center in the hospital and part of the department, begin to introduce transfer robot and carry out intelligent distribution, realize the unmanned transfer of medical goods, in order to improve the efficiency of medical goods transfer, liberate the hands of medical staff, save more time of medical staff to give patient.

[0003] In the hospital, due to the ward is numerous, leading to the distance between each room of endoscope center is far, in endoscope distribution, compared with artificial distribution, the introduction of transfer robot can effectively increase the distribution efficiency and reduce the labor intensity of medical staff, but, in the prior art, part of the transfer robot can only play the role of delivering goods, and still needs manual operation in taking and placing, when medical staff is busy, will lead to the transfer robot to fall into the situation of long time waiting, reduce the working efficiency of transfer robot. UTILITY MODEL CONTENT

[0004] In view of the deficiency of prior art, the utility model provides a lifting transfer robot, solves the problem mentioned in the above background.

[0005] The utility model provides the following technical scheme: a lifting transfer robot, comprising: storage and transport warehouse and the transport chassis arranged at the bottom thereof, the storage and transport warehouse and the transport chassis are connected through the lifting mechanism of installation between them;

[0006] The storage and transport warehouse includes a shell, the shell is internally provided with a box body of open type in front, the front of the shell is provided with a notch in three layers, each layer of the notch is provided with a roller shutter door, and a layer plate is arranged between the three roller shutter doors in the box body to separate, forming a storage space corresponding to the position of the three groups of roller shutter doors, an opening motor corresponding to each layer of roller shutter door is installed on the outer wall of the side of the box body, the inner part of the box body is provided with three groups of conveying bearing mechanisms corresponding to the position of the roller shutter door in a layered manner, the inner wall of the shell near the top is separated into an accommodation space, three groups of conveying drive mechanisms are installed in the accommodation space through a support, and each group of conveying drive mechanisms is respectively in transmission connection with a group of conveying bearing mechanisms.

[0007] Preferably, the shell is provided with a laser probe at the side of each layer of roller shutter door on the front, and a binocular camera is arranged on the front of the shell near the top.

[0008] Preferably, a console is mounted on the top of the shell, the console comprises a console shell mounted on the top of the shell, and a display is arranged on the console shell, and the top of the display is inclined.

[0009] Preferably, the conveying driving mechanism comprises a conveying motor mounted by a support, an output shaft of the conveying motor is provided with a driving wheel, a synchronous belt is sleeved on the driving wheel, and the driving wheel is in driving connection with a group of conveying bearing mechanisms through the synchronous belt.

[0010] Preferably, the roller shutter door comprises a sliding door cover, a rack is arranged on the inner side of the door cover, an output shaft of the door opening motor is provided with a gear in engagement with the rack, a door strip is arranged in the door cover, the bottom and the top of the door strip are provided with guide rails for sliding movement of the door strip, the guide rails are mounted on the layer plate, and the two ends of the guide rails are provided with a first travel switch and a second travel switch respectively through supports arranged in the inner part of the box body.

[0011] Preferably, the inner part of the guide rail is provided with a circular arc protrusion, and the circular arc protrusion is made of self-lubricating material.

[0012] Preferably, the conveying bearing mechanism comprises a layered carrier, a plurality of parallel conveying rollers are rotatably arranged on the carrier through bearing seats, the shaft core of one end of the conveying rollers passes through the bearing seats and is sleeved with a synchronous wheel, a plurality of the conveying rollers are in driving connection through a belt sleeved on the synchronous wheel, the shaft core of the other end of one of the conveying rollers passes through the bearing seat and is sleeved with a pulley, and a group of conveying driving mechanisms are in driving connection with the pulley, and photoelectric sensors are arranged at the front end and the rear end of the carrier.

[0013] Preferably, the lifting mechanism comprises a base frame mounted on the conveying chassis, a rack is arranged on the base frame, an electric cylinder is arranged on the rack, a top frame is arranged on the top of the rack, the top frame is mounted on the storage and conveying bin, a roller is rotatably arranged on the rack, and a third travel switch and a fourth travel switch are arranged on the front and rear of the rolling path of the roller respectively.

