CN108724213A - A kind of Yi Cheng robots - Google Patents
A kind of Yi Cheng robots Download PDFInfo
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- CN108724213A CN108724213A CN201810609935.8A CN201810609935A CN108724213A CN 108724213 A CN108724213 A CN 108724213A CN 201810609935 A CN201810609935 A CN 201810609935A CN 108724213 A CN108724213 A CN 108724213A
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- 238000012546 transfer Methods 0.000 claims description 36
- 230000007246 mechanism Effects 0.000 claims description 32
- 230000033001 locomotion Effects 0.000 claims description 28
- 238000004088 simulation Methods 0.000 claims description 19
- 238000012545 processing Methods 0.000 claims description 13
- 238000000034 method Methods 0.000 claims description 6
- 230000000474 nursing effect Effects 0.000 abstract description 12
- 239000013598 vector Substances 0.000 description 7
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- 230000009466 transformation Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- PCTMTFRHKVHKIS-BMFZQQSSSA-N (1s,3r,4e,6e,8e,10e,12e,14e,16e,18s,19r,20r,21s,25r,27r,30r,31r,33s,35r,37s,38r)-3-[(2r,3s,4s,5s,6r)-4-amino-3,5-dihydroxy-6-methyloxan-2-yl]oxy-19,25,27,30,31,33,35,37-octahydroxy-18,20,21-trimethyl-23-oxo-22,39-dioxabicyclo[33.3.1]nonatriaconta-4,6,8,10 Chemical compound C1C=C2C[C@@H](OS(O)(=O)=O)CC[C@]2(C)[C@@H]2[C@@H]1[C@@H]1CC[C@H]([C@H](C)CCCC(C)C)[C@@]1(C)CC2.O[C@H]1[C@@H](N)[C@H](O)[C@@H](C)O[C@H]1O[C@H]1/C=C/C=C/C=C/C=C/C=C/C=C/C=C/[C@H](C)[C@@H](O)[C@@H](C)[C@H](C)OC(=O)C[C@H](O)C[C@H](O)CC[C@@H](O)[C@H](O)C[C@H](O)C[C@](O)(C[C@H](O)[C@H]2C(O)=O)O[C@H]2C1 PCTMTFRHKVHKIS-BMFZQQSSSA-N 0.000 description 1
- 206010010071 Coma Diseases 0.000 description 1
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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
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/009—Nursing, e.g. carrying sick persons, pushing wheelchairs, distributing drugs
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- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Nursing (AREA)
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- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of Yi Cheng robots, which solve it is existing manually to people with mobility problems move multiply carrying when, increase the burden of nursing staff, and the low technical problem of safety, it includes left mechanical arm, right mechanical arm and chassis, left mechanical arm is equipped with left load-bearing supporting plate, and right mechanical arm is equipped with right load-bearing supporting plate.The present invention is widely used in the field of medical instrument technology.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a transfer robot.
Background
It is known that the nursing work for patients or old people who are postoperative, paralytic, shocking, narcosis, comatose and disabled or who are disabled or lack the ability to move due to the damage and degeneration of the physical functions is difficult, and the nursing work for the group mainly comprises eating service, transportation and personal hygiene. At present, move and take the transport and all realize through artifical, the hospital mostly uses traditional transportation mode as the main, relies on many medical personnel to lift, embrace, hold up and accomplish nursing object's transportation work, and this type of transportation mode is because the mode is difficult to standardize, has not only increased nursing staff's burden, and nursing object receives secondary damage or takes place when falling the dangerous condition.
Therefore, it is an urgent technical problem to be solved by those skilled in the art to develop a robot to replace manpower to realize transfer and transportation.
Disclosure of Invention
The invention provides a transfer robot capable of replacing manual operation to automatically transfer and convey, aiming at solving the technical problems that the burden of nursing staff is increased and the safety is low when people who are inconvenient to move are manually transferred and conveyed.
The invention provides a transfer robot, which comprises a left mechanical arm, a right mechanical arm and a chassis, wherein the left mechanical arm comprises a left base, a left small arm driving motor, a left small arm speed reducer, a left small arm transmission mechanism, a left small arm driving connecting rod, a left large arm driving motor, a left large arm speed reducer, a left large arm transmission mechanism, a left large arm, a left small arm transmission connecting rod, a left small arm, a rotary joint I, a rotary joint II, a rotary joint III, a rotary joint IV, a rotary joint V, a rotary joint VI, a left triangular retainer, a left tail end posture retaining connecting rod, a left triangular retainer connecting rod, a rotary joint VII, a left bearing supporting plate, a left tail end connecting rod and a rotary joint IX, the left box body I and the left box body II are connected to the left base, the left small arm driving motor and the left small arm speed reducer are connected to the left box body I, and the left large arm driving motor and the left large arm speed reducer are connected to the left box body II; an output shaft of the left small arm driving motor is connected with the input end of the left small arm speed reducer through a left small arm transmission mechanism, and one end of a left small arm driving connecting rod is connected with the output end of the left small arm speed reducer; an output shaft of the left large arm driving motor is connected with the input end of the left large arm speed reducer through a left large arm transmission mechanism, one end of the left large arm is connected with the output end of the left large arm speed reducer, and one end of the left small arm transmission connecting rod is connected with the other end of the left small arm driving connecting rod through a first rotary joint; one end of the left forearm is connected with one end of the left tail end connecting rod through a rotary joint nine, the other end of the left forearm is provided with a left forearm rotary joint connecting part, the left forearm rotary joint connecting part is connected with the left triangular retainer through a rotary joint III, and the other end of the left forearm transmission connecting rod is connected with the left forearm rotary joint connecting part through a rotary joint II; the other end of the left big arm is connected with the left triangular retainer through a rotary joint, the rotation axes of the left big arm and the left small arm on the left triangular retainer are overlapped, one end of the left tail end posture keeping connecting rod is connected with the left triangular retainer through a rotary joint IV, and the other end of the left tail end posture keeping connecting rod is connected with the other end of the left tail end connecting rod through a rotary joint VI; one end of a left triangular retainer connecting rod is connected with the left triangular retainer through a fifth rotary joint, the other end of the left triangular retainer connecting rod is connected with a second left box body through a seventh rotary joint, and a left bearing supporting plate is connected with a left tail end connecting rod;
