CN108818543B - Intelligent transfer service robot - Google Patents
Intelligent transfer service robot Download PDFInfo
- Publication number
- CN108818543B CN108818543B CN201810492171.9A CN201810492171A CN108818543B CN 108818543 B CN108818543 B CN 108818543B CN 201810492171 A CN201810492171 A CN 201810492171A CN 108818543 B CN108818543 B CN 108818543B
- Authority
- CN
- China
- Prior art keywords
- servo motor
- arm
- speed reducer
- head
- robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/009—Nursing, e.g. carrying sick persons, pushing wheelchairs, distributing drugs
Abstract
The invention provides an intelligent transfer service robot, comprising: the movable base is provided with a steering wheel for controlling the base to steer and advance and a bearing wheel for bearing; the body is movably connected with the base and can tilt forwards around the connection part of the body and the base; the two mechanical arms are arranged on two sides of the body, and the mechanical arms have two-way degrees of freedom which can swing in the front-back direction and the left-right direction and can cooperatively act; and the head is arranged at the upper end of the body, can rotate around the axis of the head, can pitch and has two degrees of freedom in cooperative action. The robot has small volume and brings comfortable feeling to people; the large arm, the small arm and the palm of the mechanical arm can swing, so that the robot can conveniently hold the service object in the arm and cannot hurt the body of the service object.
Description
Technical Field
The invention relates to the technical field of robots, in particular to an intelligent transfer service robot.
Background
The patient or the old with inconvenient mobility can move from the bed to the wheelchair and from the wheelchair to the bed, which is a difficult task but needs to be done repeatedly every day, generally, the patient or the old needs to be assisted by a person with certain physical strength, which is a great burden for families and society, and the transfer service robot can greatly reduce the burden.
The transfer robot includes a flat-type robot arm with an endless conveyor belt, a robot having an arm connected to a partial bed of a patient, a humanoid arm, and the like. The existing transfer robot mainly has the following problems:
1) the multifunctional nursing bed has single function, mainly focuses on simulating the motion of human body, the simulation of walking of feet and other motions, realizes simpler nursing motion, needs the assistance of accompanying personnel during use, does not fundamentally reduce the requirement on the accompanying personnel, needs longer time for transfer, is difficult to carry, has large risk of falling of patients, is uncomfortable on the spirit or the body of the patients and the like.
2) Because the robot will satisfy the requirement of embracing the people, the joint moment that needs the output is bigger, but the robot is bulky, will satisfy big moment output drive arrangement, and it can not be too big to satisfy the volume again simultaneously, otherwise can cause the robot body very heavy to cause the sense of fear for the nursing object. The motor used abroad at present is specially made, the cost is very high, and the traditional motor gear drive also has limit.
3) Industrial robots are mostly operated by a single arm with the aim of improving production efficiency.
Disclosure of Invention
The invention provides an intelligent transfer service robot, which solves the technical problems of large volume and single service function of the service robot,
specifically, the intelligent transfer service robot includes:
the device comprises a movable base, a driving device and a control device, wherein the movable base is provided with a steering wheel for controlling the movable base to steer and advance and a bearing wheel for bearing;
the body is movably connected with the movable base and can tilt forwards around the connection part of the body and the movable base;
the two mechanical arms are arranged on two sides of the body, and the mechanical arms have two-way degrees of freedom which can swing in the front-back direction and the left-right direction and can cooperatively act; and
the head is arranged at the upper end of the body and has two-way freedom degrees which rotate around the axis of the head, pitch and act cooperatively;
wherein, each arm includes in the both arms: a large arm connected with the body;
the small arm is connected with the large arm and has the freedom degree of swinging around the joint of the small arm and the large arm;
the palm is connected with the forearm, and the palm has the freedom degree of swinging around the connection part of the palm and the forearm.
Further, the movable base comprises a movable base shell, a chassis and a movable base frame;
the directive wheel and the bearing wheel are installed on the chassis, the power supply and the balancing weight are installed in the movable base frame, and the ultrasonic sensor and the laser radar are installed on the movable base shell.
Further, the power device of the steering wheel for driving the steering wheel to rotate comprises:
the first servo motor is arranged on the movable base, and the output end of the first servo motor is connected with the steering wheel; and
the first angle sensor is installed on the first servo motor.
Further, a damping spring is arranged between the chassis and the movable base frame.
Further, the movable base frame is provided with a body forward tilting driving device for driving the body to tilt forward; the body forward-tilting driving device comprises a second servo motor and a speed reducer;
the output end of the second servo motor is connected with the input end of the speed reducer, and the output end of the speed reducer is connected with the body.
Furthermore, the left side and the right side in the body are symmetrically provided with a large arm driving device for driving the large arm to swing in the front-back direction;
the boom drive device includes:
the third servo motor is arranged on the body;
the first self-locking speed reducer is arranged on the body, and the input end of the first self-locking speed reducer is connected with the output end of the third servo motor;
the second angle sensor is arranged on the third servo motor; and
the input end of the first torque sensor is connected with the output end of the first self-locking speed reducer, and the output end of the first torque sensor is connected with the mechanical arm through a connecting fork;
wherein: the connecting fork limits the freedom degree of the swinging of the mechanical arm in the front-back direction.
Furthermore, a large arm left-right swinging driving device for driving the large arm to swing left and right is arranged in the large arm;
the large arm left-right swing drive device includes:
the fourth servo motor is arranged on the large arm;
the second angle sensor is arranged on the fourth servo motor;
the second torque sensor is connected with the output end of the fourth servo motor;
the input end of the second self-locking speed reducer is connected with the second torque sensor; the output end of the second self-locking speed reducer is fixedly connected with the rotating shaft, and the rotating shaft rotates relative to the body.
