CN111660305A

CN111660305A - Mobile SCARA type cooperative robot for isolation ward

Info

Publication number: CN111660305A
Application number: CN202010454591.5A
Authority: CN
Inventors: 赵雅婷; 赵韩; 黄康; 孙浩
Original assignee: Suzhou Lvke Intelligent Robot Research Institute Co ltd
Current assignee: Suzhou Lvke Intelligent Robot Research Institute Co ltd
Priority date: 2020-05-26
Filing date: 2020-05-26
Publication date: 2020-09-15
Anticipated expiration: 2040-05-26
Also published as: CN111660305B

Abstract

The invention discloses a mobile SCARA type cooperative robot for an isolation ward, which comprises a mobile chassis, a SCARA mechanical arm and a controller, wherein the mobile chassis is provided with a walking unit, a navigation module, a medicament storage container and a disinfection device, the navigation module assists the walking unit to drive the mobile chassis, and the disinfection device can spray disinfectant; the SCARA mechanical arm is arranged on the top surface of the movable chassis, and is provided with a clamping jaw module which completes the functions of temperature measurement, auscultation, ultrasonic detection and medicament distribution; the controller is arranged in the movable chassis and comprises a signal processing part, a chassis control part and a mechanical arm control part, wherein the signal processing part can remotely receive and process signals, and the chassis and the mechanical arm are controlled by the chassis control part and the mechanical arm control part to complete corresponding instructions; the signal processing part can also remotely send information, and the invention has simple structure and convenient use.

Description

Mobile SCARA type cooperative robot for isolation ward

Technical Field

The invention relates to the technical field of robots, in particular to a mobile SCARA type cooperative robot for an isolation ward.

Background

At present, routine inspection of isolated wards in hospitals, including temperature measurement, auscultation, ultrasonic detection, medicament delivery and the like, is completed by medical personnel, but generally, due to the imperfection of protective measures and the complexity of protective measures, inconvenience is brought to inspection and timely visit of the medical personnel, and risks are brought to the life safety of the medical personnel. In addition, due to the great outbreak of new global coronary epidemics, medical staff and protective facilities in isolation wards in various regions face shortages, and therefore robots are urgently needed to help the medical staff to complete simple daily inspection work.

The existing robot in hospital can only complete simple tasks such as moving, inquiring and the like, and is still blank for autonomous navigation, routine inspection and other operations.

Disclosure of Invention

Based on the technical problems in the background art, the invention provides a mobile SCARA type cooperative robot for isolation wards.

In order to achieve the purpose, the invention provides the following technical scheme: a mobile SCARA-type cooperative robot for isolation wards, comprising a mobile chassis, a SCARA robot arm and a controller, wherein:

the mobile chassis is provided with a walking unit, a navigation module, a medicament storage container and a disinfection device, the navigation module assists the walking unit to drive the mobile chassis, and the disinfection device can spray disinfectant;

the SCARA mechanical arm is arranged on the top surface of the movable chassis, and is provided with a clamping jaw module which completes the functions of temperature measurement, auscultation, ultrasonic detection and medicament distribution;

the controller is arranged in the movable chassis and comprises a signal processing part, a chassis control part and a mechanical arm control part, wherein the signal processing part can remotely receive and process signals, and the chassis and the mechanical arm are controlled by the chassis control part and the mechanical arm control part to complete corresponding instructions; the signal processing part can also remotely send information and upload detection data of each function of the clamping jaw module, so that medical staff can quickly master the information of the patient.

Furthermore, the walking unit is installed at the bottom of the shell and comprises 2 driving wheels, 1 steering wheel, a power motor and a transmission system, wherein the 2 driving wheels are distributed in the front of the bottom of the shell, the 1 steering wheel is distributed in the rear of the bottom of the shell, the power motor is arranged inside the shell, the driving wheels and the steering wheel are driven through the transmission system, the driving wheels are used for the front and rear movement of the robot, and the steering wheel is used for the left and right rotation of the robot.

Furthermore, the navigation module is installed around the casing, including positioning system and infrared sensor, positioning system is used for mobile robot location and autonomous navigation, infrared sensor is used for the range finding to keep away the barrier.