the right mechanical arm comprises a right base, a right box body I, a right box body II, a right small arm driving motor, a right small arm speed reducer, a right small arm transmission mechanism, a right small arm driving connecting rod, a right large arm driving motor, a right large arm speed reducer, a right large arm transmission mechanism, a right large arm, a right small arm transmission connecting rod, a right small arm, a rotary joint eight, a rotary joint eleven, a rotary joint thirteen, a right triangular retainer, a right tail end posture keeping connecting rod, a right triangular retainer connecting rod, a right bearing supporting plate and a right tail end connecting rod; an output shaft of the right small arm driving motor is connected with the input end of the right small arm speed reducer through a right small arm transmission mechanism, and one end of a right small arm driving connecting rod is connected with the output end of the right small arm speed reducer; an output shaft of the right large arm driving motor is connected with the input end of the right large arm speed reducer through a right large arm transmission mechanism, one end of the right large arm is connected with the output end of the right large arm speed reducer, and one end of the right small arm transmission connecting rod is connected with the other end of the right small arm driving connecting rod through a rotary joint eight; one end of the right small arm is connected with one end of the right tail end connecting rod through a rotary joint, the other end of the right small arm is provided with a right small arm rotary joint connecting part, the right small arm rotary joint connecting part is connected with the right triangular retainer through a rotary joint, and the other end of the right small arm transmission connecting rod is connected with the right small arm rotary joint connecting part through a rotary joint; the other end of the right large arm is connected with the right triangular retainer through a rotary joint, and the rotating axes of the right large arm and the right small arm on the right triangular retainer are overlapped; one end of the right tail end posture keeping connecting rod is connected with the right triangular retainer through an eleventh rotary joint, and the other end of the right tail end posture keeping connecting rod is connected with the other end of the right tail end connecting rod through a thirteenth rotary joint; one end of a right triangular retainer connecting rod is connected with the right triangular retainer through a rotary joint, the other end of the right triangular retainer connecting rod is connected with a right box body II through a rotary joint, and a right bearing supporting plate is connected with a right tail end connecting rod;
the left base is connected with the chassis, and the right base is connected with the chassis.
Preferably, a screw pair is arranged between the left base and the chassis, the right base and the chassis, the screw pair is connected with a screw pair driving motor, the screw pair is connected with the chassis, the screw pair is provided with a first nut seat and a second nut seat, the left base is connected with the first nut seat, and the right base is connected with the second nut seat.
Preferably, two casters and two mecanum wheels are attached to the chassis.
Preferably, be connected with the band between right bearing layer board and the left bearing layer board.
Preferably, the rotation angle range of the left large arm is 25-160 °, the rotation angle range of the left small arm driving link is-80-70 °, the rotation angle range of the right large arm is 25-160 °, and the rotation angle range of the right small arm driving link 207 is-80-70 °.
Preferably, the transfer robot further comprises a control system, wherein the control system comprises an upper computer, a first controller, a second controller, a first driver, a second driver, a first encoder, a second encoder, a third driver, a fourth driver, a third encoder and a fourth encoder, the first controller is connected with the upper computer, and the second controller is connected with the upper computer 1; the first controller is provided with a first serial port, the input end of the first driver is connected with the first serial port, and the output end of the first driver is connected with the left forearm driving motor; the input end of the second driver is connected with the first serial port, the left large arm driving motor is connected with the output end of the second driver, the first encoder is connected with the left small arm driving motor, and the signal output end of the first encoder is connected with the controller; the second encoder is connected with the left large arm driving motor, and a signal output end of the second encoder is connected with the controller; the controller II is provided with a serial port II, the input end of the driver III is connected with the serial port II, and the output end of the driver III is connected with the right forearm driving motor; the input end of the driver IV is connected with the serial port II, and the right large arm driving motor is connected with the output end of the driver IV; the third encoder is connected with the right small arm driving motor, the signal output end of the third encoder is connected with the second controller, the fourth encoder is connected with the right large arm driving motor, and the signal output end of the fourth encoder is connected with the second controller.
Preferably, the upper computer is provided with an ROS system and a display, the ROS system is provided with a RViz simulation module, a RViz display module, a control module and a data processing module, the data processing module is connected with the RViz simulation module, and the control module is connected with the data processing module for communication.
The invention also provides a transfer method, which is characterized by comprising the following steps:
firstly, establishing a three-dimensional model, and displaying the three-dimensional model with the same size as the actual left mechanical arm and the actual right mechanical arm;
calling the three-dimensional model by using a RViz simulation module in the ROS to realize real-time association of the three-dimensional model and each joint of the actual mechanical arm; when the upper computer controls the motion of the three-dimensional model in the RViz simulation module, the left mechanical arm and the right mechanical arm move along with the motion and feed back information of the states of all joints to the RViz simulation module in real time, and when the feedback state of the actual mechanical arm does not reach the state of the three-dimensional model, the upper computer calculates a difference value and then sends an instruction to control the movement of the mechanical arm until the motion of the left mechanical arm and the right mechanical arm reaches a set target position.