Further, a small arm swing driving device for driving the small arm to swing is arranged in the large arm;
the forearm drive device includes:
the fifth servo motor is arranged on the large arm;
the third angle sensor is arranged on the fifth servo motor;
the third torque sensor is connected with the output end of the fifth servo motor;
the input end of the third self-locking speed reducer is connected with a third torque sensor, and the output end of the third self-locking speed reducer is fixedly connected with the small arm;
the small arm is connected with the big arm through a rotating shaft.
Furthermore, a palm swing driving device for driving the palm to swing is arranged in the forearm;
the palm drive device includes:
the sixth servo motor is arranged on the small arm;
the fourth angle sensor is arranged on the servo motor;
the fourth torque sensor is connected with the output end of the servo motor;
the input end of the fourth self-locking speed reducer is connected with the fourth torque sensor; the output end of the fourth self-locking speed reducer is fixedly connected with the small arm through a rotating shaft.
Further, the head portion includes:
a head housing;
the visual system and the display screen are arranged in front of the head shell;
the voice system is arranged on the left side and the right side of the head shell;
and the ultrasonic positioning system is arranged above the head shell.
Further, a head driving device for driving the head to rotate around the axis of the head and pitch is installed at the top end of the body;
the head drive device includes:
the seventh servo motor is arranged at the top end of the body frame, and the axis of an output shaft of the seventh servo motor is superposed with the axis of the head part;
the sixth angle sensor is arranged on the seventh servo motor;
the shell of the eighth servo motor is fixedly connected with the output end of the seventh servo motor, and the output shaft of the eighth servo motor is vertical to the output shaft of the seventh servo motor;
the seventh angle sensor is arranged on the eighth servo motor;
and the output end of the eighth servo motor is fixedly connected with the head shell. Further, the front and rear of the body and the surface of the robot arm are covered with tactile sensors.
Further, a pause switch is installed at the top end of the body.
According to the technical scheme, the beneficial effects of the invention are as follows:
1. the robot comprises two mechanical arms which act in a coordinated manner, so that the torque required by each mechanical arm is reduced, the volume of each mechanical arm is small, and the whole robot is small in volume and brings a comfortable feeling to people;
2. the large arm of the mechanical arm can swing back and forth around the body, and the height of the palm is adjusted, so that the robot can conveniently hold and embrace the service object and cannot hurt the body of the service object;
3. the big arm can swing left and right to adjust the distance between the two palms, and can be suitable for service objects with different heights;
4. the small arm can swing around the large arm, and an included angle between the small arm and the large arm is adjusted, so that the space between the small arm and the large arm is adapted to the body shape of the service object, the service object cannot be stressed, and the service object cannot slide off from the small arm;
5. the palm can swing relative to the forearm, adjusts the contained angle between forearm and the palm for the incision angle of palm and the back of service object keep the parallel and level.
Drawings
The following drawings are only schematic illustrations and explanations of the present invention, and do not limit the scope of the present invention.
Fig. 1 is a schematic view of the overall structure of the robot according to the embodiment of the present invention.
Fig. 2 is a schematic diagram of a mobile base according to an embodiment of the invention.
Fig. 3 is a schematic diagram of an internal structure of a mobile base according to an embodiment of the invention.
Fig. 4 is a schematic structural diagram of a body according to an embodiment of the present invention.
Fig. 5 is a schematic view of the internal structure of the body according to the embodiment of the present invention.
Fig. 6 is a schematic view of a back structure of the main body according to the embodiment of the invention.
Fig. 7 is a schematic structural diagram of a robot arm according to an embodiment of the present invention.
Fig. 8 is a schematic view of the internal structure of the robot arm according to the embodiment of the present invention.
Fig. 9 is a schematic view of a head structure according to an embodiment of the present invention.
Fig. 10 is a schematic structural view of a head driving device according to an embodiment of the present invention.
Wherein: 1-moving a base, 2-a body, 3-mechanical arms, 4-a head, 5-a power supply, 6-a balancing weight, 7-an ultrasonic sensor, 8-a laser radar and 9-a control system;
11-moving base shell, 12-chassis, 13-moving base frame, 14-damping spring;
121-steering wheel, 122-support wheel;
21-body shell, 22-body frame, 23-bearing seat, 24-touch sensor and 25-pause switch;
31-big arm, 32-small arm, 33-palm;
40-head shell, 41-vision system, 42-display screen, 43-speech system, 44-ultrasound positioning system;
311-big arm shell, 312-big arm frame, 321-small arm shell and 322-small arm frame;
a 1-a first servo motor, a 2-a second servo motor, a 3-a third servo motor, a 4-a fourth servo motor, a 5-a fifth servo motor, a 6-a sixth servo motor, a 7-a seventh servo motor, and a 8-an eighth servo motor;
b 1-a first angle sensor, b 2-a second angle sensor, b 3-a third angle sensor, b 4-a fourth angle sensor, b 5-a fifth angle sensor, b 6-a sixth angle sensor and b 7-a seventh angle sensor;
c 1-a first self-locking speed reducer, c 2-a second self-locking speed reducer, c 3-a third self-locking speed reducer and c 4-a fourth self-locking speed reducer;
d 1-first torque sensor, d 2-second torque sensor, d 3-third torque sensor, d 4-fourth torque sensor;
e-connecting fork and g-speed reducer.
Detailed Description
In order to more clearly understand the technical features, objects, and effects of the present invention, embodiments of the present invention will now be described with reference to the accompanying drawings, in which like reference numerals refer to like parts throughout.
"exemplary" means "serving as an example, instance, or illustration" herein, and any illustration, embodiment, or steps described as "exemplary" herein should not be construed as a preferred or advantageous alternative.
For the sake of simplicity, the drawings are only schematic representations of the parts relevant to the invention, and do not represent the actual structure of the product. In addition, in order to make the drawings concise and understandable, components having the same structure or function in some of the drawings are only schematically illustrated or only labeled.
