CN107053203A - A kind of medical service robot - Google Patents
A kind of medical service robot Download PDFInfo
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- CN107053203A CN107053203A CN201710262599.XA CN201710262599A CN107053203A CN 107053203 A CN107053203 A CN 107053203A CN 201710262599 A CN201710262599 A CN 201710262599A CN 107053203 A CN107053203 A CN 107053203A
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- Prior art keywords
- connecting rod
- steering wheel
- paw
- medical service
- service robot
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- 230000009471 action Effects 0.000 claims abstract description 17
- 230000033001 locomotion Effects 0.000 claims abstract description 8
- 238000009434 installation Methods 0.000 claims description 11
- 230000008878 coupling Effects 0.000 claims description 6
- 238000010168 coupling process Methods 0.000 claims description 6
- 238000005859 coupling reaction Methods 0.000 claims description 6
- 238000007493 shaping process Methods 0.000 claims 1
- 230000005693 optoelectronics Effects 0.000 description 18
- 239000003814 drug Substances 0.000 description 11
- 238000012377 drug delivery Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 4
- 238000001514 detection method Methods 0.000 description 3
- 230000005611 electricity Effects 0.000 description 3
- 239000002390 adhesive tape Substances 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 2
- 210000000078 claw Anatomy 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 229940079593 drug Drugs 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000035764 nutrition Effects 0.000 description 1
- 235000016709 nutrition Nutrition 0.000 description 1
- 238000012772 sequence design Methods 0.000 description 1
Classifications
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- 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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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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)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Nursing (AREA)
- Toys (AREA)
Abstract
The present invention relates to a kind of medical service robot, it is characterised in that including car body, four wheels, control system and mechanical arm；The mechanical arm includes connecting rod I, connecting rod II, connecting rod III and paw, and the connecting rod I and the connecting rod II are connected by steering wheel I, and the connecting rod II and the connecting rod III are connected by steering wheel II, connecting rod III and the paw connection；The connecting rod I is fixed on the car body by column；The control system drives the body movement and mechanical arm action.Present invention is especially suited for teaching application, student can quick left-hand seat, driving medical service robot completion setting task.
Description
Technical field
The invention belongs to robot used for teaching technical field, and in particular to a kind of medical service robot.
Background technology
The event of medical service robot compulsory exercise, is the sub-project of Chinese robot contest, competition area
Ground is green carpet, long 6000mm, wide 4000mm.The guide line of robot ambulation, is that width 24mm is put into white matt paper
Bar（Double faced adhesive tape）, part way do not have guide line.Sick bed long 2000mm in match, wide 1000mm, bed surface 500mm from the ground.
Bedside cupboard long 500mm, wide 500mm, high 400mm.
In match, robot needs completion to make the rounds of the wards task and drug delivery task.According to laws of the game, during the games, machine
Device people needs that starting line, stop line, and racing track guide wire can be recognized, in the part way without guide wire, can independently complete to appoint
Business.Robot completes robot and made the rounds of the wards and robot drug delivery task in order, by medicine bottle from nurse's platform, is first sent to bedside cupboard A
Still bedside cupboard B is first sent to, draws lots and determines.The initial placement of medicine bottle is highly 300mm nurse's platform, to be transferred to be to height
On 400mm bedside cupboard, the positional precision that medicine bottle is finally placed is different, and score is different.
According to laws of the game, want to complete match task, in addition to mechanical mechanism is designed, also to be set according to match task
Control system is counted, otherwise, robot can not independently complete task.
Current experimental facilities, the experimental facilities of special higher education, the experimental facilities developed for contest link compares
It is few, just start the student enterd the lists, proximate nutrition is obscured, so the related medical service robot of necessary exploitation, right
Student's competition is guided.
The content of the invention
In order to solve the structure problem of the above-mentioned medical service robot based on contest, the present invention devises a kind of medical treatment
Service robot, it is possible to achieve the basic exercise of robot, the barrier followed in line motion, detection certain distance, driving machinery
Arm, paw crawl, placement object, play voice signal.