The invention has the beneficial effects that: the manufacturing cost is low, the load capacity is strong, the operation range is wide, the working speed is high, the working efficiency is high, the stability is high, and the safety is high.
The nursing object can be prevented from being injured again to a great extent. The process of using the transfer robot to transfer nursing objects fully combines the advantages of people and machines, medical workers can accurately identify environmental information and make operation judgment, the transfer robot can finish transfer work quickly and efficiently, and the optimal efficiency of the whole human-computer system is achieved through human-computer cooperation.
The application scene of the transfer robot is mainly narrow working environments such as hospitals, nursing homes and nursing homes, and the like, and the transfer robot can assist medical workers to safely, reliably, comfortably and flexibly complete the carrying work of patients in different nursing scenes.
The single arm of robot has 3 degrees of freedom, structurally will drive forearm pivoted motor and move down the arm base, and this not only can reduce the focus of robot, can also alleviate the bearing of big arm, makes the forearm lighter and more handy simultaneously, greatly increased the stability of robot.
Further features and aspects of the present invention will become apparent from the following description of specific embodiments with reference to the accompanying drawings.
Drawings
Fig. 1 is a perspective view of a transfer robot;
FIG. 2 is a front view of the transfer robot;
FIG. 3 is a top view of the transfer robot;
fig. 4 is a left side view of the transfer robot;
FIG. 5 is a schematic view of the structure shown in FIG. 1 with the left case I, the left case II, the right case I, and the right case II removed;
FIG. 6 is a schematic view of the structure of FIG. 4 with the left case one and the left case two removed;
FIG. 7 is a perspective view of the main structure of the left robot arm;
FIG. 8 is a schematic view of a planar parallel robotic arm mechanism;
FIG. 9 is a control system schematic;
FIG. 10 is a schematic view of a host computer provided with a ROS system;
FIG. 11 is a schematic diagram of the calculation of the parameters of the links of the robot arm;
FIG. 12 is a flow chart of the ROS system controlling the actual robotic arm through a three-dimensional model.
The symbols in the drawings illustrate that:
100. a left mechanical arm, 101, a left base, 102, a left box body I, 103, a left box body II, 104, a left small arm driving motor, 105, a left small arm reducer, 106, a left small arm belt pulley transmission mechanism, 107, a left small arm driving connecting rod, 108, a left large arm driving motor, 109, a left large arm reducer, 110, a left large arm belt pulley transmission mechanism, 111, a left large arm, 112, a left small arm transmission connecting rod, 113, a left small arm, 113-1, a left small arm rotary joint connecting part, 114, a rotary joint I, 115, a rotary joint II, 116, a rotary joint III, 117, a rotary joint IV, 118, a rotary joint V, 119, a rotary joint VI, 120, a left triangular holding frame, 121, a left end posture holding connecting rod, 122, a left triangular holding frame connecting rod, 123, a rotary joint VII, 124, a left bearing supporting plate, 125, a left end connecting rod, 126, a rotary joint nine,
200. the robot comprises a right mechanical arm, 201, a right base, 202, a right box body I, 203, a right box body II, 204, a right small arm driving motor, 205, a right small arm reducer, 206, a right small arm belt pulley transmission mechanism, 207, a right small arm driving connecting rod, 208, a right large arm driving motor, 211, a right large arm, 212, a right small arm transmission connecting rod, 213, a right small arm, 213-1, a right small arm rotary joint connecting part, 214, eight rotary joints, 217, eleven rotary joints, 219, thirteen rotary joints, 220, a right triangular retainer, 221, a right tail end posture retaining connecting rod, 222, a right triangular retainer connecting rod, 224, a right bearing supporting plate, 225 and a right tail end connecting rod;
300. the automatic feeding device comprises a chassis, 400 casters, 500 Mecanum wheels, 600 lead screw pairs, 700 belt pulley transmission mechanisms and 800 lead screw pair driving motors;
1. the system comprises an upper computer, 2, a controller I, 3, a controller II, 4, a driver I, 5, a driver II, 6, an encoder I, 7, an encoder II, 8, a driver III, 9, a starter IV, 10, an encoder III and 11, and an encoder IV.
Detailed Description
The present invention will be described in further detail below with reference to specific embodiments thereof with reference to the attached drawings.
As shown in fig. 1 to 7, the transfer robot includes a left robot arm 100, a right robot arm 200, a chassis 300, casters 400, mecanum wheels 500, a screw pair 600, a pulley transmission mechanism 700, and a screw pair driving motor 800, wherein the two casters 400 are connected to the rear end of the chassis 300; the two Mecanum wheels 500 are connected with the front end of the chassis 300, the screw pair 600 is installed on the chassis 300, the screw pair driving motor 800 is installed on the chassis 300, and the output shaft of the screw pair driving motor 800 is connected with the screw of the screw pair 600 through the belt pulley transmission mechanism 700. Mecanum wheel 500 may facilitate the overall forward, lateral, diagonal, or rotational motion of the robot.
The screw pair 600 is provided with a first nut seat and a second nut seat, and when a screw of the screw pair 600 rotates, the first nut seat and the second nut seat move away from each other or move close to each other. The left base 101 on the left mechanical arm 100 is connected with the first nut seat, and the right base 201 on the right mechanical arm 200 is connected with the second nut seat.