In this document, "upper", "lower", "front", "rear", "left", "right", and the like are used only to indicate relative positional relationships between relevant portions, and do not limit absolute positions of the relevant portions.
In this document, "first", "second", and the like are used only for distinguishing one from another, and do not indicate the degree and order of importance, the premise that each other exists, and the like.
In this context, "equal", "same", etc. are not strictly mathematical and/or geometric limitations, but also include tolerances as would be understood by a person skilled in the art and allowed for manufacturing or use, etc. Unless otherwise indicated, numerical ranges herein include not only the entire range within its two endpoints, but also several sub-ranges subsumed therein.
In order to solve the technical problem in the prior art, as shown in fig. 1, an embodiment of the present invention provides an intelligent transfer service robot, including:
the device comprises a movable base 1, wherein the movable base 1 is provided with a steering wheel 121 for controlling the movable base 1 to steer and advance and a bearing wheel 122 for bearing;
the body 2 is movably connected with the movable base 1, and the body 2 can tilt forwards around the connection part of the body 2 and the movable base 1;
two mechanical arms 3 are arranged on two sides of the body 2, and the mechanical arms 3 have two-way degrees of freedom which can swing in the front-back direction and the left-right direction and can cooperatively act; and
the head part 4 is arranged at the upper end of the body 2, and the head part 4 can rotate around the axis of the head part 4;
wherein, arm 3 includes: a large arm 31 connected to the body 2;
a small arm 32, the small arm 32 being connected to the large arm 31, and the small arm 32 having a degree of freedom of swinging around a connection of the small arm 32 and the large arm 31;
a palm 33, the palm 33 being connected to the lower arm 32, and the palm 33 having a degree of freedom to swing around the connection of the palm 33 and the lower arm 32.
In the prior art, the nursing action that the robot can realize is simpler, the assistance of accompanying personnel is needed during the use, the requirement on the accompanying personnel is not reduced fundamentally, and because the robot needs to meet the requirement of holding a person, the joint torque needing to be output is larger, so the robot is very large in size, and the robot is operated by adopting a single arm more, so that a patient feels uncomfortable during nursing the patient. The robot in this application contains two arms 3, two arms 3 concerted action. The big arm 31 of the mechanical arm 3 can swing back and forth around the body 2, and the height of the palm 33 is adjusted, so that the robot can conveniently lift up the service object and cannot hurt the flesh of the service object; the large arm 31 can swing left and right, and the distance between the two palms 33 can be adjusted, so that the robot can adapt to service objects with different heights; the small arm 32 can swing around the large arm 31, and an included angle between the small arm 32 and the large arm 31 is adjusted, so that the space between the small arm 32 and the large arm 31 is adapted to the body shape of a service object, the service object cannot be stressed, and the service object cannot slide off the small arm 32; the palm 33 can swing relative to the forearm 32, and the included angle between the forearm 32 and the palm 33 is adjusted, so that the incision angle of the palm 33 is flush with the back of the service object, and the service object does not feel uncomfortable and cannot slide off in the lifting process. The robot supports and holds the service object, the service object feels more comfortable with the nursing action of actual medical staff, and the two mechanical arms 3 are used for cooperating to respectively reduce the required moment, so that the volume of each mechanical arm 3 is very small, the whole robot is small in size, the comfortable feeling is brought to people, and the service object does not generate fear feeling; the robot can swing arms to lift a service object, can move back and forth and turn to adjust the distance between the robot and the service object, can rotate the head 4, can swing the large arm 31, the small arm 32 and the palm 33 of the mechanical arm 3, link the actions with each other, and are close to the actions of a human body.
The concrete structure of the mobile base 1 in the embodiment of the present application is as shown in fig. 2 and 3, the mobile base 1 includes a mobile base housing 11, a chassis 12, and a mobile base frame 13, and the chassis 12 and the mobile base frame 13 are located in the mobile base housing 11. The chassis 12 is provided with a steering wheel 121 and a bearing wheel 122, a power supply 5 and a balancing weight 6 are arranged in the movable base frame 13, and the movable base shell 11 is provided with an ultrasonic sensor 7 and a laser radar 8.
Specifically, the steering wheel 121 for controlling the moving base 1 to steer and advance may be a mecanum wheel, and it is understood that the steering wheel 121 needs to be powered by a steering wheel power device, in the embodiment of the present application, the steering wheel power device includes:
the first servo motor a1, the first servo motor a1 is installed on the movable base 1, and the output end of the first servo motor a1 is connected with the steering wheel 121; and
the first angle sensor b1 and the first angle sensor b1 are mounted on the first servo motor a 1.
The first servo motor a1 provides the driving force for the steering and advancing of the steering wheel 121, and the real-time rotation angle of the steering wheel 121 is measured by the first angle sensor b1, so that the steering and advancing control of the steering wheel 121 by the control system 9 is facilitated. In this application directive wheel 121 adopts the mecanum wheel, and the bearing capacity of mecanum wheel is strong, and big with ground frictional force, is difficult to skid, can prevent effectively that the robot from skidding and falling down at the in-process directive wheel 121 of embracing the service object.
In the actual use process, the number of the mecanum wheels is four, the mecanum wheels are uniformly arranged on the bottom surface of the movable base 1, correspondingly, the steering wheel power devices comprise four same sets, each set of the steering wheel power devices is connected with the corresponding steering wheel 121, respectively provides power for the steering and advancing of the steering wheel 121, and transmits the real-time rotating angle and the rotating speed to the control system 9.
More specifically, the load bearing wheels 122 that carry out load bearing may be universal wheels. The universal wheel simple structure carries out the bearing on the one hand, shares the weight that turns to wheel 121, reduces and turns to required first servo motor a1 drive power when wheel 121 turns to, and the energy saving, on the other hand, the universal wheel need not drive power and drives and turn to, turns to through self structure for whole device structure is simplified.
It will be appreciated that the power supply 5 provides power to the entire system, and thus the power supply 5 is connected to all of the servo motors, sensors, vision systems, etc.