In order to solve above-mentioned technical problem, present invention employs following scheme：
A kind of medical service robot, it is characterised in that including car body, wheel, control system and mechanical arm, the wheel point
It is not connected by fixed support with the car body, the mechanical arm is arranged on the car body, the control system driving is described
Body movement and mechanical arm action；The mechanical arm includes connecting rod I, connecting rod II, connecting rod III and paw, the He of connecting rod I
The connecting rod II is connected by steering wheel I, and the connecting rod II and the connecting rod III are connected by steering wheel II, the connecting rod III and described
Paw is connected；The paw realizes the folding of the paw by the rotation of steering wheel III.
Further, the paw includes the U-shaped frame of paw and finger, and the finger includes active finger and driven finger；Institute
The one end for stating active finger and driven finger is arranged on the side wall of the U-shaped frame of the paw, and the active finger and driven
The end of finger is respectively arranged with a gear, the engagement of two gears；The steering wheel III is arranged in the groove of the U-shaped frame of the paw, institute
The output shaft for stating steering wheel III is connected by corresponding steering wheel with the gear of the active finger.
Further, the U-shaped frame of the paw is a U-shaped hardened structure；Be machined with the bottom plate of U-shaped hardened structure installation connecting hole with
It is connected with the connecting rod III.
Further, the active finger and driven finger are the arcuate structures of a pair of opposing.
Further, the other end of the connecting rod I is fixed on column upper end, and the column lower end is fixed on by fixed support
On the car body.
Further, the fixed support is to be machined with installation respectively on the hardened structure of L-type, the bottom plate and riser of the hardened structure of L-type
Hole；The bottom plate of the hardened structure of L-type and the outer end of riser are processed into smooth arc structure.
Further, the column is quadrangular structure.
Further, the connecting rod I and connecting rod III are U-shaped hardened structures；Processed respectively on the two side of the U-shaped hardened structure
There are multiple mounting holes to be connected to be rotated with corresponding steering wheel, one of side wall and the corresponding rudder of the U-shaped hardened structure
Rotated and connected by steering wheel between machine output shaft；Multiple installation connecting holes are also machined with the bottom plate of the U-shaped hardened structure.
Further, the steering wheel is a circular plate structure, and the center of circular slab is provided with through hole, and through hole is uniformly distributed on peripheries with connection
Via.
Further, the connecting rod II is a pair of rectangular slabs that are relative and be arrangeding in parallel, and two rectangular slab is symmetricly set on
The both sides of the steering wheel I and steering wheel II, the steering wheel I and steering wheel II are connected；The two ends of the rectangular slab company of being machined with respectively
Connect and use hole.
Further, four wheels are connected by corresponding fixed mount with the car body respectively；Four wheels
Pass through shaft coupling and corresponding motor connection respectively.
Further, the control system includes main control module, motor driving I, motor driving II, motor I, motor II, electricity
Machine III, motor IV, preceding tracking module, rear tracking module, left tracking module, right tracking module, optoelectronic switch I, optoelectronic switch II,
Steering engine controller, MP3 player and loudspeaker；Motor driving I, motor driving II, preceding tracking module, rear tracking module,
Left tracking module, right tracking module, optoelectronic switch I, optoelectronic switch II, steering engine controller, MP3 player respectively with the master control
The corresponding I/O port connection of module；The motor I and motor II drive I connection with motor respectively；The motor III
II connection is driven with motor IV with the motor respectively；The steering wheel I, steering wheel II and steering wheel III respectively with the steering wheel control
Device connection processed, MP3 player and the lines of loudspeakers connection.
During work, control system sends motor control signal and drives each motor forward or reverse, realizes medical services machine
The basic exercise actions such as advance, retrogressing, left-hand rotation advance, right-hand rotation advance, retrogressing of turning left, right-hand rotation retrogressing and the stopping of people；Control system
The different detection signals united according to itself, judge the walking orientation of medical service robot, constantly correction, enable robot by journey
The flow of sequence design, follows walking guide wire walking；The obstacle signal that control system is detected according to it, is performed down by program
One step is acted；Control system is by driving each steering wheel to realize a series of predetermined action work(of robot arm and paw
Energy；Control system can also drive MP3 player and loudspeaker according to scene demand, play corresponding voice messaging.
The medical service robot has the advantages that：
（1）The present invention can setting match scene, according to laws of the game, automatic identification starting line, stop line, and racing track are led
Lead, in the part way without guide wire, independently completes task, completes make the rounds of the wards task and drug delivery task.
