Walking mechanism of medicine taking robot

Abstract

The utility model relates to the technical field of medicine taking robots, in particular to a walking mechanism of a medicine taking robot, which comprises a main body frame, a driving ball wheel and a driving component, a middle layer plate is arranged on the inner side of the main body frame, a bottom layer plate is arranged at the bottom of the middle layer plate, and universal wheels are arranged at four corners of the bottom of the bottom layer plate. Driving ball wheels are arranged in the space between the middle-layer plate and the bottom-layer plate, driving assemblies used for driving the driving ball wheels to roll are arranged above the bottom-layer plate, and the two driving assemblies are arranged and are perpendicular to each other on the horizontal plane; the driving ball wheel is arranged to serve as a driving mechanism, the universal wheel is assisted for supporting, the driving assembly can drive the universal wheel to rotate in the horizontal direction in the two rotating directions with the axes perpendicular to each other, and therefore the main body frame can move on the ground, the mechanical arm is conveyed to all corners of a pharmacy to take and use medicine, and the medicine taking efficiency is improved. Therefore, the medicine taking robot can be used in a place with multiple rows of medicine cabinets.

Description

Technical Field

[0001] This utility model relates to the field of medicine dispensing robot technology, and in particular to the walking mechanism of medicine dispensing robot. Background Technology

[0002] The pharmacy is one of the important departments of a hospital, but for a long time, the functional model of most hospital pharmacies has simply been to collect prescriptions and dispense medications. Due to the large number of prescriptions dispensed by primary care pharmacists, their workload is high, and they are also bound by traditional concepts, so their role in medication guidance is limited. With the development and progress of automation technology, the automation of hospital pharmacies has become an important development trend, and medication dispensing robots are one such application.

[0003] The medication dispensing robot is connected to the medical department's information system. The device is controlled by a computer according to the patient's prescription instructions to sort, locate, select, and automatically dispense medications in batches using AI visual verification. After attaching "medication instructions," the robot is handed to the patient. This device can significantly improve medication dispensing efficiency, reduce patient queues, and also ensure the safety and accuracy of medication dispensing.

[0004] Currently, most medicine retrieval robots consist of a multi-degree-of-freedom robotic arm and a walking mechanism that moves the robotic arm. The walking mechanism is mostly a guide rail that can move horizontally and vertically. This way of moving means that the robotic arm can only be used in a row of medicine cabinets. When there are many medicines, one row of medicine cabinets is not enough, so multiple rows of medicine cabinets need to be set up. The existing walking mechanism of medicine retrieval robots is difficult to serve this scenario. Utility Model Content

[0005] To overcome the problem that most medicine retrieval robots use guide rails that can move horizontally and vertically, which means that the robotic arm can only be used in a row of medicine cabinets, and when there are many medicines, one row of medicine cabinets is not enough, multiple rows of medicine cabinets need to be set up. The existing medicine retrieval robot walking mechanism is difficult to serve this scenario.

[0006] The technical solution of this utility model is as follows: the walking mechanism of the medicine dispensing robot includes a main frame, drive ball wheels and drive components. A middle plate is provided on the inner side of the main frame, a bottom plate is provided at the bottom of the middle plate, universal wheels are provided at the four corners of the bottom of the bottom plate, drive ball wheels are provided in the space between the middle plate and the bottom plate, the drive ball wheels are in rolling connection with the middle plate and the bottom plate, the universal wheels and drive ball wheels are in contact with the flat ground at the same time, and a drive component for driving the drive ball wheels to roll is provided above the bottom plate. Two sets of drive components are provided and are perpendicular to each other on the horizontal plane.

[0007] Preferably, a limiting opening is provided at the connection between the middle plate and the bottom plate and the drive ball wheel, and the limiting opening fits the spherical surface of the drive ball wheel.

[0008] Preferably, a ball bearing is provided at the contact point between the limiting port and the drive ball wheel. Multiple sets of balls are arranged equidistantly around the limiting port, and the balls are in rolling connection with the middle or bottom plate.

