CN113510716A - Humanoid nursing robot based on spherical motor - Google Patents
Humanoid nursing robot based on spherical motor Download PDFInfo
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- CN113510716A CN113510716A CN202110464248.3A CN202110464248A CN113510716A CN 113510716 A CN113510716 A CN 113510716A CN 202110464248 A CN202110464248 A CN 202110464248A CN 113510716 A CN113510716 A CN 113510716A
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- humanoid
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/009—Nursing, e.g. carrying sick persons, pushing wheelchairs, distributing drugs
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Nursing (AREA)
- Manipulator (AREA)
Abstract
The utility model provides a humanoid type nursing robot based on spherical motor, belongs to robot nursing technical field, specifically discloses, including shell, neck structure, thorax structure, pelvic cavity structure, arm structure, shank structure. The head and neck part is an important component for collecting and processing information and completes exchange with external information, and the structure has three degrees of freedom; the thoracic cavity structure is connected with the head and neck structure, and the shoulders at two sides are connected with the thoracic cavity support piece through electric telescopic rods; the pelvic cavity structure is connected with the thoracic cavity structure; the arm structures are positioned at two sides of the thoracic cavity structure; the leg structure is located below the pelvic structure. The main joints of the humanoid nursing robot all adopt magnetic suspension spherical motors as movable joints, the freedom degree is high, the friction is small, the hearing module, the vision module and the wireless communication module are arranged outside the head and the neck respectively, and the daily nursing work can be efficiently completed according to actual requirements.
Description
Technical Field
The invention relates to a humanoid nursing robot based on a spherical motor, and belongs to the technical field of robot nursing.
Background
With the increase of the aging degree of the society and the increase of the number of disabled people, how to alleviate the nursing task and improve the nursing service quality becomes a hot problem in the current medical research. The nursing service robot is used for performing service work in daily life, saves nursing human resources, is beneficial to providing high-quality nursing service, and improves self-nursing ability and adaptive ability of nursed personnel to a certain extent.
However, most nursing robots in the market currently have some problems, many nursing robots are too mechanized, the actions are not smooth enough, the intelligent degree is not high, and the nursing robots can not joyfully enjoy the mind and body of the old people and can not take good care of the life of the old people.
Disclosure of Invention
The invention aims to provide a humanoid nursing robot based on a spherical motor, which is used for solving the problems that many nursing robots proposed in the background technology are too mechanized, are not smooth enough in action and low in intelligent degree, and can not be joyful to the mind and body of the old people and can not take good care of the life of the old people.
In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides an imitative people type nursing robot based on spherical motor, includes shell, neck structure, thorax structure, pelvic cavity structure, arm structure, shank structure, its characterized in that: including neck structure (1), thorax structure (2), pelvic cavity structure (3), arm structure (4), shank structure (5), shell (6), its characterized in that:
the shell (6) covers all outer surfaces of the humanoid nursing robot, the head and neck structure (1) is located at the top of the humanoid nursing robot, a vision module (15) is arranged on the head supporting frame (14), auditory sensors (16) are mounted on two sides of the vision module, the neck structure is composed of a spherical motor (17) and a neck supporting plate (11), and a radar supporting seat (12) is arranged on the neck supporting plate to support a radar (13);
the thoracic cavity structure (2) comprises a thoracic cavity support piece (21), an electric support rod (22), shoulder circumferential disks (24), an electric adjusting rod (23) and shoulder spherical motor seats (25), wherein the thoracic cavity support piece is spherically hinged with the head and neck spherical motor, the shoulder circumferential disks are symmetrically distributed on two sides of the thoracic cavity support piece, the shoulder circumferential disks are fixedly connected with the thoracic cavity support piece through the electric support rod and the electric adjusting rod, and the shoulder spherical motor seats are symmetrically distributed on two sides of the thoracic cavity support piece and fixed on the shoulder circumferential disks;
the pelvic cavity structure (3) is connected with a thoracic cavity support (21) through a telescopic rod (31), the telescopic rod is fixed inside the pelvic cavity, a controller (34) is fixedly installed inside the pelvic cavity, and a femur spherical motor (35) is connected with a femur (32) of the humanoid nursing robot;
the arm structure (4) is provided with a shoulder spherical motor, a shoulder spherical motor stator is fixedly connected with the thorax shoulder spherical motor base, a motor rotor is fixedly connected with a large arm (41) of the humanoid nursing robot, the large arm (41) is connected with a small arm (44) through a spherical motor (43), an electric telescopic rod is connected with the upper end of the large arm and the upper end of the small arm, and the tail end of the small arm (44) is connected with a palm (45) through the spherical motor;
the leg structure (5) is connected with a femur (32) of the humanoid nursing robot through a spherical motor (51), a thigh (52) is connected with a shank (54) through the spherical motor (52), the thigh is fixedly connected with a motor stator, the shank is fixedly connected with a motor rotor, and the shank (54) is connected with a sole (55) through the spherical motor;
further, the shell (6) of the humanoid nursing robot is made of a PC material and an ABS material;
furthermore, the neck, the waist and the arm joints of the humanoid nursing robot are designed in a telescopic circular tube shape;
further, a vision module (15) and an auditory module (16) are arranged on two sides of the head and neck part (1) which are symmetrical about the central axis;
further, the vision module (15) is rotatably connected with the head support frame;
furthermore, the chest cavity (2) is connected with the pelvic cavity (3) through a ball joint;
furthermore, a controller (34) is fixed inside the basin cavity (3);
furthermore, the controller (34) is electrically connected with the vision module (15), the hearing module (16), the chest cavity (2), the pelvic cavity (3), the arm (4) and the leg (5);
furthermore, the spherical motors are all magnetic suspension motors.