（2）Present invention is especially suited for teaching application, student can quick left-hand seat, driving medical service robot completes to set
Task.
Brief description of the drawings
Fig. 1：The medical service robot system architecture schematic diagram of the present invention；
Fig. 2：The medical service robot competition venue schematic layout pattern of the present invention；
Fig. 3：The medical service robot body layout schematic diagram of the present invention；
Fig. 4：The medical service robot mechanical arm overall structure diagram of the present invention；
Fig. 5：The robot linkage I of the present invention and the partial view of connecting rod III（Connecting rod I is similar with the structure of connecting rod III）；
Fig. 6：The part drawing of the mechanical arm steering wheel of the present invention；
Fig. 7：The mechanical arm steering wheel scheme of installation of the present invention；
Fig. 8：The U-shaped frame part drawing of paw of the present invention；
Fig. 9：The paw mesh schematic representation of the present invention；
Figure 10：The paw top view of the present invention；
Figure 11：The mechanical arm reset condition schematic diagram of the present invention；
Figure 12：The robot control system schematic diagram of the present invention.
Description of reference numerals：
1-main control module；21-motor driving I；22-motor driving II；31-motor I；32-motor II；33-motor III；
34-motor IV；41-preceding tracking module；42-rear tracking module；43-left tracking module；44-right tracking module；51-light
Electric switch I；52-optoelectronic switch II；6-steering engine controller；71-steering wheel I；711-steering wheel I；72-steering wheel II；721-rudder
Disk II；73-steering wheel III；8-MP3 player；9-loudspeaker；101-wheel；1011-the near front wheel；1012-off-front wheel；
1013-left rear wheel；1014-off hind wheel；102-car body；103-column；104-fixed support；105-connecting rod I；106—
Connecting rod II；107-connecting rod III；108-paw；The U-shaped frame of 1081-paw；1082-finger, 10821-active finger,
10822-driven finger.
Embodiment
Below in conjunction with the accompanying drawings, the present invention will be further described：
Fig. 1 to Figure 12 shows a kind of medical service robot, including wheel 101, car body 102, control system and medical treatment clothes
The mechanical arm of business robot.Wheel 101 is connected by fixed support with car body 102 respectively, and mechanical arm is arranged on car body 102,
Control system driving car body 102 is moved and mechanical arm action.Wheel 101 is the near front wheel 1011, off-front wheel 1012, left rear wheel respectively
1013 and off hind wheel 1014.
As shown in Figure 1 and Figure 4, the mechanical arm of medical service robot includes column 103, fixed support 104, connecting rod I
105th, steering wheel I 71, connecting rod II 106, steering wheel II 72, connecting rod III 106, steering wheel III 73 and paw 108.Wherein, the lower end of column 103 leads to
Cross four fixed supports 104 to be fixed on car body 102, for supporting mechanical arm, there is provided the height of crawl medicine bottle；Connecting rod I 105 1
End is arranged on the upper end of column 103, and the other end of connecting rod I 105 and the one end of connecting rod II 106 are connected with steering wheel I 71 respectively, connecting rod II 106
The other end and the one end of connecting rod III 107 are connected with steering wheel II 72 respectively, the other end of connecting rod III 107 and paw 108 respectively with steering wheel III
73 connections；Connecting rod II 106 and connecting rod III 107 realize rotary freedom by the rotation of steering wheel I 71 and steering wheel II 72 respectively；Steering wheel
III 73 drive the pinion rotation of paw 108 by left rotation and right rotation, realize the folding of paw 108.Column 103 is quadrangular structure.
Fixed support 104 is to be machined with mounting hole respectively on the hardened structure of L-type, the bottom plate and riser of L-type structure, in order to incite somebody to action
Column 103 is installed and is connected on car body 102.The bottom plate of L-type structure and the outer end of riser have been processed into smooth arc structure,
In order to avoid scratch installation operation personnel.
