CN214561052U - Nursing robot - Google Patents
Nursing robot Download PDFInfo
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- CN214561052U CN214561052U CN202120886025.1U CN202120886025U CN214561052U CN 214561052 U CN214561052 U CN 214561052U CN 202120886025 U CN202120886025 U CN 202120886025U CN 214561052 U CN214561052 U CN 214561052U
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Abstract
The utility model discloses a nursing robot, which consists of a power system, a control system, a head, two arms, a body, legs and a chassis, wherein the power system is connected with the head, the two arms, the body, the legs and the chassis and controls the power system by the control system, so that the head, the two arms and the body move freely, and the legs bend freely; the power system comprises a limited driving structure which drives a ball screw and drives a power oil cylinder by a servo motor and then drives an action oil cylinder of the joint to move, and a direct driving structure which directly drives the joint to move by a servo electric cylinder; the power oil cylinder and the action oil cylinder are connected in parallel through oil pipes, the cylinder diameters and the strokes of the power oil cylinder and the action oil cylinder are completely consistent, the running directions of a piston rod of the power oil cylinder and a piston cylinder of the action oil cylinder are opposite, and the power oil cylinder serves as a pump body to drive the action oil cylinder in a reciprocating mode to drive the robot joint to move. The utility model discloses nurse with the robot replacement people, imitate nursing people's action and expression in real time, realize off-line or online communication and nursing.
Description
Technical Field
The utility model relates to a nursing robot belongs to the robotechnology field.
Background
With the aging of the society, the old, the young, the sick and the disabled need to be cared by people, the existing nursing is basically manual nursing, a guardian or a child, a parent and a friend, however, the existing nursing has many problems, and due to the problems that people are easy to fatigue, lazy, inert and the like, a plurality of contradictions exist between a nursing person and a nursed person, and the problems cannot be solved.
If can be used for the nursing with the robot, can solve the tired, lazy, inertia scheduling problem of people, however, current robot is the industrial control robot mostly, service robot and handle the long-range control robot of dangerous work, and the robot function is simple single, does not have the function or ability of accompanying and attending to, also can not realize nursing work basically with its improvement, and the real urgent need for a function is more complete, more can satisfy the nursing robot that the nursing needs.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to solve the problem that exists among the prior art, provide a nursing robot that is exclusively used in nursing.
In order to achieve the above purpose, the utility model adopts the following technical means: a nursing robot is composed of a power system, a control system, a head, two arms, a body, legs and a chassis, wherein the power system is connected with the head, the two arms, the body, the legs and the chassis, and the control system controls the power system to enable the head, the two arms and the body to move freely and the legs to bend freely; the power system comprises a limited driving structure which drives a ball screw and drives a power oil cylinder by a servo motor and then drives an action oil cylinder of the joint to move, and a direct driving structure which directly drives the joint to move by a servo electric cylinder; the power oil cylinder and the action oil cylinder are connected in parallel through oil pipes, the cylinder diameters and the strokes of the power oil cylinder and the action oil cylinder are completely consistent, the running directions of a piston rod of the power oil cylinder and a piston cylinder of the action oil cylinder are opposite, and the power oil cylinder serves as a pump body to drive the action oil cylinder in a reciprocating mode to drive the robot joint to move.
Further, the head sets up the face guard that the class sphere transparent panel that comprises in-band portion coating sets up miniature projecting apparatus in, and projection formation of image on the face guard sets up the camera on the head top, sets up miaow head and loudspeaker at the head to and the video control module who is connected with projecting apparatus, camera, miaow head and loudspeaker, constitute video communication terminal.
Furthermore, the head is connected with a piston rod of an electric neck cylinder, and the electric neck cylinder is arranged in the middle of the shoulder plate.
Furthermore, the legs are composed of thigh frames and shank frames, one end of each thigh frame is hinged with one end of each shank frame, the other end of each thigh frame is connected with the waist plate support through a crotch shaft, one end of each thigh electric cylinder is connected with the thigh frame, and the other end of each thigh electric cylinder is connected with the waist plate support to drive the movement of the thigh frames and the waist plate supports; the other end of the shank frame is connected with the chassis through an ankle shaft, one end of a leg servo electric cylinder is connected with the thigh frame, the other end of the leg servo electric cylinder is connected with the shank frame to drive the thigh frame and the shank frame to move, one end of an action oil cylinder is connected with the chassis, the other end of the action oil cylinder is connected with the shank frame to drive an ankle joint between the shank frame and the chassis to move.
