CN216761958U

CN216761958U - Wheeled biped robot

Info

Publication number: CN216761958U
Application number: CN202220160256.9U
Authority: CN
Inventors: 石光明; 白洁; 李旭阳; 谢雪梅
Original assignee: Guangzhou Institute of Technology of Xidian University
Current assignee: Guangzhou Institute of Technology of Xidian University
Priority date: 2022-01-20
Filing date: 2022-01-20
Publication date: 2022-06-17
Anticipated expiration: 2032-01-20

Abstract

The utility model relates to the technical field of robots, and discloses a wheel type biped robot which comprises a trunk, wherein the upper end of the trunk is rotatably connected with a head, the two sides of the trunk are rotatably connected with arms, the lower end of the trunk is provided with a crotch, and the two ends of the crotch are connected with legs; a vital sign detection radar in telecommunication connection with a medical service system is arranged inside the head; the arms comprise a connecting arm, a large arm connecting rod, a small arm connecting rod and a manipulator which are sequentially connected, one end of the connecting arm is connected with the trunk, the other end of the connecting arm is rotatably connected with the large arm connecting rod, and the large arm connecting rod is rotatably connected with the small arm connecting rod and the small arm connecting rod is rotatably connected with the manipulator; the leg part comprises a thigh and a shank which are hinged with each other, the other end of the thigh is rotatably connected with the crotch part, and the other end of the shank is connected with the roller. The utility model relates to a family service robot with a medical service function.

Description

Wheeled biped robot

Technical Field

The utility model relates to the technical field of robots, in particular to a wheeled biped robot.

Background

With the development of artificial intelligence, the field of robots enters a high-speed development stage, and service robots are increasingly integrated into human lives. The service robots can be classified into professional field service robots and personal/family service robots, and the research and development of the personal/family service robots are increasingly urgent under the background of the aging population of China. As is well known, more and more old people live alone and live alone; or some patients have inconvenient actions and need special care. However, the current home service robot mainly performs the work of cleaning rooms, such as a sweeping robot, or a learning and entertainment robot for children; the medical service robot mainly conducts the work of guiding patients to find departments and register, sometimes needs manual guidance of a service process, cannot completely work without people, and cannot meet the use requirements of people.

The existing home service robot mainly engages in simple work, has single function and cannot finish the work of nursing the old; meanwhile, the problems of inflexible movement and incapability of adapting to indoor complex home environment exist, so that the service quality is influenced; most importantly, the existing family service robot cannot work outdoors, and application scenes are limited. And the medical service robot only plays a role in guiding a patient or registering, etc.

SUMMERY OF THE UTILITY MODEL

In order to solve the technical problems, the utility model provides a wheeled biped robot which can perform non-contact vital sign detection on the old at home, realize rapid diagnosis and treatment on the old, realize actions of going up and down stairs, improve the passing capacity of the robot on various terrains, perform home service indoors and adapt to outdoor complex and changeable environments and terrains.

The technical scheme adopted by the utility model for solving the technical problems is as follows:

a wheel type biped robot comprises a trunk, wherein the upper end of the trunk is rotatably connected with a head, the two sides of the trunk are rotatably connected with arms, the lower end of the trunk is provided with a crotch, and the two ends of the crotch are connected with legs;

a vital sign detection radar in telecommunication connection with the medical service system is arranged inside the head;

the arms comprise a connecting arm, a large arm connecting rod, a small arm connecting rod and a manipulator which are sequentially connected, one end of the connecting arm is connected with the trunk, the other end of the connecting arm is rotatably connected with the large arm connecting rod, and the large arm connecting rod is rotatably connected with the small arm connecting rod and the small arm connecting rod is rotatably connected with the manipulator;

the leg part comprises a thigh and a shank which are hinged with each other, the other end of the thigh is rotatably connected with the crotch part, and the other end of the shank is connected with the roller.