Connecting rod I 105 and connecting rod III 107 are U-shaped hardened structures, as shown in Figure 4 and Figure 5.Divide on the two side of U-shaped hardened structure
It is not machined with multiple mounting holes be connected to rotate with corresponding steering wheel, one of side wall of U-shaped hardened structure and corresponding
Rotated and connected by steering wheel between steering wheel output shaft.Also multiple installation connecting holes are machined with the bottom plate of U-shaped hardened structure.Such as connecting rod
Installation connecting hole on I 105 bottom plates is used for and column 103 is connected, and the mounting hole on the bottom plate of connecting rod III 107 is used for and paw 108
Connection.In the present embodiment, steering wheel I 711 is identical with the structure of steering wheel II 721, and its structural representation is as shown in fig. 6, be one circular
Hardened structure, the center of circular slab is provided with through hole, and through hole is uniformly distributed on peripheries with connection via.The scheme of installation of steering wheel as shown in fig. 7,
The output shaft of steering wheel is connected by steering wheel and corresponding connecting rod.
As shown in figure 4, connecting rod II 106 is the rectangular slab of a pair of opposing parallel settings, steering wheel I 71 and steering wheel are symmetricly set on
II 72 both sides, steering wheel I 71 and steering wheel II 72 are connected.The two ends of rectangular slab are machined with connection hole respectively.
Paw 108 includes the U-shaped frame 1081 of paw and finger 1082, and finger 1082 includes active finger 10821 and from starting
Refer to 10822, as shown in Fig. 4 and Fig. 9, Figure 10.The structure of the U-shaped frame 1081 of paw is a U-shaped hardened structure as shown in figure 11.It is main
Start to refer to 10821 and one end of driven finger 10822 be arranged on the side wall of the U-shaped frame 1081 of paw, and active finger 10821
A gear, the engagement of two gears are respectively arranged with the end of driven finger 10822.Steering wheel III 73 is arranged on the U-shaped frame 1081 of paw
Groove in, the output shaft of steering wheel III 73 is connected by steering wheel with the gear of active finger 10821, and steering wheel III 73 passes through left rotation and right rotation
The pinion rotation of active finger 10821 is driven, so as to drive active finger 10821 and the folding of driven finger 10822, paw is realized
108 folding.Installation connecting hole is machined with the bottom plate of the U-shaped frame 1081 of paw to be connected with the U-shaped bottom with connecting rod III 107.
Medical service robot control system include main control module 1, motor driving I 21, motor driving II 22, motor I 31,
Motor II 32, motor III 33, motor IV 34, preceding tracking module 41, rear tracking module 42, left tracking module 43, right tracking module
44th, optoelectronic switch I 51, optoelectronic switch II 52, steering engine controller 6, MP3 player 8 and loudspeaker 9, as shown in Fig. 3 and Figure 12.
Motor driving I 21, motor driving II 22, preceding tracking module 41, rear tracking module 42, left tracking module 43, right tracking module 44,
Optoelectronic switch I 51, optoelectronic switch II 52, steering engine controller 6, MP3 player 8 I O port line corresponding with main control module 1 respectively
Road is connected；Motor I 31 and motor II 32 drive I 21 connections with motor respectively；Motor III 33 and motor IV 34 respectively with electricity
Machine drives II 22 connections；Steering wheel I 71, steering wheel II 72 and steering wheel III 73 respectively with the connection of steering engine controller 6, MP3 broadcasts
Put device 8 and the connection of loudspeaker 9.
The I/O port connection corresponding with main control module 1 of steering engine controller 6, steering wheel I 71, steering wheel II 72 and steering wheel III 73
Respectively with the connection of steering engine controller 6.Steering engine controller 6 can drive steering wheel I 71, steering wheel II 72 and steering wheel III 73 to press respectively
Certain angle is rotated, and the mechanical arm and paw of medical service robot is performed certain action；Steering engine controller 6 can also be stored up
Steering wheel I 71, steering wheel II 72 and the rotational angle of steering wheel III 73 are deposited, when the mechanical arm and paw of medical service robot are, it is necessary to repeat
When performing adapted good action, steering engine controller 6 can directly invoke storage action, or under main control module 1
Steering engine controller 6 is given to perform the action up to order, steering engine controller 6 calls the storage to act, and realizes the pre- of mechanical arm and paw
Determine holding function；Steering engine controller 6 can also be stored as multiple rotational actions to act array, when the machine of medical service robot
Tool arm and paw are, it is necessary to be sequentially repeated when performing a series of adapted good actions, steering engine controller 6 can be directly invoked
The storage acts array, or main control module 1 is issued an order and performs the action array to steering engine controller 6, and steering engine controller 6 is adjusted
Array is acted with the storage, a series of predetermined action functions of mechanical arm and paw are realized.