[0014] Preferably, the conveying chassis comprises a base, a driving wheel and a universal wheel are arranged at the bottom of the base respectively, a follow-up shell is arranged at the top of the base, laser radars are arranged on the front and rear of the follow-up shell and mounted on the base, and mounting seats are arranged at the four corners of the follow-up shell.

[0015] Compared with the prior art, the utility model has the following beneficial effects:

[0016] 1. The lifting transfer robot, by setting the storage and transport warehouse, three layers of storage warehouses are formed by using the layer plate in the storage and transport warehouse, and a roller shutter door is arranged as a storage warehouse door, then the transfer driving mechanism is used to control the conveying bearing mechanism in each layer of the storage warehouse, so that the medical supplies that need to be distributed can automatically enter and exit the storage warehouse, achieving the effect of taking and placing medical supplies, and further making the transfer robot distribute medical supplies not affected by the busy of medical staff, without waiting for the medical staff to be idle to take and place, improving the working efficiency of the transfer robot.

[0017] 2. The lifting transfer robot, by setting the opening door motor to control the opening and closing of the roller shutter door, so that the transfer robot can automatically open and close the storage warehouse door when distributing medical supplies, and avoid exposing the distributed medicine when automatically taking and placing the distributed medical supplies, further avoiding dust pollution of the distributed medical supplies, achieving the effect of protecting the distributed goods.

[0018] 3. The lifting transfer robot, by setting the lifting mechanism, the efficient vertical lifting function of the lifting mechanism makes the lifting transfer robot have strong adaptability and intelligence, realizes layered storage, and solves the problem that some robots can only place goods at the same height and are limited by space. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 It is a side view structure schematic diagram of the utility model;

[0020] Figure 2 It is a sectional front view structure schematic diagram of the utility model;

[0021] Figure 3 It is a top view structure schematic diagram of the utility model;

[0022] Figure 4 It is a storage and transport warehouse front view structure schematic diagram of the utility model;

[0023] Figure 5 It is a storage and transport warehouse sectional side view structure schematic diagram of the utility model;

[0024] Figure 6 It is a sectional front view structure schematic diagram of the utility model; Figure 4

[0025] Figure 7 It is a transfer driving mechanism structure schematic diagram of the utility model;

[0026] Figure 8 It is a sectional front view structure schematic diagram of the utility model; Figure 5

[0027] It is an enlarged structure schematic diagram of A in the utility model; Figure 9 Figure 4 ​​​

[0028] Figure 10 For the utility model Figure 5 The enlarged structural schematic view of the middle B;

[0029] Figure 11 For the utility model Figure 8 The enlarged structural schematic view of the middle C;

[0030] Figure 12 For the utility model Figure 8 The enlarged structural schematic view of the middle D;

[0031] Figure 13 For the utility model Figure 8 The enlarged structural schematic view of the middle E;

[0032] Figure 14 For the utility model Figure 8 The enlarged structural schematic view of the middle F;

[0033] Figure 15 For the utility model lifting mechanism structural schematic view;

[0034] Figure 16 For the utility model Figure 15 The enlarged structural schematic view of the middle G;

[0035] Figure 17 For the utility model transport chassis side view structural schematic view;

[0036] Figure 18 For the utility model transport chassis overhead structural schematic view;

[0037] Figure 19 For the utility model conveying drive mechanism transmission structural schematic view;

[0038] Figure 20 For the utility model door opening motor installation structural schematic view;

[0039] Figure 21 For the utility model box disassembly structural schematic view.