Furthermore, a power wheel and a universal driven wheel are mounted on the chassis, one end of a connecting rod is mounted at one end of a sliding rail above the universal driven wheel, the other end of the connecting rod is connected with the thigh frame, a sliding block is mounted on the chassis, and the sliding rail is in sliding connection with the sliding block.
Furthermore, a cushion is arranged on the thigh frame, the slide rail is a telescopic piece, and the connecting rod pulls the slide rail to contract along the slide block in the standing process and extend in the sitting process.
Furthermore, the body comprises a lower waist plate, an upper waist plate, a middle chest plate, shoulder plates, side plate supports connected with the plates, and a multilayer hollow body formed by the front chest plates connected with the lower waist plate, the upper waist plate and the middle chest plate, wherein the lower waist plate, the upper waist plate, the middle chest plate and the side plate supports are arranged from bottom to top; the oil circuit of the latissimus dorsi actuating oil cylinder is connected in parallel with the oil circuit of the latissimus dorsi actuating oil cylinder, the latissimus thoracicus actuating oil cylinder is connected in parallel with the oil circuit of the latissimus thoracicus actuating oil cylinder, and the latissimus thoracicus actuating oil cylinder and the latissimus dorsi actuating oil cylinder cooperatively actuate to drive shoulder joints to move.
Furthermore, the arm comprises a small arm, a large arm, a shoulder frame and a shoulder shaft, wherein one end of the small arm is hinged with the large arm, the large arm is installed on the shoulder frame, the shoulder frame is hinged with the shoulder shaft, one end of a latissimus dorsi action oil cylinder is connected with the side plate bracket, the other end of the latissimus dorsi action oil cylinder is hinged with the shoulder frame, a small arm driving oil cylinder is arranged on the upper waist plate, the small arm action oil cylinder is fixed in the large arm, the traction end of a piston rod of the small arm action oil cylinder is fixed on the small arm, and the small arm driving oil cylinder is connected with an oil circuit of the small arm action oil cylinder in parallel.
The utility model has the advantages of: the oil cylinder driven by a servo is used as a pump body to drive the joint part to move the oil cylinder to realize the joint movement of the robot, the occupied space is small, the control is accurate and certain flexibility and buffering are realized, the shake cannot occur, the robot replaces a person, the nursing is realized by simulating the movement of the person in an off-line or on-line mode, the expression of the nursing person is displayed by videos, the camera captures the field condition and feeds back the situation to the nursing person, the nursing or remote interaction and nursing are completed, the problem existing when the person nurses is solved, and the effect that the person, the child and the woman are personally on the scene is realized.
Drawings
The invention is further explained below with reference to the drawings and examples.
FIG. 1 is a sitting posture diagram of the robot of the present invention;
FIG. 2 is a side view of the robot of the present invention;
fig. 3 is a back oblique view of the robot standing posture of the utility model.
In the figure: 1. chassis, 2, power wheels, 3, slide blocks, 4, slide rails, 5, universal driven wheels, 6, connecting rods, 7, action cylinders, 8, servo electric cylinders, 9, calf frames, 10, thigh frames, 11, seat cushions, 12, servo motors, 13, couplings, 14, forebreast plates, 15, guide posts, 16, ball screws, 17, forearm action cylinders, 18, forearm drive cylinders, 19, side plate brackets, 20, forearm, 21, forearm, 22, shoulder frames, 23, shoulder shafts, 24, neck electric cylinder piston rods, 25, masks, 26, cameras, 27, thigh electric cylinders, 28, hip shafts, 29, waist plate brackets, 30, ankle shafts, 31, projectors, 32, lower waist plates, 33, screw nuts, 34, cylinder piston rods, 35, dorsal muscle drive cylinders, 36, dorsal muscle action cylinders, 37, broad plates, 38, upper waist plates, 39, shoulder plates, 40, neck electric cylinders, 41. a pectoralis major power oil cylinder, 42, a pectoralis major action oil cylinder, 43 and an oil pipe.