The left mechanical arm 100 comprises a left base 101, a left box body I102, a left box body II 103, a left small arm driving motor 104, a left small arm speed reducer 105, a left small arm belt pulley transmission mechanism 106, a left small arm driving connecting rod 107, a left large arm driving motor 108, a left large arm speed reducer 109, a left large arm belt pulley transmission mechanism 110, a left large arm 111, a left small arm transmission connecting rod 112, a left small arm 113, a rotary joint I114, a rotary joint II 115, a rotary joint III 116, a rotary joint IV 117, a rotary joint V118, a rotary joint VI 119, a left triangular retainer 120, a left tail end posture maintaining connecting rod 121, a left triangular retainer connecting rod 122, a rotary joint VII 123, a left bearing supporting plate 124, a left tail end connecting rod 125 and a rotary joint VII, the left box body I102 and the left box body II 103 are fixedly connected on the left base 101, the left small arm driving motor 104 and the left small arm speed reducer 105 are installed on the left box body I102, an output shaft of the left small arm driving motor 104 is connected with an input end of a left small arm speed reducer 105 through a left small arm belt pulley transmission mechanism 106, and one end of a left small arm driving connecting rod 107 is connected with an output end of the left small arm speed reducer 105; a left big arm driving motor 108 and a left big arm reducer 109 are arranged on the left box body II 103, an output shaft of the left big arm driving motor 108 is connected with the input end of the left big arm reducer 109 through a left big arm belt pulley transmission mechanism 110, one end of a left big arm 111 is connected with the output end of the left big arm reducer 109, and one end of a left small arm transmission connecting rod 112 is connected with the other end of the left small arm driving connecting rod 107 through a first rotary joint 114; one end of the left forearm 113 is connected with one end of a left tail end connecting rod 125 through a rotary joint nine 126, the other end of the left forearm 113 is provided with a left forearm rotary joint connecting part 113-1, the left forearm rotary joint connecting part 113-1 is connected with the left triangular retainer 120 through a rotary joint three 116, and the other end of the left forearm transmission connecting rod 112 is connected with the left forearm rotary joint connecting part 113-1 through a rotary joint two 115; the other end of the left large arm 111 is connected with the left triangular retainer 120 through a rotary joint, and the rotation axes of the left large arm 111 and the left small arm 113 on the left triangular retainer 120 are coincident. One end of a left tail end posture keeping connecting rod 121 is connected with the left triangular retainer 120 through a fourth rotary joint 117, and the other end of the left tail end posture keeping connecting rod 121 is connected with the other end of a left tail end connecting rod 125 through a sixth rotary joint 119; one end of a left triangular retainer connecting rod 122 is connected with the left triangular retainer 120 through a fifth rotary joint 118, the other end of the left triangular retainer connecting rod 122 is connected with the left box body II 103 through a seventh rotary joint 123, and a left bearing supporting plate 124 is connected with a left tail end connecting rod 125.
The right robot arm 200 has the same structure as the left robot arm 100. The right mechanical arm 200 comprises a right base 201, a right box body I202, a right box body II 203, a right small arm driving motor 204, a right small arm speed reducer 205, a right small arm belt pulley transmission mechanism 206, a right small arm driving connecting rod 207, a right large arm driving motor 208, a right large arm speed reducer, a right large arm belt pulley transmission mechanism, a right large arm 211, a right small arm transmission connecting rod 212, a right small arm 213, a rotary joint eight 214, a rotary joint eleven 217, a rotary joint thirteen 219, a right triangular retainer 220, a right tail end posture retaining connecting rod 221, a right triangular retainer connecting rod 222, a right bearing supporting plate 224 and a right tail end connecting rod 225, the right box body I202 and the right box body II 203 are fixedly arranged on the right base 201, the right small arm driving motor 204 and the right small arm speed reducer 205 are arranged on the right box body I202, and the right large arm driving motor 208 and the right large arm speed reducer are arranged on the right box body II 203.
An output shaft of the right small arm driving motor 204 is connected with an input end of a right small arm speed reducer 205 through a right small arm belt pulley transmission mechanism 206, and one end of a right small arm driving connecting rod 207 is connected with an output end of the right small arm speed reducer 205; an output shaft of the right large arm driving motor 208 is connected with an input end of a right large arm speed reducer through a right large arm belt pulley transmission mechanism, one end of a right large arm 211 is connected with an output end of the right large arm speed reducer, and one end of a right small arm transmission connecting rod 212 is connected with the other end of the right small arm driving connecting rod 207 through a rotary joint eight 214; one end of the right small arm 213 is connected with one end of the right tail end connecting rod 225 through a rotary joint, the other end of the right small arm 213 is provided with a right small arm rotary joint connecting part 213-1, the right small arm rotary joint connecting part 213-1 is connected with the right triangular retainer 220 through a rotary joint, and the other end of the right small arm transmission connecting rod 212 is connected with the right small arm rotary joint connecting part 213-1 through a rotary joint; the other end of the right large arm 211 is connected with the right triangular retainer 220 through a rotary joint, and the rotation axes of the right large arm 211 and the right small arm 213 on the right triangular retainer 220 are coincident. One end of the right tail end posture keeping connecting rod 221 is connected with the right triangular retainer 220 through an eleventh rotary joint 217, and the other end of the right tail end posture keeping connecting rod 221 is connected with the other end of the right tail end connecting rod 225 through a thirteenth rotary joint 219; one end of the right triangular retainer connecting rod 222 is connected with the right triangular retainer 220 through a rotary joint, the other end of the right triangular retainer connecting rod 222 is connected with the right box body II 203 through a rotary joint, and the right bearing supporting plate 224 is connected with the right tail end connecting rod 225.
As shown in fig. 8, the schematic diagram of the planar motion mechanism of the single mechanical arm includes three parallelograms and a triangle, wherein:
1)ADIJ is the first parallelogram structure, with the AD side corresponding to the left large arm 111, the IJ side corresponding to the left triangular cage link 122, and the DI side corresponding to the base of the left triangular cage 120. Because the points a and J are fixed relative to the base member, the attitude of Δ HDI in the plane is maintained by the constraint of the parallelogram structure when the active member AD rotates. That is, component AD determines the position of Δ HDI in the vertical plane;
2)GHDE is a second parallelogram, GE side corresponds to the left end link 125,the GH side corresponds to the left-end attitude keeping link 121, the HD side corresponds to one side of the left triangular retainer 120, the DE side corresponds to the front half of the left forearm 113, and the EC side corresponds to the entire left forearm 113. Since the attitude of Δ HDI in the vertical plane remains unchanged, the planar attitude of member GE remains unchanged, so that member FM remains parallel to the horizontal plane at all times. Component CE determines the position of component FM in the plane.