[0040] In the figure: 1, store and transport warehouse; 11, shell; 12, console; 121, console shell; 122, display; 13, binocular camera; 14, roller shutter door; 141, door cover; 142, rack; 143, guide rail; 144, door strip; 145, first travel switch; 146, second travel switch; 15, laser probe; 16, conveying drive mechanism; 161, conveying motor; 162, driving wheel; 163, synchronous belt; 17, conveying bearing mechanism; 171, carrier; 172, conveying roller; 173, synchronous wheel; 174, belt; 175, photoelectric sensor; 18, door opening motor; 19, layer plate; 2, transport chassis; 21, base; 22, driving wheel; 23, universal wheel; 24, follow-up shell; 25, laser radar; 26, mounting seat; 3, lifting mechanism; 31, base frame; 32, rack; 33, electric cylinder; 34, top frame; 35, roller; 36, third travel switch; 37, fourth travel switch; 20, box body. DETAILED DESCRIPTION

[0041] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the utility model.

[0042] Please refer to Figures 1-21 A lifting and transferring robot, comprising: a store and transport warehouse 1 and a transport chassis 2 arranged at the bottom of the store and transport warehouse 1, and the store and transport warehouse 1 and the transport chassis 2 are connected through a lifting mechanism 3 arranged therebetween.

[0043] The store and transport warehouse 1 comprises a shell 11, the shell 11 is internally provided with a box body 20 of open front type, the front surface of the shell 11 is provided with three layers of notches, each layer of notch is provided with a roller shutter door 14, and the three layers of roller shutter doors 14 are separated by a layer plate 19 arranged in the box body 20 to form a storage space corresponding to the positions of the three groups of roller shutter doors 14, the outer wall of the side surface of the box body 20 is provided with a door opening motor 18 corresponding to each layer of roller shutter door 14, and the inner wall of the shell 11 close to the top is separated to form a containing space, three groups of conveying drive mechanisms 16 are arranged in the containing space through supports, and each group of conveying drive mechanism 16 is drivingly connected with a group of conveying bearing mechanism 17.

[0044] The front surface of the shell 11 is provided with a laser probe 15 on each side of each layer of the roller shutter door 14, and the front surface of the shell 11 near the top is provided with a binocular camera 13. By arranging the binocular camera 13 on the shell 11, the transfer robot has the capabilities of target recognition, obstacle sensing, three-dimensional reconstruction, and real-time mapping. When delivering medical supplies, the transfer robot can automatically find the way and avoid colliding with pedestrians. The commonly used laser probe 15 on the market is arranged to judge the distance and position of the placing platform, so that the transfer robot can automatically open the roller shutter door 14 to take and place medical supplies.

[0045] The top of the shell 11 is provided with a control console 12, which includes a console shell 121 mounted on the top of the shell 11. The console shell 121 is provided with a display 122. The top of the display 122 is inclined. By arranging the control console 12 on the top of the shell 11, the medical staff can easily control the transfer robot when standing, and the delivery position can be easily set.

[0046] The transmission drive mechanism 16 includes a transmission motor 161 mounted on a bracket. The output shaft of the transmission motor 161 is provided with a driving wheel 162. The driving wheel 162 is provided with a synchronous belt 163. The driving wheel 162 is drivingly connected to a group of transmission bearing mechanisms 17 through the synchronous belt 163. By arranging three groups of transmission drive mechanisms 16, the three groups of transmission bearing mechanisms 17 are controlled respectively. The transfer robot can control a certain transmission bearing mechanism 17 to take and place the delivery goods according to the storage position, so that the transfer robot can deliver multiple medical supplies at a time.

[0047] The roller shutter door 14 includes a door cover 141 slidingly arranged. The inner side of the door cover 141 is provided with a rack 142. The output shaft of the door opening motor 18 is provided with a gear engaged with the rack 142. The inside of the door cover 141 is provided with a door strip 144. The bottom and top of the door strip 144 are provided with guide rails 143 for sliding. The guide rails 143 are mounted on the layer plate 19. The two ends of the guide rails 143 are respectively provided with first and second travel switches 145 and 146 through brackets outside the box body 20. By arranging the first and second travel switches 145 and 146, the opening and closing of the roller shutter door 14 are controlled respectively. The roller shutter door 14 can only stop when it collides with the first or second travel switch 145 or 146 each time, so as to avoid the situation that the roller shutter door 14 is not completely opened or closed.

