技术领域Technical Field
本发明涉及智慧医院输送设备技术领域，尤其是一种应用于智慧医院的结构可调式输料用机器人。The present invention relates to the technical field of smart hospital conveying equipment, and in particular to a structurally adjustable material conveying robot used in smart hospitals.
背景技术Background technique
智慧医院是一种创新型医院，主要运用云计算、大数据、物联网、移动互联网和人工智能等技术，通过建立智能化的医疗服务环境、整合医疗资源、优化医疗服务流程、规范诊疗行为、提高诊疗效率、辅助临床决策和医院管理决策，从而提升患者就医的便利性，增强医疗服务的智能化程度。为了提升医院内部的物资输送能力，越来越多的医院采用运输机器人进行物资输送，但是现有的运输机器人分为悬空式和地载式两种，这两种的区别在于一个采用悬挂顶部输送，而另一个如市面上常见的输送机器人采用在地面运行的方式。目前的地载式机器人为了增加载货量，都会增大其收纳体积，但是过大的收纳体积在运输过程中，尤其是在空间较为狭小的，比如电梯内部，会极大的占用有限的空间，十分不方便，但是如果将机器人设置成立式结构，又会大大降低其行驶的稳定性。A smart hospital is an innovative hospital that mainly uses technologies such as cloud computing, big data, the Internet of Things, mobile Internet, and artificial intelligence to establish an intelligent medical service environment, integrate medical resources, optimize medical service processes, standardize diagnosis and treatment behaviors, improve diagnosis and treatment efficiency, and assist clinical decision-making and hospital management decisions, thereby improving the convenience of patients' medical treatment and enhancing the intelligence of medical services. In order to improve the material transportation capacity within the hospital, more and more hospitals use transport robots for material transportation. However, the existing transport robots are divided into two types: suspended and ground-mounted. The difference between the two types is that one uses a suspended top transport, while the other, like the common transport robots on the market, uses a ground-mounted operation. In order to increase the cargo capacity, the current ground-mounted robots will increase their storage volume. However, the excessive storage volume will greatly occupy the limited space during transportation, especially in a relatively small space, such as inside an elevator, which is very inconvenient. However, if the robot is set as a vertical structure, its driving stability will be greatly reduced.
发明内容Summary of the invention
本发明要解决的技术问题是：目前的地载式机器人为了增加载货量，都会增大其收纳体积，但是过大的收纳体积在运输过程中，尤其是在空间较为狭小的，比如电梯内部，会极大的占用有限的空间，十分不方便，但是如果将机器人设置成立式结构，又会大大降低其行驶的稳定性。The technical problem to be solved by the present invention is that current ground-mounted robots will increase their storage volume in order to increase their cargo capacity. However, an excessively large storage volume will greatly occupy the limited space during transportation, especially in a relatively small space, such as inside an elevator, which is very inconvenient. However, if the robot is set as a stand-up structure, its driving stability will be greatly reduced.
本发明解决其技术问题所采用的技术方案是：一种应用于智慧医院的结构可调式输料用机器人，包括主机架、第一收纳箱体、第二收纳箱体和第三收纳箱体，所述主机架包括X型结构的底部支撑架、安装在底部支撑架上端的中置装配框、固定在中置装配框上端两侧用于装配第一收纳箱体、第二收纳箱体、第三收纳箱体的侧向电控升降框和安装在侧向电控升降框外侧的角度调节机构。The technical solution adopted by the present invention to solve its technical problems is: a structurally adjustable material feeding robot used in smart hospitals, comprising a main frame, a first storage box, a second storage box and a third storage box, the main frame comprising an X-shaped bottom support frame, a central assembly frame installed on the upper end of the bottom support frame, lateral electric-controlled lifting frames fixed on both sides of the upper end of the central assembly frame for assembling the first storage box, the second storage box and the third storage box, and an angle adjustment mechanism installed on the outside of the lateral electric-controlled lifting frames.