3)ABCD has a third parallelogram structure, and the side AB corresponds to the left forearm drive link 107, the side BC corresponds to the left forearm transmission link 112, and the side CD corresponds to the left forearm rotary joint connection 113-1. The member AB determines the pitch attitude of the member CE on the plane, and the member AD determines the position of the member CE on the plane, and both the member AB and the member AD are active pieces.
By passingADIJ andGHDE and Δ HDI enable component FM (left load bearing pallet 124) to remain parallel to the horizontal at all times.
Thus, the left forearm drive motor 104 and the left upper arm drive motor 108 operate to drive the left bearing plate 124 forward, rearward, up and down in a plane. The right small arm drive motor 204 and the right large arm drive motor 208 operate to drive the right load bearing pallet 224 forward, rearward, up and down in a plane.
The left large arm 111 is a driving member, and the rotation angle thereof does not exceed 360 °. The left forearm drive link 107 is a drive member that rotates through an angle of no more than 360. The rotation angle of the right big arm and the right small arm driving connecting rod does not exceed 360 degrees. Preferably, the rotation angle range of the left large arm 111 is 25-160 °, and the rotation angle range of the left small arm driving link 107 is-80-70 °. The range of the rotation angle of the right large arm 211 is 25 to 160 degrees, and the range of the rotation angle of the right small arm drive link 207 is-80 to 70 degrees.
When using a transfer robot, the left and right load bearing pallets 124 and 224 are used to carry out the transfer, and transfer work in a manner of holding a person in a double-arm support. When the treatment objects are unconscious or extremely weak, the treatment objects cannot be actively matched with medical staff or a transfer robot to complete the transfer work, the bodies of the treatment objects can be involuntarily inclined or piled up to wither, the actual posture of the treatment objects is greatly different from the ideal posture, and the treatment objects are extremely likely to fall off. Therefore, a belt is connected to the left bearing plate 124 and the right bearing plate 224, so that the patient can lie on the belt and is prevented from falling.
When the transfer robot is used for carrying some special sick and wounded, a flat plate is connected to the left bearing supporting plate 124 and the right bearing supporting plate 224, so that the sick and wounded can lie on the flat plate.
The lead screw pair driving motor 800 is started to adjust the distance between the left bearing supporting plate 124 and the right bearing supporting plate 224 so as to meet the requirements of different patients.
In order to control the left mechanical arm 100 and the right mechanical arm 200 to move synchronously, as shown in fig. 9, the control system of the robot comprises an upper computer 1, a first controller 2, a second controller 3, a first driver 4, a second driver 5, a first encoder 6, a second encoder 7, a third driver 8, a fourth driver 9, a third encoder 10 and a fourth encoder 11, the first controller 2 is connected with the upper computer 1, the second controller 3 is connected with the upper computer 1, and the upper computer 1 integrally schedules the first controller 2 and the second controller 3 to work.
The first controller 2 is provided with a first serial port, the input end of the first driver 4 is connected with the first serial port, and the output end of the first driver 4 is connected with the left forearm driving motor 104. The input end of the second driver 5 is connected with the first serial port, and the left large arm driving motor 108 is connected with the output end of the second driver 5. The first encoder 6 is connected with the left forearm driving motor 104, and a signal output end of the first encoder 6 is connected with the first controller 2. The second encoder 7 is connected with the left large arm driving motor 108, and a signal output end of the second encoder 7 is connected with the first controller 2. The first encoder 6 feeds back the position signal of the left forearm driving motor 104 in real time as the first controller, and the second encoder 7 feeds back the position signal of the left forearm driving motor 108 in real time as the first controller. And a control instruction sent by the serial port I of the controller I2 is simultaneously transmitted to the left small arm driving motor 104 and the left large arm driving motor 108, so that the left small arm driving motor 104 and the left large arm driving motor 108 synchronously work, and the left small arm driving connecting rod 107 and the left large arm 111 synchronously work and coordinate. The left load bearing pallet 124 is eventually moved to a target position in xyz three-dimensional space.
The second controller 3 is provided with a second serial port, the input end of the third driver 8 is connected with the second serial port, and the output end of the third driver 8 is connected with the right forearm driving motor 204. The input end of the driver IV 9 is connected with the serial port II, and the right large arm driving motor 208 is connected with the output end of the driver IV 9. The third encoder 10 is connected with the right forearm driving motor 204, and the signal output end of the third encoder 10 is connected with the second controller 3. The fourth encoder 11 is connected with the right large arm driving motor 208, and a signal output end of the fourth encoder 11 is connected with the second controller 3. The third encoder 10 feeds back the position signal of the right small arm driving motor 204 to the second controller in real time, and the fourth encoder 11 feeds back the position signal of the right large arm driving motor 208 to the second controller in real time. And a control instruction sent by the serial port II of the controller II 3 is simultaneously transmitted to the right small arm driving motor 204 and the right large arm driving motor 208, so that the right small arm driving motor 204 and the right large arm driving motor 208 synchronously work, the right small arm driving connecting rod 207 and the right large arm 211 synchronously work and coordinate, and finally the right bearing supporting plate 224 moves to a target position of an xyz three-dimensional space.