Preferably, the thigh comprises a first thigh component and a second thigh component, the upper end of the first thigh component is hinged with the crotch, the lower end of the first thigh component is hinged with the upper end of the shank, a leg stretching motor is arranged in the crotch, the output shaft of the leg stretching motor is connected with the upper end of the second thigh component, and the lower end of the second thigh component is hinged with the middle part of the shank.

Preferably, the shank comprises two connecting rods which are oppositely arranged, the lower ends of the two connecting rods are connected with a first mounting seat, a hub motor is arranged in the roller, an output shaft of the hub motor is connected with the first mounting seat, and a hydraulic rod is connected between the first mounting seat and the second thigh component.

Preferably, the connecting arm is a first motor, an output shaft of the first motor is connected with a second mounting seat, the second mounting seat is connected with the large arm connecting rod through a first rotating shaft, a first belt wheel is sleeved on the first rotating shaft, a second motor is arranged inside the second mounting seat, and the second motor is connected with the first belt wheel through a first synchronizing wheel.

Preferably, the big arm connecting rod with the forearm connecting rod passes through elbow connection, the elbow includes third mount pad and fourth mount pad, the inside of third mount pad is equipped with the third motor, the one end of third mount pad is connected the big arm connecting rod, the second pivot is connected to the other end of third mount pad, the one end of fourth mount pad is equipped with the second band pulley, the second band pulley reaches the fourth mount pad is all pegged graft in the second pivot, just the third motor with the second band pulley passes through the second hold-in range and connects, first steering wheel has set firmly on the fourth mount pad, first steering wheel is connected the forearm connecting rod.

Preferably, the forearm connecting rod with the manipulator is connected through the wrist, the wrist includes the fifth mount pad and sets up the inside sixth mount pad of fifth mount pad, the inside of sixth mount pad is equipped with the second steering wheel, the output of second steering wheel is connected the manipulator, the outer wall of fifth mount pad is equipped with the third steering wheel, the output of third steering wheel is connected the sixth mount pad.

Preferably, the manipulator comprises a palm connected with the forearm connecting rod, a first finger is arranged at one end of the upper surface of the palm, two second fingers are oppositely arranged at the other end of the upper surface of the palm and can move oppositely or oppositely, and a driving assembly used for driving the first finger and the second finger to move is arranged in the palm.

Preferably, the ends of the first finger and the second finger connected with the palm are respectively provided with a turbine, a holding motor is arranged in the palm corresponding to each finger, an output shaft of the holding motor is connected with a worm, and the worm is matched with the turbine;

the lower end of the second finger is also provided with a sector gear, and the sector gears of the two second fingers are meshed with each other.

Preferably, the head includes the head skeleton, the head skeleton with the truck passes through the cloud platform motor and connects, the middle part of head skeleton is equipped with voice module, voice module's rear end is equipped with the gyroscope, the front end of head skeleton is equipped with the degree of depth camera, one side of degree of depth camera is equipped with wide-angle camera.

Preferably, the trunk, the head, the arms, the crotch and the legs are all covered with a shell, and a display screen is embedded in the shell positioned on the trunk.

Compared with the prior art, the wheel type biped robot provided by the embodiment of the utility model has the beneficial effects that: the vital sign detection radar which is in telecommunication connection with the medical service system is arranged in the head of the robot, so that the household old can be subjected to non-contact vital sign detection, a diagnosis report is generated in real time and uploaded to the medical service system, and the rapid diagnosis and treatment of the old are completed. Through adopting the both feet, and both feet and crotch rotatable coupling, the bottom of both feet adopts the gyro wheel for the robot not only has the both feet structure, can realize the action of going up and down the stairs, can adopt the marcing of the mode of gyro wheel moreover, ensures the speed of marcing of robot, has improved the trafficability characteristic of robot in various topography. Simultaneously, all rotate between big arm connecting rod and the forearm connecting rod, between forearm connecting rod and the manipulator and be connected, the robot not only can be at home service indoor, can also adapt to outdoor complicated changeable environment and topography, carries out outdoor operation steadily, if collect tasks such as express delivery for the application scene of robot becomes more extensive. The utility model has simple structure, good use effect and easy popularization and use.