所述的中置装配框下表面两侧均具有向下凸起的底部调节导轨，所述底部调节导轨内部活动装配有电控丝杆，所述电控丝杆通过底部控制连杆与底部支撑架活动连接。Both sides of the lower surface of the central assembly frame are provided with downwardly protruding bottom adjustment rails, and an electric control screw rod is movably installed inside the bottom adjustment rail, and the electric control screw rod is movably connected to the bottom support frame through a bottom control connecting rod.
所述侧向电控升降框包括固定在中置装配框两侧的底部装配支架、滑动安装在底部装配支架上用于安装第二收纳箱体的第一电控升降框和滑动安装在第一电控升降框上用于安装第三收纳箱体的第二电控升降框。The lateral electrically-controlled lifting frame includes bottom assembly brackets fixed on both sides of the central assembly frame, a first electrically-controlled lifting frame slidably mounted on the bottom assembly brackets for mounting a second storage box, and a second electrically-controlled lifting frame slidably mounted on the first electrically-controlled lifting frame for mounting a third storage box.
所述角度调节机构包括分别活动装配在两侧的底部装配支架、第一电控升降框和第二电控升降框侧壁上的第一侧向电控撑杆与第二侧向电控撑杆，所述第一侧向电控撑杆和第二侧向电控撑杆的伸出端分别与第一收纳箱体、第二收纳箱体、第三收纳箱体两侧面活动连接。The angle adjustment mechanism includes a bottom assembly bracket movably assembled on both sides, a first lateral electrically controlled support rod and a second lateral electrically controlled support rod on the side walls of the first electrically controlled lifting frame and the second electrically controlled lifting frame, and the extending ends of the first lateral electrically controlled support rod and the second lateral electrically controlled support rod are movably connected to the side surfaces of the first storage box, the second storage box, and the third storage box, respectively.
所述第一收纳箱体、第二收纳箱体、第三收纳箱体两侧壁上均固定有两个用于安装第一侧向电控撑杆和第二侧向电控撑杆的对角线安装轴。Two diagonal installation shafts for installing the first lateral electric-controlled support rod and the second lateral electric-controlled support rod are fixed on both side walls of the first storage box, the second storage box and the third storage box.
所述第一收纳箱体、第二收纳箱体、第三收纳箱体内部安装有侧拉式收纳盒体。The first storage box, the second storage box and the third storage box are internally installed with side-pull storage boxes.
所述第一收纳箱体、第二收纳箱体、第三收纳箱体上的两侧的对角线安装轴采用对角线设置。The diagonal installation axes on both sides of the first storage box, the second storage box and the third storage box are arranged diagonally.
所述底部支撑架下表面位于端部位置固定套接有底侧驱动机构。The lower surface of the bottom support frame is fixedly sleeved with a bottom driving mechanism at an end position.
所述中置装配框上表面两侧固定装配有角度可调式光学探头。Angle-adjustable optical probes are fixedly mounted on both sides of the upper surface of the central assembly frame.
