CN104889995B - A kind of family expenses and Hospital Service Robot and its method of work - Google Patents
A kind of family expenses and Hospital Service Robot and its method of work Download PDFInfo
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- CN104889995B CN104889995B CN201510383869.3A CN201510383869A CN104889995B CN 104889995 B CN104889995 B CN 104889995B CN 201510383869 A CN201510383869 A CN 201510383869A CN 104889995 B CN104889995 B CN 104889995B
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- family expenses
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- hospital service
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/009—Nursing, e.g. carrying sick persons, pushing wheelchairs, distributing drugs
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- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Nursing (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Accommodation For Nursing Or Treatment Tables (AREA)
Abstract
A kind of family expenses and Hospital Service Robot and its method of work, walking mechanism and detent mechanism are housed in robot, control robot is moved at being serviced people and is serviced, and is also equipped with the accommodating chamber and grabbing device of placing articles, grabbing device take out being serviced people from accommodating chamber needed for article.This kind of family and Hospital Service Robot can be substituted manually well, compensate for the problem of artificial deficiency, it is also possible to daily treatment and help is carried out to old man, slows down the problem that social the elderly is brought.
Description
Technical field
The present invention relates to automatic machinery people, more particularly to a kind of family expenses and Hospital Service Robot and its work side
Method.
Background technology
With the continuous improvement of modern society's material requisite and survival pressure, be used for for increasing energy to earn by young people
Money is taken, accordingly, family's work input time is then fewer and feweri, particularly has the elderly to need the family for looking after in family
How front yard, accepted or rejected into individual one problem for being difficult to determine.And simultaneously, in modern society, with birth rate it is continuous under
The development of drop and medical system, the problem of an aging population is increasingly severe.Ended for the end of the year 2013, the one full year of life of China 60 and above population
The 14.9% of total population is accounted for, 65 one full year of life and above population account for the 9.7% of total population.The existing aged of China more than 200,000,000, and often
Year increased with nearly 10,000,000 speed, relevant expert's prediction, to the year two thousand fifty, the Chinese aged be up to total population three/
One.But the service that existing all kinds of old welfare institutions of China can be provided, even less than the 1.5% of the aged, far can not
Meet needs.Thus, make up to be short of hands using robot and just turn into a new solution route.Family expenses and medical service-delivery machine
People be it is a kind of be mankind's service specialized robot, artificial or nursing staff can be replaced（Or nurse）Complete home services work
Make.
The content of the invention
The present invention is intended to provide a kind of family expenses and Medical Robot and its method of work that service can be provided to the elderly,
To substitute manual service, while meeting the daily required of eldercare.
Family expenses of the present invention and Hospital Service Robot, including robot body, the bottom of body is equipped with driving
The walking mechanism of its movement, body is provided with the accommodating chamber of placing articles, and the crawl dress that can be taken out article from accommodating chamber
Put；The also detent mechanism of detection robot position, including in room or the position indicator that is worn on human body, and
Detector in robot, detector detects the relative position of robot and position indicator and confirms current location.
The method of work of family expenses of the present invention and Hospital Service Robot, including procedure below：Inspection in robot
The position that instrument detects position indicator is surveyed, so as to calculate relative position relation between the two, then walking mechanism drives body movement
To desired position, the position as where old man, hereafter, walking mechanism stops, grabbing device work and by the thing in accommodating chamber
Product take out, and old man can remove the article from the grabbing device of robot.
Family expenses of the present invention and Hospital Service Robot and its method of work, robot confirm it by detent mechanism
With the relative position of being serviced people, by the drive of walking mechanism, you can be moved to being serviced people part, and grabbing device then may be used
So that article easily is delivered into being serviced people on hand；Various articles can be placed in accommodating chamber, such as it is various needed for old man
Medicine, presbyopic glasses, cup etc., can meet the daily required of old man, especially be good at the handicapped or memory for the treatment of poor
Old man.This kind of home-services robot can be substituted manually well, compensate for the problem of artificial deficiency, it is also possible to which old man is entered
Row daily treatment and help, slow down the problem that social the elderly is brought.
