CN111775167A

CN111775167A - Transport service robot and mobile chassis thereof

Info

Publication number: CN111775167A
Application number: CN202010789818.1A
Authority: CN
Inventors: 罗金龙; 任亮; 许金鑫; 赵鹏; 何洪军; 王卫军; 杨亚; 陈杰; 李仁军
Original assignee: Shanghai Micro Motor Research Institute 21st Research Institute Of China Electronics Technology Corp
Current assignee: Shanghai Micro Motor Research Institute 21st Research Institute Of China Electronics Technology Corp
Priority date: 2019-12-27
Filing date: 2020-08-07
Publication date: 2020-10-16
Anticipated expiration: 2040-08-07
Also published as: CN111775167B; CN212859489U

Abstract

The invention discloses a carrying service robot and a moving chassis thereof.A carrying mechanism is turned over between an initial position and a target position by rotating an output shaft of a steering engine, and is driven to move left and right on a horizontal plane by moving a lead screw slide block on a lead screw motor, so that an effective clamping of a recovery barrel is realized, the whole carrying action is stable and reliable, and the realizability is high. Meanwhile, vibration in the operation process of the service robot is effectively reduced by using the damping spring; a distance measuring sensor is adopted to detect the obstacle, so that the obstacle avoiding function of the service robot in the operation process is realized; the handling service robot is convenient to process and manufacture, high in realizability, and capable of timely conveying medical equipment and postoperative waste after each operation to a designated cleaning treatment point and ensuring that the postoperative equipment and the waste after each operation can be timely treated.

Description

Transport service robot and mobile chassis thereof

Technical Field

The invention relates to the technical field of service robots, in particular to a carrying service robot and a mobile chassis thereof.

Background

Hospital's postoperative equipment, the transport of discarded object etc., it is loaded down with trivial details and consume the manpower always, the living of material resources and financial resources, in addition, postoperative equipment and discarded object etc. if fail in time to carry appointed cleaning treatment point, blood coagulation on the equipment, surgical equipment is difficult to wash, and there is uncertainty in the concrete time arrangement of every operation, every postoperative equipment and medical waste totality volume and weight are not big, the staff who is responsible for the clearance is in order to reduce the amount of labour, often can wait that many operations of operating room accomplish the back, surgical instruments and medical waste accumulate a certain amount of back in the recycling bin, unified recovery is to cleaning treatment point, will cause postoperative equipment to be difficult to wash like this, and simultaneously, the equipment also rusts easily, influence the secondary and use. Therefore, a service robot for timely carrying post-operation equipment and waste needs to be provided.

Disclosure of Invention

The invention overcomes the defects of the prior art, provides a carrying service robot and a moving chassis thereof, and can at least solve the problems that equipment is difficult to clean and rust and the like caused by untimely carrying of post-operation equipment and waste in the prior art.

In order to achieve the above purpose, the invention provides the following technical scheme:

a mobile chassis of a transport service robot, the mobile chassis comprising a chassis, a drive unit, a control unit, and a detection unit;

the chassis is used for arranging the driving unit, the control unit and the detection unit;

the driving unit is arranged below the chassis and used for driving the moving chassis to move;

the control unit is electrically connected with the driving unit and the detection unit and is used for controlling the driving unit and acquiring data of the detection unit;

the detection unit comprises a distance measurement sensor and an image collector, the distance measurement sensor is used for detecting the distance of an object on the moving path of the moving chassis, and the image collector is used for collecting the image of the object on the moving path of the moving chassis.

Further, the driving unit comprises a driving motor, a driving wheel and a driven wheel;

the driving motor drives the driving wheel to rotate so as to realize the movement of the moving chassis, and the driven wheel is used for supporting and balancing the moving chassis;

the driving wheel and the driven wheel are arranged below the chassis through bolts, and damping springs are arranged on the bolts.

Further, the control unit is arranged on the upper surface of the chassis and comprises a processor and a motor driver;

the processor is connected with the motor driver, the motor driver is connected with the driving motor, and a driving shaft of the driving motor is connected with the driving wheel.

Further, the control unit is provided with an emergency stop switch, and the control unit acquires a signal that the emergency stop switch is pressed down and controls the carrying service robot to stop running.