Detailed Description
As shown in fig. 1, 2 and 3, a nursing robot, which has online nursing and offline nursing modes, is composed of a power system, a control system, a head, two arms, a body, legs and a walking chassis, wherein the power system is connected with the head, the two arms, the body, the legs and the walking chassis, and the control system controls the power system to enable the head, the two arms and the body to move freely and the legs to bend freely; the power system is divided into two parts by the installation position, one part is installed at the position with limited space, the servo motor drives the ball screw and drives the power oil cylinder, and then drives the action oil cylinder of the motion joint to work, the other part is installed at the position without limited space, and the servo electric cylinder directly drives the joint; the power oil cylinder and the action oil cylinder are connected in parallel through an oil pipe 43, the cylinder diameters and the strokes of the power oil cylinder and the action oil cylinder are completely consistent, the running directions of a piston rod of the power oil cylinder and a piston cylinder of the action oil cylinder are opposite, and the power oil cylinder serves as a pump body to drive the action oil cylinder in a reciprocating mode to drive the robot joint to move.
The structural design of the power system and the overall design of the robot ensure that the robot has action capacity required by nursing.
The nursing robot head comprises an inner coating face mask 25 formed by a spherical-like transparent panel with an inner coating, a miniature projector 31 is arranged in the head, projection imaging is carried out on the face mask 25, a camera 26 is arranged at the top end of the head, a microphone and a loudspeaker are arranged on the head, and a video control module connected with the projector 31, the camera 26, the microphone and the loudspeaker forms a video communication terminal, and a nursed person can carry out remote communication with a connecting parent and a connecting friend through the video communication terminal. The projection imaging is performed on the sphere-like surface, the displayed connecting line friend face hub has better stereoscopic impression through the space optimization of imaging, the three-dimensional holographic effect is approximate, and the distance impression can be effectively reduced. The microphone can be arranged at two positions similar to ears by imitating a human body, and the loudspeaker can be arranged at the position of the head cavity close to the mouth.
In order that the head of the robot does not affect the nursed person when the nursed person sits on the robot, a neck electric cylinder 40 can be designed, the neck electric cylinder 40 is installed in the middle of the shoulder plate 39, a neck electric cylinder piston rod 24 of the neck electric cylinder 40 is connected with the head for adjusting the height of the head, and when the robot is in a sitting posture and becomes a moving wheelchair, the head can be properly lifted, and the camera and the robot mask can be prevented from being shielded by the head of the nursed person. Of course, the neck cylinder 40 may be mounted under the head as the neck, with the neck cylinder piston rod 24 connecting the middle of the shoulder plate 39.
The legs of the nursing robot are composed of a thigh frame 10 and a shank frame 9, one end of the thigh frame 10 is hinged with one end of the shank frame 9, the other end is connected with a waist plate bracket 29 through a crotch shaft 28, one end of a thigh electric cylinder 27 is connected with the thigh frame 10, the other end is connected with the waist plate bracket 29, and the thigh frame 10 and the waist plate bracket 29 are driven to move; the other end of shank frame 9 passes through ankle axle 30 and connects chassis 1, thigh frame 10 is connected to the servo electric jar 8 one end of shank, shank frame 9 is connected to the other end, motion between thigh frame 10 and the shank frame 9, chassis 1 is connected to action hydro-cylinder 7 one end, shank frame 9 is connected to the other end, the ankle joint motion between drive shank frame 9 and the chassis 1, because the oil circuit possesses certain cushioning effect, make and to keep certain flexibility between robot body and the chassis, need not additionally add damper just can realize more comfortable bearing effect.
Install power wheel 2, universal driven wheel 5 on the chassis 1, the universal 4 rear ends of sliding rail 4 who follows the wheel 5 top of installing in connecting rod 6 one end, thigh frame 10 is connected to the other end, and slider 3 installs on chassis 1, sliding rail 4 and slider 3 sliding connection.
A cushion 11 is arranged on the thigh frame 10, the slide rail 4 is pulled by the connecting rod 6 to extend or shorten in the slide block 3, the robot supports the nursed person with two arms and leads the nursed person to lean against the cushion 11 on the thigh of the robot, then the robot is adjusted to a sitting posture slowly from a standing posture, the nursed person finally sits on the cushion 11 on the thigh of the robot, and simultaneously the slide rail 4 is stretched by the connecting rod 6 connecting the thigh frame 10 of the robot and the slide rail 4, so that the distance between the front wheel and the rear wheel is extended; when the sitting posture is recovered, the connecting rod 6 pulls the sliding rail 4 to be shortened, so that the robot can not occupy the space during the standing posture nursing, and can realize more stable motion when the sitting posture bears the nursed person.