Furthermore, the sterilizing device comprises a sterilizing water storage container and a spraying device, the sterilizing water in the sterilizing water storage container is stored and transported, the spraying device is installed on one side of the top of the shell and connected with the sterilizing water storage container, and the spraying sterilizing water is used for sterilizing the isolation ward.

Furthermore, the SCARA mechanical arm is arranged above the movable chassis and comprises a base, a lifting arm, a large arm, a small arm, a clamping jaw module, a gear reducer, a first servo motor and a ball screw, wherein the base is arranged on the top surface of the movable chassis, the lifting arm is connected with the base through the ball screw, and the first servo motor drives the lifting arm to move in the Z-axis direction relative to the base through the ball screw; the lifting arm and the large arm are connected with the small arm through a gear reducer respectively, and the first servo motor drives the large arm to rotate on an xy plane relative to the lifting arm and the small arm relative to the large arm through the gear reducer; the clamping jaw module is installed at the tail end of the small arm and used for completing the conventional inspection function.

Furthermore, the clamping jaw module comprises a thermometer, a stethoscope, an ultrasonic probe, a clamp, a bracket, a second servo motor and 4 cylinders, wherein the 4 cylinders are respectively arranged at four corners of the bracket, and the thermometer, the stethoscope, the ultrasonic probe and the clamp are respectively connected with 4 cylinder rods to complete the functions of temperature measurement, auscultation, ultrasonic detection and medicament distribution; a central shaft is arranged at the center of the bracket, and the second servo motor drives the central shaft to rotate so as to switch the functions of the clamping jaw modules; the cylinder rod telescopically drives 4 components to move on the z axis, and the components are guaranteed not to interfere with each other when working.

Compared with the prior art, the invention has the following beneficial effects:

1. the mobile SCARA type cooperative robot helps or replaces medical personnel to complete routine inspection of an isolation ward, effectively relieves the working pressure of the medical personnel, reduces the infection risk of the medical personnel, and effectively inhibits the spread of viruses due to the fact that the robot is provided with disinfection equipment;

2. the mobile SCARA type cooperative robot comprehensively utilizes the advantages of compact structure, flexible action, simple control, high position precision, compliance in x and y axes and rigidity in z axis of the SCARA mechanical arm; the advantages of high efficiency, safety and the like of the robot-robot interaction of the cooperative robot are comprehensively utilized, the safety of the robot beside the robot is ensured, the working efficiency of the robot is not reduced, and the application cost is not increased; the characteristics of autonomous navigation and obstacle avoidance of the mobile chassis are comprehensively utilized;

3. the clamping jaw module is a multifunctional clamping jaw, the clamping jaw specially designed for inspection has four functions, can be switched randomly and quickly, and each part can be lifted through the air cylinder, so that the parts are not interfered with each other during working, and the function of the clamping jaw module can be conveniently executed;

4. the mobile SCARA type cooperative robot can remotely receive instructions to control the robot to automatically execute actions, and can remotely upload measurement data of the clamping jaw module at the tail end of the mechanical arm in real time, so that medical personnel can conveniently monitor patients.

Drawings

FIG. 1 is a block diagram of the present invention;

FIG. 2 is a view of the SCARA robot of the present invention;

FIG. 3 is a view of a jaw module of the present invention;

FIG. 4 is a control flow diagram of the present invention;

wherein:

1: driving wheel, 2: steering wheel, 3: positioning system, 4: infrared sensor, 5: drug storage container, 6: sterile water storage container, 7: spraying device, 8: a shell, 9: controller, 10: base, 11: lifting arm, 12: large arm, 13: arm, 14: gear reducer, 15: first servo motor, 16: ball screw, 17: thermometer, 18: stethoscope, 19: ultrasonic probe, 20: a clamp, 21: second servo motor, 22: and a cylinder.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front", "rear", "both ends", "one end", "the other end", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description of the present invention, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "connected," and the like are to be construed broadly, such as "connected," which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

As shown in fig. 1, a mobile SCARA type cooperative robot for isolation ward comprises a mobile chassis, a SCARA robot arm and a controller 9.