[0009] Preferably, the drive assembly includes a drive roller and a second motor, a sliding frame is provided above the bottom plate, a drive roller is provided on the side of the sliding frame near the drive ball wheel, the surface of the drive roller is made of rubber, and a second motor is provided on the inner side of the sliding frame.

[0010] Preferably, a linear guide rail is provided at the connection between the sliding frame and the bottom plate and the middle plate, and a first pulley is provided on the rotation shaft of the drive roller and the output shaft of the second motor, and a first transmission belt is provided between the two sets of first pulleys.

[0011] Preferably, a threaded screw is provided on the side of the sliding frame away from the drive ball wheel, and a mounting plate is provided on one side of the sliding frame. The mounting plate is fixedly connected to the middle plate and the bottom plate, and an clearance opening is provided at the connection between the mounting plate and the threaded screw.

[0012] Preferably, the output shaft of the first motor is provided with a second pulley, one end of the threaded screw is provided with a rotating block, the rotating block is threadedly connected to the threaded screw, a second transmission belt is provided between the rotating block and the second pulley, and a limit seat is provided on the outside of the rotating block, the limit seat is fixedly connected to the mounting plate.

[0013] The beneficial effects of this utility model are:

[0014] By setting a drive ball wheel as the drive mechanism and supplementing it with omnidirectional wheels for support, the drive component can drive the omnidirectional wheels to rotate in the horizontal direction with two axes perpendicular to each other, so that the main frame can move on the ground and transport the robotic arm to various corners of the pharmacy to retrieve medicines, thus enabling the medicine retrieval robot to be used in places with multiple rows of medicine cabinets. Attached Figure Description

[0015] Figure 1 The diagram shown is a three-dimensional structural schematic of this utility model;

[0016] Figure 2 The diagram shown is a three-dimensional structural diagram of the middle layer plate of this utility model;

[0017] Figure 3 The diagram shown is a three-dimensional structural schematic of the drive ball wheel of this utility model;

[0018] Figure 4 The diagram shown is a three-dimensional structural schematic of the drive component of this utility model.

[0019] Figure 5 The diagram shown is a three-dimensional structural schematic of the first motor of this utility model.

[0020] Explanation of reference numerals in the attached drawings: 1. Main frame; 2. Caster wheel; 3. Drive ball wheel; 4. First motor; 5. Drive roller; 6. Second motor; 7. Linear guide rail; 101. Middle layer plate; 102. Bottom layer plate; 103. Limiting port; 104. Ball bearing; 105. Mounting plate; 401. Rotating block; 402. Second pulley; 403. Second transmission belt; 404. Threaded screw; 405. Limiting seat; 501. First pulley; 502. First transmission belt; 503. Sliding frame. Detailed Implementation

[0021] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0022] Please see Figures 1-5 This utility model provides an embodiment of a walking mechanism for a medicine-dispensing robot, comprising a main frame 1, drive wheels 3, and a drive assembly. A middle layer plate 101 is provided on the inner side of the main frame 1, and a bottom layer plate 102 is provided at the bottom of the middle layer plate 101. Universal wheels 2 are provided at the four corners of the bottom of the bottom layer plate 102. Drive wheels 3 are provided in the space between the middle layer plate 101 and the bottom layer plate 102, and the drive wheels 3 are in rolling connection with the middle layer plate 101 and the bottom layer plate 102. The universal wheels 2 and the drive wheels 3 simultaneously contact the flat ground. A drive assembly for driving the drive wheels 3 is provided above the bottom layer plate 102. Two sets of drive assemblies are provided and are perpendicular to each other on the horizontal plane. By setting the drive wheels 3 as the drive mechanism and supplementing them with the universal wheels 2 for support, the drive assembly can drive the universal wheels 2 to rotate in the horizontal direction in two mutually perpendicular rotational directions, thereby allowing the main frame 1 to move on the ground and transport the robotic arm to various corners of the pharmacy to retrieve medicines. This allows the medicine-dispensing robot to be used in locations with multiple rows of medicine cabinets.