Motor I 31, motor II 32, motor III 33 and motor IV 34, are direct current generator, and each motor needs 3 control letters
Number IN1, IN2 and EN1, EN1 is enables signal.Two electrodes IN1, IN2 of motor, are direction of motor rotation control signals, point
Not Wei 1,0 when, motor rotate forward, conversely, motor reversal.Pwm signal is inputted to EN1, PWM dutycycle is adjusted, electricity can be adjusted
Machine rotating speed.Therefore, motor driving I 21 can be adjusted with controlled motor I 31, the rotating forward of motor II 32, reversion and speed, motor driving
II 22 can be with controlled motor III 33, rotating forward, reversion and the speed regulation of motor IV 34.Wheel 1011 passes through shaft coupling and motor I
31 connections, wheel 1012 is connected by shaft coupling with motor II 32, and wheel 1013 is connected by shaft coupling with motor III 33, wheel
1014 are connected by shaft coupling with motor IV 34.
Main control module 1 sends motor control signal to motor driving I 21 and motor driving II 22, and motor driving I 21 drives
Motor I 31 and motor II 32, are forwarded and reversed or speed governing, and motor drives II 22 motors III 33 and motor IV 34, are carried out
Rotate forward, invert or speed governing, realize that advance, retrogressing, advance of turning left, the right-hand rotation of medical service robot are advanced, left-hand rotation is retreated, the right side
Turn the basic exercise actions such as retrogressing, speed regulation and stopping.
Preceding tracking module 41 includes the cable of seven sets of tracking sensors and transmission control signal, and rear tracking module 42 includes five
The cable of tracking sensor and transmission control signal is covered, left tracking module 43 includes a set of tracking sensor and transmission control signal
Cable, right tracking module 44 include a set of tracking sensor and transmission control signal cable.Preceding tracking module 41, rear tracking
Module 42, left tracking module 43 and right tracking module 44, can detect the walking guide wire of medical service robot, master control mould
Different detection signals of the block 1 according to preceding tracking module 41, rear tracking module 42, left tracking module 43 and right tracking module 44, sentence
The walking orientation of disconnected medical service robot, constantly correction, enable robot by the flow of programming, follow walking guide wire
Walking.
Optoelectronic switch I 51 and optoelectronic switch II 52, can detect front obstacle, detecting distance can be by optoelectronic switch I
51 and the regulation circuit configuration of optoelectronic switch II 52.In the tasks make progress that robot makes the rounds of the wards with drug delivery, such as Fig. 2 institutes
Show, robot is through R, Q, then to during M, and Q to M does not have guide line, and during robot is through Q, R, S to N, S to N does not draw
Wire, it is necessary to judge whether to reach the predetermined area during the two, just by optoelectronic switch I 51 and optoelectronic switch II 52, be
It is no to detect barrier to differentiate.Main control module 1, front obstacle is detected according to optoelectronic switch I 51 and optoelectronic switch II 52
Signal after, bedside cupboard A or B can be judged according to optoelectronic switch I 51 and the detecting distance set in advance of optoelectronic switch II 52
With a distance from robot, enable robot by the flow of programming, stopped, exchanged with patient, medicament taking bottle, put medicine
Bottle.
MP3 player 8, voice messaging that can be to be stored in playout storage, and voice messaging is played by loudspeaker 9
Out；In the tasks make progress that medical service robot makes the rounds of the wards, robot is reached behind the predetermined area, to be exchanged with patient,
Main control module 1 sends corresponding speech play order, to MP3 player 8, and MP3 player 8 sends corresponding voice messaging
To loudspeaker 9, speech play is carried out.
Mechanical arm reset position, referring to Figure 11, medical service robot is in motion process, and mechanical arm, which is in, resets shape
State, it is ensured that the center of gravity of robot, positioned at the midpoint of car body.Otherwise, the robot in motion, be able to can be caused due to crank
Four wheels are uneven to the frictional force on ground, can occur unpredictable deflection in robot motion's body motion process, no
Preset program, steady running can be pressed.Mechanical arm is in reset position, and the angle of connecting rod I 105 and connecting rod II 106 is 60 degree, connecting rod
II 106 be 120 degree with the angle of connecting rod III 107, and gripper opens.The paw steering wheel of gripper is rotated by 90 °, and is nibbled by gear
Close, paw 108 can be driven to close up.