As shown in fig. 1, the mobile chassis comprises a housing 8, a walking unit, a navigation module and an additional module; the walking unit is arranged at the bottom of the shell 8 and comprises 2 driving wheels 1, 1 steering wheel 2, a power motor and a transmission system, wherein the 2 driving wheels 1 are distributed in front of the bottom of the shell 8, the 1 steering wheel 2 is distributed behind the bottom of the shell 8, the power motor is arranged in the shell 8 and drives the driving wheels 1 and the steering wheel 2 through the transmission system, the driving wheels 1 are used for the front and back movement of the robot, and the steering wheel 2 is used for the left and right rotation of the robot; the navigation module is arranged around the shell 8 and comprises a positioning system 3 and an infrared sensor 4, the positioning system 3 is used for positioning and autonomous navigation of the mobile robot, and the infrared sensor 4 is used for distance measurement and obstacle avoidance; the additional module is installed on the top of the shell 8 and comprises a medicament storage container 5, a sterilized water storage container 6 and a spraying device 7, the sterilized water storage container 6 and the spraying device 7 form a sterilizing device, the medicament storage container 5 and the sterilized water storage container 6 are used for storing and carrying medicaments and sterilized water respectively, the spraying device 7 is installed on one side of the top of the shell 8 and connected with the sterilized water storage container 6, and the sprayed sterilized water is used for sterilizing an isolation ward.

As shown in fig. 2, the SCARA mechanical arm is installed above the moving chassis and includes a base 10, a lifting arm 11, a large arm 12, a small arm 13, a clamping jaw module, a gear reducer 14, a first servo motor 15, a ball screw 16, and the like; the base 10 is installed above the moving chassis, the lifting arm 11 is connected with the base 10 through a ball screw 16, and the first servo motor 15 drives the lifting arm 11 to move in the z-axis direction relative to the base 10 through the ball screw 16; the lifting arm 11 and the large arm 12 are connected, the large arm 12 and the small arm 13 are respectively connected through a gear reducer 14, and the first servo motor 15 drives the large arm 12 to rotate on the xy plane relative to the lifting arm 11 and the small arm 13 relative to the large arm 12 through the gear reducer 14; the clamping jaw module is installed at the tail end of the small arm 13 and used for completing the conventional inspection function.

As shown in fig. 3, the jaw module comprises a thermometer 17, a stethoscope 18, an ultrasonic probe 19, a clamp 20, a second servo motor 21, a bracket and 4 air cylinders 22, wherein the 4 air cylinders 22 are respectively installed at four corners of the bracket, and the 4 parts of the thermometer 17, the stethoscope 18, the ultrasonic probe 19 and the clamp 20 are respectively connected with 4 air cylinder rods 22 to complete the functions of temperature measurement, auscultation, ultrasonic detection and medicament distribution; a central shaft is arranged at the center of the bracket, and the second servo motor 21 drives the central shaft to rotate so as to switch the functions of the clamping jaw modules; the cylinder rod 22 telescopically drives 4 components to move on the z axis, and the components are guaranteed not to interfere with each other when working.

As shown in fig. 1 and 4, the controller 9 is installed inside the mobile chassis and includes a signal processing part, a chassis control part and a robot arm control part; the signal processing part can remotely receive and process signals, and the chassis and the mechanical arm are controlled by the chassis control part and the mechanical arm control part to complete corresponding instructions; the signal processing part can also remotely send information and upload detection data of each function of the clamping jaw module, so that medical staff can quickly master the information of the patient.

As shown in fig. 1 and 4, a medical staff remotely sends an instruction to a robot, a signal processing part of a controller 9 of the mobile SCARA-type cooperative robot receives and processes signals, and a mobile chassis is controlled to autonomously plan a path and automatically avoid obstacles to move to a target hospital bed through a walking unit and a navigation module according to the corresponding instruction; the walking unit is driven by a power motor, 2 driving wheels 1 are used for advancing and retreating the chassis, and 1 steering wheel 2 is used for steering the chassis; in the navigation module, a positioning system 3 is used for positioning and navigating the robot in an isolation ward, and an infrared sensor 4 is used for ranging to enable the robot to automatically avoid obstacles during moving.

The robot also has a disinfecting function, and when the signal processing part of the controller 9 receives a disinfecting signal, the chassis control part sprays the disinfectant in the disinfectant storage container 6 to the isolation ward by controlling the spraying device 7 on the top of the movable chassis, thereby inhibiting the spread of viruses.