Because the service object of robot is not single, the height and the weight of service object are not certain, when the weight of service object is heavier, if the weight of robot itself is lighter, then the moment of overturning that exerts in the robot because of service object weight can be very big, the robot topples forward easily in this time, therefore including balancing weight 6 in the removal base 1, balancing weight 6 has increased the weight of robot self, like this, even the object weight that the robot served is heavier, the moment of overturning that exerts in the robot is great, because robot self weight is big, the robot can not take place to overturn yet, guarantee the safety of service object in the removal process.
When the robot holds a service object or encounters an obstacle, the robot itself may vibrate, and if such vibration is transmitted to the service object, the service object will be subjected to an impact force, and may fall off from the arm of the robot, and internal components of the robot may be damaged when vibrating, so in the embodiment of the present application, the damping springs 14 are installed between the chassis 12 and the moving base frame 13, and when the robot holds the service object or encounters an obstacle, even if the robot chassis 12 vibrates, the vibration will be absorbed by the damping springs 14, and will not be transmitted to other parts of the robot or the service object, so as to increase the reliability of the robot.
Further, the ultrasonic sensor 7 and the laser radar 8 are mounted on the moving base housing 11. The ultrasonic sensor 7 can detect the distance between an obstacle and the robot, the laser radar 8 can realize the construction of a map around the robot, and the ultrasonic sensor 7 and the laser radar 8 are connected with the control system 9 and transmit measured signals and data to the control system 9.
In the embodiment of the present application, the ultrasonic sensors 7 are installed on four sides of the moving base housing 11, preferably, the number of the ultrasonic sensors 7 on each side is five, and the laser radar 8 is installed on the moving base housing 11 above the chassis 12, more preferably, the laser radar 8 is installed at the center of four edges of the moving base housing 11, and the number is four.
Furthermore, a gyroscope is installed in the center of the mobile base 1, and the gyroscope detects the balance degree of the mobile base 1 at any time and feeds the detected information back to the control system 9.
In order to realize the forward tilting of the body 2 around the joint of the body 2 and the mobile base 1, that is, the robot realizes the bending action in the process of holding a person, in the embodiment of the application, the mobile base frame 13 is provided with a body forward tilting driving device, the body forward tilting driving device comprises a second servo motor a2 and a speed reducer g, wherein the output end of the second servo motor a2 is connected with the input end of the speed reducer g, the output end of the speed reducer g is connected with the body 2 and is matched with the forward tilting angle, the body 2 and the mobile base 1 both comprise connecting forks e with semicircular edges, the output end of the speed reducer g extends out between the connecting forks e of the mobile base 1, and the output end of the speed reducer g is fixedly connected with the bottom end of the body 2, so that the speed reducer and the body 2 act cooperatively, the connecting forks e of the mobile base 1 are positioned between the connecting forks e of the body 2, and a through hole is arranged between the two connecting forks e, the rotating shaft is arranged in the through hole, the second servo motor a2 drives the speed reducer g to rotate, and the speed reducer g drives the body 2 to cooperatively act, so that the body 2 rotates around the rotating shaft, namely the body 2 tilts forwards, and the distance between the mechanical arm 3 of the robot and a service object is shortened.
In the embodiment of the present application, as shown in fig. 4 to 6, the body 2 includes a body casing 21 and a body frame 22. A control system 9 is installed in the main body frame 22, and the control system 9 controls the operation of the entire robot.
In order to realize the swinging freedom degree of the mechanical arm 3 of the robot in the front-back direction, in the preferred embodiment of the application, large arm driving devices are symmetrically arranged on the left side and the right side in the body 2, and the large arm driving devices drive the large arm 31 to swing in the front-back direction of the robot. Specifically, the boom drive device includes:
a third servo motor a3, the third servo motor a3 being mounted on the body frame 22;
the first self-locking speed reducer c1 is characterized in that the first self-locking speed reducer c1 is installed on the body frame 22, the input end of the first self-locking speed reducer c1 is connected with the output end of the third servo motor a3, and the first self-locking speed reducer c1 has a self-locking function;
a second angle sensor b2, the second angle sensor b2 being mounted on the third servomotor a 3; and
the input end of the first torque sensor d1, the input end of the first torque sensor d1 is connected with the output end of the first self-locking speed reducer c1, the output end of the first torque sensor d1 is connected with the mechanical arm 3 through a connecting fork e, and the connecting fork e limits the degree of freedom of the mechanical arm 3 in swinging in the front-back direction.
Wherein, the output end of the first torque sensor d1 is installed in the bearing seat 23, and the relative rotation with the body 2 is realized through the bearing, and the first torque sensor d1 is connected with the control system 9.
The second angle sensor b2 is mounted on the third servo motor a3, and measures the rotation angle and the rotation speed of the third servo motor a 3. The third servo motor a3 drives the first self-locking speed reducer c1 to rotate, the first self-locking speed reducer c1 drives the connecting fork e to rotate around the axis of the first torque sensor d1 through the first torque sensor d1, at this time, the mechanical arm 3 is driven by the connecting fork e and also rotates around the axis of the first torque sensor d1, that is, the mechanical arm 3 swings in the front-back direction. First auto-lock speed reducer c1 has the auto-lock function in the embodiment of this application, when the outage of third servo motor a3, first auto-lock speed reducer c1 auto-lock, first torque sensor d1 drives yoke e and is fixed in a certain angular position this time, arm 3 will not be able to freely swing, realize the fixed of a certain position of robot, especially the robot is at the in-process of embracing the people, first auto-lock speed reducer c1 auto-lock, be fixed in a certain position with arm 3, the robot carries the service object this time, the condition that will serve the object and drop can not appear. On the one hand, the first torque sensor d1 transmits the kinetic energy of the third servo motor a3 to the mechanical arm 3 through the yoke e, and realizes the relative swing of the mechanical arm 3 through the bearing in the bearing seat 23, on the other hand, the first torque sensor d1 measures the moment of the swing of the mechanical arm 3 in real time, and transmits the moment to the control system 9, and the control system 9 controls the servo motor a to realize the control of the swing angle of the mechanical arm 3.