During reset state, II one-tenth about 60 ° of angle of connecting rod I and connecting rod, connecting rod II is with connecting rod III into about 120 °.When getting it filled, steering wheel I
Receive instruction and start rotation, drivening rod II is rotated clockwise, and two bar angles is changed into 90 °, now connecting rod II is perpendicular to the ground,
Steering wheel II also receives instruction, and drivening rod III is rotated clockwise, and makes connecting rod III and ground level.Steering wheel III receives instruction, opens
Gripper, end of getting it filled, claw closure.When putting medicine, the drivening rod II of steering wheel I is rotated counterclockwise, and makes connecting rod I, connecting rod II, connecting rod
III is in alignment, and steering wheel III receives instruction, opens claw, puts medicine and terminates.Put after medicine terminates, mechanical arm returns to reset shape
State.
The medical service robot participates in the sub-project of Chinese robot contest, the medical service robot compulsory exercise
Competition area, as shown in Fig. 2 ground is green carpet, long 6000mm, wide 4000mm.The guide line of robot ambulation, is width
24mm is put into white matt paper slip（Double faced adhesive tape）, dotted line guide line is not present in play.A, B sick bed long 2000mm, it is wide
1000mm, bed surface 500mm from the ground.Bedside cupboard long 500mm, wide 500mm, high 400mm.White line at Q, R, S, long 500mm is wide
24mm, perpendicular to QRS, QR=RS=1250mm.Origin zone（That is terminal area）Wide 600mm, long 800mm.
In match, robot needs completion to make the rounds of the wards task and drug delivery task.According to laws of the game, during the games, machine
Device people needs that starting line, stop line, and racing track guide wire can be recognized, in the part way without guide wire, can independently complete to appoint
Business.Robot completes following action in order：
（1）Robot makes the rounds of the wards：Robot is forward from starting point, along white line, through R, Q, then to M（Q to M does not have guide line）,
After being exchanged with A patients, through Q, R, S to N（S to N does not have guide line）, exchanged with B patients.Returned again through S, R
To terminal area.
（2）Robot drug delivery：Robot, along white line through R, S, by medicine bottle from nurse's platform, is sent to the head of a bed from origin zone
Cabinet A, bedside cupboard B.
Medicine bottle is initially placed on nurse's platform that height is 300mm, final to be transferred to the bed that height is 400mm
On head cabinet.
According to design provided by the present invention, the student enterd the lists can carry the medical service robot of the present invention
Control system, medical service robot competition venue, by programming, can quick left-hand seat, drive medical service robot,
Complete setting task.
Exemplary description is carried out to the present invention above in conjunction with accompanying drawing, it is clear that realization of the invention is not by aforesaid way
Limitation, it is or not improved by the present invention as long as employing the various improvement of inventive concept and technical scheme of the present invention progress
Design and technical scheme directly apply to other occasions, within the scope of the present invention.
Claims (10)
1. a kind of medical service robot, it is characterised in that including car body, wheel, control system and mechanical arm, the wheel
It is connected respectively by fixed support with the car body, the mechanical arm is arranged on the car body, the control system drives institute
State body movement and mechanical arm action；The mechanical arm includes connecting rod I, connecting rod II, connecting rod III and paw, the connecting rod I
Connected with the connecting rod II by steering wheel I, the connecting rod II and the connecting rod III are connected by steering wheel II, the connecting rod III and institute
State paw connection；The paw realizes the folding of the paw by the rotation of steering wheel III.
2. medical service robot according to claim 1, it is characterised in that the paw includes the U-shaped frame of paw and hand
Refer to, the finger includes active finger and driven finger；One end of the active finger and driven finger is arranged on the paw
On the side wall of U-shaped frame, and the end of the active finger and driven finger is respectively arranged with a gear, the engagement of two gears；Institute
State steering wheel III to be arranged in the groove of the U-shaped frame of the paw, the output shaft of the steering wheel III passes through corresponding steering wheel and the master
The gear for starting to refer to is connected.