Brief description of the drawings
Fig. 1 is the structural representation of family expenses and Hospital Service Robot.
Fig. 2 is the state diagram that family expenses shown in Fig. 1 and Hospital Service Robot accommodating cavity are opened.
Fig. 3-5 is the structural representation of the walking mechanism of family expenses shown in Fig. 1 and Hospital Service Robot.
Fig. 6 is the structural representation of the internal body of family expenses shown in Fig. 1 and Hospital Service Robot.
Fig. 7 is the structural representation of the rotating disk of family expenses shown in Fig. 1 and Hospital Service Robot.
Fig. 8 is the state diagram of the hood opening of family expenses shown in Fig. 1 and Hospital Service Robot.
Fig. 9 is the structural representation of the window board of family expenses shown in Fig. 1 and Hospital Service Robot.
Figure 10 is the structural representation of the grabbing device of family expenses shown in Fig. 1 and Hospital Service Robot.
Figure 11 is the different rotary view of the video camera of family expenses shown in Fig. 1 and Hospital Service Robot.
Figure 12 is the structural representation of the wifi antennas of family expenses shown in Fig. 1 and Hospital Service Robot.
Figure 13,14 are a kind of structural representations of radio.
Figure 15 is a kind of structural representation of radio.
Figure 16,17 be family expenses shown in Fig. 1 and Hospital Service Robot charging device structural representation.
Figure 18 is the traveling method schematic diagram of family expenses and Medical Robot.
Figure 19 is the coordinate setting principle schematic of family expenses shown in Fig. 1 and Hospital Service Robot.
Specific embodiment
As shown in figure 1, a kind of family expenses and Hospital Service Robot, including robot body 1, the bottom of body is equipped with band
The walking mechanism 2 of its movement is moved, body is provided with the accommodating chamber 3 of placing articles, and can be from accommodating chamber by grabbing that article takes out
Take device 4；The also detent mechanism of detection robot position, including in room or the positioning that is worn on human body
Instrument, and the detector in robot, detector detect the relative position of robot and position indicator and confirm current location.
As shown in Figure 2-5, walking mechanism 2 is included installed in the chassis 21 of the bottom of body 1, and the walking list equipped with roller 22
Unit 23, is also equipped with detecting obstacles thing and judges the detection device 24 of position on chassis 21, multiple if chassis is quadrilateral structure
Detection device is separately mounted on the surrounding outer wall on chassis；If chassis is circular configuration, multiple detection devices can be equably
It is arranged on the outer wall on chassis.Wherein, detection device 24 includes one or more Infrared Detectors 25.As the robot moves,
Walking unit driving rolls is moved to drive the body movement on the machine of chassis, and during this, the detection device on chassis is to week
Surrounding environment is scanned, and smoothly to run at being serviced people, its work safety, stabilization are extremely easy to old age to avoiding obstacles
The use of people；It is and the application of Infrared Detectors is then more ripe, safe and with low cost.Can also be set on walking structure and subtracted
Shake spring, to facilitate robot across threshold.
As shown in Figure 2,6, body 1 includes shell 11, and the inside of shell is equipped with support 12, and support is provided with pallet 13, holds in the palm
Disk includes the top tray on top and the lower tray of bottom；Also the computer 51 of handling machine people program and control robot, counts
Calculation machine is fixedly mounted on support 12.Pallet can be used for placing articles, need to only be taken out by grabbing device when it is desired to be used
, and in order to place more articles, hierarchically two pallets of setting can be set, even multiple pallets.And computer
Then it is used to receive and process the data of distribution of machine people, controls the cooperation and work between each part, is positioned in body
Portion, effectively can protect to it.