[0023] Please see Figure 3 In this embodiment, a limiting opening 103 is provided at the connection between the middle plate 101 and the bottom plate 102 and the drive ball wheel 3. The limiting opening 103 fits the spherical surface of the drive ball wheel 3. A ball bearing 104 is provided at the contact point between the limiting opening 103 and the drive ball wheel 3. Multiple sets of balls bearing 104 are arranged equidistantly around the limiting opening 103. The balls bearing 104 are in rolling connection with the middle plate 101 or the bottom plate 102. The limiting opening 103 that fits the drive ball wheel 3 can clamp the drive ball wheel 3 between the middle plate 101 and the bottom plate 102. The limiting opening 103 can reduce the friction between the drive ball wheel 3 and the limiting opening 103 when it rolls.

[0024] Please see Figures 3-5In this embodiment, the driving assembly includes a driving roller 5 and a second motor 6. A sliding frame 503 is provided above the bottom plate 102. The driving roller 5 is provided on the side of the sliding frame 503 near the driving ball wheel 3. The surface of the driving roller 5 is made of rubber. The second motor 6 is provided on the inner side of the sliding frame 503. A linear guide rail 7 is provided at the connection between the sliding frame 503 and the bottom plate 102 and the middle plate 101. The rotation shaft of the driving roller 5 and the output shaft of the second motor 6 are provided with first pulleys 501. Two sets of first pulleys... A first transmission belt 502 is provided between the wheels 501. A threaded screw 404 is provided on the side of the sliding frame 503 away from the drive ball wheel 3. A mounting plate 105 is provided on one side of the sliding frame 503. The mounting plate 105 is fixedly connected to the middle plate 101 and the bottom plate 102. An clearance opening is provided at the connection between the mounting plate 105 and the threaded screw 404. A second pulley 402 is provided on the output shaft of the first motor 4. A rotating block 401 is provided at one end of the threaded screw 404. The rotating block 401 and the threaded screw 404 are connected. The rotating block 401 is connected by a thread, and a second transmission belt 403 is provided between the rotating block 401 and the second pulley 402. A limit seat 405 is provided on the outer side of the rotating block 401, and the limit seat 405 is fixedly connected to the mounting plate 105. When the device moves, the second motor 6 uses the first pulley 501 and the first transmission belt 502 to drive the drive roller 5 to rotate. The friction between the drive roller 5 and the drive ball wheel 3 drives the drive ball wheel 3 to rotate, and the friction between the drive ball wheel 3 and the ground drives the main frame 1 to move. When lateral movement is required, a set of first motors 4 uses the second pulley 402 and the second transmission belt 403 to drive the rotating block 401 to rotate. The threaded connection between the rotating block 401 and the threaded screw 404 drives the sliding frame 503 away from the drive ball wheel 3 under the guidance of the linear guide rail 7. At the same time, another set of first motors 4 drives another set of sliding frames 503 to approach the drive ball wheel 3 and make the drive roller 5 contact the drive ball wheel 3 to realize the clutch function. The direction of travel is switched by using different drive rollers 5 to contact the drive ball wheel 3.

[0025] When the device is in use, the robotic arm is mounted above the main frame 1. When moving forward or backward, the second motor 6 uses the first pulley 501 and the first transmission belt 502 to drive the drive roller 5 to rotate. The friction between the drive roller 5 and the drive ball wheel 3 drives the drive ball wheel 3 to rotate, and the friction between the drive ball wheel 3 and the ground causes the main frame 1 to move. When moving laterally, a set of first motors 4 uses the second pulley 402 and the second transmission belt 403 to drive the rotating block 401 to rotate. The rotating block 401 is connected to the threaded screw 404, which drives the sliding frame 503 away from the drive ball wheel 3 under the guidance of the linear guide rail 7. At the same time, another set of first motors 4 drives another set of sliding frames 503 to approach the drive ball wheel 3 and make the drive roller 5 contact the drive ball wheel 3, realizing the clutch function. The direction of travel is switched by using different drive rollers 5 to contact the drive ball wheel 3. The combination of the two vertical directions can transport the robotic arm above the main frame 1 to various corners of the pharmacy.

