CN106182029A - A kind of medical service robot - Google Patents
A kind of medical service robot Download PDFInfo
- Publication number
- CN106182029A CN106182029A CN201610670784.8A CN201610670784A CN106182029A CN 106182029 A CN106182029 A CN 106182029A CN 201610670784 A CN201610670784 A CN 201610670784A CN 106182029 A CN106182029 A CN 106182029A
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- CN
- China
- Prior art keywords
- wheel
- robot
- sensor
- medical service
- service robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- 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
Abstract
The present invention relates to a kind of medical service robot, including robot body, it is characterised in that robot body includes: information display screen, be used for communicating information to patient；Photographic head, for positioning the position of robot and control；Mechanical hand；Being provided with the chassis of wheel, wheel includes the front-wheel for turning to and provides the trailing wheel of power；Adaptive robust algorithm controller, institute's adaptive robust algorithm controller controls mechanical hand and wheel by servo-driver, servomotor, drive circuit, execution circuit, sensor and decelerator；Sensor, described sensor includes velocity sensor and position sensor.The present invention not only can realize moving according to fixation locus in indoor and picking and placeing article at some ad-hoc location, and controls simple, stable, and capacity usage ratio is high.
Description
Technical field
The present invention relates to a kind of medical service robot.
Background technology
Intellectuality is a main trend of society, robot also have in every field obtained certain development and
Application, and a trend of the specificity Ye Shi robot development of robot.At present, the medical treatment such as food, medicine and data are transported
Service predominantly nurse be accomplished manually；If there being the medical service robot that a control is stable, simple and capacity usage ratio is high
Can substitute nurse and manually complete some basic medical services, this is possible not only to improve efficiency, and can greatly reduce
Cost of labor.At present, to legged type robot, specialized robot research a lot, but they are at simplicity, stability and the energy controlled
Amount utilization rate aspect has bigger shortcoming.
Summary of the invention
The present invention is directed to the deficiencies in the prior art, it is provided that a kind of medical service robot；It not only can realize pressing in indoor
Moving according to fixation locus and pick and place article at some ad-hoc location, and controlling simple, stable, capacity usage ratio is high.
In order to achieve the above object, one medical service robot of the present invention, including robot body, this robot body
Including:
Information display screen, is mainly used in communicating information to patient, and this information display screen connects information input equipment；
Described information input equipment can be by data transfer interface external input key, as connected meter by USB interface
Calculation machine, it is also possible to the input key being mounted on robot body, such as information display screen originally as the touch screen carrying input key；
Photographic head, is mainly used in positioning the position of robot and controlling；
Mechanical hand, is used for picking and placeing article, such as medicine, food and data etc.；
Being provided with the chassis of wheel, described wheel includes the front-wheel for turning to and for providing the trailing wheel of power；
Adaptive robust algorithm controller, described adaptive robust algorithm controller passes through servo-driver, servomotor, driving
Circuit, execution circuit, sensor and decelerator control mechanical hand, use semiclosed loop feedback control wheel；
The task of medical service robot of the present invention is according to various parameters such as the current car body position of sector planning, speeds
Make the decision-making of intelligence, send order to machinery.Use adaptive robust algorithm controller, enable mobile robot calibrated
Really follow the tracks of intended car body position and attitude.
Sensor, described sensor includes velocity sensor and position sensor, to enter the speed of robot and position
Row feedback.
Preferably, described mechanical hand is made up of arm and paw.
As the further improvement of such scheme, described arm is joint type structural arm.
As the further improvement of such scheme, described paw is clamp type structure paw.
Use joint type structural arm and clamp type structure paw, not only so that mechanical hand is farthest close to people
Hands, and this structure is compacter, uses also simple and flexible.
Preferably, described wheel includes a front-wheel for turning to and for providing two trailing wheels of power.
Preferably, described trailing wheel is by a Serve Motor Control.
Preferably, described photographic head is IP Camera.
Using two trailing wheels of a servomotor controller device people, and front-wheel is used for turning to, such robot just can be
Realize in one smaller scope turning to, but it is noted that the spacing of robot front wheels and rear wheels, it is impossible to too small.The present invention uses
Three-wheel vehicle turns to, and can improve the compact of structure and the stability of traveling.Relative to legged type robot etc., wheel type machine
People controls simple, stable, capacity usage ratio height.