As shown in fig. 2, 3 and 4, according to the sent command, the corresponding first servo motor 15, second servo motor 21 and cylinder 22 are driven to control the mechanical arm to complete the corresponding actions; the lifting arm 11 in the mechanical arm moves to change the position of the tail end of the mechanical arm on the z axis, the large arm 12 and the small arm 13 rotate to change the position of the tail end of the mechanical arm on the xy plane, and the tail end of the mechanical arm reaches a specified position through the movement and rotation of the joint; the tail end of the mechanical arm is provided with a clamping jaw module which consists of four parts and is respectively arranged at four corners of the clamping jaw module, the four corners are connected with a central shaft, a first servo motor 21 drives the central shaft to rotate for 90 degrees every time, a certain part can be switched to an execution position, a cylinder 22 rod of the part at the execution position extends out, and the part is adjusted to an appointed position to act; among the four components, the clamp 20 is used for clamping the medicament from the medicament storage container 5 at the top of the chassis to the head of a patient bed so as to realize the medicament dispensing function; the thermometer 17, stethoscope 18 and ultrasound probe 19 are used to detect the physical condition of the patient and the measurement data is transmitted back to the controller 9 and then uploaded by the signal processing part of the controller 9 to the medical staff.

As shown in fig. 4, since the robot usually needs to be in direct or indirect contact with a person when making rounds in an isolation ward, a cooperative robot is employed to ensure patient safety; by mounting sensors on the SCARA arm, the power and force output by the robot is limited, allowing the robot to come into planned or unintended but safe contact with the patient, and immediately stop motion and alarm when a danger is likely.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Claims

1. A mobile SCARA-type cooperative robot for isolation wards, characterized in that: including removing chassis, SCARA arm and controller, wherein:

2. A mobile SCARA-type cooperative robot for isolation wards according to claim 1, characterized in that: the walking unit is installed at the bottom of the shell and comprises 2 driving wheels, 1 steering wheel, a power motor and a transmission system, wherein the 2 driving wheels are distributed in front of the bottom of the shell, the 1 steering wheel is distributed behind the bottom of the shell, the power motor is arranged inside the shell and drives the driving wheels and the steering wheel through the transmission system, the driving wheels are used for the front and back movement of the robot, and the steering wheel is used for the left and right rotation of the robot.

3. A mobile SCARA-type cooperative robot for isolation wards according to claim 2, characterized in that: the navigation module is installed around the shell and comprises a positioning system and infrared sensors, the positioning system is used for positioning the mobile robot and autonomous navigation, and the infrared sensors are used for distance measurement and obstacle avoidance.

4. A mobile SCARA-type cooperative robot for isolation wards according to claim 3, characterized in that: the disinfection device comprises a disinfection water storage container and a spraying device, the disinfection water in the disinfection water storage container is stored and transported, the spraying device is installed on one side of the top of the shell and connected with the disinfection water storage container, and the spraying disinfection water is used for isolating the disinfection of the ward.

5. A mobile SCARA-type collaborative robot for isolation wards according to claim 4, characterized in that: the SCARA mechanical arm is arranged above the movable chassis and comprises a base, a lifting arm, a large arm, a small arm, a clamping jaw module, a gear reducer, a first servo motor and a ball screw, wherein the base is arranged on the top surface of the movable chassis, the lifting arm is connected with the base through the ball screw, and the first servo motor drives the lifting arm to move in the Z-axis direction relative to the base through the ball screw; the lifting arm and the large arm are connected with the small arm through a gear reducer respectively, and the first servo motor drives the large arm to rotate on an xy plane relative to the lifting arm and the small arm relative to the large arm through the gear reducer; the clamping jaw module is installed at the tail end of the small arm and used for completing the conventional inspection function.

6. A mobile SCARA-type collaborative robot for isolation wards according to claim 5, characterized in that: the clamping jaw module comprises a thermometer, a stethoscope, an ultrasonic probe, a clamp, a bracket, a second servo motor and 4 cylinders, wherein the 4 cylinders are respectively arranged at four corners of the bracket, and the thermometer, the stethoscope, the ultrasonic probe and the clamp are respectively connected with 4 cylinder rods to complete the functions of temperature measurement, auscultation, ultrasonic detection and medicament distribution; a central shaft is arranged at the center of the bracket, and the second servo motor drives the central shaft to rotate so as to switch the functions of the clamping jaw modules; the cylinder rod telescopically drives 4 components to move on the z axis, and the components are guaranteed not to interfere with each other when working.