[0026] Through the above steps, by setting the drive ball wheel 3 as the drive mechanism and supplementing it with the universal wheel 2 for support, the drive component can drive the universal wheel 2 to rotate in the horizontal direction with two axes perpendicular to each other, so that the main frame 1 can move on the ground and transport the robotic arm to various corners of the pharmacy to retrieve medicines, so that the medicine retrieval robot can be used in places with multiple rows of medicine cabinets.

Claims

1. A walking mechanism of a medicine taking robot, comprising a main body frame (1); characterized in that: It also includes a drive ball wheel (3) and a drive assembly. A middle plate (101) is provided on the inner side of the main frame (1). A bottom plate (102) is provided at the bottom of the middle plate (101). Universal wheels (2) are provided at the four corners of the bottom of the bottom plate (102). A drive ball wheel (3) is provided in the space between the middle plate (101) and the bottom plate (102). The drive ball wheel (3) is tumblingly connected to the middle plate (101) and the bottom plate (102). The universal wheels (2) and the drive ball wheel (3) are in contact with the flat ground at the same time. A drive assembly for driving the drive ball wheel (3) is provided above the bottom plate (102). Two sets of drive assemblies are provided and are perpendicular to each other on the horizontal plane.

2. The traveling mechanism of the medicine dispensing robot according to claim 1, characterized in that: A limiting opening (103) is provided at the connection between the middle plate (101) and the bottom plate (102) and the drive ball wheel (3), and the limiting opening (103) fits the spherical surface of the drive ball wheel (3).

3. The traveling mechanism of the pill dispensing robot according to claim 2, characterized in that: A ball bearing (104) is provided at the contact point between the limiting port (103) and the drive ball wheel (3). Multiple sets of balls bearing (104) are arranged equidistantly around the limiting port (103). The balls bearing (104) are in rolling connection with the middle plate (101) or the bottom plate (102).

4. The medication-fetching robot of claim 1, wherein: The drive assembly includes a drive roller (5) and a second motor (6). A sliding frame (503) is provided above the bottom plate (102). The drive roller (5) is provided on the side of the sliding frame (503) near the drive ball wheel (3). The surface of the drive roller (5) is made of rubber. The second motor (6) is provided on the inner side of the sliding frame (503).

5. The medication-fetching robot according to claim 4, wherein: A linear guide rail (7) is provided at the connection between the sliding frame (503) and the bottom plate (102) and the middle plate (101). The rotation shaft of the drive roller (5) and the output shaft of the second motor (6) are provided with a first pulley (501). A first transmission belt (502) is provided between the two sets of first pulleys (501).

6. The medication-fetching robot according to claim 4, wherein: A threaded screw (404) is provided on the side of the sliding frame (503) away from the drive ball wheel (3), and a mounting plate (105) is provided on one side of the sliding frame (503). The mounting plate (105) is fixedly connected to the middle plate (101) and the bottom plate (102). An avoidance opening is provided at the connection between the mounting plate (105) and the threaded screw (404).

7. The medication-fetching robot according to claim 6, wherein: The output shaft of the first motor (4) is provided with a second pulley (402), and a rotating block (401) is provided at one end of the threaded screw (404). The rotating block (401) is threadedly connected to the threaded screw (404). A second transmission belt (403) is provided between the rotating block (401) and the second pulley (402). A limit seat (405) is provided on the outside of the rotating block (401). The limit seat (405) is fixedly connected to the mounting plate (105).

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