[0048] The inside of the guide rail 143 is provided with a circular arc protrusion made of self-lubricating material. By arranging the lubricating protrusion on the side surface of the guide rail 143, the contact area between the guide rail 143 and the roller shutter door 14 is reduced, and the friction generated when the roller shutter door 14 moves is reduced.

[0049] The conveying bearing mechanism 17 comprises a layered carrier 171, a row of parallel conveying rollers 172 are rotatably arranged on the carrier 171 through bearing seats, the shaft cores of one ends of the conveying rollers 172 pass through the bearing seats and are sleeved with synchronous wheels 173, and a row of conveying rollers 172 are drivingly connected through a belt 174 sleeved on the synchronous wheels 173, the shaft cores of the other ends of one of the conveying rollers 172 pass through the bearing seats and are sleeved with pulleys, and the pulleys are drivingly connected with a group of conveying driving mechanisms 16, photoelectric sensors 175 are arranged at the front and rear ends of the carrier 171, the front and rear photoelectric sensors 175 commonly used in the market are arranged on each layer of the conveying bearing mechanism 17, so that the conveying bearing mechanism 17 can judge the position of the medical articles when taking or placing the medical articles, and only when the medical articles are completely sent out or completely placed in the storage bin can the next operation be started, thereby improving the intelligent effect of the transfer robot and avoiding the falling of the delivered articles.

[0050] The lifting mechanism 3 comprises a base frame 31 mounted on the conveying chassis 2, a rack 32 formed by cross combination is arranged on the base frame 31, an electric cylinder 33 is arranged on the rack 32, a top frame 34 is arranged at the top of the rack 32, the top frame 34 is mounted on the storage and conveying bin 1, a roller 35 is rotatably arranged on the rack 32, the roller 35 is rollingly arranged on the base frame 31, and a third travel switch 36 and a fourth travel switch 37 are arranged on the front and rear of the roller 35, respectively, when the transfer robot delivers the medical articles, the height of the lifting mechanism 3 can be adjusted by controlling the electric cylinder 33, so that the storage bin on which the medical articles are placed is aligned with the platform for placing or taking the articles, and the medical articles can be smoothly taken or placed, thereby reducing the influence of the different platform heights on the transfer robot.

[0051] The conveying chassis 2 comprises a base 21, driving wheels 22 and universal wheels 23 are arranged at the bottom of the base 21, a follow-up shell 24 is arranged at the top of the base 21, laser radars 25 are arranged on the front and rear of the follow-up shell 24 and mounted on the base 21, and mounting seats 26 are arranged at the four corners of the follow-up shell 24, the front and rear of the transfer robot are detected by the commonly used laser radars 25, the driving path of the transfer robot is determined at the same time, and the safety of the transfer robot in the hospital is improved.

[0052] The working principle is that when the transfer robot is used, the transfer robot is first set through the operation console 12, after the setting is completed, the transfer robot controls the running of the transport chassis 2 to the target position of taking and placing, then the distance between the transfer robot and the target platform is detected by using the binocular camera 13 and the laser probe 15, and the height of the storage compartment of the transfer robot is controlled, when the transfer robot is close to the placing platform, and one of the storage compartments is lifted to be flush with the placing platform through the lifting mechanism 3, the door opening motor 18 starts to drive the roller shutter door 14 to open, when the roller shutter door 14 is completely opened, the transmission driving mechanism 16 starts to drive the transmission carrying mechanism 17 in the storage compartment flush with the placing platform to run, and the medical articles are taken and placed, after the taking and placing are completed, the transmission carrying mechanism 17 stops running, and then the roller shutter door 14 is closed by using the door opening motor 18, and the taking and placing process of the medical articles is completed, then the next target position is moved to start the next taking and placing process.