The present invention can realize moving according to fixation locus in indoor and picking and placeing article at some ad-hoc location, such as medicine
Thing, food and data etc..Whole robot moves flexibly, can realize beating easily putting down gently when taking thing, it is possible to arrive spy according to instruction
Location is put, and robot is equipped with information display screen in addition, can transmit some information to patient, equipped with photographic head on head, and can be right
Robot present position positions, convenient control.
Accompanying drawing explanation
Fig. 1 is the structural representation of robot body；
Fig. 2 is the control flow schematic diagram of the present invention；
Fig. 3 is the control system schematic diagram of the present invention；
Fig. 4 is for turning to semiclosed loop feedback control system schematic diagram.
Wherein, 1 is robot body, and 2 is information display screen, and 4 is chassis, and 51 is front-wheel, and 52 is trailing wheel, 6 mechanical hands, 7
For drive circuit, 8 for performing circuit, and 91 is velocity sensor, and 92 is position sensor.
Detailed description of the invention
Describe the present invention below in conjunction with the drawings and specific embodiments, but not as a limitation of the invention.
With reference to Fig. 1～4, embodiment of the present invention one medical service robot, including robot body 1, this robot is originally
Body 1 includes:
Information display screen 2, is mainly used in communicating information to patient, and this information display screen 2 is the touch screen from tape input key；
Photographic head, described photographic head is IP Camera, is mainly used in positioning the position of robot and controlling；
Mechanical hand 6, described mechanical hand 6 is made up of joint type structural arm and clamp type structure paw, is mainly used in picking and placeing thing
Product, such as medicine, food and data etc.；
Being provided with the chassis 4 of wheel, described wheel includes a front-wheel 51 for turning to and for providing the two of power
Individual trailing wheel 52, described trailing wheel 52 is by a Serve Motor Control；
Adaptive robust algorithm controller, described adaptive robust algorithm controller passes through servo-driver, servomotor, driving
Circuit 7, execution circuit 8, sensor and decelerator control mechanical hand, use semiclosed loop feedback control wheel；
Sensor, described sensor includes velocity sensor 91 and position sensor 92, with to the speed of robot and position
Put and feed back.
Being adaptive robust algorithm controller with reference to Fig. 3, CL, SD1-SDn is servo-driver, and SM1-SMn is servomotor,
S1-Sn be sensor, G1-Gn be decelerator, A1-An be arm, H be paw.The task of medical service robot of the present invention is
Make the decision-making of intelligence according to various parameters such as the current car body position of sector planning, speeds, send order to machinery.Adopt
Use adaptive robust algorithm controller, enable mobile robot more accurately to follow the tracks of intended car body position and attitude.
Use joint type structural arm and clamp type structure paw, not only so that mechanical hand is farthest close to people
Hands, and this structure is compacter, uses also simple and flexible.
With reference to Fig. 4, use two trailing wheels of a servomotor controller device people, and front-wheel is used for turning to, such machine
People just can realize turning in a smaller scope, but it is noted that the spacing of robot front wheels and rear wheels, it is impossible to too small.This
Invention have employed three-wheel vehicle and turns to, and can improve the compact of structure and the stability of traveling.Relative to legged type robot etc.,
Wheeled robot controls simple, stable, capacity usage ratio height.
The present invention can realize moving according to fixation locus in indoor and picking and placeing article at some ad-hoc location, such as medicine
Thing, food and data etc..Whole robot moves flexibly, can realize beating easily putting down gently when taking thing, it is possible to arrive spy according to instruction
Location is put, and robot is equipped with information display screen in addition, can transmit some information to patient, equipped with photographic head on head, and can be right
Robot present position positions, convenient control.
Below the present invention is described in detail, but it will be apparent that those skilled in the art can carry out various changing
Become and improve, the scope of the present invention limited without departing from appended claims.
Claims (7)
1. a medical service robot, including robot body, it is characterised in that this robot body includes:
Information display screen, is mainly used in communicating information to patient, and this information display screen connects information input equipment；
Photographic head, is mainly used in positioning the position of robot and controlling；
Mechanical hand, is used for picking and placeing article；
Being provided with the chassis of wheel, described wheel includes the front-wheel for turning to and for providing the trailing wheel of power；
Adaptive robust algorithm controller, described adaptive robust algorithm controller is by servo-driver, servomotor, driving electricity
Road, execution circuit, sensor and decelerator control mechanical hand and wheel；
Sensor, described sensor includes velocity sensor and position sensor, to carry out the speed of robot and position instead
Feedback.
A kind of medical service robot the most according to claim 1, it is characterised in that described mechanical hand is by arm and paw
Constitute.