The invention also provides a carrying service robot, which comprises a mobile chassis and a carrying mechanism arranged on the mobile chassis; the carrying mechanism comprises a horizontal moving device, a turnover device and a clamping device;

the moving chassis is the moving chassis of any one of claims 1 to 4 and is used for driving the carrying service robot to move;

the control unit on the movable chassis is electrically connected with the carrying mechanism;

the horizontal moving device is arranged on the moving chassis and used for driving the overturning device to move in the horizontal direction;

the overturning device is arranged on the horizontal moving device and used for driving the clamping device to do overturning motion in the vertical direction;

the clamping device is arranged at the tail end of the turnover device and used for clamping the target object after the turnover device is turned in place.

Further, the horizontal moving device comprises a lead screw motor; the turnover device comprises two multi-link mechanisms;

the screw motor is arranged on the movable chassis, one end of one multi-link mechanism is arranged on a fixed part of the screw motor, one end of the other multi-link mechanism is arranged on a screw sliding block of the screw motor, and the other ends of the two multi-link mechanisms are connected through a connecting rod; the lead screw sliding block drives the corresponding multi-link mechanism to move, so that the distance between the two multi-link mechanisms is adjusted.

Further, the turnover device further comprises a steering engine;

the output shaft of the steering engine is connected with a hinge point on any one of the multi-link mechanisms, the hinge point is positioned at one end, connected with the screw motor, of the corresponding multi-link mechanism, and the output shaft of the steering engine drives the turnover device to perform turnover motion through the hinge point.

Furthermore, the clamping device comprises two clamping rods which are respectively hinged to the two multi-link mechanisms, and the positions of the clamping rods are arranged at positions which can clamp the target object when the two multi-link mechanisms are turned over to the two sides of the target object.

Further, the multi-link mechanism is a four-link mechanism.

Compared with the closest prior art, the technical scheme provided by the invention has the following excellent effects:

according to the invention, the carrying mechanism is turned over between the initial position and the target position through the rotation of the output shaft of the steering engine, and meanwhile, the carrying mechanism is driven to move left and right on the horizontal plane through the movement of the lead screw slide block on the lead screw motor, so that the recycling drum is effectively clamped, the whole carrying action is stable and reliable, and the realizability is high.

Meanwhile, vibration in the operation process of the service robot is effectively reduced by using the damping spring; a distance measuring sensor is adopted to detect the obstacle, so that the obstacle avoiding function of the service robot in the operation process is realized; the handling service robot is convenient to process and manufacture, high in realizability, and capable of timely conveying medical equipment and postoperative waste after each operation to a designated cleaning treatment point and ensuring that the postoperative equipment and the waste after each operation can be timely treated.

Drawings

FIG. 1 is a top view of a mobile chassis in an embodiment of the present invention;

FIG. 2 is a bottom view of the mobile chassis in an embodiment of the present invention;

FIG. 3 is a schematic diagram of a transfer service robot according to an embodiment of the present invention;

FIG. 4 is a schematic view of the handling service robot gripping a drum according to an embodiment of the present invention;

FIG. 5 is a schematic view of the second state of the handling service robot gripping the drum according to the embodiment of the present invention;

FIG. 6 is a schematic view of the handling service robot in an embodiment of the present invention in a state of gripping a drum;

fig. 7 is a diagram illustrating a state four of the handling service robot gripping the drum according to the embodiment of the present invention.

In the figure: 1 is a chassis; 2 is a camera; 3 is a rear aluminum plate; 4 is a battery; 5 is a left aluminum plate; 6 is a motor driver; 7 is a front aluminum plate; 8 is a circuit board; 9 is laser radar; 10 is a transformer; 11 is a right aluminum plate; 12 is an emergency stop switch; 13 is a voltage display screen; 14 to 15 are hub mounting aluminum materials; 16 is a damping spring; 17 is a hub; 18 to 19 are universal wheel mounting aluminum materials; 20 is a damping spring; 21 is a universal wheel; 22 is a bracket; 23 is a screw motor; 24 is a top aluminum plate; 25 is a four-bar linkage; 26 is a display screen; 27 is a steering engine; 28 is a clamping rod; 29 is a connecting rod; 30 is a storage barrel; 251 is a first connecting rod; 252 is a second link; 253 is a third link; and 254 is a fourth link.