本发明的有益效果是：The beneficial effects of the present invention are:
（1）本发明的一种应用于智慧医院的结构可调式输料用机器人通过采用可变宽度设计，可以在狭小空间下将整体结构进行抬升收窄，从而方便机器人在狭窄空间内使用；(1) The structure-adjustable material feeding robot used in a smart hospital of the present invention adopts a variable width design, which can lift and narrow the entire structure in a narrow space, thereby facilitating the use of the robot in a narrow space;
（2）在X型结构的底部支撑架上端安装中置装配框，可以保证机器人在调节时的稳定性；(2) Installing a central assembly frame on the upper end of the bottom support frame of the X-shaped structure can ensure the stability of the robot during adjustment;
（3）通过在中置装配框底部安装用于控制底部支撑架调节的底部调节导轨、电控丝杆和底部控制连杆，可以大大降低整个调节装置的重心，提升设备的稳定性；(3) By installing a bottom adjustment rail, an electric control screw rod and a bottom control connecting rod for controlling the adjustment of the bottom support frame at the bottom of the central assembly frame, the center of gravity of the entire adjustment device can be greatly lowered and the stability of the equipment can be improved;
（4）通过根据适用场景来改变整个机器人的高度和宽度，大大提升其在不同场景下的适应性，提升输送过程中的稳定性；(4) By changing the height and width of the entire robot according to the applicable scenario, its adaptability in different scenarios is greatly improved, and the stability during the conveying process is improved;
（5）第一电控升降框和第二电控升降框采用可升降式设计，可以缩减横置状态下的间隙，方便人们拿取操作；(5) The first electric-controlled lifting frame and the second electric-controlled lifting frame are designed to be liftable, which can reduce the gap in the horizontal state and facilitate people to take and operate;
（6）通过第一收纳箱体、第二收纳箱体、第三收纳箱体两侧的对角线安装轴来安装侧向稳定支架，不仅可以提升第一收纳箱体、第二收纳箱体、第三收纳箱体的稳定性；(6) Installing the lateral stabilizing bracket through the diagonal mounting axes on both sides of the first storage box, the second storage box, and the third storage box can not only improve the stability of the first storage box, the second storage box, and the third storage box;
（7）整个机器人的收纳箱体采用侧向式设计，在翻转时开口朝上，安全性大大提升。(7) The storage box of the entire robot adopts a side-type design, and the opening faces upward when flipped, which greatly improves safety.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
下面结合附图和实施例对本发明进一步说明。The present invention is further described below in conjunction with the accompanying drawings and embodiments.
图1是本发明横置布局下的前侧结构示意图。FIG. 1 is a schematic diagram of the front structure of the present invention in a horizontal layout.
图2是本发明横置布局下的后侧结构示意图。FIG. 2 is a schematic diagram of the rear structure of the present invention under the horizontal layout.
图3是本发明的局部结构示意图。FIG. 3 is a schematic diagram of a partial structure of the present invention.
图4是本发明中翻转竖立状态下的侧视图。FIG. 4 is a side view of the present invention in a flipped upright state.
具体实施方式Detailed ways
现在结合附图对本发明作进一步详细的说明。这些附图均为简化的示意图，仅以示意方式说明本发明的基本结构，因此其仅显示与本发明有关的构成。The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, which only illustrate the basic structure of the present invention in a schematic manner, and therefore only show the components related to the present invention.
在本发明的描述中，需要说明的是，除非另有明确的规定和限定，术语“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本发明中的具体含义。In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.
图1、图2、图3图4所示的一种应用于智慧医院的结构可调式输料用机器人，包括主机架、第一收纳箱体1、第二收纳箱体2和第三收纳箱体3，主机架包括X型结构的底部支撑架4、安装在底部支撑架4上端的中置装配框5、固定在中置装配框5上端两侧用于装配第一收纳箱体1、第二收纳箱体2、第三收纳箱体3的侧向电控升降框和安装在侧向电控升降框外侧的角度调节机构。A structurally adjustable material conveying robot used in smart hospitals as shown in Figures 1, 2, 3 and 4 includes a main frame, a first storage box 1, a second storage box 2 and a third storage box 3. The main frame includes an X-shaped bottom support frame 4, a central assembly frame 5 installed on the upper end of the bottom support frame 4, lateral electric-controlled lifting frames fixed on both sides of the upper end of the central assembly frame 5 for assembling the first storage box 1, the second storage box 2 and the third storage box 3, and an angle adjustment mechanism installed on the outside of the lateral electric-controlled lifting frames.
为了配合翻转调节，中置装配框5下表面两侧均具有向下凸起的底部调节导轨6，底部调节导轨6内部活动装配有电控丝杆7，电控丝杆7通过底部控制连杆8与底部支撑架4活动连接。In order to cooperate with the flip adjustment, both sides of the lower surface of the central assembly frame 5 are provided with downwardly protruding bottom adjustment guide rails 6, and the bottom adjustment guide rails 6 are movably equipped with an electric control screw rod 7, which is movably connected to the bottom support frame 4 through a bottom control connecting rod 8.
电控丝杆7通过转动，带动其外侧的内螺纹调节块来控制底部控制连杆8挤压底部支撑架4，从而改变底部支撑架4的角度，当电控丝杆7控制内螺纹调节块，从而带动底部控制连杆8向内挤压底部支撑架4，从而控制底部支撑架4向外翻转，这样就可以控制机器人变宽，这时候第一收纳箱体1、第二收纳箱体2和第三收纳箱体3下降平铺，从而形成高稳定性的低位结构；当电控丝杆7控制内螺纹调节块，从而带动底部控制连杆8向外拉扯底部支撑架4，从而控制底部支撑架4向内侧翻转，这样就可以控制机器人变窄，同时角度调节机构控制第一收纳箱体1、第二收纳箱体2和第三收纳箱体3翻转，侧向电控升降框控制抬升，带动抬升纵置布局，从而形成低稳定性的高位结构。The electric-controlled screw rod 7 rotates to drive the internal threaded adjustment block on its outer side to control the bottom control link 8 to squeeze the bottom support frame 4, thereby changing the angle of the bottom support frame 4. When the electric-controlled screw rod 7 controls the internal threaded adjustment block, it drives the bottom control link 8 to squeeze the bottom support frame 4 inward, thereby controlling the bottom support frame 4 to flip outward, so that the robot can be controlled to become wider. At this time, the first storage box 1, the second storage box 2 and the third storage box 3 are lowered and laid flat, thereby forming a low-level structure with high stability; when the electric-controlled screw rod 7 controls the internal threaded adjustment block, it drives the bottom control link 8 to pull the bottom support frame 4 outward, thereby controlling the bottom support frame 4 to flip inward, thus the robot can be controlled to become narrower. At the same time, the angle adjustment mechanism controls the flipping of the first storage box 1, the second storage box 2 and the third storage box 3, and the lateral electric-controlled lifting frame controls the lifting, driving the lifting of the longitudinal layout, thereby forming a high-level structure with low stability.
侧向电控升降框包括固定在中置装配框5两侧的底部装配支架9、滑动安装在底部装配支架9上用于安装第二收纳箱体2的第一电控升降框10和滑动安装在第一电控升降框10上用于安装第三收纳箱体3的第二电控升降框11。The lateral electric lifting frame includes a bottom assembly bracket 9 fixed on both sides of the central assembly frame 5, a first electric lifting frame 10 slidably installed on the bottom assembly bracket 9 for installing the second storage box 2, and a second electric lifting frame 11 slidably installed on the first electric lifting frame 10 for installing the third storage box 3.
第一收纳箱体1通过两侧装配轴活动装配在底部装配支架9内侧，第二收纳箱体2通过两侧装配轴活动装配在第一电控升降框10内侧，第三收纳箱体3通过两侧装配轴活动装配在第二电控升降框11内侧。The first storage box 1 is movably assembled on the inner side of the bottom assembly bracket 9 through the assembly shafts on both sides, the second storage box 2 is movably assembled on the inner side of the first electric control lifting frame 10 through the assembly shafts on both sides, and the third storage box 3 is movably assembled on the inner side of the second electric control lifting frame 11 through the assembly shafts on both sides.
第一电控升降框10和第二电控升降框11均由底部升降撑杆、固定在底部升降撑杆伸出端上的顶部套框和固定在顶部套框上的纵置装配框构成，第一电控升降框10和第二电控升降框11的安装角度相反，这样可以有效缩小其侧向的空间利用率。The first electrically-controlled lifting frame 10 and the second electrically-controlled lifting frame 11 are both composed of a bottom lifting support rod, a top sleeve frame fixed on the protruding end of the bottom lifting support rod, and a longitudinal assembly frame fixed on the top sleeve frame. The installation angles of the first electrically-controlled lifting frame 10 and the second electrically-controlled lifting frame 11 are opposite, which can effectively reduce the lateral space utilization rate.
为了配合高度调节，角度调节机构包括分别活动装配在两侧的底部装配支架9、第一电控升降框10和第二电控升降框11侧壁上的第一侧向电控撑杆12与第二侧向电控撑杆13，所述第一侧向电控撑杆12和第二侧向电控撑杆13的伸出端分别与第一收纳箱体1、第二收纳箱体2、第三收纳箱体3两侧面活动连接。In order to cooperate with the height adjustment, the angle adjustment mechanism includes a bottom assembly bracket 9, a first lateral electric control support rod 12 and a second lateral electric control support rod 13 on the side walls of the first electric control lifting frame 10 and the second electric control lifting frame 11, respectively movably assembled on both sides, and the protruding ends of the first lateral electric control support rod 12 and the second lateral electric control support rod 13 are respectively movably connected to the side surfaces of the first storage box 1, the second storage box 2, and the third storage box 3.
第一侧向电控撑杆12和第二侧向电控撑杆13分别设置在两侧的底部装配支架9、第一电控升降框10和第二电控升降框11上，采用错位设置，可以保证第一收纳箱体1、第二收纳箱体2、第三收纳箱体3转动时的稳定性。The first lateral electrically-controlled support rod 12 and the second lateral electrically-controlled support rod 13 are respectively arranged on the bottom assembly bracket 9, the first electrically-controlled lifting frame 10 and the second electrically-controlled lifting frame 11 on both sides. The staggered arrangement can ensure the stability of the first storage box 1, the second storage box 2 and the third storage box 3 during rotation.
为了配合侧向装配，第一收纳箱体1、第二收纳箱体2、第三收纳箱体3两侧壁上均固定有两个用于安装第一侧向电控撑杆12和第二侧向电控撑杆13的对角线安装轴14。In order to facilitate lateral assembly, two diagonal mounting shafts 14 for mounting the first lateral electric control support rod 12 and the second lateral electric control support rod 13 are fixed on both side walls of the first storage box 1 , the second storage box 2 , and the third storage box 3 .
为了配合对侧向抽拉操作和内部收纳，第一收纳箱体1、第二收纳箱体2、第三收纳箱体3内部安装有侧拉式收纳盒体17。In order to cooperate with the lateral pulling operation and internal storage, the first storage box 1, the second storage box 2, and the third storage box 3 are internally installed with a side-pull storage box 17.
在第一收纳箱体1、第二收纳箱体2、第三收纳箱体3外侧开口内部开设有侧向限位槽，在侧拉式收纳盒体17外侧面上安装转动式锁扣，原理与门锁的原理相同，通过转动将锁舌插入到侧向限位槽内部，从而将侧拉式收纳盒体17固定在第一收纳箱体1、第二收纳箱体2、第三收纳箱体3内部。A lateral limiting groove is provided inside the outer openings of the first storage box 1, the second storage box 2, and the third storage box 3, and a rotating lock is installed on the outer surface of the side-pull storage box 17. The principle is the same as that of a door lock. The lock tongue is inserted into the lateral limiting groove by rotation, thereby fixing the side-pull storage box 17 inside the first storage box 1, the second storage box 2, and the third storage box 3.
为了配合活动装配，第一收纳箱体1、第二收纳箱体2、第三收纳箱体3上的两侧的对角线安装轴14采用对角线设置。In order to cooperate with the movable assembly, the diagonal installation axes 14 on both sides of the first storage box 1, the second storage box 2, and the third storage box 3 are arranged diagonally.
这样在第一收纳箱体1、第二收纳箱体2、第三收纳箱体3翻转式不会导致第一侧向电控撑杆12和第二侧向电控撑杆13产生干涉。In this way, the first storage box 1 , the second storage box 2 , and the third storage box 3 will not cause interference between the first lateral electric-controlled support rod 12 and the second lateral electric-controlled support rod 13 when flipping.
为了配合底部驱动调节，底部支撑架4下表面位于端部位置固定套接有底侧驱动机构18。In order to cooperate with the bottom drive adjustment, a bottom drive mechanism 18 is fixedly sleeved at the end position on the lower surface of the bottom support frame 4.
底侧驱动机构18包括轴向固定在底部支撑架4外侧端上的外侧罩壳、活动装配在外侧罩壳下端的电控调节盘和固定在电控调节盘下端的底部电驱轮。The bottom driving mechanism 18 includes an outer cover shell axially fixed on the outer end of the bottom support frame 4, an electric control adjustment disk movably assembled on the lower end of the outer cover shell, and a bottom electric drive wheel fixed on the lower end of the electric control adjustment disk.
为了配合光学识别，可以对外侧的环境和距离进行监测，中置装配框5上表面两侧固定装配有角度可调式光学探头19。In order to cooperate with optical recognition and monitor the external environment and distance, angle-adjustable optical probes 19 are fixedly mounted on both sides of the upper surface of the central assembly frame 5 .
角度可调式光学探头19包括固定在中置装配框5上表面两侧的固定底座、安装在固定底座内部的调节电机、活动套接在固定底座上端的顶部调节罩壳和安装在顶部调节罩壳内部的光学探头，调节电机通过转动带动光学探头进行角度调节，然后可以改变光学探头的识别范围，利用光学探头可以给机器人提供参照信息，比如图形数据信息和距离信息，从而方便机器人根据信息来自动识别调节其结构。当识别两侧的距离很窄，就自动控制第一收纳箱体1、第二收纳箱体2、第三收纳箱体3进行翻转，控制底部支撑架4进行收窄，从而缩小整个设备的横向宽度。The angle-adjustable optical probe 19 includes a fixed base fixed on both sides of the upper surface of the central assembly frame 5, an adjustment motor installed inside the fixed base, a top adjustment cover movably sleeved on the upper end of the fixed base, and an optical probe installed inside the top adjustment cover. The adjustment motor drives the optical probe to adjust the angle by rotating, and then the recognition range of the optical probe can be changed. The optical probe can provide reference information to the robot, such as graphic data information and distance information, so that the robot can automatically identify and adjust its structure according to the information. When the distance between the two sides is very narrow, the first storage box 1, the second storage box 2, and the third storage box 3 are automatically controlled to flip, and the bottom support frame 4 is controlled to narrow, thereby reducing the lateral width of the entire device.
以上述依据本发明的理想实施例为启示，通过上述的说明内容，相关工作人员完全可以在不偏离本项发明技术思想的范围内，进行多样的变更以及修改。本项发明的技术性范围并不局限于说明书上的内容，必须要根据权利要求范围来确定其技术性范围。Based on the above ideal embodiments of the present invention, the relevant staff can make various changes and modifications without departing from the technical concept of the present invention through the above description. The technical scope of the present invention is not limited to the content in the specification, and its technical scope must be determined according to the scope of the claims.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410653093.1ACN118220337B (en) | 2024-05-24 | 2024-05-24 | Structure-adjustable material conveying robot applied to intelligent hospital |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410653093.1ACN118220337B (en) | 2024-05-24 | 2024-05-24 | Structure-adjustable material conveying robot applied to intelligent hospital |
| Publication Number | Publication Date |
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| CN118220337Atrue CN118220337A (en) | 2024-06-21 |
| CN118220337B CN118220337B (en) | 2024-09-13 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410653093.1AActiveCN118220337B (en) | 2024-05-24 | 2024-05-24 | Structure-adjustable material conveying robot applied to intelligent hospital |
| Country | Link |
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| CN (1) | CN118220337B (en) |
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