3. medical service robot according to claim 2, it is characterised in that the U-shaped frame of paw is one U-shaped hardened
Structure；Installation connecting hole is machined with the bottom plate of U-shaped hardened structure to be connected with the connecting rod III.
4. medical service robot according to claim 2, it is characterised in that the active finger and driven finger are one
To the arcuate structure being oppositely arranged.
5. the medical service robot according to claim 1,2,3 or 4, it is characterised in that the other end of the connecting rod I is consolidated
Column upper end is scheduled on, the column lower end is fixed on the car body by fixed support.
6. medical service robot according to claim 5, it is characterised in that the fixed support is the hardened structure of L-type, L
Mounting hole is machined with respectively on the bottom plate and riser of shaping plate structure；The bottom plate of the hardened structure of L-type and the outer end of riser are processed
Into smooth arc structure.
7. the medical service robot according to claim 1,2,3,4 or 6, it is characterised in that the connecting rod I and connecting rod III
It is U-shaped hardened structure；Multiple mounting holes are machined with the two side of the U-shaped hardened structure respectively to rotate with corresponding steering wheel
Connection, is rotated by steering wheel between one of side wall of the U-shaped hardened structure and corresponding steering wheel output shaft and connected；It is described
Multiple installation connecting holes are also machined with the bottom plate of U-shaped hardened structure.
8. medical service robot according to claim 8, it is characterised in that the steering wheel is a circular plate structure, circle
The center of shape plate is provided with through hole, and through hole is uniformly distributed on peripheries with connection via.
9. the medical service robot according to claim 1,2,3,4,6 or 8, it is characterised in that the connecting rod II is one
To rectangular slab that is relative and be arrangeding in parallel, two rectangular slab is symmetricly set on the both sides of the steering wheel I and steering wheel II, will be described
Steering wheel I and steering wheel II are connected；The two ends of the rectangular slab are machined with connection hole respectively.
10. medical service robot according to claim 9, it is characterised in that the wheel has four, four wheels point
It is not connected by corresponding fixed mount with the car body；Four wheels are connected by shaft coupling with corresponding motor respectively
Connect.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710262599.XA CN107053203A (en) | 2017-04-20 | 2017-04-20 | A kind of medical service robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710262599.XA CN107053203A (en) | 2017-04-20 | 2017-04-20 | A kind of medical service robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107053203A true CN107053203A (en) | 2017-08-18 |
Family
ID=59599982
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710262599.XA Pending CN107053203A (en) | 2017-04-20 | 2017-04-20 | A kind of medical service robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107053203A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109283931A (en) * | 2018-08-10 | 2019-01-29 | 中北大学 | The linear CCD inspection system and patrolling method of medical sickbed transport vehicle |
| CN110507972A (en) * | 2019-09-26 | 2019-11-29 | 江西福方科技有限公司 | A kind of people and robot cooperated shooting matching system |
| CN114074330A (en) * | 2022-01-19 | 2022-02-22 | 成都博恩思医学机器人有限公司 | Robot control method, system, robot and storage medium |
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| CN202753159U (en) * | 2012-07-03 | 2013-02-27 | 李少逸 | Remote-control visual robot |
| CN106078755A (en) * | 2016-06-21 | 2016-11-09 | 昆明理工大学 | A kind of multifunctional medical service robot |
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- 2017-04-20 CN CN201710262599.XA patent/CN107053203A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202753159U (en) * | 2012-07-03 | 2013-02-27 | 李少逸 | Remote-control visual robot |
| CN106078755A (en) * | 2016-06-21 | 2016-11-09 | 昆明理工大学 | A kind of multifunctional medical service robot |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109283931A (en) * | 2018-08-10 | 2019-01-29 | 中北大学 | The linear CCD inspection system and patrolling method of medical sickbed transport vehicle |
| CN110507972A (en) * | 2019-09-26 | 2019-11-29 | 江西福方科技有限公司 | A kind of people and robot cooperated shooting matching system |
| CN114074330A (en) * | 2022-01-19 | 2022-02-22 | 成都博恩思医学机器人有限公司 | Robot control method, system, robot and storage medium |
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Application publication date: 20170818 |