Drawings

Fig. 1 is a schematic structural view of a wheeled biped robot according to the present invention.

Fig. 2 is a schematic structural view of a leg of the wheeled biped robot of the present invention.

Fig. 3 is a schematic structural view of an arm of the wheeled biped robot of the present invention.

Fig. 4 is a schematic structural view of a manipulator of the wheeled biped robot according to the present invention.

Fig. 5 is a schematic structural view of a sector gear of the robot hand of the present invention.

Fig. 6 is a schematic view of the head structure of the wheeled biped robot of the present invention.

Wherein: 1-torso, 2-head, 21-pan-tilt motor, 22-depth camera, 23-wide-angle camera, 3-arm, 31-connecting arm, 32-big-arm connecting rod, 33-small-arm connecting rod, 34-manipulator, 341-palm, 342-first finger, 343-second finger, 344-turbine, 35-second mounting seat, 36-first rotating shaft, 37-second motor, 38-elbow, 381-third mounting seat, 382-fourth mounting seat, 383-third motor, 384-second rotating shaft, 385-first steering engine, 39-wrist, 391-fifth mounting seat, 392-sixth mounting seat, 393-third steering engine, 4-crotch, 5-leg, 51-thigh, 511-first thigh component, 512-second thigh component, 513-leg stretching motor, 52-shank, 521-connecting rod, 522-first mounting seat, 53-hydraulic rod, 6-roller and 7-display screen.

Detailed Description

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; 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.

The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the utility model but are not intended to limit the scope of the utility model.

As shown in fig. 1 to 6, the wheel type biped robot according to the preferred embodiment of the present invention comprises a trunk 1, a head 2 is rotatably connected to the upper end of the trunk 1, arms 3 are rotatably connected to both sides of the trunk 1, a crotch 4 is provided at the lower end of the trunk 1, a waist is connected between the crotch 4 and the trunk 1, and legs 5 are connected to both ends of the crotch 4;

a vital sign detection radar in telecommunication connection with a medical service system is arranged in the head part 2;

the arm 3 comprises a connecting arm 31, a large arm connecting rod 32, a small arm connecting rod 33 and a manipulator 34 which are connected in sequence, one end of the connecting arm 31 is fixedly connected with the trunk 1, the other end of the connecting arm 31 is rotatably connected with the large arm connecting rod 32, and the large arm connecting rod 32 is rotatably connected with the small arm connecting rod 33 and the small arm connecting rod 33 is rotatably connected with the manipulator 34;

the leg part 5 comprises a thigh 51 and a lower leg 52 which are hinged with each other, the other end of the thigh 51 is rotatably connected with the crotch part 4, the other end of the lower leg 52 is connected with a roller 6, and the roller 6 is driven by a motor.

The wheel type biped robot based on the technical characteristics can perform non-contact vital sign detection on the old at home by arranging the vital sign detection radar in the head 2 of the robot and in telecommunication connection with the medical service system, generate a diagnosis report in real time and upload the diagnosis report to the medical service system, so that the rapid diagnosis and treatment on the old are completed. Through adopting the both feet, and both feet and crotch 4 swivelling joint, the bottom of both feet adopts gyro wheel 6 for the robot not only has the both feet structure, can realize the action of going up and down the stair, can adopt the marcing of the mode of gyro wheel 6 moreover, ensures the speed of marcing of robot, has improved the trafficability ability characteristic of robot in various topography. Simultaneously, all rotate between big arm connecting rod 32 and the forearm connecting rod 33, between forearm connecting rod 33 and the manipulator 34 and be connected, the robot not only can be at home service indoor, can also adapt to outdoor complicated changeable environment and topography, carries out outdoor operations steadily, if collect tasks such as express delivery for the application scene of robot becomes more extensive. The utility model has simple structure, good use effect and easy popularization and use.