As shown in Fig. 2,7, rotatable rotating disk 14 is housed on the pallet 13 of body 1（Or pallet 13 is rotating disk 14）, turn
The fixed seat 15 of multiple placing articles is provided with disk；Fixed seat 15 can be provided in the different marker space in rotating disk, also may be used
Being multiple base for placing medicine bottle.The setting of rotating disk can be while multiple articles be put into, easily to required
Article selected, in addition, robot can set rotating disk on a pallet wherein, another pallet is then used to place it
Its article, it is also possible to while setting rotating disk on two pallets.
As shown in Figure 8,9, the window inside connection is provided with the shell 11 of body 1, and position where window is just external
Rotating disk 14 inside shell；Equipped with the window board 16 that can cover or open window at the window of body 1, window board passes through guideway 17
On shell 11 or support 12, tooth bar 18 is installed with window board, also drives the gear 19 of tooth bar motion.Window
Setting grabbing device can be easy to take out the article in rotating disk, and window board then can effectively protect interior under non-gripping state
The article and equipment in portion；Window board could be arranged to it is transparent, in order to the article on the inner case and rotating disk of observer robot；
And the using effect of guideway is safer and peace and quiet, the routing motion of wheel and rack then can quickly and safely make window
Plate carries out folding, and because the motor driving force that this kind of equipment is used is very small, in addition because wheel and rack is non-self-locking mechanism,
Tong can be avoided, can also be increased sensor and be avoided tong.
As shown in Figure 10, grabbing device 4 includes the mounting seat 41 being fixedly mounted on body 1, and being equipped with mounting seat to open
Close the handgrip 42 of ground crawl article, and the push rod 43 for driving handgrip folding；Handgrip 42 includes left and right two tongs, the one of tong
End is provided with gear, and the end is installed in rotation in mounting seat 41, and the body of rod of push rod 43 is arranged between two tongs, and its
It is provided with the tooth bar being engaged with the end gear of tong.During work, rotating disk turns at grabbing device required article, pushes away
Bar drives handgrip that article is taken out from rotating disk again, its simple structure, and work safety, quick.
As shown in Fig. 2,8,11,19, described family expenses and Hospital Service Robot, have can filmed image video camera 61,
With the support 62 that can be horizontally rotated, equipped with the rotary shaft 63 that can be rotated around horizontal axis on support, video camera is arranged on rotary shaft
Go up and rotate with it；Video camera 61 is arranged on the top of robot, is coated with hood 64 thereon, and hood is spherical saturating of semicircle
Bright cover.The effect that video camera passes through support and rotary shaft, is scanned shooting to environment fixed using room coordinates positioning principle
Position, can further improve positioning function, as shown in figure 19 by its cooperation detent mechanism and detection device；Except this it
Outward, video camera can provide video signal function with filmed image after being combined with computer and display screen, facilitate being serviced people with
Other people carry out telecommunication and video is contacted with other people.
As shown in Fig. 2,12, display screen 52 is housed in robot, display screen can be connected with computer 51, by computer control
Display screen processed shows service prompts information, for example, " please drink water ", the information such as " please take medicine ", and can realize that long-distance video is conversed（Than
Ipad classes display touch-screen is such as installed）, it is also possible to used for being serviced people as panel computer, can also be with video camera and calculating
Machine is connected, there is provided video signal function.For ease of the networking of robot, the wifi antennas 53 of peripheral hardware are also equipped with robot.And in order to
One step is improved service quality, and the drinking cup stand 54 of holding water cup, and the sphygmomanometer 55 for measuring blood pressure can also be set in robot.It is aobvious
Display screen can be input into word or signal to point out different working conditions, but this possible unsuitable the elderly to use, so can
To set the status indicator lamp 56 of display different working condition on body 1 or window board 16, more intuitive visual effect is obtained；
In addition, status indicator lamp 56 can also be arranged at window board 16, the working condition after being opened for reminding window oralia.