Compared with the prior art, the invention has the beneficial effects that: the shell material of the humanoid nursing robot adopts PC/ABS, and combines the formability of the ABS material and the mechanical property, impact resistance and temperature resistance of the PC material; all joint actuating mechanisms adopt magnetic suspension spherical motors, can rotate for 360 degrees without dead angles, increase the freedom degree of joints, have small friction, and ensure that the robot moves more smoothly and has compact structure; the electric push rod forms a thoracic cavity structure, and the combined movement of the push rod can complete the actions of pectoralis muscles and latissimus dorsi of a human body, shoulder lifting, chest expanding and the like; the robot controller and the control system hardware are fixed in the pelvic cavity, the gravity center of the whole body is moved downwards, the space is saved, and the stability is enhanced.
Drawings
For ease of illustration, the invention is described in detail by the following detailed description and the accompanying drawings.
Fig. 1 is an internal structural view of a humanoid care robot of the present invention;
FIG. 2 is an external view of the humanoid care robot of the present invention;
FIG. 3 is a diagram of the joints of the chest and shoulders of the humanoid care robot of the invention;
FIG. 4 is a cross-sectional view of a pelvic cavity of a humanoid care robot of the invention;
fig. 5 is an internal structure view of a spherical motor of the humanoid care robot of the present invention.
Detailed Description
The following examples are presented to further illustrate embodiments of the present invention:
in the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Referring to fig. 1 to 5, the present invention provides a technical solution: comprises a head and neck structure (1), a thoracic cavity structure (2), a pelvic cavity structure (3), an arm structure (4), a leg structure (5) and a shell (6);
the shell covers all the outer surfaces of the humanoid nursing robot, the shell is made of PC/ABS, and the formability of the ABS material and the mechanical property, impact resistance and temperature resistance of the PC material are combined;
the head and neck structure (1) is positioned at the top of the humanoid nursing robot, a vision module (15) is arranged on the head support frame (14), auditory sensors (16) are arranged on two sides of the vision module, the neck structure is composed of a spherical motor (17) and a neck support plate (11), a radar support seat (12) is arranged on the neck support plate to support a radar (13), the structure has three degrees of freedom, including X, Y, Z-axis rotation, the actions of pitching and returning the head are completed, and the vision domain shot by a camera can be adjusted;
the thoracic cavity structure (2) comprises a thoracic cavity support piece (21), an electric support rod (22), a shoulder circumferential disc (24), an electric adjusting rod (23) and a shoulder spherical motor seat (25), wherein the thoracic cavity support piece is spherically hinged with a head-neck spherical motor, the shoulder circumferential disc is symmetrically distributed on two sides of the thoracic cavity support piece, the shoulder circumferential disc is fixedly connected with the thoracic cavity support piece through the electric support rod and the electric adjusting rod, the shoulder spherical motor seat is symmetrically distributed on two sides of the thoracic cavity support piece and is fixed on the shoulder circumferential disc, and the structure can realize the planar motion of the shoulder along an XZ axis and the rotation, the back-and-forth movement and the up-and-down motion of the Y axis, and can finish the actions of expanding the chest, lifting the shoulder and the like;
the pelvic cavity structure (3) is connected with a thoracic cavity support piece (21) through a telescopic rod (31), the telescopic rod is fixed inside the pelvic cavity, a controller (34) is fixedly installed inside the pelvic cavity, a femur spherical motor (35) is connected with a femur (32) of the humanoid nursing robot, the front two electric telescopic rods contract to finish bending, and the rear two electric telescopic rods contract to finish straightening;
the arm structure (4) is provided with a shoulder spherical motor, a shoulder spherical motor stator is fixedly connected with the thorax shoulder spherical motor base, a motor rotor is fixedly connected with a large arm (41) of the humanoid nursing robot, the large arm (41) is connected with a small arm (44) through a spherical motor (43), an electric telescopic rod is connected with the upper end of the large arm and the upper end of the small arm, the tail end of the small arm (44) is connected with a palm (45) through the spherical motor, and the structure can realize bending and joint rotation of the arm;
the leg structure (5) is connected with a femur (32) of the humanoid nursing robot through a spherical motor (51), a thigh (52) is connected with a shank (54) through the spherical motor (52), the thigh is fixedly connected with a motor stator, the shank is fixedly connected with a motor rotor, and the shank (54) is connected with a sole (55) through the spherical motor;
as an optional embodiment, the humanoid nursing robot shell (6) is made of a PC material and an ABS material;
as an optional embodiment, the neck, waist and arm joints of the humanoid nursing robot are designed in a telescopic round tube shape;
as an alternative embodiment, the head and neck (1) is provided with a vision module (15) and an auditory module (16) on both sides symmetrical about the central axis;
as an optional embodiment, the head and neck vision module (15) is in rotary connection with the head support frame;
as an alternative embodiment, the chest cavity (2) and the basin cavity (3) are connected by a ball joint;
as an optional implementation mode, a controller (34) and control system hardware are fixed inside the basin cavity (2);
as an optional implementation mode, the controller (34) is electrically connected with the vision module (15), the hearing module (16), the chest cavity (2), the pelvic cavity (3), the arm (4) and the leg (5);
as an alternative embodiment, the spherical motors are all magnetic suspension motors.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that various changes, modifications, equivalents, improvements and the like can be made therein without departing from the spirit and scope of the invention.