As shown in fig. 10, the upper computer 1 is provided with an ROS (Robot Operating System) System and a display, the ROS System is provided with an RViz simulation module 1-1, a control module 1-2 and a data processing module 1-3, the data processing module 1-3 is connected and communicated with the RViz simulation module 1-1, and the control module 1-2 is connected and communicated with the data processing module 1-3.
The upper computer performs three-dimensional modeling, displays three-dimensional models with the same size as the real left mechanical arm 100 and the real right mechanical arm 200, sets the model joints and the mechanical arm joints in one-to-one correspondence, and realizes real-time association of the mechanical arm models and the joints of the real mechanical arm. RViz simulation module 1-1 calls the built three-dimensional model. When the upper computer 1 controls the motion of the mechanical model in the RViz simulation module 1-1, the left mechanical arm 100 and the right mechanical arm 200 follow the motion and feed back the states of all joints to the RViz simulation module 1-1 in real time, and when the feedback state of the real mechanical arm does not reach the state of the mechanical model, the upper computer calculates a difference value and then continuously sends an instruction to control the motion of the mechanical arm until the motion of the left mechanical arm 100 and the right mechanical arm 200 reaches a set target position.
An upper computer 1: when the upper computer 1 obtains a motion instruction which is input from the outside and moves to a specified position (coordinate xyz, speed), the motion instruction is inversely solved by the data processing module 1-3 to obtain motion parameters (motion angle and speed) of each joint, and the motion parameter data is sent to the RViz simulation module 1-1.
Referring to fig. 12, the specific process of forward and inverse solution is: the positive kinematic problem for robotic arms is that the joint variable θ is known11、θ21And solving the pose of the end effector left load bearing pallet 124 or right load bearing pallet 224 relative to the base coordinate system. When the transfer robot chassis is fixed, the left mechanical arm or the right mechanical arm only moves in the plane, so that the problem of positive kinematics can be simplified, taking the left mechanical arm as an example, the position E (x) of the lower end of the left end connecting rod 125 in the plane is determined first0,y0) The pose of the end effector left load bearing pallet 124 in space can then be determined in conjunction with the chassis motion. And (3) calculating and solving by adopting a vector method:
constructing a closed-loop equation under a fixed reference system A-xy:
in the formula (2-1)
k11＝L1,k12＝L4,k21＝L2,k22＝L3。
Is the bit vector of point C, k11、k12、k21、k22Respectively represent the length of the AD rod, the CD rod, the AB rod and the BC rod,respectively represent unit vectors of an AD rod and an AB rod of the prime mover,the unit vectors of the follower CD and BC sticks are shown, respectively.
The square of two sides of the formula (2-1) is taken as:
when i is 1,2, (2-2) and (2-3) are added to obtain:
namely:
subtracting the formulas (2-4) and (2-5) to obtain
The equations (2-7) are developed:
y2＝Dx2+E (2-8)
in the formula (2-8), the first and second groups,
substituting formula (2-8) for formula (2-6) to obtain
In the formula (2-9), F ═ D2+1，Gi＝DE-ki1cosθ21-Dki1sinθ21，
Two sets of positive solutions are obtained, and the two sets of positive solutions are taken according to the assembly mode
By substituting (2-10) into (2-8), y can be determined2Value, resulting in a bit vector C (x)2,y2)T。
in order to ensure the stable work of the mechanical arm, the angle values of ∠ GED, the angle HGE and the angle ABC cannot be lower thanthe ineffective solution needs to be eliminated, and the effectiveness of ∠ GED and ∠ HGE is firstly verified.
x1＝l1cosθ11(2-11)
y1＝l1sinθ11(2-12)
x3＝l1cosθ11+l7cos∠HDI (2-13)
y3＝l1sinθ11+l7sin∠HDI (2-14)
Find D (x)1,y1)、H(x3,y3)。
since ∠ GED + ∠ HGE is equal to pi and ∠ GED is equal to ∠ CDH, the rejection is not satisfiedC (x) of2,y2) And (4) coordinates.
for ∠ ABC, A (0,0), C (x) are known2,y2) The coordinates of point B can be calculated
x4＝l2cosθ21(2-15)
y4＝l2sinθ21(2-16)
Reject unsatisfied withC (x) of2,y2) And (4) coordinates.
Thus far, effective C (x)2,y2) The coordinates can be uniquely determined.
Knowing that points C, D, and E are collinear, there must be a point Q (x) that is not collinear with the line CD5,y5) And a real number u, such that:
then there is
x0＝ux2+(1-u)x1(2-17)
y0＝uy2+(1-u)y1(2-18)
From DE-bar to fixed length l5Can obtain the product
By substituting the formula (2-17) or the formula (2-18) into the formula (2-19)
Get
The E-point locus vector (x) can be obtained by substituting the formula (2-20) for the formula (2-17) or the formula (2-18)0,y0)T。
The inverse kinematics problem of the mechanical arm is that the pose of the end effector is known to solve the joint rotation angle theta corresponding to the pose11、θ21This is often a more engineering concern in practice. The inverse solution of the robot kinematics is solved to obtain the change parameters of each motion joint, so that the control of the robot is better realized. Only after the motion parameters of the variable motion of each joint are determined, the end effector of the robot can reach the expected pose.