More specifically, the connection fork e includes a connection end connected with the first torque sensor d1 and a connection fork end connected with the mechanical arm 3, the connection fork end includes two opposite connection plates, a bearing is installed on the connection plates, the mechanical arm 3 is installed between the two opposite connection plates through a rotating shaft, the connection fork e limits the freedom degree of the mechanical arm 3 swinging in the front-back direction, but the mechanical arm 3 and the rotating shaft have the freedom degree of the rotation around the connection fork e through the bearing, namely the freedom degree of the left-right swinging of the mechanical arm 3.
In an embodiment of the present application, the robot arm 3 includes: a large arm 31 connected to the body 2;
a small arm 32, the small arm 32 being connected to the large arm 31, and the small arm 32 having a degree of freedom of swinging around a connection of the small arm 32 and the large arm 31;
a palm 33, the palm 33 being connected to the lower arm 32, and the palm 33 having a degree of freedom to swing around the connection of the palm 33 and the lower arm 32.
In order to realize the degree of freedom of the right-left swing of the robot arm 3, in the embodiment of the present application, as shown in fig. 7 and 8, the boom 31 includes a boom housing 311 and a boom frame 312. A big arm left-right swinging driving device is arranged in the big arm frame 312, the big arm left-right swinging driving device comprises a third angle sensor b3, a fourth servo motor a4, a second torque sensor d2 and a second self-locking speed reducer c2, wherein the third angle sensor b3 is installed on the fourth servo motor a4, the third angle sensor b3 can measure the rotation angle and rotation speed of the fourth servo motor a4, the output end of the fourth servo motor a4 is connected with the second torque sensor d2, the second torque sensor d2 is connected with the input end of the second self-locking speed reducer c2, the output end of the second self-locking speed reducer c2 is fixedly connected with the rotating shaft, under the drive of the fourth servo motor a4, the second torque sensor d2 transmits the kinetic energy of the fourth servo motor a4 to the second self-locking speed reducer c2, and the second self-locking speed reducer c2 rotates and simultaneously drives the rotating shaft to rotate relative to the connecting fork e, so that the large arm 31 swings left and right relative to the body 2. In the embodiment of the present application, the second self-locking speed reducer c2 also has a self-locking function, and the second torque sensor d2 transmits the kinetic energy of the fourth servo motor a4, measures the swing angle of the boom 31 in real time, and transmits the swing angle to the control system 9.
Similar to the transmission form of the above embodiment, a small arm swing driving device is further installed in the large arm frame 312, and the small arm swing driving device includes a fourth angle sensor b4, a fifth servomotor a5, a third torque sensor d3 and a third self-locking reducer c3, wherein the fourth angle sensor b4 is installed on the fifth servomotor a5, the fourth angle sensor b4 can measure the rotation angle and the rotation speed of the fifth servomotor a5, the output end of the fifth servomotor a5 is connected with the third torque sensor d3, the third torque sensor d3 is connected with the input end of the third self-locking reducer c3, the output end of the third self-locking reducer c3 is fixedly connected with the small arm 32, the third torque sensor d3 transmits the kinetic energy of the fifth servomotor a5 to the third self-locking reducer c3 under the driving of the fifth servomotor a5, the small arm 32 is driven to rotate relative to the large arm 31 by the third self-locking reducer c3, the large arm 31 and the small arm 32 both include two opposite connecting plates, and the connecting plate of the small arm 32 is installed between the connecting plates of the large arm 31 through a rotating shaft, so that the third self-locking speed reducer c3 can drive the small arm 32 to rotate around the rotating shaft, and relative rotation is realized.
Similar to the structure of the large arm 31, the small arm 32 includes a small arm housing 321 and a small arm frame 322, a palm swing driving device is installed in the small arm frame 322, the palm driving device includes a fifth angle sensor b5, a sixth servomotor a6, a fourth torque sensor d4 and a fourth self-locking reducer c4, wherein the fifth angle sensor b5 is installed on a sixth servomotor a6, the fifth angle sensor b5 can measure the rotation angle and rotation speed of the sixth servomotor a6, the output end of the sixth servomotor a6 is connected with the fourth torque sensor d4, the fourth torque sensor d4 is connected with the input end of the fourth self-locking reducer c4, the output end of the fourth self-locking reducer c4 is fixedly connected with the small arm 32 through a rotating shaft, the fourth torque sensor d4 transmits the kinetic energy of the sixth servomotor a6 to the fourth self-locking reducer c4 under the driving of the sixth servomotor a6, the fourth self-locking reducer c4 rotates relatively to the small arm 4, the small arm 32 includes a through hole in which a rotation shaft is rotatably installed, so that the palm 33 rotates with respect to the small arm 32. Preferably, the palm 33 is flat, so that the robotic arm 3 can be smoothly inserted under the back and the leg of the subject without causing pain to the subject.
In the prior art, the robot is driven by a motor gear, and the motor in the form occupies a large volume, so that the volume of the whole robot is increased, the robot looks heavy and can scare a service object.
In the preferred embodiment of the present application, as shown in fig. 9, the head 4 includes:
a head housing 40;
a vision system 41 and a display screen 42, the vision system 41 and the display screen 42 being mounted in front of the head housing 40;
the voice system 43, the voice system 43 is installed on the left and right sides of the head shell 40;
an ultrasonic positioning system 44, the ultrasonic positioning system 44 being mounted above the head housing 40.
