CN109397245A - A kind of nursing robot - Google Patents
A kind of nursing robot Download PDFInfo
- Publication number
- CN109397245A CN109397245A CN201811515894.2A CN201811515894A CN109397245A CN 109397245 A CN109397245 A CN 109397245A CN 201811515894 A CN201811515894 A CN 201811515894A CN 109397245 A CN109397245 A CN 109397245A
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- China
- Prior art keywords
- waist
- bevel gear
- arm
- joint
- main part
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
Abstract
The present invention provides a kind of nursing robots, comprising: chassis, main part, two mechanical arms, waist joint and head, main part are equipped with master control set；Mechanical arm is equipped with for controlling shoulder joints or so opening, big arm is swung and rotation, small arm are swung and six rotating devices of rotation and the movement of bionical palm, each rotating device include arm servo motor and with the one-to-one arm servo controller of arm servo motor, master control set communication connection arm servo controller and the movement for controlling each position of mechanical arm；Waist joint is equipped with the waist control device that rotary motion and pitching movement are carried out for controlling main part, waist control device set there are two waist servo motor and with the one-to-one waist servo controller of two waist servo motors, master control set communication connection waist servo controller and the movement for controlling main part.The present invention has many advantages, such as that compact-sized, bearing capacity is strong, multiple freedom degrees control precision is high, security performance is high.
Description
Technical field
The invention belongs to robotic technology fields, and in particular to one kind can carry out the nursing robot of holding movement.
Background technique
With the exacerbation of aging of population, medical staff is more and more in short supply.In nursing process, need often to shift disease
People, such as it is transferred to wheelchair from the bed after bedfast patient is taken in one's arms, this process needs medical staff to have biggish power
Gas, or even multi agent cooperation is needed, it services these elderly patients and needs huge time and efforts, this process not only seriously affects
To the working condition of nursing staff, the service quality to patient is also directly influenced, in terms of hospital care, human resources are more next
It is more nervous, it especially faces to have seemed unable to do what one wishes when more and more patients.Therefore, being developed into for nursing robot must
So.
It is adjustable from withdrawal nursing robot's holding that Chinese patent application 2017109094101 discloses a kind of width
Soft arm mechanism, including motor, turbine, worm screw, left line wheel, left adjusting slider, left fixed guide rail, turbine fixing axle, left wire wheel axis,
Left traction rope directive wheel, left synchronous pulley, left traction rope, left side limited block, synchronous belt, the first synchromesh gear, the second synchronous gear
Wheel, transmission shaft, right synchronous pulley, right line wheel, right adjusting slider, right fixed guide rail, right wire wheel axis, right traction rope directive wheel, the right side
Traction rope, right side limited block, chest lean on, left spring plate, soft arm limit briquetting and right latch plate.There are kinematic accuracies for the technical solution
It is low, be unable to complete the defects of transfer action after holding.
Wherein, robot is difficult to differentiate the barrier such as desk during holding, is easy to happen collision phenomenon, and
Robot during holding there is also with the active force of people's contact process is excessive, holding posture not to, place patient to wheelchair
Deng the problems such as position deviation.
Summary of the invention
To solve the above-mentioned problems, the present invention provides a kind of nursing robots that motion control accuracy is high.
The technical solution adopted by the present invention to solve the technical problems is specifically:
A kind of nursing robot, comprising: Omni-mobile chassis, the waist joint being located on chassis are set by waist joint
The head for setting the main part on chassis, being located at two mechanical arms of main part two sides and being located above main part, manipulator
Arm includes shoulder joints, big arm, ancon joint, small arm, wrist joint and bionical palm；Wherein, main part is equipped with master control
Device；
Mechanical arm be equipped with for control shoulder joints or so open, big arm swing and rotation, small arm swing and from
Turn and six rotating devices of bionical palm movement, each rotating device include arm servo motor and with arm servo electricity
The one-to-one arm servo controller of machine, master control set communication connection arm servo controller simultaneously control each position of mechanical arm
Movement；
Waist joint is equipped with the waist control device that rotary motion and pitching movement are carried out for controlling main part, waist control
Device processed set there are two waist servo motor and with the one-to-one waist servo controller of two waist servo motors, master control dress
It sets communication connection waist servo controller and controls the movement of main part；
Chassis is equipped with the laser radar for real-time location navigation, and master control set control connection laser radar simultaneously controls chassis
It is moved to designated position.
Arm servo controller communication connection in six rotating devices of master control set and mechanical arm in the present invention,
The further rotation of the arm servo motor in six rotating devices of control, to realize that the independence of mechanical arm six degree of freedom turns
It moves, further completes shoulder joints or so opening, the swing of big arm and rotation, the swing of small arm and rotation and bionical palm fortune
Dynamic a series of actions.
Further, two waist servo controller communication connections of master control set and waist joint, to control two waists
The work of portion's servo motor, and then realize the rotary motion by waist joint control main part and/or pitching movement.
Master control set is also controlled with the laser radar on chassis and is connected, to realize that driving chassis reaches designated position, specifically
, chassis is equipped with multiple Omni-mobile wheels, such as four Omni-mobile wheels of setting, and wherein Omni-mobile wheel can be received using Mike
Nurse wheel, to carry out the movement and positioning on chassis.
Another kind specific embodiment according to the present invention, the surface of big arm and small arm in mechanical arm are equipped with
Artificial skin, artificial skin include flexible skin layer and the thin-film pressure sensor that is located at below flexible skin layer, and pressure passes
Sensor signal is connected to master control set.
Further, flexible skin layer is arranged in honeycomb structure.
Wherein, artificial skin is electronic skin structure, and power when can detecte collision and contacting with people has sensitive
Degree height, feature with high accuracy.
Another kind specific embodiment according to the present invention, waist joint further includes waist mounting base, waist attachment base, waist
Mounting base fixation in portion's is located on chassis, and waist attachment base is located in waist mounting base by waist pitching shaft, waist attachment base
It is equipped with waist rotary flange, main part is fixedly installed on waist rotary flange, and waist control device is for controlling waist company
Joint chair is around the rotation of waist pitching shaft and the revolution of waist rotary flange.