A (0,0), E (x) are known0,y0) And the rods DE and AD are of fixed length l respectively5、l1Then there is
The formula (2-21) and the formula (2-22) are combined to obtain
y1＝ax1+b (2-23)
Wherein,
the formula (2-21) and the formula (2-23) are combined to obtain
Y is obtained by substituting formula (2-24) for formula (2-23)1Get larger y1Value and its corresponding x1。
in order to ensure the stable work of the mechanical arm, the angle values of ∠ GED and the angle EDH cannot be lower thanthe ineffective solution is required to be removed, and the removal is not satisfied because the ∠ GED + ∠ EDH ═ pi
D (x) of1,y1)。
Corner of left large arm 111x1≠0；
x1When equal to 0, the large arm is perpendicular to the horizontal plane, in this caseUnique solution
Knowing that points C, D, and E are collinear, there must be a point P (x) that is not collinear with line ED6,y6) And a real number λ such that
Then there are:
x2＝λx1+(1-λ)x0(2-25)
y2＝λy1+(1-λ)y0(2-26)
from CD rod to fixed length l4Can obtain the product
The compound represented by the formula (2-25), the formula (2-26) and the formula (2-27) can be obtained by combining
Get
The C-point locus vector (x) can be obtained by substituting the formula (2-28) for the formula (2-25) or the formula (2-26)2,y2)T。
Constructing closed-loop equation under fixed reference system A-xy
The squares of two side modulus are added to obtain
Obtain trigonometric equation
Asinθ21+Bcosθ21＝C (2-31)
Wherein A is 2y2k21，B＝2x2k21，
Triangular substitution is used to substitute A for rho · cos phi and B for rho · sin phiφ＝atan2(B,A)。
The formula (2-31) can be simplified intoThen
Therefore, it is not only easy to use
Corner of small arm
In order to avoid disorder in the working process of the mechanical arm, unsatisfied elimination needs to be carried out
Theta of21。
From this, the inverse kinematics of the transfer robot manipulator is determined.
The upper computer generates a three-dimensional model through solidwork software, and generates parameter models (a coordinate system, a rotating shaft, a material, a color, an outline dimension, a rotating inertia and the like) of all connecting rods (GE, DE, CD, HG, DHI, BC, AB, AD and IJ) of the three-dimensional model. And the upper computer completes the definition of parameter information of each joint (including initial pose, rotation type, joint rotation angle range, rotation speed, collision detection and the like).
Change of joint11、θ21The data is sent to RViz simulation module 1-1.
RViz simulation module 1-1 calls the already established three-dimensional model.
The RViz display module reads parameter information of each link of the three-dimensional model.
And the RViz display module sends the parameter information of each connecting rod to the structure conversion tree generation module.
The structural transformation tree generation module establishes a link between the RViz base coordinates and the robot arm base coordinates.
And the structure conversion tree generation module establishes the relation between the coordinates of all joints of the mechanical arm.
The structure transformation tree generation module generates a structure transformation tree.
The RViz display module calls the structure transformation tree to display the ideal virtual robotic arm.
The motion angle data sent by the first encoder 6 and the second encoder 7 are sent to the data processing module, the data processing module calculates the motion angle data of the rotatable joints of the connecting rods (GE, DE, CD, HG, DHI, BC, AB, AD and IJ), the RViz simulation module calls the motion angle data of the rotatable joints of the connecting rods, and the RViz display module displays an actual virtual mechanical arm.
Control module1-2 according to theta11、θ21When data is generated into pulse signal number (target pulse value) and sent to a driver, the driver sends a pulse to a driving motor (stepping motor) to realize the movement of the driving motor, the pulse frequency can be changed to change the movement speed, an encoder reads the number of turns of the motor rotation, a pulse (actual pulse value) is generated at fixed turns, the actual pulse value is subjected to forward solution through a data processing module 1-3 to obtain the position of the mechanical arm, and then an RViz display module is called to display the actual position of the mechanical arm to be compared with the expected target position. And the upper computer judges whether the difference value of each joint is within the error allowable range, if the difference value of each joint is not within the error allowable range, the control module 1-2 continues to send an instruction to the driver until the movement of the bearing supporting plate reaches the set target position.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the present invention, and it is apparent to those skilled in the art that various modifications and variations can be made in the present invention.
Claims (8)
1. A transfer robot is characterized by comprising a left mechanical arm, a right mechanical arm and a chassis, the left mechanical arm comprises a left base, a left small arm driving motor, a left small arm speed reducer, a left small arm transmission mechanism, a left small arm driving connecting rod, a left large arm driving motor, a left large arm speed reducer, a left large arm transmission mechanism, a left large arm, a left small arm transmission connecting rod, a left small arm, a rotary joint I, a rotary joint II, a rotary joint III, a rotary joint IV, a rotary joint V, a rotary joint VI, a left triangular retainer, a left tail end posture maintaining connecting rod, a left triangular retainer connecting rod, a rotary joint VII, a left bearing supporting plate, a left tail end connecting rod and a rotary joint VII, the left box body I and the left box body II are connected to the left base, the left small arm driving motor and the left small arm speed reducer are connected to the left box body I, and the left large arm driving motor and the left large arm speed reducer are connected to the left box body II; an output shaft of the left small arm driving motor is connected with the input end of the left small arm speed reducer through a left small arm transmission mechanism, and one end of a left small arm driving connecting rod is connected with the output end of the left small arm speed reducer; an output shaft of the left large arm driving motor is connected with the input end of the left large arm speed reducer through a left large arm transmission mechanism, one end of the left large arm is connected with the output end of the left large arm speed reducer, and one end of the left small arm transmission connecting rod is connected with the other end of the left small arm driving connecting rod through a first rotary joint; one end of the left forearm is connected with one end of the left tail end connecting rod through a rotary joint nine, the other end of the left forearm is provided with a left forearm rotary joint connecting part, the left forearm rotary joint connecting part is connected with the left triangular retainer through a rotary joint III, and the other end of the left forearm transmission connecting rod is connected with the left forearm rotary joint connecting part through a rotary joint II; the other end of the left big arm is connected with the left triangular retainer through a rotary joint, the rotation axes of the left big arm and the left small arm on the left triangular retainer are overlapped, one end of the left tail end posture keeping connecting rod is connected with the left triangular retainer through a rotary joint IV, and the other end of the left tail end posture keeping connecting rod is connected with the other end of the left tail end connecting rod through a rotary joint VI; one end of a left triangular retainer connecting rod is connected with the left triangular retainer through a fifth rotary joint, the other end of the left triangular retainer connecting rod is connected with a second left box body through a seventh rotary joint, and the left bearing supporting plate is connected with a left tail end connecting rod;