Referring to fig. 2, in the present embodiment, the thigh 51 includes a first thigh component 511 and a second thigh component 512, an upper end of the first thigh component 511 is hinged to the crotch portion 4, a lower end of the first thigh component 511 is hinged to an upper end of the lower leg 52, a leg stretching motor 513 is disposed in the crotch portion 4, an output shaft of the leg stretching motor 513 is connected to an upper end of the second thigh component 512, and a lower end of the second thigh component 512 is hinged to a middle portion of the lower leg 52. When the leg stretching motor 513 rotates, the second thigh assembly 512 is driven to rotate around the output shaft of the leg stretching motor 513, so that the overall height of the robot is changed, and the robot meets walking requirements in different scenes. The first thigh assembly 511 may adopt one rod, and the second thigh assembly 512 adopts two rods oppositely arranged, so as to improve the strength thereof.

The shank 52 comprises two opposite connecting rods 521, the lower ends of the two connecting rods 521 are connected with a first mounting seat 522, a hub motor is arranged inside the roller 6, the output shaft of the hub motor is connected with the first mounting seat 522, and a hydraulic rod 53 is connected between the first mounting seat 522 and the second thigh assembly 512. Therefore, the hydraulic rod 53 is fixedly installed between the second thigh component 512 and the shank 52, so that the whole leg structure of the robot is of a triangular structure, the connection is stable, the hydraulic rod 53 can achieve cushioning, the impact effect of the rod to impact force on the robot and a motor in the advancing process is reduced, meanwhile, energy can be absorbed and stored, energy is released in time in the advancing process, and the energy utilization rate is improved.

Referring to fig. 3, in this embodiment, the connecting arms 31 are first motors, the included angles between the two connecting arms 31 and the positive direction of the X axis are 20 degrees and 160 degrees, respectively, and the first motors drive the arms 3 to rotate around rotating shafts which have included angles of 20 degrees and 160 degrees with the positive direction of the X axis, respectively, relative to the trunk 1 of the body. The output shaft of first motor is connected with second mount pad 35, second mount pad 35 with big arm connecting rod 32 is connected through first pivot 36, first band pulley has been cup jointed on the first pivot 36, the inside of second mount pad 35 is equipped with second motor 37, second motor 37 with first band pulley is connected through first synchronizing wheel under the driving action of second motor 37, big arm connecting rod 32 winds the axis of first pivot 36 rotates.

The big arm connecting rod 32 is connected with the small arm connecting rod 33 through an elbow 38, the elbow 38 includes a third mount 381 and a fourth mount 382, a third motor 383 is arranged inside the third mount 381, one end of the third mount 381 is connected with the big arm connecting rod 32, a second rotating shaft 384 is connected with the other end of the third mount 381, a second belt pulley is arranged at one end of the fourth mount 382, the second belt pulley and the fourth mount 382 are all inserted into the second rotating shaft 384, the third motor 383 is connected with the second belt pulley through a second synchronous belt, and when the third motor 383 is started, the second belt pulley is driven to drive the small arm connecting rod 33 to rotate around the axis of the second rotating shaft 384. Meanwhile, a first steering engine 385 is fixedly arranged on the fourth mounting seat 382, the first steering engine 385 is connected with the small arm connecting rod 33, and when the first steering engine 385 rotates, the first steering engine 385 drives the small arm connecting rod 33 to rotate around the axis of the first steering engine 385. The axis of the first steering engine 385 is perpendicular to the axis of the second rotating shaft 384, so that the small arm connecting rod 33 rotates around the large arm connecting rod 32.

The small arm connecting rod 33 is connected with the manipulator 34 through a wrist part 39, the wrist part 39 comprises a fifth mounting seat 391 and a sixth mounting seat 392 arranged inside the fifth mounting seat 391, a second steering engine is arranged inside the sixth mounting seat 392, the output end of the second steering engine is connected with the manipulator 34, and when the second steering engine rotates, the second steering engine drives the manipulator 34 to rotate around the axis of the second steering engine. Meanwhile, a third steering engine 393 is arranged on the outer wall of the fifth mounting seat 391, and the output end of the third steering engine 393 is connected with the sixth mounting seat 392. When the third steering engine 393 is started, the second steering engine and the manipulator 34 are driven to rotate around the axis of the third steering engine 393, so that the manipulator 34 can freely rotate relative to the small arm connecting rod 33.