Another kind specific embodiment according to the present invention, waist control device further includes being located on waist rotary flange
Output bevel gear wheel, two input bevel gears for being arranged oppositely and being engaged with output bevel gear wheel being located in waist pitching shaft, two
A waist servo motor, which respectively drives two input bevel gears and synchronizes, to be rotate in same direction, and with respect to two input bevel gears of bevel gear are inputted
It fixes and waist attachment base is rotated around waist pitching shaft；Two waist servo motors respectively drive two inputs
The rotation of bevel gear synchronous backward, input bevel gear rotate relative to two input bevel gears and waist rotary flange are returned
Turn.
Another kind specific embodiment according to the present invention, the number of teeth for inputting bevel gear are equal to the number of teeth of output bevel gear wheel,
And input bevel gear and output bevel gear wheel are right angle bevel gear；Specifically, individually between input bevel gear and output bevel gear wheel
The direction for only carrying out power is transmitted, and the scaling without power, wherein the output torque of output bevel gear wheel is two input bevel gears
The sum of input torque.
Another kind specific embodiment according to the present invention, two waist servo motors are arranged backwards or are oppositely arranged on waist
In portion's mounting base, and the output end of waist servo motor is equipped with double reduction component, and double reduction component includes that waist harmonic wave subtracts
Fast device, the drive bevel gear for being located at waist harmonic speed reducer output end and the follow bevel gear engaged with drive bevel gear, and it is main
Move the number of teeth that the helical gear number of teeth is less than follow bevel gear.
Another kind specific embodiment according to the present invention, follow bevel gear and input bevel gear coaxial arrangement, and it is driven
The helical gear number of teeth is greater than the number of teeth of input bevel gear, is conducive to the stability for improving transmission process.
Waist joint in the present invention is based on differential steering principle, in conjunction with multi-stage speed-reducing with realize overall structure size by
It still can have the fan-out capability of relatively large load in the case where limitation.
Another kind specific embodiment according to the present invention, main part is equipped with to carry out pitching movement and returns for controlling head
The dynamic head control device of transhipment, head control device include two head servo motors and with two head servo motors one by one
Corresponding head servo controller, master control set communication connection head servo controller and the pitching movement and revolution for controlling head
Movement, wherein the pitching movement on head and rotary motion can be respectively adopted individual head servo motor and be controlled.
Another kind specific embodiment according to the present invention, shoulder joints include mounting base, the first rotating device, joint company
Joint chair one, the second rotating device and joint attachment base two, the first rotating device are located in mounting base and drive joint attachment base one
It is rotated around the first axis direction, the second rotating device is located on joint attachment base one and drives joint attachment base two around the second axis
Direction rotation, it is orthogonal between the first axis direction and the second axis direction.
Wherein, the first rotating device specifically include the first rotating electric machine, by the first rotating electric machine driving the first output shaft,
First harmonic decelerator, the first output flange for being located at first harmonic decelerator output end, the first controller and the first encoder,
The fixation of first rotating electric machine is located in mounting base, and the first controller is located in mounting base and controls the first rotating electric machine of connection, the
One encoder is located in mounting base and the first rotating electric machine of communication connection, first harmonic decelerator are located on the first output shaft, the
One output flange is fixedly attached to joint attachment base and joint attachment base one is driven to rotate around the first axis direction together, the first output
Axis and the first axis direction are coaxially disposed.
Preferably, mounting base is additionally provided with the check and correction encoder for detecting the first output flange output revolving speed.
Further, the second rotating device preferably includes the second rotating electric machine, by the second defeated of the second rotating electric machine driving
Shaft, second harmonic retarder, second controller and second encoder, the fixation of the second rotating electric machine are located at joint attachment base one
On, second controller is located on joint attachment base one and controls the second rotating electric machine of connection, and second encoder is located at joint connection
On seat one and the second rotating electric machine of communication connection, second harmonic retarder are located on the second output shaft and drive joint attachment base two
It is rotated around the second axis direction, the second output shaft and the second axis direction are coaxially disposed.
Another kind specific embodiment according to the present invention, joint attachment base one are U-board shape, and joint attachment base two is U
Shape plate, the second rotating device are additionally provided with support shaft and two rolling bearings, and support shaft fixation is located on joint attachment base one simultaneously
It is coaxially disposed with the second output shaft, joint attachment base two is rotatablely connected respectively by two rolling bearings to the second output shaft respectively
And support shaft.
Further, the swing relative to one larger angle range of joint attachment base may be implemented in joint attachment base two,
Another kind specific embodiment according to the present invention, big arm are from rotary big arm, including large arm revolving drum
Body, third rotating device and large arm connecting flange, large arm connecting flange are fixedly attached to joint attachment base two, third rotating device
It is arranged on large arm connecting flange and is located in large arm rotating cylinder and large arm rotating cylinder is driven to rotate around third axis direction,
It is mutually perpendicular between third axis direction and the second axis direction.
Further, third rotating device preferably include third rotating electric machine, the third that is driven by third rotating electric machine it is defeated
Shaft, Spur Gear Driving group, the third harmonic retarder for being drivingly connected large arm connecting flange, third controller and third coding
Device, the fixation of third rotating electric machine are located in large arm rotating cylinder, and third controller is located in large arm rotating cylinder and controls connection
Third rotating electric machine, third encoder are located at communication connection third rotating electric machine in large arm rotating cylinder, Spur Gear Driving group packet
Include from third export shaft-driven active spur gear and with the driven spur gear with active spur gear, third output shaft and third
Axis direction is arranged in parallel.
Wherein, the driven spur gear is connected to third harmonic retarder, and the fixation of large arm connecting flange is located at third harmonic
The output end of retarder, due to fixed, the rotation of third rotating electric machine at this time relative to joint attachment base two of large arm connecting flange
Drive bevel gear can be driven relative to the rotation of driven wheel of differential, and then realize that large arm rotating cylinder surrounds the revolution of third axis direction
Movement.
Another kind specific embodiment according to the present invention, ancon joint include ancon joint connector drum, the 4th rotation
Device and joint attachment base three, ancon joint connector drum are fixedly attached to large arm rotating cylinder, and the 4th rotating device is located at elbow
In the connector drum of portion joint and joint attachment base three is driven to rotate around the 4th axis direction, the 4th axis direction and third axis direction it
Between be mutually perpendicular to.