Claims (9)
1. The utility model provides an imitative people type nursing robot based on spherical motor, includes neck structure (1), thorax structure (2), pelvic cavity structure (3), arm structure (4), shank structure (5), shell (6), its characterized in that:
the shell (6) covers all outer surfaces of the humanoid nursing robot, the head and neck structure (1) is located at the top of the humanoid nursing robot, a vision module (15) is arranged on the head supporting frame (14), auditory sensors (16) are mounted on two sides of the vision module, the neck structure is composed of a spherical motor (17) and a neck supporting plate (11), and a radar supporting seat (12) is arranged on the neck supporting plate to support a radar (13);
the thoracic cavity structure (2) comprises a thoracic cavity support piece (21), an electric support rod (22), shoulder circumferential disks (24), an electric adjusting rod (23) and shoulder spherical motor seats (25), wherein the thoracic cavity support piece is spherically hinged with the head and neck spherical motor, the shoulder circumferential disks are symmetrically distributed on two sides of the thoracic cavity support piece, the shoulder circumferential disks are fixedly connected with the thoracic cavity support piece through the electric support rod and the electric adjusting rod, and the shoulder spherical motor seats are symmetrically distributed on two sides of the thoracic cavity support piece and fixed on the shoulder circumferential disks;
the pelvic cavity structure (3) is connected with a thoracic cavity support (21) through a telescopic rod (31), the telescopic rod is fixed inside the pelvic cavity, a controller (34) is fixedly installed inside the pelvic cavity, and a femur spherical motor (35) is connected with a femur (32) of the humanoid nursing robot;
the arm structure (4) is provided with a shoulder spherical motor, a shoulder spherical motor stator is fixedly connected with the thorax shoulder spherical motor base, a motor rotor is fixedly connected with a large arm (41) of the humanoid nursing robot, the large arm (41) is connected with a small arm (44) through a spherical motor (43), an electric telescopic rod is connected with the upper end of the large arm and the upper end of the small arm, and the tail end of the small arm (44) is connected with a palm (45) through the spherical motor;
the leg structure (5) is connected with a femur (32) of the humanoid nursing robot through a spherical motor (51), a thigh (52) is connected with a shank (54) through the spherical motor (52), the thigh is fixedly connected with a motor stator, the shank is fixedly connected with a motor rotor, and the shank (54) is connected with a sole (55) through the spherical motor;
2. the humanoid care robot of claim 1, wherein the humanoid care robot shell is made of a PC material combined with an ABS material;
3. the humanoid nursing robot of claim 1, wherein the humanoid nursing robot adopts a telescopic circular tube design at the neck, waist and arm joints;
4. the humanoid care robot as claimed in claim 1, characterized in that both sides of the neck (1) symmetrical about a central axis are provided with a vision module (15) and an auditory module (16);
5. the humanoid care robot as claimed in claim 1, characterized in that said head and neck vision module (15) is in rotary connection with a head support frame (14);
6. the humanoid nursing robot of claim 1, characterized in that the chest cavity (2) and the basin cavity (3) are connected by a ball joint;
7. the humanoid nursing robot as claimed in claim 1, characterized in that a controller (34) is fixed inside the basin (3);
8. the humanoid care robot of claim 1, wherein the controller (34) is electrically connected to the vision module (15), the hearing module (16), the chest cavity (2), the pelvic cavity (3), the arm (4), and the leg (5);
9. the humanoid care robot of claim 1, wherein the spherical motors are all magnetic levitation motors.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110464248.3A CN113510716A (en) | 2021-04-28 | 2021-04-28 | Humanoid nursing robot based on spherical motor |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110464248.3A CN113510716A (en) | 2021-04-28 | 2021-04-28 | Humanoid nursing robot based on spherical motor |
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| Publication Number | Publication Date |
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| CN113510716A true CN113510716A (en) | 2021-10-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110464248.3A Pending CN113510716A (en) | 2021-04-28 | 2021-04-28 | Humanoid nursing robot based on spherical motor |
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