[0053] Although the embodiments of the present application have been shown and described, it is to be understood that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present application, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An elevating transfer robot, characterized by, Include: The store and transport warehouse (1) and the transport bottom dish (2) are connected by the lifting mechanism (3) installed between the store and transport warehouse (1) and the transport bottom dish (2); The store and transport warehouse (1) includes a shell (11), the shell (11) is provided with a box (20) opened in front, the front of the shell (11) is provided with a notch, each notch is provided with a roller shutter door (14), and the roller shutter doors (14) are separated by a layer plate (19) in the box (20) to form a storage space corresponding to the position of the roller shutter door (14), the outer wall of the side of the box (20) is provided with an opening motor (18) corresponding to each layer of roller shutter door (14), and the inner wall of the shell (11) is separated into three groups of transmission drive mechanisms (16) corresponding to the position of the roller shutter door (14), and each group of transmission drive mechanisms (16) is respectively connected with a group of transmission drive mechanisms (17).

2. The lifting transfer robot according to claim 1, wherein The front of the shell (11) is provided with a laser probe (15) beside each roller shutter door (14), and the front of the shell (11) is provided with a binocular camera (13) near the top.

3. The lifting transfer robot according to claim 1, wherein The top of the shell (11) is provided with a control console (12), the control console (12) includes a console shell (121) installed on the top of the shell (11), the console shell (121) is provided with a display (122), and the top of the display (122) is inclined.

4. The lifting transfer robot according to claim 1, wherein, The transmission drive mechanism (16) includes a transmission motor (161) installed on the bracket, the output shaft of the transmission motor (161) is provided with a driving wheel (162), the driving wheel (162) is provided with a synchronous belt (163), and the driving wheel (162) is connected with a group of transmission drive mechanisms (17) through the synchronous belt (163).

5. The lifting transfer robot according to claim 1, wherein, The roller shutter door (14) includes a sliding door cover (141), the inner side of the door cover (141) is provided with a rack (142), the output shaft of the opening motor (18) is provided with a gear engaged with the rack (142), the inside of the door cover (141) is provided with a door strip (144), the bottom and top of the door strip (144) are provided with a guide rail (143) for sliding, the guide rail (143) is installed on the layer plate (19), and the two ends of the guide rail (143) are respectively provided with a first travel switch (145) and a second travel switch (146) through the bracket outside the box (20).

6. The lifting transfer robot according to claim 5, wherein, The inside of the guide rail (143) is provided with a circular arc protrusion, and the circular arc protrusion is made of self-lubricating material.

7. The lifting transfer robot according to claim 1, wherein, The conveying bearing mechanism (17) comprises a layered carrier (171), a row of parallel conveying rollers (172) are rotatably arranged on the carrier (171) through bearing seats, the shaft cores of one ends of the conveying rollers (172) pass through the bearing seats and are sleeved with synchronous wheels (173), a row of the conveying rollers (172) are drivingly connected through a belt (174) sleeved on the synchronous wheels (173), the shaft cores of the other ends of one of the conveying rollers (172) pass through bearing seats and are sleeved with pulleys and are drivingly connected with a group of conveying driving mechanisms (16), photoelectric sensors (175) are arranged at the front and rear ends of the carrier (171).

8. The lifting transfer robot of claim 1, wherein, The lifting mechanism (3) comprises a base frame (31) mounted on the conveying chassis (2), a rack (32) formed by cross combination is arranged on the base frame (31), two electric cylinders (33) are arranged on the rack (32), a top frame (34) is arranged on the top of the rack (32), the top frame (34) is mounted on the storage and conveying bin (1), a roller (35) is rotatably arranged on the rack (32), the roller (35) is rollingly arranged on the base frame (31), and a third travel switch (36) and a fourth travel switch (37) are arranged on the front and rear of the roller (35) respectively.

9. The lifting transfer robot of claim 1, wherein, The conveying chassis (2) comprises a base (21), drive wheels (22) and universal wheels (23) are arranged on the bottom of the base (21) respectively, a follow-up shell (24) is arranged on the top of the base (21), laser radars (25) are arranged on the front and rear of the follow-up shell (24) and are mounted on the base (21), mounting seats (26) are arranged at the four corners of the follow-up shell (24).

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