Preferably, the 4th rotating device includes the 4th rotating electric machine, the 4th output shaft by the driving of the 4th rotating electric machine, cone
Gear drive group, the 4th harmonic speed reducer, the 4th controller and the 4th encoder, the fixation of the 4th rotating electric machine are located at big revolution of arm
In cylinder, the 4th controller is located in large arm rotating cylinder and controls the 4th rotating electric machine of connection, and the 4th encoder is located at large arm
The 4th rotating electric machine of communication connection in rotating cylinder, Bevel Gear Transmission group include by the 4th shaft-driven drive bevel gear of output and
With the driven wheel of differential of drive bevel gear cooperation, driven wheel of differential is surrounded by the 4th harmonic speed reducer band movable joint attachment base three
The rotation of 4th axis direction, the 4th output shaft are vertical and parallel with third axis direction with the 4th axis direction.
Further, Bevel Gear Transmission group is located in the connector drum of ancon joint, specially right angle Bevel Gear Transmission group.
Another kind specific embodiment according to the present invention, small arm are from rotary small arm, including forearm rotary cylinder
Body, the 5th rotating device and forearm connecting flange, forearm connecting flange are fixedly attached to joint attachment base three, the 5th rotating dress
It installs on forearm connecting flange and is located in forearm rotary cylinder and forearm rotary cylinder is driven to turn around the 5th axis direction
It is dynamic, it is mutually perpendicular between the 5th axis direction and the 4th axis direction.
Further, the 5th rotating device preferably includes the 5th rotating electric machine, by the 5th defeated of the 5th rotating electric machine driving
Shaft, the 5th harmonic speed reducer, the 5th controller and the 5th encoder for being drivingly connected forearm connecting flange, the 5th rotating electric machine
Fixation is located in forearm rotary cylinder, and the 5th controller is located in forearm rotary cylinder and controls the 5th rotating electric machine of connection, the
Five encoders are located at the 5th rotating electric machine of communication connection in forearm rotary cylinder, and the 5th harmonic speed reducer is located at the 5th output shaft
On, the 5th output shaft and the 4th axis direction are coaxially disposed.
Another kind specific embodiment according to the present invention, wrist joint include the 6th rotating device and joint attachment base
Four, the 6th rotating device is located in forearm rotary cylinder and joint attachment base four is driven to rotate around the 6th axis direction, the 6th axis
Orthogonal between direction and the 5th axis direction, bionical palm is located on joint attachment base four.
Further, the 6th rotating device include the 6th rotating electric machine, by the 6th rotating electric machine driving the 6th output shaft,
It is provided simultaneously with the right-angle reduction device, the 6th controller and the 6th encoder of deceleration and commutation, the fixation of the 6th rotating electric machine is located at small
In revolution of arm cylinder, the 6th controller is located in forearm rotary cylinder and controls the 6th rotating electric machine of connection, and the 6th encoder is set
The 6th rotating electric machine of communication connection in forearm rotary cylinder, right-angle reduction device are located at the end of forearm rotary cylinder and by the 6
Output shaft driving, joint attachment base four are located on the output shaft of right-angle reduction device and bionical palm are driven to turn around the 6th axis direction
Dynamic, the output shaft of right-angle reduction device and the 6th axis direction are coaxially disposed.
Mechanical arm in the present invention individually realizes the only of six rotational freedoms by the way that six rotating devices are arranged
Vertical control, control accuracy is high, and can be adjusted in real time according to holding task, and the automatic control of bio-robot is facilitated
System.
Further, it is fixedly connected between the ancon joint connector drum in mechanical arm and large arm rotating cylinder, and the
Three rotating electric machines and the 4th rotating electric machine are all set in inside large arm rotating cylinder, are conducive to integrally-built modularized design.
Another kind specific embodiment according to the present invention, the front side on head are equipped with binocular camera, and binocular camera communication connects
It is connected to master control set, the posture of binocular camera real-time detection robot, and signal is fed back into master control set, to realize to holding
The real-time adjustment of posture.
Another kind specific embodiment according to the present invention, main part are additionally provided with communication device, connect with communication device signal
The touch screen and loudspeaker connect, communication device can be wired or wireless module, further, it is also possible to fill on head or main part
Camera is carried, to realize the video calling between patient and nursing staff or household, or can be used for long-range monitoring etc..
The present invention has following the utility model has the advantages that the output of relatively large load may be implemented in the waist joint in the present invention, most
Big bearing capacity is used in 80KG or more, the medical care that can satisfy nearly all patient；
Six rotating devices in mechanical arm are controlled using master control set in the present invention, realize Apery manipulator respectively
Arm tool is opened, big arm is swung and rotation, small arm pendulum there are six rotational freedom with imitating human arm such as shoulder or so
The a series of actions such as dynamic and rotation and palm swing, and the movement between each component is mutually non-interference, it is right in conjunction with binocular camera
Posture when robot holding is adjusted in real time；
Artificial skin (flexible skin layer and pressure sensor) is enclosed on mechanical arm of the invention, when contacting with people
After may be implemented contact force feedback, so as to adjust the position in each joint of mechanical arm；And it can pass through when placing patient
Whether pressure sensor real-time perception patient on mechanical arm is safe to be placed on wheelchair.
The present invention has many advantages, such as that compact-sized, control precision is high, has a safety feature.
The present invention is described in further detail with reference to the accompanying drawing.
Detailed description of the invention
Fig. 1 is the overall structure diagram of nursing robot of the present invention；
Fig. 2 is nursing robot's holding status diagram in Fig. 1；
Fig. 3 is the structural schematic diagram in waist joint of the present invention；
Fig. 4 is the structural schematic diagram of mechanical arm of the present invention；
Fig. 5 is the structural schematic diagram that the shoulder joints of the first rotating device are shown in Fig. 4；
Fig. 6 is the structural schematic diagram that the shoulder joints of the second rotating device are shown in Fig. 4；
Fig. 7 is the structural schematic diagram of the double freedom module of big arm and ancon joint composition in Fig. 4；
Fig. 8 is the partial schematic diagram of Fig. 7；
Fig. 9 is the structural schematic diagram of the double freedom module of small arm and wrist joint composition in Fig. 4；
Figure 10 is the structural schematic diagram of harmonic speed reducer in the present invention；
Figure 11 is the structural schematic diagram of artificial skin in Fig. 4；
Figure 12 is the stress deformation schematic diagram of artificial skin in Figure 11；
Figure 13 is the distribution schematic diagram of pressure sensor in artificial skin of the present invention；
Figure 14 is a kind of flow diagram that pressure sensor data is transmitted in artificial skin in the present invention；
Figure 15 is the collision detection flow diagram of mechanical arm of the present invention；
Figure 16 is the distribution diagram of each position joint freedom degrees of the present invention；
Figure 17 is a kind of flow diagram of master control set data transmitting of the present invention.
Specific embodiment
Embodiment 1
As shown in Fig. 1-17, a kind of nursing robot, including Omni-mobile chassis 1,2, two mechanical arms 3 of main part,
Waist joint 4, head 5.
Wherein, as shown in Figure 1, chassis 1 is set, there are four Omni-mobile wheels 11, to carry out the movement and positioning on chassis 1, the bottom of at
Disk 1 is equipped with the base plate electric machine for driving four Omni-mobile wheels 11 mobile.
Main part 2 by waist joint 4 can pitching movement and the setting of rotary motion on chassis 1, be equipped in main part 2
Master control set, wherein master control set can choose as PC host computer.
As shown in figure 3, waist joint 4 includes waist control device 41, waist mounting base 42 and waist attachment base 43,
In, the fixation of waist mounting base 42 is located on chassis 1, and waist attachment base 43 is located at waist mounting base 42 by waist pitching shaft 44
On, waist attachment base 43 is equipped with waist rotary flange 45, and main part 2 is fixedly installed on waist rotary flange 45, waist control
Device 41 processed includes two waist servo motors 411 and two one-to-one waist servo controllers of waist servo motor 411
412, two (not shown), output bevel gear wheel input bevel gears 413 being arranged oppositely, two of them input bevel gear 413
It is located in waist pitching shaft 44 and is engaged respectively with output bevel gear wheel 412, two waist servo motors 411 respectively drive two
Bevel gear 413 is inputted to rotate.
Preferably, input bevel gear 413 is equal to the number of teeth of output bevel gear wheel 412, specifically, individually input bevel gear 413
The direction that power is only carried out between output bevel gear wheel 412 is transmitted, and the scaling without power.
Further, two waist servo motors 411, which respectively drive two input bevel gears 413 and synchronize, rotates in same direction, defeated
Enter with respect to the two input bevel gears 413 of bevel gear 413 to fix and waist attachment base 43 is carried out around waist pitching shaft 44
Rotation, at this point, the output torque of output bevel gear wheel 412 is the sum of the input torque of two input bevel gears 413；
Two waist servo motors 411 respectively drive two input 413 synchronous backward of bevel gear rotations, input bevel gear
413 turn round waist rotary flange relative to two input bevel gear 413 rotations, at this point, output bevel gear wheel 412 is defeated
Torque is the sum of the input torque of two input bevel gears 413 out.
Further preferably, two waist servo motors 411 are arranged in waist mounting base 42 backwards, and waist servo motor
411 output end is equipped with double reduction component, and double reduction component includes waist harmonic speed reducer 414, is located at waist harmonic wave and subtracts
The drive bevel gear 415 of fast 414 output end of device and the follow bevel gear 416 engaged with drive bevel gear 415, and drive bevel gear
415 number of teeth is less than the number of teeth of follow bevel gear 416.
Further, follow bevel gear 416 and input bevel gear 413 are coaxially disposed, and the number of teeth of follow bevel gear 416 is big
In the number of teeth of input bevel gear 413, to improve the stability of transmission process.
Waist joint 4 in the present embodiment is based on differential steering principle, in conjunction with multi-stage speed-reducing to realize in overall structure ruler
It still can have the fan-out capability of relatively large load in very little restricted situation.
As shown in figure 4, mechanical arm 3 includes shoulder joints 31, big arm 32, ancon joint 33, small arm 34, wrist pass
Section 35 and bionical palm 36；Wherein, the tool of mechanical arm 3 is there are six rotational freedom, R1, R2 shown in respectively Fig. 4, R3,
R4, R5 and R6, six rotational freedoms are respectively adopted the rotating device that six control independently of each other and are controlled, and are revolved by six
Independent control of the rotary device to six rotational freedoms, to realize the swing of the shoulder for imitating human arm or so opening, large arm
The a series of actions swung with rotation, the swing of forearm and rotation and palm.
Shoulder joints 31 include mounting base 311, the first rotating device 312, joint attachment base 1, the second rotating device
314 and joint attachment base 2 315, the first rotating device 312 be located in mounting base 311 and joint attachment base 1 driven to surround
First axis direction rotation, wherein the rotational freedom around the first axis direction is R1.
As shown in figure 5, the first rotating device 312 can specifically include the first rotating electric machine 3121, by the first rotating electric machine
First output shaft 3122 of 3121 drivings, first harmonic decelerator 3123, be located at 3123 output end of first harmonic decelerator the
One output flange 3124, the first controller 3125 and the first encoder 3126, the first rotating electric machine 3121 pass through first support
3127 fixations are located in mounting base 311, and the first controller 3125 is located in mounting base 311 simultaneously by the first controller bracket 3128
Control the first rotating electric machine 3121 of connection, the first encoder 3126 is located in mounting base 311 and the first rotating electric machine of communication connection
3121, first harmonic decelerator 3123 is located on the first output shaft 3122, and the first output flange 3124 is fixedly attached to joint company
Joint chair 1 simultaneously drives joint attachment base 1 to rotate around the first axis direction, and the first output shaft 3122 and the first axis direction are same
Axis setting.
Further, the mounting base 311 in the present embodiment is preferably tubular structure comprising installation cylinder 3111 and installation
Rear cover 3112.
In other examples of the invention, it is also provided in mounting base 311 and 3124 communication connection of the first output flange
Check and correction encoder 3113, check and correction encoder 3113 is used to detect the output revolving speed of the first output flange 3124.
As shown in fig. 6, the second rotating device 314 can specifically include the second rotating electric machine 3141, by the second rotating electric machine
The second output shaft 3142, second harmonic retarder 3143, second controller 3144 and the second encoder 3145 of 3141 drivings, the
The fixation of two rotating electric machines 3141 is located on joint attachment base 1, and second controller 3144 is located on joint attachment base 1 simultaneously
Control the second rotating electric machine 3141 of connection, second encoder 3145 is located on joint attachment base 1 and communication connection second is revolved
Rotating motor 3141, second harmonic retarder 3143 are located on the second output shaft 3142 and drive joint attachment base 2 315 around the
The rotation of two axis directions, the second output shaft 3142 and the second axis direction are coaxially disposed, wherein around the rotatably mounted of the second axis direction
Degree is R2.
Specifically, joint attachment base 1 is U-board shape, joint attachment base 2 315 is also U-board shape, the second rotating dress
It sets 314 and is additionally provided with support shaft 3146 and two rolling bearings 3147, the fixation of support shaft 3146 is located on joint attachment base 1 simultaneously
It is coaxially disposed with the second output shaft 3142, joint attachment base 2 315 is rotatablely connected by two rolling bearings 3147 respectively respectively
To the second output shaft 3142 and support shaft 3146.
Preferably, it is also provided on joint attachment base 2 315 for covering the protection cap structure for closing support shaft 3146
3147。
Further, the pendulum relative to one 313 larger angle range of joint attachment base may be implemented in joint attachment base 2 315
It is dynamic,
As Figure 7-8, big arm 32 and ancon joint 33 form double freedom module.
Specifically, big arm 32 is from rotary big arm, including large arm rotating cylinder 321,322 and of third rotating device
Large arm connecting flange 323, large arm connecting flange 323 are fixedly attached to joint attachment base 2 315, and third rotating device 322 is arranged
On large arm connecting flange 323 and it is located in large arm rotating cylinder 321 and drives large arm rotating cylinder 321 around third axis direction
Rotation, is mutually perpendicular between third axis direction and the second axis direction, wherein the rotational freedom around third axis direction is R3.
Third rotating device 322 can specifically include third rotating electric machine 3221, fixed third rotating electric machine 3221 the
Three brackets 3222, Spur Gear Driving group, are drivingly connected large arm company at the third output shaft 3223 driven by third rotating electric machine 3221
Third harmonic retarder 3224, third controller 3225 and the third encoder (figure does not always show) of acting flange 323, third electric rotating
The fixation of machine 3221 is located in large arm rotating cylinder 321, and third controller 3225 is located in large arm rotating cylinder 321 and controls connection
Third rotating electric machine 3221, third controller 3225 have detection function, can be used for detecting the rotation of third rotating electric machine 3221
Angle；Third encoder is located in large arm rotating cylinder 321 and communication connection third rotating electric machine 3221, Spur Gear Driving group
Including from active spur gear 3226 that third output shaft 3223 drives and with the driven spur gear with active spur gear 3226
3227, third output shaft 3223 is arranged in parallel with third axis direction.
Preferably, the number of teeth of active spur gear 3226 is slightly less than the number of teeth of driven spur gear 3227, such as Spur Gear Driving
The transmission ratio of group is 1:1.5, then such as 1:1.25.
Further, the output end of third rotating electric machine 3221 is also provided with planetary reduction gear 1, third output
Axis 3223 is located at the output end of planetary reduction gear 1.
Again specifically, ancon joint 33 is connected including ancon joint connector drum 331, the 4th rotating device 332 with joint
Seat 3 333, ancon joint connector drum 331 is fixedly attached to large arm rotating cylinder 321, and the 4th rotating device 332 is located at ancon
In joint connector drum 331 and joint attachment base 3 333 is driven to rotate around the 4th axis direction, the 4th axis direction and third axis side
It is mutually perpendicular between, wherein the rotational freedom around the 4th axis direction is R4.
4th rotating device 332 can specifically include the 4th rotating electric machine 3321, fix the of the 4th rotating electric machine 3321
Four brackets 3322, the 4th output shaft 3323, Bevel Gear Transmission group, the 4th harmonic speed reducer driven by the 4th rotating electric machine 3321
3324, the 4th controller 3325 and the 4th encoder (not shown), the fixation of the 4th rotating electric machine 3321 are located at large arm revolving drum
In body 321, the 4th controller 3325 is located in large arm rotating cylinder 321 and controls the 4th rotating electric machine 3321 of connection, the 4th control
Device 3325 processed has detection function, can be used for the angle of detection the 4th rotating electric machine 3321 rotation；4th encoder 3326
It is located at the 4th rotating electric machine 3321 of communication connection in large arm rotating cylinder 321, Bevel Gear Transmission group includes by the 4th output shaft
The drive bevel gear 3326 of 3323 drivings and the driven wheel of differential 3327 cooperated with drive bevel gear 3326, driven wheel of differential 3326
Rotated with movable joint attachment base 3 333 around the 4th axis direction by the 4th harmonic speed reducer 3324, the 4th output shaft 3323 with
4th axis direction is vertical and parallel with third axis direction.
Wherein, drive bevel gear 3326 and driven wheel of differential 3327 are isometrical straight bevel gear, the number of teeth between the two
Identical, in other preferable examples of the invention, the number of teeth of drive bevel gear 3326 and driven wheel of differential 3327 can not also phase
Together, specifically the gear ratio of the number of teeth Yu drive bevel gear 3326 of such as driven wheel of differential 3327 is 1.5:1.
Further, the output end of the 4th rotating electric machine 3321 is also provided with planetary reduction gear 2 3328, and the 4th is defeated
Shaft 3323 is located at the output end of planetary reduction gear 2 3328.
Again specifically, being equipped with ancon articular branches far from the side of joint attachment base 3 333 in ancon joint connector drum 331
Seat 3329 is supportted, to be connected to the 4th humorous by supporting shaft 334 to be fixed on ancon joint support seat 3329 for driven wheel of differential 3327
The input terminal of wave retarder 3324.
As shown in figure 9, small arm 34 and wrist joint 35 form double freedom module.
Specifically, small arm 34 is from rotary small arm, including forearm rotary cylinder 341,342 and of the 5th rotating device
Forearm connecting flange 343, forearm connecting flange 343 are fixedly attached to joint attachment base 3 333, the setting of the 5th rotating device 342
On forearm connecting flange 343 and it is located in forearm rotary cylinder 341 and drives forearm rotary cylinder 341 around the 5th axis direction
Rotation, is mutually perpendicular between the 5th axis direction and the 4th axis direction, wherein the rotational freedom around the 5th axis direction is R5.
5th rotating device 342 can specifically include the 5th rotating electric machine 3421, be used to support the 5th rotating electric machine 3421
The 5th bracket (not shown), driven by the 5th rotating electric machine 3421 the 5th output shaft 3422, be drivingly connected forearm connection
The 5th harmonic speed reducer 3423, the 5th controller 3424 and the 5th encoder 3425 of flange 343, the 5th rotating electric machine 3421 are solid
Surely it is located in forearm rotary cylinder 341, the 5th controller 3424 is located in forearm rotary cylinder 341 and controls the 5th rotation of connection
Motor 3421, the 5th encoder 3425 are located at the 5th rotating electric machine 3421 of communication connection in forearm rotary cylinder 341, the 5th harmonic wave
Retarder 3423 is located on the 5th output shaft 3422, and the 5th output shaft 3422 and the 4th axis direction are coaxially disposed.