In order to cooperate with the ultrasonic sensor 7 and the laser radar 8 to enable the robot to further visually perceive the obstacle, in some embodiments of the present application, the head 4 is provided with a vision system 41, preferably, the vision system 41 includes one or more of an infrared camera, a depth camera and a general camera, the vision system 41 cooperates with the ultrasonic sensor 7 and the laser radar 8, the ultrasonic sensor 7 detects the distance between the obstacle and the robot, the laser radar 8 can measure the position of the obstacle and the speed of the movement relative to the robot, and the vision system provides a visual image for the robot, so that the control system 9 of the robot can comprehensively perceive the obstacle around the robot.
In the embodiment of the application, the display screen 42 provides a display function, the voice system 43 can realize human-computer interaction, and the robot can make corresponding actions by issuing commands that can be understood by the transfer service robot. And the ultrasonic positioning system 44 can locate the transfer service robot's own position. The vision system of the head 4 is for the omnibearing vision induction, so the preferable scheme is that the head 4 is arranged at the upper end of the body 2, and the head 4 has the bidirectional freedom degree which can rotate around the axis of the head 4, pitch and act cooperatively, thus the 360-degree rotation of the robot head 4 can be realized under the condition that the steering wheel 121 does not rotate, the pitch angle adjustment can be realized, and the surrounding environment can be comprehensively sensed.
Thus, in the embodiment of the present application, the head driving device for driving the head 4 to rotate and tilt about its axis is mounted on the top end of the body frame 22, and as shown in fig. 10, the head driving device includes:
a seventh servo motor a7, wherein the seventh servo motor a7 is installed at the top end of the body frame 22, and the axis of the output shaft of the seventh servo motor a7 is overlapped with the axis of the head 4;
the sixth angle sensor b6 is mounted on the seventh servo motor a7, and the sixth angle sensor b6 is mounted on the seventh servo motor a 7;
an outer shell of the eighth servo motor a8 and an outer shell of the eighth servo motor a8 are fixedly connected with an output end of the seventh servo motor a7, and an output shaft of the eighth servo motor a8 is perpendicular to an output shaft of the seventh servo motor a 7;
a seventh angle sensor b7, the seventh angle sensor b7 being mounted on the eighth servomotor a 8;
wherein, the output end of the eighth servomotor a8 is fixedly connected with the head housing 40.
The seventh servo motor a7 drives the housing of the eighth servo motor a8 to rotate within 360 degrees in the circumferential direction, the output end of the eighth servo motor a8 is fixedly connected with the head housing 40, so that the head can simultaneously rotate 360 degrees, and more specifically, the output shaft of the eighth servo motor a8 is fixedly connected with the connecting fork of the head 4, so that the output shaft of the eighth servo motor a8 can rotate and the head 4 can pitch,
a comprehensive perception of the surroundings by the visual system of the head 4 is achieved.
In the process of holding a service object and carrying the service object by the robot, the control system 9 senses the state of the service object according to the interaction force between the service object and the robot, and further adjusts the bending degree of the mechanical arm 3, so that the front surface of the body 2 of the robot and the surface of the mechanical arm 3 are covered with the touch sensors 24, the touch sensors 24 sense the position and the pressure distribution of the held person, and further transmit the pressure distribution to the control system 9, and the control system 9 adjusts the swinging angle of the mechanical arm 3, so that the service object is in the most comfortable state. The rear of the robot body 2 is also provided with a touch sensor 24, and preferably, the guardian controls the steering wheel 121 of the robot to move in different directions by pressing the touch sensor 24 at different positions on the back of the robot.
Optionally, a pause switch 25 is installed at the top end of the robot body 2, and the service object can pause the movement of the mechanical arm 3 and the steering wheel 121 of the robot by pressing the pause switch 25.
In order to reduce the pain of the service object, the direct contact between the body of the service object and the robot housing should be reduced, especially in the case of low temperature, and the direct contact between the service object and the robot housing may make the service object feel uncomfortable, so that the front and rear sides of the body 2 of the robot and the surface of the robot arm 3 are covered with an elastic material imitating human muscle.
It should be understood that although the present description has been described in terms of various embodiments, not every embodiment includes only a single embodiment, and such description is for clarity purposes only, and those skilled in the art will recognize that the embodiments described herein can be combined as a whole to form other embodiments as would be understood by those skilled in the art.
The above-listed detailed description is only a specific description of a possible embodiment of the present invention and is not intended to limit the scope of the present invention, and equivalent embodiments or modifications such as combinations, divisions or repetitions of the features without departing from the technical spirit of the present invention are included in the scope of the present invention.