Referring to fig. 4, the manipulator 34 includes a palm 341 connected to the arm link 33, a first finger 342 is disposed at one end of an upper surface of the palm 341, two second fingers 343 are disposed at the other end of the upper surface of the palm 341, the two second fingers 343 are movable toward or away from each other, and a driving assembly for driving the first finger 342 and the second fingers 343 to move is disposed inside the palm 341. When the driving assembly is started, the driving assembly drives the corresponding fingers to move, and the object is grabbed. Specifically, the first finger 342 and the second finger 343 are provided with a worm gear 344 at one end connected with the palm 341, a holding motor is provided inside the palm 341 corresponding to each finger, an output shaft of the holding motor is connected with a worm, and the worm is matched with the worm gear 344; when the holding motor is started, the holding motor drives the worm to rotate, and the worm is matched with the worm wheel 344, so that fingers can be driven to move, and articles can be grabbed.

Referring to fig. 5, in addition, a sector gear is further disposed at a lower end of the second finger 343, and the sector gears of the two second fingers 343 are engaged with each other. The sector gear is driven by the power mechanism, the power mechanism is connected to one end of the sector gear, and when the two sector gears rotate in a meshed mode, the two second fingers 343 can move towards or away from each other, so that the grabbing range of the manipulator 34 is expanded.

The structure of three fingers is basically the same, taking the first finger 342 as an example, the finger main body structure is designed by imitating the structure of a human hand and comprises three knuckles and three joints, the first knuckle, the second knuckle, the third knuckle and the first, the second and the third knuckles are arranged in sequence from the fingertip, the first joint comprises a first joint component and a first tension spring which are connected with the first knuckle and the second knuckle through a shaft, the second joint comprises a second joint component, a third joint component and a second tension spring which are connected with the second knuckle and the third knuckle through a shaft, the third joint comprises a fourth joint component and a turbine 344, the lower end of the turbine 344 is meshed with a worm, the worm is coaxial with an output shaft of a motor, four connecting rods are arranged outside the fingers, the first connecting rod and the second connecting rod are arranged in parallel, the upper ends are hinged with the first knuckle of the finger, the lower ends are hinged with the second knuckle of the finger, the third connecting rod and the fourth connecting rod are arranged in parallel, the upper ends are hinged with the second knuckle of the finger, the lower ends of the two joints are hinged with a third joint of the finger.

Referring to fig. 6, in this embodiment, the head 2 includes a head skeleton, the head skeleton is connected to the trunk 1 through a pan/tilt motor 21, a voice module is disposed in the middle of the head skeleton, so that voice control can be achieved, a microphone function can be achieved, and voice broadcasting can be achieved through a speaker disposed inside the trunk 1 of the robot. The rear end of voice module is equipped with the gyroscope, the front end of head skeleton is equipped with degree of depth camera 22, one side of degree of depth camera 22 is equipped with wide-angle camera 23, conveniently shoots.

In this embodiment, in order to ensure the aesthetic appearance of the robot, the trunk 1, the head 2, the arms 3, the crotch 4, and the legs 5 are all covered with a shell. And simultaneously, be located truck 1 the embedded display screen 7 that is equipped with of shell, truck 1's inside is equipped with battery compartment installation position for the installation battery, the upper end in battery compartment is fixed with the screen installing support, and the screen shell is installed to screen installing support front end, and the screen shell can drive display screen 7 for truck 1 uses the X axle to rotate as the axis of rotation.

The robot of the utility model adopts a wheel type biped structure, has higher passing capacity for complex terrains, simultaneously uses a six-degree-of-freedom mechanical arm, and can complete a plurality of complex tasks because the tail end of the mechanical arm is provided with a three-finger mechanical claw. The structure determines that the robot can not only serve indoors, but also work outdoors, and greatly improves the application scene of the family service robot. The family life scene is not limited to indoor, and a lot of work needs to be carried out outdoors, such as receiving express delivery, taking out and the like.