The body comprises a lower waist plate 32, an upper waist plate 38, a middle chest plate 37, shoulder plates 39, side plate brackets 19 connected with the plates and a multilayer hollow body formed by front chest plates 14 connected with the lower waist plate 32, the upper waist plate 38 and the middle chest plate 37, wherein the servo motors 12 are fixed on the lower surface of the lower waist plate 32, the servo motors 12 are connected with a lead screw 16 through a coupler 13, the lead screw nut 33 is installed on the lead screw 16 and sleeved on a guide post 15, a platysma dorsi driving oil cylinder 35 is installed on the middle chest plate 37, and a piston rod 34 of the platysma driving oil cylinder is connected with the lead screw nut 33; the oil circuit of the latissimus dorsi driving oil cylinder 35 and the oil circuit of the latissimus dorsi action oil cylinder 36 are connected in parallel, the latissimus thoracis driving oil cylinder 41 and the latissimus thoracis action oil cylinder 42 are connected in parallel, the latissimus thoracis action oil cylinder 42 and the latissimus dorsi action oil cylinder 36 cooperatively act to drive shoulder joints to move, and the shoulder movement of the robot is cooperatively driven by the action oil cylinder positioned at the latissimus thoracis and the action oil cylinder positioned at the latissimus dorsi to complete the humanoid action of the large arm.
The arm comprises a small arm 20, a large arm 21, a shoulder frame 22 and a shoulder shaft 23, wherein one end of the small arm 20 is hinged with the large arm 21, the large arm 21 is installed on the shoulder frame 22, the shoulder frame 22 is hinged with the shoulder shaft 23, one end of a latissimus dorsi action oil cylinder 36 is connected with a side plate bracket 19, the other end of the latissimus dorsi action oil cylinder is hinged with the shoulder frame 22, a small arm driving oil cylinder 18 is arranged on an upper waist plate, a small arm action oil cylinder 17 is fixed in the large arm, the traction end of a piston rod of the small arm action oil cylinder 17 is fixed on the small arm, and the small arm driving oil cylinder 18 is connected with the oil circuit of the small arm action oil cylinder 17 in parallel.
The robot has two arms, and two groups of latissimus dorsi driving oil cylinders, latissimus dorsi action oil cylinders, small arm driving oil cylinders and small arm action oil cylinders are arranged.
In an off-line nursing mode, a nursed person or an instruction sends a person setting instruction to the control system to control the robot to walk, support and sit so as to nurse the nursed person;
in an online nursing mode, imaging is carried out on the head, online relatives and friends are displayed, video communication and remote communication are carried out, the control system controls the movement of the head, the two arms, the body, the legs and the walking chassis according to online relatives and friends instructions, the action of the remote relatives and friends is simulated, and the nursed person is remotely controlled and nursed.
The utility model discloses aim at replacing people with the robot, the control system of robot is used for setting up the nursing procedure, and the nursing procedure can be the part of the solidification of dispatching from the factory, is initiatively set by the nursing person, or the initiative setting of nursing person for nursing work under the off-line state, for example instruction robot is assisted in, drives the walking with the robot as the seat, and article (medicine, tea, clothes etc.) of taking also can be basic nursing work such as massage. And under the online mode, the robot can directly imitate the action of a caregiver to realize nursing, the caregiver at the moment can be a parent-friend child or a professional caregiver, the robot can display the expression of the caregiver by videos, the camera captures the field situation and feeds the situation back to the caregiver to finish nursing or remote interaction and nursing, the problems existing when people nurse are solved, and the robot has the effect that the parent-friend child is personally on the scene.
The foregoing description of the specific embodiments of the invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and various changes and modifications within the scope of the claims may be made by those skilled in the art without departing from the scope of the present invention.
Claims (8)
1. A nursing robot, characterized in that: the power system is connected with the head, the two arms, the body, the legs and the chassis, and the control system controls the power system to enable the head, the two arms and the body to move freely and the legs to bend freely; the power system comprises a limited driving structure which drives a ball screw and drives a power oil cylinder by a servo motor and then drives an action oil cylinder of the joint to move, and a direct driving structure which directly drives the joint to move by a servo electric cylinder; the power oil cylinder and the action oil cylinder are connected in parallel through oil pipes, the cylinder diameters and the strokes of the power oil cylinder and the action oil cylinder are completely consistent, the running directions of a piston rod of the power oil cylinder and a piston cylinder of the action oil cylinder are opposite, and the power oil cylinder serves as a pump body to drive the action oil cylinder in a reciprocating mode to drive the robot joint to move.