Again specifically, wrist joint 35 includes the 6th rotating device 351 and joint attachment base 4 352, the 6th rotating device
351 are located in forearm rotary cylinder 341 and joint attachment base 4 352 are driven to rotate around the 6th axis direction, the 6th axis direction and
Orthogonal between 5th axis direction, bionical palm 36 is located on joint attachment base 4 352.
6th rotating device 351 can specifically include the 6th rotating electric machine 3511, be used to support the 6th rotating electric machine 3511
The 6th bracket (not shown), driven by the 6th rotating electric machine 3511 the 6th output shaft 3512, be provided simultaneously with deceleration and change
To right-angle reduction device 3513, the 6th controller 3514 and the 6th encoder 3515, the 6th rotating electric machine 3511 is fixed be located at it is small
In revolution of arm cylinder 341, the 6th controller 3514 is located in forearm rotary cylinder 341 and controls the 6th rotating electric machine of connection
3511, the 6th encoder 3515 is located at the 6th rotating electric machine 3511 of communication connection in forearm rotary cylinder 341, right-angle reduction device
3513 are located at the end of forearm rotary cylinder 341 and are driven by the 6th output shaft 3512, and joint attachment base 4 352 is located at right angle and subtracts
On the output shaft of fast device 3513 and drive bionical palm 36 around the 6th axis direction rotate, the output shaft of right-angle reduction device 3513 with
6th axis direction coaxial arrangement, wherein the rotational freedom around the 6th axis direction is R6.
Mechanical arm 3 in the present embodiment is set there are six rotating device, each rotating device includes arm servo electricity
Machine (i.e. the first rotating electric machine, the second rotating electric machine, third rotating electric machine, the 4th rotating electric machine, the 5th rotating electric machine and the 6th rotation
Rotating motor) and with arm servo motor one-to-one arm servo controller (the first controller, second controller, third control
Device, the 4th controller, the 5th controller and the 6th controller processed), master control set communication connection arm servo controller is to realize
Control the movement at each position of mechanical arm 3.
First harmonic decelerator 3123, second harmonic retarder 3143 in the present embodiment mechanical arm 3, third harmonic subtract
Fast device 3224, the 4th harmonic speed reducer 3324 and 3423 structure of the 5th harmonic speed reducer are almost the same, with third harmonic retarder
It is illustrated for 3224.
As shown in fig. 7, third harmonic retarder 3224 include: reducer shell 32241, it is harmonic wave connecting flange 32242, humorous
Wave retarder main body 32243, adapter flange 32244 and roller bearing 32245, wherein reducer shell 32241 is located at large arm and returns
It is fixedly connected except drum body 321 and with large arm rotating cylinder 321, large arm connecting flange 323 is located at reducer shell 32241
On, driven spur gear is located on harmonic wave connecting flange 32242；Harmonic speed reducer main body 32243 is located at reducer shell 32241
On, specifically, harmonic wave connecting flange 32242 is connected with the flexbile gear of harmonic speed reducer main body 32243,32,244 1 side of adapter flange
Face is connected with the firm gear of harmonic speed reducer main body 32243, is on the other hand drivingly connected with the inner ring of crossed roller bearing 32245,
Such as the rib that can be embedded in and (specially be interference fitted) in inner ring is equipped in adapter flange 32244, realize adapter flange
The rotation of 32244 driving 32245 inner rings of crossed roller bearing.
More specifically, reducer shell 32241 is equipped with annular carrier ring 32246 and end ring 32247, crossed roller axis
It holds 32245 outer ring to be compacted on annular carrier ring 32246 by end ring 32247, wherein end ring 32247 uses
Such as the mode of bolt is fixed on reducer shell 32241；Large arm connecting flange 323 is interior with crossed roller bearing 32245
It encloses relatively fixed, other technique realities for fixing such as synchronouss rotation, such as welding can be realized by the way of for example embedded
Now it is bonded.
Wherein, in the magnet ring 32248 and reading head wiring board that third harmonic retarder 3224 can also include for detection
32249, for obtaining the real-time rotational angle of large arm connecting flange 323.
As figs 11-13, the outer surface of the big arm 32 in the present embodiment and small arm 34 is equipped with artificial skin
37, artificial skin 37 includes flexible skin layer 371 and the thin-film pressure sensor 372 for being located at 371 lower section of flexible skin layer.
Wherein, artificial skin 37 is electronic skin structure, can detecte collision and power when contacting with people, by
Deformation under to external force is as shown in figure 12.
Further, flexible skin layer 371 is made of silica gel material, is had and is preferably used honeycomb as shown in figure 11
Shape structure, when mechanical arm 3 with people when contacting, and can be contacted from figure side to reduce with people by flexible skin layer 371
Wait generate stress concentrate, in addition the thin-film pressure sensor 372 below flexible skin can real-time detection mechanical arm 3 be
It is no to collide (itself collision detection and foreign object collision detection), it can be further improved the security performance of mechanical arm 3.
Further, in order to complete the acquisition to 372 data of pressure sensor, master control is also provided in the present embodiment
Device (mechanical arm slave computer) processed, is acquired and is handled by data of the master controller to multiple pressure sensors 372, a kind of
Specific data acquisition transfer mode is as shown in figure 14, and it is (specific preferred to carry out 372 array of pressure sensor by collecting circuit board
For 8X8 array) data acquisition, be equipped with one piece of STM32F103CBT6 microprocessor on each collecting circuit board, can be very square
The data of two pieces of 372 permutations of 8*8 pressure sensor of realization just acquire, and are CAN between each collecting circuit board
Interface tandem carries out data transmitting, host computer is sent to finally by serial ports, then be transferred to master controller, to complete manipulator
The data transmitting of multiple pressure sensors 372 on arm 3.
Specifically, the mechanical arm 3 in the present embodiment completes process such as Figure 15 institute of collision detection by artificial skin 37
Show.
Chassis 1 in the present embodiment is equipped with the laser radar 12 for real-time location navigation, and master control set control connection swashs
Optical radar 12 is to realize that control chassis 1 is moved to designated position.
Further, main part 2 is equipped with the head control dress that pitching movement and rotary motion are carried out for controlling head 5
It sets, head control device includes two head servo motors and controls with the one-to-one head servo of two head servo motors
Device, master control set communication connection head servo controller and the movement for controlling head 5, wherein the pitching movement and revolution on head 5
Movement can be respectively adopted individual head servo motor and be controlled.
Specifically, the front side on head 5 is also provided with binocular camera 51,51 communication connection of binocular camera to master control set,
The posture of 51 real-time detection robot of binocular camera, and signal is fed back into master control set, to realize to the real-time of holding posture
Adjustment.
More specific main part 2 is additionally provided with communication device and the touch screen connecting with communication device signal 21, communication device
It can be wired or wireless module, further, it is also possible to camera be loaded on head 5 or main part 2, to realize patient and nursing
Video calling between personnel or household, or can be used for long-range monitoring etc..
Each component joint freedom degrees of nursing robot in the present embodiment are as shown in figure 16, wherein each joint is free
Degree is realized and is connect with the control of master control set, is passed through master control set real-time detection and is adjusted the specific works state of each component,
To cooperate with the holding process for completing nursing robot, such as complete the process being transferred to patient from hospital bed on wheelchair.
A kind of process that data are transmitted between master control set and each component in the present embodiment is as shown in figure 17, is filled by master control
It sets and the movement between each component is subjected to centralized control, and can be with robot motion of the dummy robot under actual care scene
Process, in order to be applied in reality scene.
Nursing robot in the present embodiment has at least three kinds of control models:
1, before the navigation of nursing robot's autonomous positioning is moved to hospital bed, patient's phase automatic mode: is detected by binocular camera
For the position of nursing robot, the then each joint of adjust automatically, by patient from the bed gently take in one's arms, be moved to wheelchair
Side is slowly put down.
2, remote control mode: all movements of nursing robot can be completed by remote controler, remote controler communication connection to master control
Device before the chassis of nursing robot is moved to hospital bed by remote controler, then adjusts separately waist and mechanical arm respectively closes
Holding movement is completed in the movement of section, before then remote control nursing robot is moved to wheelchair, then each joint motions of secondary control, slowly
Put down patient.
3, tactile guidance mode: before remote-controlled robot is moved to hospital bed, then care-giver passes through directly contact and cleaning device
Device people moves relevant part and robot is guided slowly to take patient in one's arms, before then remote control nursing robot is moved to wheelchair, leads to
The same manner is crossed to put down patient.
Wherein tactile guidance mode is realized based on pliable pressure sensor array.
Although the present invention is disclosed above in the preferred embodiment, it is not intended to limit the invention the range of implementation.Any
The those of ordinary skill in field is not departing from invention scope of the invention, improves when can make a little, i.e., all according to this hair
Bright done same improvement, should be the scope of the present invention and is covered.
Claims (10)
1. a kind of nursing robot, comprising:
Omni-mobile chassis；
Waist joint is arranged on the chassis；
Main part is arranged on the chassis by the waist joint；
Two mechanical arms, are arranged in the two sides of the main part, and the mechanical arm includes shoulder joints, big arm, ancon
Joint, small arm, wrist joint and bionical palm；
The top of the main part is arranged in head；
Wherein, the main part is equipped with master control set；
The mechanical arm be equipped with opened for controlling described shoulder joints or so, the big arm is swung and rotation, described small
Arm is swung and six rotating devices of rotation and the bionical palm movement, each rotating device are watched including arm
Take motor and with the one-to-one arm servo controller of the arm servo motor, hand described in the master control set communication connection
Arm servo controller and the movement for controlling each position of the mechanical arm；
The waist joint is equipped with the waist control device that rotary motion and pitching movement are carried out for controlling the main part, institute
State waist control device set there are two waist servo motor and with two one-to-one waist servos of waist servo motor
Controller, waist servo controller described in the master control set communication connection and the movement for controlling the main part；
The chassis is equipped with the laser radar for real-time location navigation, and the master control set control connects the laser radar simultaneously
It controls the chassis and is moved to designated position.
2. nursing robot as described in claim 1, which is characterized in that the big arm in the mechanical arm and described
The surface of small arm is equipped with artificial skin, and the artificial skin includes flexible skin layer and is located at below the flexible skin layer
Thin-film pressure sensor, the pressure sensor signal is connected to the master control set.
3. nursing robot as described in claim 1, which is characterized in that the waist joint further includes waist mounting base and waist
Portion's attachment base, the waist mounting base fixation are located on the chassis, and the waist attachment base is located at by waist pitching shaft
In the waist mounting base, the waist attachment base is equipped with waist rotary flange, and the main part is fixed at the waist
On portion's rotary flange, the waist control device is used to control the rotation that the waist attachment base surrounds the waist pitching shaft
With the revolution of the waist rotary flange.
4. nursing robot as claimed in claim 3, which is characterized in that the waist control device further includes being located at the waist
Output bevel gear wheel on portion's rotary flange, two input bevel gears being arranged oppositely being located in the waist pitching shaft, two
A input bevel gear engages with the output bevel gear wheel；Two waist servo motors respectively drive two it is described defeated
Enter bevel gear and synchronize to rotate in same direction, the input bevel gear input bevel gear described with respect to two fixes and the waist is connected
Joint chair is rotated around the waist pitching shaft；Two waist servo motors respectively drive two input cone teeth
Synchronous backward rotation is taken turns, the input bevel gear makes the waist rotary flange relative to two input bevel gear rotations
It is turned round.
5. nursing robot as claimed in claim 4, which is characterized in that the number of teeth of the input bevel gear is equal to the output
The number of teeth of bevel gear, and the input bevel gear and the output bevel gear wheel are right angle bevel gear.
6. nursing robot as claimed in claim 4, which is characterized in that two waist servo motors are backwards to setting or phase
To setting in the waist mounting base, and the output end of the waist servo motor is equipped with double reduction component, the second level
Reduction assemblies include waist harmonic speed reducer, the drive bevel gear for being located at the waist harmonic speed reducer output end and with the master
The follow bevel gear of dynamic helical gear engagement, and the number of teeth of the drive bevel gear is less than the number of teeth of the follow bevel gear.
7. nursing robot as claimed in claim 6, which is characterized in that the follow bevel gear and the input bevel gear are same
Axis setting, and the number of teeth of the follow bevel gear is greater than the number of teeth of the input bevel gear.