Detailed Description

The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings. It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.

In the description of the present invention, the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, which are for convenience of description of the present invention only and do not require that the present invention must be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. The terms "connected" and "connected" used herein should be interpreted broadly, and may include, for example, a fixed connection or a detachable connection; they may be directly connected or indirectly connected through intermediate members, and specific meanings of the above terms will be understood by those skilled in the art as appropriate.

As shown in fig. 1, the carrier service robot of the present embodiment is provided with a mobile chassis including a chassis 1, the chassis 1 in the present embodiment is a circular chassis, and a driving unit, a control unit and a detection unit are provided on the chassis 1, as shown in fig. 1 and 2, wherein the control unit and the detection unit are provided on an upper surface of the chassis 1, and the driving unit is provided on a lower surface of the chassis 1.

The control unit comprises a battery 4, a motor driver 6, a circuit board 8 and a transformer 10, a processor, a memory and related circuits are arranged on the circuit board 8, the processor is in control connection with the motor driver 6 and the transformer 10, the transformer 10 is used for adjusting external power input so as to charge the battery 4, the battery 4 is used for supplying power to the carrying service robot, the control loop and the power loop in the embodiment adopt the same power supply and switch, namely, the battery 4 supplies power, and different circuit loops enable the performance of the carrying service robot to be more stable and reliable.

The motor driver 6 is used to drive a driving unit provided on the lower surface of the chassis 1. As shown in fig. 1, the battery 4, the motor driver 6, the circuit board 8 and the transformer 10 are collectively arranged in a box body formed by surrounding a rear aluminum plate 3, a left aluminum plate 5, a front aluminum plate 7 and a right aluminum plate 11, and top aluminum plates 24 are further arranged on four side aluminum plates, as shown in fig. 3.

In the embodiment, the image collector and the ranging sensor of the detection unit are respectively a camera 2 and a laser radar 9, and the laser radar 9 is used for detecting the distance of an object on the moving path of the robot and is used for avoiding obstacles on the moving chassis of the robot; the camera 2 is used for shooting images of objects on the robot traveling route so as to be identified by the processor and used for positioning and navigation of the transport service robot. As shown in fig. 1, in this embodiment, the camera 2 is disposed on the left side of the box body on the chassis 1, the position of the camera 2 in fig. 1 is taken as the left side of the chassis 1, and the lidar 9 is disposed on the right side of the box body, in other embodiments, the camera and the lidar may also be disposed on the same side, or the camera and the lidar are disposed on both sides of the chassis.

Further, in the embodiment, an emergency stop switch 12 and a voltage display screen 13 are arranged on the outer side of the box body, the emergency stop switch 12 and the voltage display screen 13 are both connected with the circuit board 8, and the processor sends out a control command for stopping the operation of the robot if receiving an action signal of the emergency stop switch 12.

As shown in fig. 2, the driving unit in this embodiment includes a driving motor and a driving wheel, and the motor driver 6 is electrically connected to the driving motor to control the rotation of the driving wheel. In this embodiment, two driving wheels are symmetrically arranged at the bottom of a chassis 1, taking the driving wheel above the chassis 1 as an example in fig. 2, a hub frame is arranged on a hub 17 of the driving wheel, the driving wheel can rotate in the hub frame, hub

installation aluminum materials

14 and 15 are arranged at the bottom of the chassis 1, the hub installation aluminum material 14 and the hub installation aluminum material 15 form a driving wheel installation frame, as shown in fig. 2, the hub frame is connected with the driving wheel installation frame through bolts, damping springs 16 are arranged on the bolts, and the damping springs 16 are sleeved on screw rods of the bolts and used for playing a damping and buffering role in the moving process of the moving chassis. The mounting structure of the other lower driving wheel in fig. 2 is the same as that of the upper driving wheel in fig. 2. A motor driver 6 in the control unit is connected with the driving wheels through the control of the driving motor, and the control operation of the driving wheels is realized under the control of the processor.