2. The care robot according to claim 1, characterized in that: the head sets up the face guard that constitutes by the class sphere transparent panel who takes the inside coating, sets up miniature projecting apparatus in the head, and projection formation of image on the face guard sets up the camera on the head top, sets up miaow head and loudspeaker at the head to and the video control module who is connected with projecting apparatus, camera, miaow head and loudspeaker, constitute video communication terminal.
3. The care robot according to claim 2, characterized in that: the head is connected with a neck electric cylinder piston rod, and the neck electric cylinder is arranged in the middle of the shoulder plate.
4. The care robot according to claim 1, characterized in that: the legs are composed of thigh frames and shank frames, one ends of the thigh frames are hinged with one ends of the shank frames, the other ends of the thigh frames are connected with the waist plate support through crotch shafts, one ends of the thigh electric cylinders are connected with the thigh frames, the other ends of the thigh electric cylinders are connected with the waist plate support, and the thigh frames and the waist plate support are driven to move; the other end of the shank frame is connected with the chassis through an ankle shaft, one end of a leg servo electric cylinder is connected with the thigh frame, the other end of the leg servo electric cylinder is connected with the shank frame to drive the thigh frame and the shank frame to move, one end of an action oil cylinder is connected with the chassis, the other end of the action oil cylinder is connected with the shank frame to drive an ankle joint between the shank frame and the chassis to move.
5. The care robot according to claim 4, characterized in that: the chassis is provided with a power wheel and a universal driven wheel, one end of a connecting rod is arranged at one end of a sliding rail above the universal driven wheel, the other end of the connecting rod is connected with a thigh frame, a sliding block is arranged on the chassis, and the sliding rail is in sliding connection with the sliding block.
6. The care robot of claim 5, wherein: the thigh frame is provided with a cushion, the slide rail is a telescopic part, and the connecting rod pulls the slide rail to contract along the slide block in the standing process and extend in the sitting process.
7. The care robot according to claim 1, characterized in that: the body comprises a lower waist plate, an upper waist plate, a middle breast plate, shoulder plates, side plate supports and a multilayer hollow body, wherein the lower waist plate, the upper waist plate, the middle breast plate and the shoulder plates are arranged from bottom to top; the oil circuit of the latissimus dorsi actuating oil cylinder is connected in parallel with the oil circuit of the latissimus dorsi actuating oil cylinder, the latissimus thoracicus actuating oil cylinder is connected in parallel with the oil circuit of the latissimus thoracicus actuating oil cylinder, and the latissimus thoracicus actuating oil cylinder and the latissimus dorsi actuating oil cylinder cooperatively actuate to drive shoulder joints to move.
8. The care robot according to claim 1, characterized in that: the two arms comprise a small arm, a large arm, a shoulder frame and a shoulder shaft, wherein one end of the small arm is hinged with the large arm, the large arm is installed on the shoulder frame, the shoulder frame is hinged with the shoulder shaft, one end of a latissimus dorsi action oil cylinder is connected with a side plate bracket, the other end of the latissimus dorsi action oil cylinder is hinged with the shoulder frame, a small arm drive oil cylinder is arranged on an upper waist plate, the small arm action oil cylinder is fixed in the large arm, the traction end of a piston rod of the small arm action oil cylinder is fixed on the small arm, and the small arm drive oil cylinder is connected with an oil circuit of the small arm action oil cylinder in parallel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120886025.1U CN214561052U (en) | 2021-04-27 | 2021-04-27 | Nursing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120886025.1U CN214561052U (en) | 2021-04-27 | 2021-04-27 | Nursing robot |
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| Publication Number | Publication Date |
|---|---|
| CN214561052U true CN214561052U (en) | 2021-11-02 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120886025.1U Active CN214561052U (en) | 2021-04-27 | 2021-04-27 | Nursing robot |
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| CN (1) | CN214561052U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022227251A1 (en) * | 2021-04-27 | 2022-11-03 | 宿州赛尔沃德物联网科技有限公司 | Nursing robot |
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2021
- 2021-04-27 CN CN202120886025.1U patent/CN214561052U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022227251A1 (en) * | 2021-04-27 | 2022-11-03 | 宿州赛尔沃德物联网科技有限公司 | Nursing robot |
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