the right mechanical arm comprises a right base, a right box body I, a right box body II, a right small arm driving motor, a right small arm speed reducer, a right small arm transmission mechanism, a right small arm driving connecting rod, a right large arm driving motor, a right large arm speed reducer, a right large arm transmission mechanism, a right large arm, a right small arm transmission connecting rod, a right small arm, a rotary joint eight, a rotary joint eleven, a rotary joint thirteen, a right triangular retainer, a right tail end posture maintaining connecting rod, a right triangular retainer connecting rod, a right bearing supporting plate and a right tail end connecting rod; an output shaft of the right small arm driving motor is connected with the input end of the right small arm speed reducer through a right small arm transmission mechanism, and one end of a right small arm driving connecting rod is connected with the output end of the right small arm speed reducer; an output shaft of the right large arm driving motor is connected with the input end of the right large arm speed reducer through a right large arm transmission mechanism, one end of the right large arm is connected with the output end of the right large arm speed reducer, and one end of the right small arm transmission connecting rod is connected with the other end of the right small arm driving connecting rod through a rotary joint eight; one end of the right small arm is connected with one end of the right tail end connecting rod through a rotary joint, the other end of the right small arm is provided with a right small arm rotary joint connecting part, the right small arm rotary joint connecting part is connected with the right triangular retainer through a rotary joint, and the other end of the right small arm transmission connecting rod is connected with the right small arm rotary joint connecting part through a rotary joint; the other end of the right large arm is connected with the right triangular retainer through a rotary joint, and the rotating axes of the right large arm and the right small arm on the right triangular retainer are overlapped; one end of the right tail end posture keeping connecting rod is connected with the right triangular retainer through an eleventh rotary joint, and the other end of the right tail end posture keeping connecting rod is connected with the other end of the right tail end connecting rod through a thirteenth rotary joint; one end of a right triangular retainer connecting rod is connected with the right triangular retainer through a rotary joint, the other end of the right triangular retainer connecting rod is connected with a right box body II through a rotary joint, and a right bearing supporting plate is connected with a right tail end connecting rod;
the left base is connected with the chassis, and the right base is connected with the chassis.
2. The transfer robot according to claim 1, wherein a screw pair is provided between the left base and the right base and the chassis, the screw pair is connected to a screw pair driving motor, the screw pair is connected to the chassis, the screw pair is provided with a first nut seat and a second nut seat, the left base is connected to the first nut seat, and the right base is connected to the second nut seat.
3. The transfer robot of claim 2, wherein two casters and two mecanum wheels are connected to the chassis.
4. The transfer robot of claim 3, wherein a strap is connected between the right and left load bearing pallets.
5. The transfer robot according to claim 1, wherein the rotation angle range of the left large arm is 25 to 160 °, the rotation angle range of the left small arm drive link is-80 to 70 °, the rotation angle range of the right large arm is 25 to 160 °, and the rotation angle range of the right small arm drive link 207 is-80 to 70 °.
6. The transfer robot according to claim 1, further comprising a control system, wherein the control system comprises an upper computer, a first controller, a second controller, a first driver, a second driver, a first encoder, a second encoder, a third driver, a fourth driver, a third encoder and a fourth encoder, the first controller is connected with the upper computer, and the second controller is connected with the upper computer 1; the first controller is provided with a first serial port, the input end of the first driver is connected with the first serial port, and the output end of the first driver is connected with the left forearm driving motor; the input end of the second driver is connected with the first serial port, the left large arm driving motor is connected with the output end of the second driver, the first encoder is connected with the left small arm driving motor, and the signal output end of the first encoder is connected with the controller; the second encoder is connected with the left large arm driving motor, and a signal output end of the second encoder is connected with the controller; the controller II is provided with a serial port II, the input end of the driver III is connected with the serial port II, and the output end of the driver III is connected with the right forearm driving motor; the input end of the driver IV is connected with the serial port II, and the right large arm driving motor is connected with the output end of the driver IV; the third encoder is connected with the right small arm driving motor, the signal output end of the third encoder is connected with the second controller, the fourth encoder is connected with the right large arm driving motor, and the signal output end of the fourth encoder is connected with the second controller.
7. The transfer robot according to claim 6, wherein the upper computer is provided with an ROS system and a display, the ROS system is provided with a RViz simulation module, a RViz display module, a control module and a data processing module, the data processing module is connected with the RViz simulation module, and the control module is connected and communicated with the data processing module.
8. A transfer method using the transfer robot according to claim 7, comprising the steps of:
firstly, establishing a three-dimensional model, and displaying the three-dimensional model with the same size as the actual left mechanical arm and the actual right mechanical arm;
calling the three-dimensional model by using a RViz simulation module in the ROS to realize real-time association between the three-dimensional model and each joint of the actual mechanical arm; when the upper computer controls the motion of the three-dimensional model in the RViz simulation module, the left mechanical arm and the right mechanical arm move along and feed back the state information of each joint to the RViz simulation module in real time, and when the feedback state of the actual mechanical arm does not reach the state of the three-dimensional model, the upper computer calculates a difference value and then continuously sends an instruction to control the movement of the mechanical arm until the movement of the left mechanical arm and the right mechanical arm reaches a set target position.
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