Drive unit still includes two universal wheels in this embodiment, and two universal wheels and two drive wheels are the four corners and distribute in the bottom of chassis 1. As shown in fig. 2, taking the right universal wheel 21 in fig. 2 as an example for explanation, the base of the universal wheel 21 is disposed on a universal wheel mounting rack through a bolt, the universal wheel mounting rack comprises a universal wheel mounting aluminum material 18 and a universal wheel mounting aluminum material 19, the universal wheel mounting rack is mounted at the bottom of the chassis 1, and a damping spring 20 is disposed on the bolt between the universal wheel mounting rack and the universal wheel for playing a role in damping during the movement of the moving chassis.

The type and specific position of each device on the moving chassis in the present invention are not limited to the examples given in the present embodiment, for example, the type of the damping spring may be a non-equidistant spring or an equidistant spring, and in other implementations, equivalent changes to the device selection or installation position also belong to the protection scope of the present invention.

As shown in fig. 3, which is a schematic mechanism diagram of the transfer service robot of the embodiment, a transfer mechanism is disposed above a box body on which a control unit is disposed on a mobile chassis, and the transfer mechanism in the embodiment includes a horizontal moving device, a turning device, and a gripping device.

The horizontal moving device comprises a screw motor 23, the screw motor 23 is arranged on the top aluminum plate 24 of the box body, the screw motor 23 comprises a screw slider, the screw slider can horizontally move on the top aluminum plate 24 under the driving of the screw motor, and as shown in fig. 3, the control unit is electrically connected with the screw motor 23.

The turning device comprises a steering engine 27 and two four-bar linkages, which are exemplified by the four-bar linkage 25 in fig. 3, the four-bar linkage 25 is formed by mutually hinging a first link 251, a second link 252, a third link 253 and a fourth link 254, as shown in fig. 3, one end of one multi-link mechanism is arranged on a fixed part of the screw motor (i.e. a part fixed when the motor works), one end of the other multi-link mechanism is arranged on a screw slider of the screw motor, the other ends of the two multi-link mechanisms are connected through a connecting rod 29, the connecting rod 29 is movably connected with the two multi-link mechanisms, that is, holes are respectively opened on the upper cross bars of the two multi-link mechanisms, the connecting rod 29 passes through the two holes, then the two ends of the connecting rod 29 are fixed by nuts, the distance between the two multi-link mechanisms can be adjusted when the sliding block drives the corresponding multi-link mechanisms to move.

As shown in fig. 3, the other ends of the two four-bar linkages are connected together by a connecting rod 29, and a gripping rod is respectively hinged on the two four-bar linkages, for example, gripping rods 28 are hinged on two vertical rods (a second link 252 and a third link 253) of the four-bar linkage 25 in fig. 3. When the four-bar linkage is turned over, the two vertical rods (i.e., the second link 252 and the third link 253) are gradually closer to each other, and the gripping rod 28 rotates on the four-bar linkage along the hinge. In fig. 3, the four-bar linkage 25 is provided with a clamping rod 28, the position of the clamping rod is set at a position where the two four-bar linkages can clamp the target object when being overturned to the two sides of the target object, and the lead screw slider horizontally moves to drive the corresponding four-bar linkage to move and adjust the distance between the two four-bar linkages, so that the two clamping rods clamp the target object. It should be noted that other forms of link mechanisms may be adopted in other embodiments, and the present invention is not limited to the four-link mechanism described in the present embodiment, and for example, a three-link mechanism may also be adopted.

Meanwhile, the steering engine 27 is arranged on the top aluminum plate 24, an output shaft of the steering engine 27 is connected with a hinge point on any one of the four-bar linkage mechanisms, the hinge point is located at one end (the lower end of the four-bar linkage mechanism 25 in fig. 3) of the corresponding four-bar linkage mechanism, the steering engine 27 drives the connected four-bar linkage mechanism to turn over, as shown in fig. 3, the other four-bar linkage mechanism can also be driven to turn over synchronously due to the existence of the connecting rod, so that the two four-bar linkage mechanisms can be turned over to two sides of a target object, and preparation is made for clamping.

In this embodiment, a display screen 26 and a bracket 22 of the display screen 26 are further provided, and the display screen 26 is connected with the control unit and is used for displaying relevant data in the operation process of the handling service robot.