As shown in Fig. 2,8, radio is provided with, the external antenna 71 of radio is arranged on body 1.Compared to rise a TV,
The electrical equipment of the amusements such as computer, the elderly is more keen to the use of radio, be on the other hand then the elderly eyesight compared with
Difference, it is easily tired, and radio is then easy to the elderly to use, and substantially increases the joy of life of the elderly, meanwhile, by radio reception
Machine is arranged in robot, can exempt the inconvenience that the elderly carries and finds.
As shown in Fig. 2,8,13,14, radio is cylindrical shape, and loudspeaker 72 are arranged at the both sides of cylinder and are exposed to
The outside of robot housing, and enclosing cover 73 is housed wherein on side, control the operation dish 74 of radio to be then arranged on enclosing cover 73.
The structure can cause the structure of robot more to balance, compact, while obtaining good audio.
As shown in figure 15, radio may be arranged as spherical, and one end of external antenna 71 is arranged on spherical body, separately
One end extend out to the outside of robot housing, and loudspeaker 72 are arranged at outside that is spherical upper and being exposed to robot housing.The structure
Can cause that the volume of radio is more compact, be easy to the layout of robot interior element.
As shown in Figure 16,17, described family expenses and Medical Robot are provided with charging device, including fixed placement cradle
81, charging electrode 82 is housed in robot, charging electrode connects computer 51, when robot electric energy is not enough, computer controls
Charged at robot auto-returned cradle.Because the elderly is handicapped and is difficult to use high-tech product, robot
Automatic charging design can then be charged with auto-returned, drastically increase convenience.
A kind of family expenses and the method for work of Medical Robot, including procedure below：Detector detection positioning in robot
The position of instrument, so as to calculate relative position relation between the two, then walking mechanism drives body to be moved to desired position,
Position as where old man, hereafter, walking mechanism stops, and grabbing device work simultaneously takes out the article in accommodating chamber, and old man is
The article can be removed from the grabbing device of robot.
Described method of work, during robot localization, video camera is first scanned positioning to room, so as to count
The location point of itself is calculated, and preset charged seat is set to home, the detector in robot（Such as it is integrated into the position of family expenses GPS
Put sensor）The position of position indicator is detected, so as to calculate relative position relation between the two.
Described method of work, during walking, the information of detection barrier leads to information for robot
Cross control amplifying circuit and deliver to computer, control walking mechanism cut-through thing after computer disposal again.As shown in figure 18.
Described method of work, during grabbing device takes out article, determines required article, so by computer program
The rotating disk for being mounted with the article afterwards is delivered at grabbing device the article by lifting and rotation, and grabbing device further takes out the thing
Product.
Described method of work, sets the time of respective services in a computer, after arrival time point, robot movement
To being serviced people, service prompts information is then shown on display screen.
Described method of work, when the electricity of robot reaches the lower limit of setting, is then carried out at auto-returned cradle
Charge.
Claims (10)
1. a kind of family expenses and Hospital Service Robot, including robot body（1）, the bottom of body is equipped with and drives its movement
Walking mechanism（2）, it is characterised in that：Body is provided with the accommodating chamber of placing articles（3）, it is provided with accommodating chamber in accommodating chamber
Article take out grabbing device（4）；The detent mechanism of robot position is also detected, including in room or is worn
The position indicator on human body, and the detector in robot are worn over, detector detects the relative position of robot and position indicator
Put and confirm current location.
2. family expenses according to claim 1 and Hospital Service Robot, it is characterised in that：Body（1）Top is inside installed
Top tray and bottom lower tray, rotatable rotating disk is respectively arranged with two pallets（14）, multiple placing articles are provided with rotating disk
Fixed seat（15）, separately there is rotating driver, the lift actuator of driving rotating disk lifting that driving rotating disk is rotated；Body fuselage
（11）On be provided with window inside connection, and position where window is just to the rotating disk of enclosure（14）.