8. nursing robot as described in claim 1, which is characterized in that the main part be equipped with for control the head into
The head control device of row pitching movement and rotary motion, the head control device include two head servo motors and with two
A one-to-one head servo controller of the head servo motor, head servo control described in the master control set communication connection
Device processed and pitching movement and the rotary motion for controlling the head.
9. nursing robot as described in claim 1, which is characterized in that the front side on the head is equipped with binocular camera, described
Binocular camera communication connection is to the master control set.
10. nursing robot as described in claim 1, which is characterized in that the main part be additionally provided with communication device and with institute
State the touch screen of communication device signal connection.
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|---|---|---|---|
| CN201811515894.2A CN109397245A (en) | 2018-12-11 | 2018-12-11 | A kind of nursing robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811515894.2A CN109397245A (en) | 2018-12-11 | 2018-12-11 | A kind of nursing robot |
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| Publication Number | Publication Date |
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| CN109397245A true CN109397245A (en) | 2019-03-01 |
Family
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| CN201811515894.2A Pending CN109397245A (en) | 2018-12-11 | 2018-12-11 | A kind of nursing robot |
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| CN109806113A (en) * | 2019-03-14 | 2019-05-28 | 郑州大学 | A kind of ward ICU horizontal lower limb rehabilitation intelligent interaction robot group system based on ad hoc network navigation |
| CN109820695A (en) * | 2019-04-03 | 2019-05-31 | 郑州大学 | A kind of horizontal bilateral brain paralysis lower limb rehabilitation robot in the ward ICU with communication and independent navigation locomotive function |
| CN110340908A (en) * | 2019-08-15 | 2019-10-18 | 广州华见智能科技有限公司 | A kind of endowment Chinese medicine robot |
| CN110394816A (en) * | 2019-08-29 | 2019-11-01 | 王利娜 | A kind of mobile patient robot |
| WO2020214787A1 (en) * | 2019-04-16 | 2020-10-22 | University Of Louisville Research Foundation, Inc. | Adaptive robotic nursing assistant |
| CN111805554A (en) * | 2020-07-08 | 2020-10-23 | 达闼机器人有限公司 | Robot and shell thereof |
| CN112274357A (en) * | 2020-10-28 | 2021-01-29 | 苏州工艺美术职业技术学院 | Household nursing robot |
| CN112454416A (en) * | 2020-10-26 | 2021-03-09 | 深圳市优必选科技股份有限公司 | Servo steering wheel module and robot |
| CN112775963A (en) * | 2020-12-29 | 2021-05-11 | 安徽理工大学 | Mobile robot structure with two seven-degree-of-freedom modular arms |
| CN112847302A (en) * | 2020-12-28 | 2021-05-28 | 深圳华侨城卡乐技术有限公司 | Robot |
| CN113172606A (en) * | 2021-05-06 | 2021-07-27 | 合肥工业大学 | Flexible double-arm cooperative robot |
| CN113510716A (en) * | 2021-04-28 | 2021-10-19 | 哈尔滨理工大学 | Humanoid nursing robot based on spherical motor |
| CN113601517A (en) * | 2021-06-25 | 2021-11-05 | 光华临港工程应用技术研发(上海)有限公司 | Nurse robot |
| CN113894818A (en) * | 2021-11-16 | 2022-01-07 | 鲁东大学 | Intelligent voice learning interaction equipment |
| CN114313310A (en) * | 2022-03-04 | 2022-04-12 | 中国人民解放军战略支援部队航天工程大学 | Biaxial orthogonal joint for multi-body satellite torsion bending deformation |
| CN114795750A (en) * | 2022-05-26 | 2022-07-29 | 西南交通大学 | Transfer nursing device |
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| CN109806113A (en) * | 2019-03-14 | 2019-05-28 | 郑州大学 | A kind of ward ICU horizontal lower limb rehabilitation intelligent interaction robot group system based on ad hoc network navigation |
| CN109820695A (en) * | 2019-04-03 | 2019-05-31 | 郑州大学 | A kind of horizontal bilateral brain paralysis lower limb rehabilitation robot in the ward ICU with communication and independent navigation locomotive function |
| WO2020214787A1 (en) * | 2019-04-16 | 2020-10-22 | University Of Louisville Research Foundation, Inc. | Adaptive robotic nursing assistant |
| CN110340908A (en) * | 2019-08-15 | 2019-10-18 | 广州华见智能科技有限公司 | A kind of endowment Chinese medicine robot |
| CN110394816A (en) * | 2019-08-29 | 2019-11-01 | 王利娜 | A kind of mobile patient robot |
| CN111805554A (en) * | 2020-07-08 | 2020-10-23 | 达闼机器人有限公司 | Robot and shell thereof |
| CN111805554B (en) * | 2020-07-08 | 2023-08-18 | 达闼机器人股份有限公司 | Robot and housing thereof |
| CN112454416A (en) * | 2020-10-26 | 2021-03-09 | 深圳市优必选科技股份有限公司 | Servo steering wheel module and robot |
| CN112274357A (en) * | 2020-10-28 | 2021-01-29 | 苏州工艺美术职业技术学院 | Household nursing robot |
| CN112847302A (en) * | 2020-12-28 | 2021-05-28 | 深圳华侨城卡乐技术有限公司 | Robot |
| CN112847302B (en) * | 2020-12-28 | 2022-08-16 | 深圳华侨城卡乐技术有限公司 | Robot |
| CN112775963A (en) * | 2020-12-29 | 2021-05-11 | 安徽理工大学 | Mobile robot structure with two seven-degree-of-freedom modular arms |
| CN113510716A (en) * | 2021-04-28 | 2021-10-19 | 哈尔滨理工大学 | Humanoid nursing robot based on spherical motor |
| CN113172606A (en) * | 2021-05-06 | 2021-07-27 | 合肥工业大学 | Flexible double-arm cooperative robot |
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| CN113894818A (en) * | 2021-11-16 | 2022-01-07 | 鲁东大学 | Intelligent voice learning interaction equipment |
| CN113894818B (en) * | 2021-11-16 | 2023-10-17 | 鲁东大学 | Intelligent voice learning interaction equipment |
| CN114313310A (en) * | 2022-03-04 | 2022-04-12 | 中国人民解放军战略支援部队航天工程大学 | Biaxial orthogonal joint for multi-body satellite torsion bending deformation |
| CN114795750A (en) * | 2022-05-26 | 2022-07-29 | 西南交通大学 | Transfer nursing device |
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Application publication date: 20190301 |