As shown in fig. 4, when the laser radar 9 of the transfer service robot detects the front drum 30, the transfer service robot navigates through the laser radar 9 and the landmark, and the driving wheels on the left and right sides of the moving chassis rotate to drive the entire transfer service robot to move to the front of the drum 30 and keep a certain distance from the drum 30.

As shown in fig. 5, the output shaft of the steering engine 27 rotates to drive the four-bar linkages of the carrying mechanism to rotate, so that the two four-bar linkages are respectively located at two sides of the barrel 30, and the two clamping rods on the two four-bar linkages are respectively close to two sides of the barrel 30; the connecting rod 29 is abutted against the upper edge of the barrel, and when the four-bar linkage rotates towards the barrel, the connecting rod 29 can play a limiting role.

As shown in fig. 6, the lead screw slider on the lead screw motor 23 moves, and the four-bar linkage is mounted on the lead screw slider, so that the lead screw slider on the lead screw motor 23 moves to drive the four-bar linkage to move, and thus the two clamping rods lock the barrel 30.

As shown in fig. 7, the output shaft of the steering engine 27 rotates in the reverse direction to drive the two four-bar linkages of the carrying mechanism to rotate, so as to carry the drum 30 to the carrying service robot, so that the drum 30 is vertically placed on the robot, the two sides of the drum 30 are clamped by the multi-bar linkage to bear the weight of the drum 30, preferably, a clamping groove is arranged at a position on the drum 30 corresponding to the clamping rod 28, so that the multi-bar linkage can better bear the drum 30, finally, the carrying service robot moves to a designated cleaning position through positioning and navigation of the mobile chassis, relevant cleaning staff take out articles in the drum 30, and the carrying service robot waits for the next work instruction.

The carrying service robot is convenient to process and manufacture and high in realizable degree; the mobile chassis of the robot is divided into a chassis, a driving unit, a control unit and a detection unit by adopting a modular design, and each unit is independently arranged and mutually matched to work, so that the subsequent maintenance and replacement are convenient, and the realizability degree is high; vibration in the operation process of the service robot is effectively reduced by using the vibration reduction spring; the service robot is positioned and navigated by adopting the laser radar and landmark measurement, and positioning is reliable; the carrying action of the carrying mechanism to the barrel is realized through the rotation of the output shaft of the steering engine and the movement of the screw rod motor screw rod slide block, the carrying action is stable and reliable, and the realization degree is high.

Other embodiments of the present technology will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the technology following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the technology pertains and as may be applied to the essential features hereinbefore set forth. The specification and examples are to be considered as exemplary only, and the technical scope of the present invention is not limited to the contents of the specification, and must be determined in accordance with the scope of protection of the present application.

It will be understood that the present application is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the application is only limited by the content of the appended representative protection scope.

Claims

1. A mobile chassis of a transfer service robot is characterized by comprising a chassis, a driving unit, a control unit and a detection unit;

2. The mobile chassis of claim 1, wherein the drive unit comprises a drive motor, a drive wheel, and a driven wheel;

3. The mobile chassis of claim 2, wherein the control unit is disposed on an upper surface of the chassis, the control unit including a processor and a motor drive;

4. The mobile chassis of claim 1, wherein the control unit is provided with an emergency stop switch, and the control unit controls the transfer service robot to stop operating after acquiring a signal that the emergency stop switch is pressed.

5. A transfer service robot, characterized in that the transfer service robot comprises a mobile chassis and a transfer mechanism provided on the mobile chassis; the carrying mechanism comprises a horizontal moving device, a turnover device and a clamping device;

6. The transfer service robot of claim 5, wherein the horizontal movement device comprises a lead screw motor; the turnover device comprises two multi-link mechanisms;

7. The transfer service robot of claim 6, wherein: the turnover device further comprises a steering engine;

8. The transfer service robot of claim 6, wherein the gripping device comprises two gripping levers hinged to the two multi-link mechanisms, respectively, and positioned to grip the target item when the two multi-link mechanisms are flipped to both sides of the target item.

9. The transfer service robot of claim 6, wherein the multi-link mechanism is a four-link mechanism.