The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and substitutions can be made without departing from the technical principle of the present invention, and these modifications and substitutions should also be regarded as the protection scope of the present invention.

Claims

1. A wheeled biped robot which characterized in that: the multifunctional nursing bed comprises a trunk, wherein the upper end of the trunk is rotatably connected with a head, the two sides of the trunk are rotatably connected with arms, the lower end of the trunk is provided with a crotch, and the two ends of the crotch are connected with legs;

a vital sign detection radar in telecommunication connection with a medical service system is arranged inside the head;

2. The wheeled biped robot of claim 1 wherein: the thigh comprises a first thigh component and a second thigh component, the upper end of the first thigh component is hinged with the crotch, the lower end of the first thigh component is hinged with the upper end of the shank, a leg stretching motor is arranged in the crotch, the output shaft of the leg stretching motor is connected with the upper end of the second thigh component, and the lower end of the second thigh component is hinged with the middle of the shank.

3. The wheeled biped robot of claim 2 wherein: the shank comprises two connecting rods which are oppositely arranged, the lower ends of the two connecting rods are connected with a first mounting seat, a hub motor is arranged in the roller, an output shaft of the hub motor is connected with the first mounting seat, and a hydraulic rod is connected between the first mounting seat and the second thigh component.

4. The wheeled biped robot of claim 1 wherein: the connecting arm is a first motor, an output shaft of the first motor is connected with a second mounting seat, the second mounting seat is connected with the large arm connecting rod through a first rotating shaft, a first belt wheel is sleeved on the first rotating shaft, a second motor is arranged inside the second mounting seat, and the second motor is connected with the first belt wheel through a first synchronizing wheel.

5. The wheeled biped robot of claim 1 wherein: the big arm connecting rod with the forearm connecting rod passes through elbow connection, the elbow includes third mount pad and fourth mount pad, the inside of third mount pad is equipped with the third motor, the one end of third mount pad is connected big arm connecting rod, the second pivot is connected to the other end of third mount pad, the one end of fourth mount pad is equipped with the second band pulley, the second band pulley reaches the fourth mount pad is all pegged graft in the second pivot, just the third motor with the second band pulley passes through the second hold-in range and connects, first steering wheel has set firmly on the fourth mount pad, first steering wheel is connected the forearm connecting rod.

6. The wheeled biped robot of claim 1 wherein: the small arm connecting rod is connected with the mechanical arm through a wrist, the wrist comprises a fifth mounting seat and a sixth mounting seat arranged inside the fifth mounting seat, a second steering engine is arranged inside the sixth mounting seat, the output end of the second steering engine is connected with the mechanical arm, a third steering engine is arranged on the outer wall of the fifth mounting seat, and the output end of the third steering engine is connected with the sixth mounting seat.

7. The wheeled biped robot of claim 1 wherein: the manipulator include with the palm that the forearm connecting rod is connected, the one end of the upper surface of palm is equipped with first finger, the other end of the upper surface of palm is equipped with two second fingers relatively, two the second finger can move in opposite directions or back of the body mutually, the inside of palm is equipped with and is used for the drive first finger reaches the drive assembly of second finger motion.

8. The wheeled biped robot of claim 7 wherein: the ends, connected with the palm, of the first fingers and the second fingers are provided with turbines, a holding motor is arranged in the palm corresponding to each finger, an output shaft of the holding motor is connected with a worm, and the worm is matched with the turbines;

9. The wheeled biped robot of claim 1 wherein: the head includes the head skeleton, the head skeleton with the truck passes through the cloud platform motor and connects, the middle part of head skeleton is equipped with voice module, voice module's rear end is equipped with the gyroscope, the front end of head skeleton is equipped with the degree of depth camera, one side of degree of depth camera is equipped with wide-angle camera.

10. The wheeled biped robot of claim 1 wherein: the trunk the head the arm the crotch reaches the equal cladding of shank has the shell, is located the trunk the embedded display screen that is equipped with of shell.