A kind of medical service robot the most according to claim 2, it is characterised in that described arm is joint type structure hands
Arm.
A kind of medical service robot the most according to claim 2, it is characterised in that described paw is clamp type structure hands
Pawl.
A kind of medical service robot the most according to claim 1, it is characterised in that described wheel includes for turning to
One front-wheel and for providing two trailing wheels of power.
A kind of medical service robot the most according to claim 1, it is characterised in that described trailing wheel is by a servomotor
Control.
A kind of medical service robot the most according to claim 1, it is characterised in that described photographic head is network shooting
Head.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610670784.8A CN106182029A (en) | 2016-08-15 | 2016-08-15 | A kind of medical service robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610670784.8A CN106182029A (en) | 2016-08-15 | 2016-08-15 | A kind of medical service robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106182029A true CN106182029A (en) | 2016-12-07 |
Family
ID=57522564
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610670784.8A Pending CN106182029A (en) | 2016-08-15 | 2016-08-15 | A kind of medical service robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN106182029A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106553201A (en) * | 2017-01-03 | 2017-04-05 | 上海量明科技发展有限公司 | Lifesaving robot and its implementation |
| CN109048941A (en) * | 2018-08-30 | 2018-12-21 | 广东宏穗晶科技服务有限公司 | A kind of robot in the upper lavatory of auxiliary patient |
| WO2019014951A1 (en) * | 2017-07-21 | 2019-01-24 | 深圳市萨斯智能科技有限公司 | Information transmission method of robot and robot |
Citations (8)
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| CN202045637U (en) * | 2011-01-11 | 2011-11-23 | 山东大陆科技有限公司 | Service robot |
| JP2013239209A (en) * | 2013-09-04 | 2013-11-28 | Advanced Telecommunication Research Institute International | Communication robot, robot control program, and robot control method |
| CN104690732A (en) * | 2015-02-10 | 2015-06-10 | 赵言正 | Dish sending robot |
| CN204525488U (en) * | 2015-02-09 | 2015-08-05 | 董小明 | A kind of Information Mobile Service robot |
| KR20150119734A (en) * | 2014-04-16 | 2015-10-26 | 경남대학교 산학협력단 | Hospital Room Assistant Robot |
| CN105690397A (en) * | 2014-11-27 | 2016-06-22 | 重庆山朕科技发展有限公司 | Greeting robot |
| CN105690400A (en) * | 2014-12-12 | 2016-06-22 | 周坤友 | Interactive consultation and event multi-purpose simulation robot and expert consultation system thereof |
| CN105835068A (en) * | 2016-06-01 | 2016-08-10 | 小煷伴（深圳）智能科技有限公司 | Public service robot |
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2016
- 2016-08-15 CN CN201610670784.8A patent/CN106182029A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202045637U (en) * | 2011-01-11 | 2011-11-23 | 山东大陆科技有限公司 | Service robot |
| JP2013239209A (en) * | 2013-09-04 | 2013-11-28 | Advanced Telecommunication Research Institute International | Communication robot, robot control program, and robot control method |
| KR20150119734A (en) * | 2014-04-16 | 2015-10-26 | 경남대학교 산학협력단 | Hospital Room Assistant Robot |
| CN105690397A (en) * | 2014-11-27 | 2016-06-22 | 重庆山朕科技发展有限公司 | Greeting robot |
| CN105690400A (en) * | 2014-12-12 | 2016-06-22 | 周坤友 | Interactive consultation and event multi-purpose simulation robot and expert consultation system thereof |
| CN204525488U (en) * | 2015-02-09 | 2015-08-05 | 董小明 | A kind of Information Mobile Service robot |
| CN104690732A (en) * | 2015-02-10 | 2015-06-10 | 赵言正 | Dish sending robot |
| CN105835068A (en) * | 2016-06-01 | 2016-08-10 | 小煷伴（深圳）智能科技有限公司 | Public service robot |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106553201A (en) * | 2017-01-03 | 2017-04-05 | 上海量明科技发展有限公司 | Lifesaving robot and its implementation |
| WO2019014951A1 (en) * | 2017-07-21 | 2019-01-24 | 深圳市萨斯智能科技有限公司 | Information transmission method of robot and robot |
| CN109048941A (en) * | 2018-08-30 | 2018-12-21 | 广东宏穗晶科技服务有限公司 | A kind of robot in the upper lavatory of auxiliary patient |
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Application publication date: 20161207 |