Claims (9)
1. An intelligent transfer service robot, comprising:
the device comprises a movable base (1), wherein the movable base (1) is provided with a steering wheel (121) for controlling the movable base (1) to steer and advance and a bearing wheel (122) for bearing;
the body (2) is movably connected with the movable base (1), and the body (2) can tilt forwards around the connection part of the body (2) and the movable base (1);
the two mechanical arms (3) are arranged on two sides of the body (2), and the mechanical arms (3) have two-way degrees of freedom which can swing in the front-back direction and the left-right direction and can cooperatively act; and
the head (4) is mounted at the upper end of the body (2), and the head (4) has two-way freedom degrees which rotate around the axis of the head and tilt and can act cooperatively;
wherein the robot arm (3) comprises: a large arm (31) connected to the body (2);
a small arm (32), the small arm (32) being connected to the large arm (31), and the small arm (32) having a degree of freedom to swing around a connection of the small arm (32) and the large arm (31);
a palm (33), said palm (33) being connected to said forearm (32) and said palm (33) having a degree of freedom to swing about the connection of said palm (33) with said forearm (32);
the left side and the right side in the body (2) are symmetrically provided with a large arm driving device for driving the large arm (31) to swing in the front-back direction;
the large arm driving device includes:
a third servo motor (a3), the third servo motor (a3) being mounted to the body (2);
a first self-locking speed reducer (c1), wherein the first self-locking speed reducer (c1) is installed on the body (2), and the input end of the first self-locking speed reducer (c1) is connected with the output end of the third servo motor (a 3);
a second angle sensor (b2), the second angle sensor (b2) being mounted to the third servo motor (a 3); and
a first torque sensor (d1), the input end of the first torque sensor (d1) is connected with the output end of the first self-locking speed reducer (c1), and the output end of the first torque sensor (d1) is connected with the mechanical arm (3) through a connecting fork (e);
wherein: the connecting fork (e) limits the degree of freedom of the swinging of the mechanical arm (3) in the front-back direction;
a large arm left-right swinging driving device for driving the large arm to swing left and right is arranged in the large arm (31);
the large arm left-right swing driving device comprises:
a fourth servo motor (a4), the fourth servo motor (a4) being mounted to the large arm (31);
a third angle sensor (b3), the third angle sensor (b3) being mounted to the fourth servo motor (a 4);
a second torque sensor (d2), the second torque sensor (d2) being connected to an output of the fourth servomotor (a 4);
a second self-locking speed reducer (c2), the input end of the second self-locking speed reducer (c2) is connected with the second torque sensor (d 2); the output end of the second self-locking speed reducer (c2) is fixedly connected with a rotating shaft, the mechanical arm is installed between a pair of connecting plates of the connecting fork through the rotating shaft, and the rotating shaft rotates relative to the body (2);
a small arm swing driving device for driving the small arm (32) to swing is arranged in the large arm (31);
the forearm swing drive device includes:
a fifth servo motor (a5), the fifth servo motor (a5) being mounted to the large arm (31);
a fourth angle sensor (b4), the fourth angle sensor (b4) being mounted to the fifth servomotor (a 5);
a third torque sensor (d3), the third torque sensor (d3) being connected to an output of the fifth servomotor (a 5);
the input end of the third self-locking speed reducer (c3) is connected with the third torque sensor (d3), and the output end of the third self-locking speed reducer (c3) is fixedly connected with the small arm (32);
the small arm (32) is connected with the large arm (31) through a rotating shaft;
the movable base (1) comprises a movable base shell (11), a chassis (12) and a movable base frame (13), and the movable base frame (13) is provided with a body forward-tilting driving device for driving the body (2) to tilt forward; the body forward-tilting driving device comprises a second servo motor (a2) and a first speed reducer (g);
the output end of the second servo motor (a2) is connected with the input end of the first speed reducer (g), and the output end of the first speed reducer (g) is connected with the body (2).
2. The intelligent transfer service robot of claim 1,
install chassis (12) directive wheel (121) with bearing wheel (122), install power (5) and balancing weight (6) in removing base frame (13), remove base shell (11) and install ultrasonic sensor (7) and laser radar (8).
3. The intelligent transfer service robot as claimed in claim 1, wherein the steering wheel power device driving the steering wheel (121) to rotate comprises:
a first servo motor (a1), wherein the first servo motor (a1) is installed on the movable base (1), and the output end of the first servo motor (a1) is connected with the steering wheel (121); and
a first angle sensor (b1), the first angle sensor (b1) being mounted to the first servo motor (a 1).
4. The intelligent transfer service robot according to claim 2, wherein a shock-absorbing spring (14) is installed between the chassis (12) and the moving base frame (13).
5. The intelligent transfer service robot as claimed in claim 1, wherein a palm swing driving device for driving the palm (33) to swing is installed in the small arm (32);
the palm swing driving device includes:
a sixth servo motor (a6), the sixth servo motor (a6) being mounted to the small arm (32);
a fifth angle sensor (b5), the fifth angle sensor (b5) being mounted to the sixth servomotor (a 6);
a fourth torque sensor (d4), the fourth torque sensor (d4) being connected to an output of the sixth servo motor (a 6);
a fourth self-locking speed reducer (c4), an input end of the fourth self-locking speed reducer (c4) being connected with the fourth torque sensor (d 4); the output end of the fourth self-locking speed reducer (c4) is fixedly connected with the small arm (32) through a rotating shaft.
6. The intelligent transfer service robot of claim 1, wherein the head (4) comprises:
a head housing (40);
the visual system (41) and the display screen (42), the visual system (41) and the display screen (42) are arranged in front of the head shell (40);
the voice systems (43), the voice systems (43) are arranged at the left side and the right side of the head shell (40);
an ultrasonic positioning system (44), the ultrasonic positioning system (44) mounted above the head housing (40).
7. The intelligent transfer service robot as claimed in claim 6, wherein the body (2) is mounted at its top end with a head driving device for driving the head (4) to rotate around its axis and pitch;
the head drive device includes:
a seventh servo motor (a7), wherein the seventh servo motor (a7) is arranged at the top end of the body frame (22), and the axis of the output shaft of the seventh servo motor (a7) is superposed with the axis of the head (4);
a sixth angle sensor (b6), the sixth angle sensor (b6) being mounted on the seventh servomotor (a 7);
an eighth servo motor (a8), wherein the shell of the eighth servo motor (a8) is fixedly connected with the output end of the seventh servo motor (a7), and the output shaft of the eighth servo motor (a8) is vertical to the output shaft of the seventh servo motor (a 7);
a seventh angle sensor (b7), the seventh angle sensor (b7) being mounted to the eighth servomotor (a 8);
wherein, the output end of the eighth servo motor (a8) is fixedly connected with the head shell (40).
8. The intelligent transfer service robot according to claim 1, wherein the front and rear of the body (2) and the surface of the robot arm (3) are covered with tactile sensors (26).