3. family expenses according to claim 1 and 2 and Hospital Service Robot, it is characterised in that：Grabbing device（4）Including solid
Dingan County is mounted in body（1）On mounting seat（41）, the handgrip of article is captured in mounting seat equipped with can be opened and closed（42）, and driving grabs
The push rod of hand folding（43）；Handgrip includes left and right two tongs, and one end of tong is provided with gear, and the end of tong is rotatable
Ground is arranged in mounting seat, and the body of rod of push rod is arranged between two tongs, and be which is provided with and be engaged with the end gear of tong
Tooth bar.
4. family expenses according to claim 1 and Hospital Service Robot, it is characterised in that：Walking mechanism（2）Including installing
In body（1）The chassis of bottom（21）, and equipped with roller（22）Walking unit（23）, be also equipped with chassis detecting obstacles thing and
Judge the detection device of position（24）.
5. family expenses according to claim 1 and Hospital Service Robot, it is characterised in that：Have can filmed image video camera
（61）, and the support that can be horizontally rotated（62）, equipped with the rotary shaft that can be rotated around horizontal axis on support（63）, video camera installation
On the rotary shaft and rotate with it；Video camera（61）Installed in the top of robot, hood is coated with thereon（64）, and hood is
The spherical translucent cover of semicircle.
6. family expenses according to claim 1 and Hospital Service Robot, it is characterised in that：Charging device is provided with, including it is solid
The fixed cradle placed（81）, charging electrode is housed in robot（82）, charging electrode connection computer（51）, when robot electricity
When can be not enough, be charged at computer-controlled robot's auto-returned cradle.
7. family expenses described in a kind of claim 1-6 and the method for work of Hospital Service Robot, it is characterised in that including following
Process：Detector in robot detects the position of position indicator, so as to calculate relative position relation between the two, then walks
Mechanism drives body to be moved to desired position, and hereafter, walking mechanism stops, grabbing device work and by the article in accommodating chamber
Take out, old man can remove the article from the grabbing device of robot.
8. the method for work of family expenses according to claim 7 and Hospital Service Robot, it is characterised in that：It is fixed in robot
During position, video camera is first scanned positioning to room, so that the location point of itself is calculated, and preset charged seat is set to
Home, the detector in robot detects the position of position indicator, so as to calculate relative position relation between the two.
9. the method for work of family expenses according to claim 7 and Hospital Service Robot, it is characterised in that：Grabbing device takes
During going out article, required article is determined by computer program, be then mounted with the rotating disk of the article by lifting and turn
Dynamic to deliver at grabbing device the article, grabbing device further takes out the article.
10. the method for work of family expenses according to claim 7 and Hospital Service Robot, it is characterised in that：In computer
The time of middle setting respective services, after arrival time point, robot is moved at being serviced people, and service is then shown on display screen
Prompt message.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510383869.3A CN104889995B (en) | 2015-07-03 | 2015-07-03 | A kind of family expenses and Hospital Service Robot and its method of work |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201510383869.3A CN104889995B (en) | 2015-07-03 | 2015-07-03 | A kind of family expenses and Hospital Service Robot and its method of work |
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| Publication Number | Publication Date |
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| CN104889995A CN104889995A (en) | 2015-09-09 |
| CN104889995B true CN104889995B (en) | 2017-07-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510383869.3A Expired - Fee Related CN104889995B (en) | 2015-07-03 | 2015-07-03 | A kind of family expenses and Hospital Service Robot and its method of work |
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Address after: No. 24, 26 Xinghua Road, Yixin community, Pingdi street, Longgang District, Shenzhen City, Guangdong Province Co-patentee after: Shenzhen nExit Industry Co.,Ltd. Patentee after: Lu Chunsheng Address before: 9-22C Longgang street Longgang Zhenye crest Valley Garden District of Shenzhen City, Guangdong province 518116 Co-patentee before: SHENZHEN NICETY F.R.P. DUTY Co.,Ltd. Patentee before: Lu Chunsheng |
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