9. The intelligent transfer service robot as claimed in claim 1, wherein a pause switch (27) is installed on the top end of the body (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810492171.9A CN108818543B (en) | 2018-05-22 | 2018-05-22 | Intelligent transfer service robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810492171.9A CN108818543B (en) | 2018-05-22 | 2018-05-22 | Intelligent transfer service robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108818543A CN108818543A (en) | 2018-11-16 |
| CN108818543B true CN108818543B (en) | 2021-10-19 |
Family
ID=64147807
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810492171.9A Active CN108818543B (en) | 2018-05-22 | 2018-05-22 | Intelligent transfer service robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108818543B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111347394A (en) * | 2018-12-20 | 2020-06-30 | 沈阳新松机器人自动化股份有限公司 | Double-arm robot |
| CN109719696B (en) * | 2019-01-30 | 2023-11-28 | 华南理工大学 | Wheel type humanoid robot with strong balancing capability |
| CN109794966A (en) * | 2019-03-29 | 2019-05-24 | 廊坊市智恒机器人科技有限公司 | A kind of particular kind of machine head part design |
| CN109998833B (en) * | 2019-04-04 | 2021-02-02 | 山东大学 | Shifting machine |
| CN111702778B (en) | 2020-06-16 | 2022-01-04 | 大连理工大学 | Multi-arm robot for realizing sitting and lying posture conversion and carrying of user |
| CN111805554B (en) * | 2020-07-08 | 2023-08-18 | 达闼机器人股份有限公司 | Robot and housing thereof |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103753601A (en) * | 2013-12-18 | 2014-04-30 | 上海交通大学 | Teleoperation mechanical arm of space cascade rotary joint type and combination thereof |
| CN205497525U (en) * | 2016-04-21 | 2016-08-24 | 奇弩（北京）科技有限公司 | General machinery arm |
| CN105945968A (en) * | 2016-07-11 | 2016-09-21 | 中国地质大学（武汉） | Joint type dulcimer playing robot |
| CN107877539A (en) * | 2017-12-14 | 2018-04-06 | 深圳艾比仿生机器人科技有限公司 | Building block system joint and robot arm |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5428713A (en) * | 1991-11-25 | 1995-06-27 | Kabushiki Kaisha Toshiba | Compound module type manipulator apparatus |
| US20120283746A1 (en) * | 2011-05-02 | 2012-11-08 | Hstar Technologies | Mobile Medical Robotic System |
| CN102837322B (en) * | 2012-09-26 | 2015-04-15 | 黄刚 | Human-simulated mechanical arm in seven degrees of freedom |
| CN105856254A (en) * | 2016-06-04 | 2016-08-17 | 浙江侍维波机器人科技有限公司 | Self-adaptive flexible medical care robot system |
| CN105877933A (en) * | 2016-06-04 | 2016-08-24 | 浙江侍维波机器人科技有限公司 | Autonomous delivery system with first aid robot |
| CN105843230A (en) * | 2016-06-04 | 2016-08-10 | 浙江侍维波机器人科技有限公司 | Dynamic adaptive stability control system for mobile robot |
| CN107053156B (en) * | 2017-03-14 | 2023-11-03 | 吉林大学 | Seven-degree-of-freedom bionic somatosensory mechanical arm |
| CN107433597B (en) * | 2017-08-21 | 2020-04-10 | 北京精密机电控制设备研究所 | Seven-degree-of-freedom compact type high-efficiency-ratio mechanical arm |
-
2018
- 2018-05-22 CN CN201810492171.9A patent/CN108818543B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103753601A (en) * | 2013-12-18 | 2014-04-30 | 上海交通大学 | Teleoperation mechanical arm of space cascade rotary joint type and combination thereof |
| CN205497525U (en) * | 2016-04-21 | 2016-08-24 | 奇弩（北京）科技有限公司 | General machinery arm |
| CN105945968A (en) * | 2016-07-11 | 2016-09-21 | 中国地质大学（武汉） | Joint type dulcimer playing robot |
| CN107877539A (en) * | 2017-12-14 | 2018-04-06 | 深圳艾比仿生机器人科技有限公司 | Building block system joint and robot arm |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108818543A (en) | 2018-11-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108818543B (en) | Intelligent transfer service robot | |
| CN201168163Y (en) | Rehabilitation robot for anklebone | |
| CN101987060B (en) | Ankle joint recovery trainer through rope traction | |
| US20200016453A1 (en) | Apparatus for training a person's lower and/or upper extremities | |
| CN111067760B (en) | Upper limb rehabilitation training robot based on omnidirectional mobile platform | |
| CN101292935A (en) | Robot for rehabilitation of anklebone | |
| CN101401765A (en) | Upper limb hemiplegia rehabilitation robot device with adjustable training plan | |
| CN109157381B (en) | Handrail type intelligent tumble protection walking aid rehabilitation robot | |
| CN108472191B (en) | Non-exoskeleton rehabilitation device with multiple active axes | |
| Zhang et al. | An active neck brace controlled by a joystick to assist head motion | |
| Wang et al. | The Personal Mobility and Manipulation Appliance (PerMMA): A robotic wheelchair with advanced mobility and manipulation | |
| US20180360677A1 (en) | Exoskeleton with cambered wheels for human locomotion | |
| KR101363850B1 (en) | Robot for Assistance Exoskeletal Power | |
| CN101590311B (en) | Rehabilitation robot | |
| JPH05285864A (en) | Two-feet moving walking device | |
| Morbi et al. | GaitEnable: An omnidirectional robotic system for gait rehabilitation | |
| JP2003271243A (en) | Communication robot | |
| US20220096295A1 (en) | Mobility aid | |
| KR101662550B1 (en) | Rehabilitation training apparatus of mouse type | |
| US20140188275A1 (en) | Wearable robot and control method thereof | |
| KR100555990B1 (en) | Walking Training Support Robot with the distributed control of Pneumatic actuator | |
| EP3634354B1 (en) | Exoskeleton for upper arm | |
| CN105856254A (en) | Self-adaptive flexible medical care robot system | |
| CN201870898U (en) | Rope-drawn rehabilitation training machine for ankle joint | |
| CN205969048U (en) | Flexible medical care robot system of self -adaptation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |