WO2021253629A1 - 一种实现使用者的坐卧姿转换和搬运的多臂机器人 - Google Patents

一种实现使用者的坐卧姿转换和搬运的多臂机器人 Download PDF

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Publication number
WO2021253629A1
WO2021253629A1 PCT/CN2020/111278 CN2020111278W WO2021253629A1 WO 2021253629 A1 WO2021253629 A1 WO 2021253629A1 CN 2020111278 W CN2020111278 W CN 2020111278W WO 2021253629 A1 WO2021253629 A1 WO 2021253629A1
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WIPO (PCT)
Prior art keywords
module
arm
controller
mechanical arm
sub
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PCT/CN2020/111278
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English (en)
French (fr)
Inventor
吴迪
钟彩意
王欣
孙景慧
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大连理工大学
大连理工大学成都研究院
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Application filed by 大连理工大学, 大连理工大学成都研究院 filed Critical 大连理工大学
Priority to US17/607,623 priority Critical patent/US11701781B2/en
Publication of WO2021253629A1 publication Critical patent/WO2021253629A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • 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
    • 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
    • B25J19/0008—Balancing devices
    • B25J19/002—Balancing devices using counterweights
    • 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
    • B25J19/02—Sensing devices
    • B25J19/027—Electromagnetic sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0084—Programme-controlled manipulators comprising a plurality of 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
    • B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
    • B25J9/0087—Dual arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture

Definitions

  • the invention relates to the technical field of medical robots, in particular to a handling robot capable of adjusting the posture of a user and realizing smooth lifting, lowering and horizontal movement.
  • the present invention provides a multi-arm robot for realizing the user’s sitting and lying posture conversion and carrying.
  • the mechanized transport between operating tables, hospital beds or wheelchairs meets the requirements of washing and nursing for users and reduces the work intensity of nursing staff.
  • a multi-arm robot that realizes the user's sitting and lying posture conversion and transportation, including a mechanical arm module, a torso module 2, a chassis walking module 3, and a control module 4;
  • the mechanical arm module is composed of at least three mechanical arms 1
  • the human body has at least three points of action: the shoulder and back, between the coccyx and lumbar vertebrae, and the knee joint;
  • the torso module 2 includes the torso column 21, the torso shell 22 and the linear module 23;
  • the linear module 23 passes through the machine
  • the arm connector is connected to the mechanical arm;
  • the walking chassis module 3 includes a chassis frame 31, a retractable counterweight 32, and omnidirectional wheels 33.
  • the upper part of the chassis frame 31 is connected to the trunk column 21, and the retractable counterweight 32 is provided On the chassis frame 31, the omnidirectional wheels 33 are arranged around the chassis frame 31 in a cross layout; the control module 4 includes a drive module, an operation module, an information acquisition module, a motion control module, a data processing module, a communication module and Early warning module.
  • the robotic arm of the multi-arm robot of the present invention in addition to acting on the shoulder and back, between the coccyx and lumbar vertebrae, and the knee joint, the action points of other robotic arms can be distributed on the head, thighs, and mobile. Location; The robotic arms are arranged on both sides and the front of the torso.
  • the mechanical arm includes a shoulder joint 11, a big arm 12, an elbow joint 13, a wrist joint 14 and a forearm 15;
  • the shoulder joint 11 realizes the left and right rotation of the mechanical arm for adjusting the position of the point of action
  • the elbow joint 13 realizes the front and back rotation of the mechanical arm, which is used to adjust the inclination of the small arm 15 of the mechanical arm, and the wrist joint 14 realizes the rotation of the small arm 15 and is used to adjust the small arm 15
  • the forearm 15 is a flat structure, composed of a forearm plate 151 and a movable folding structure at the front end;
  • the folding structure includes a baffle 152 and a pull plate 153, the pull plate 153 is used To fix the baffle 152.
  • the mechanical arm has 4 degrees of freedom, including one linear movement pair and one rotation pair for the shoulder, one rotation pair for the elbow, and one rotation pair for the wrist.
  • the trunk column 21 is a hollow structure, and the linear module 23 can be divided into two parts: a linear module fixing seat 231 and a linear module sliding table 232.
  • the linear module fixing seat 231 is fixed to the trunk shell 22.
  • the linear module sliding table 232 is connected to the robot arm through a robot arm connector, the linear module fixing seat 231 is fixed on the outer side wall of the trunk column 21, and the trunk shell 22 is wrapped around the trunk column 21 outside.
  • the retractable counterweight 32 includes a sliding guide rail 321, a counterweight seat 322, and a counterweight block 323.
  • the fixed rail of the sliding guide rail 321 is fixed on the chassis frame 31, and the counterweight seat 322 is connected to On the sliding rail of the sliding guide 321, the counterweight 323 is placed on the counterweight seat 322; the omnidirectional wheels 33 are all equipped with shock absorbers.
  • control module 4 includes a main controller 41, a robotic arm sub-controller 42, a walking sub-controller 43, an ultrasonic distance sensor 44, and an operating handle 45; the main controller 41 and the robotic arm sub-controller 42 are placed Inside the torso column 21, the walking sub-controller 43 is placed under the chassis frame 31, the ultrasonic distance sensor 44 is arranged around the chassis frame 31, and the operating handle 45 wirelessly transmits operating instructions Send to the main controller 41, the main controller 41 sends corresponding control instructions to the robotic arm sub-controller 42 and the walking sub-controller 43 according to the instruction, and the sub-controller then controls the robotic arm and the walking module according to the obtained instructions Take action.
  • the ultrasonic distance sensor 44 sends distance information to the main controller 41 via the sub-controller, and the main controller 41 determines whether there is a danger of collision, performs an emergency stop operation and issues an alarm based on this.
  • the multi-arm robot cooperates with the manipulator module, the trunk module, the chassis walking module and the control module to realize the user's transfer between the operating table, hospital bed or wheelchair, as well as the washing requirements, and reduce the work intensity of the nursing staff;
  • the multi-arm robot can detect the load of each manipulator, realize the alternate load-bearing of the manipulator, and automatically adjust the position of the counterweight. At the same time, it can perform real-time ranging of objects in the surrounding environment to ensure the safety and stability of the robot.
  • a multi-arm robotic arm structure using flat, smooth wedge can have a gap between the user and the bed to avoid injury contact the user's body, the front end of the movable arm folded configuration, the user can achieve slip-off warning Features.
  • Figure 1 is a schematic diagram of the overall structure of a dobby robot
  • Figure 2 is a schematic diagram of the side robot arm and the front robot arm structure
  • Figure 3 is a schematic diagram of the structure of the torso module with the torso shell removed;
  • Figure 4 is a schematic diagram of the structure of the walking chassis module
  • FIG. 5 is a block diagram of the control system
  • Figure 6 is the main control flow chart
  • Figure 7 is a flow chart of the robotic arm control.
  • Robotic arm module 2. Trunk module; 3. Chassis walking module; 4. Control module; 11. Shoulder joints; 12. Boom; 13. Elbow joints; 14. Wrist joints; 15. Forearm; 16. Forearm connector; 17. Side wall connector; 151. Forearm plate; 152. Baffle plate; 153. Pull plate; 21. Trunk column; 22. Trunk shell; 23. Linear module; 231. Linear module fixing seat; 232. Linear module sliding table; 31. Including chassis frame; 32. Telescopic counterweight; 33. Omni-directional wheel; 321 sliding guide 321; 322 counterweight seat; 323 counterweight; 41. Main controller; 42. Robotic arm sub-controller; 43. Walking sub-controller; 44. Ultrasonic distance sensor; 45. Operating handle.
  • the four-arm transfer robot shown in Figures 1, 2, 3, 4, and 5 includes a mechanical arm module 1, a trunk module 2, a walking chassis module 3, and a control module 4.
  • the manipulator module 1 is composed of 4 manipulator arms, two of which are located on both sides of the torso module 2 and one is arranged on each side.
  • the front part of the torso module 2 is arranged with two manipulator arms;
  • the arm connector 17 is connected to the linear module sliding table 232, and the mechanical arm arranged at the front is connected to the linear module sliding table 232 through the forearm connector 16;
  • the mechanical arm includes a shoulder joint 11, a big arm 12, an elbow joint 13, a wrist joint 14 and a forearm 15; the forearm 15 is connected to a wrist joint 14, and the wrist joint 14 is directly connected to the elbow.
  • the joint 13 is connected.
  • the elbow joint 13 is connected to one end of the boom 12, and the other end of the boom 12 is connected to the shoulder joint 11; the shoulder joint 11 realizes the left and right rotation of the mechanical arm and is used to adjust the position of the action point
  • the elbow joint 13 realizes the front and back rotation of the mechanical arm, which is used to adjust the inclination of the small arm 15 of the mechanical arm, and the wrist joint 14 realizes the rotation of the small arm 15 and is used to adjust the small arm 15
  • the forearm 15 is a flat structure, composed of a forearm plate 151 and a movable folding structure at the front end, the folding structure includes a baffle 152 and a pull plate 153, the pull plate 153 is used To fix the ba
  • the torso module 2 includes a torso column 21, a torso shell 22 and a linear module 23; the linear module 23 can be divided into a linear module slide 232 and a linear module fixing seat 231.
  • the linear module The sliding table 232 is connected to the mechanical arm through a mechanical arm connector, the linear module fixing seat 231 is fixed on the side wall of the trunk body; the torso column 21 is a hollow structure, and the linear module fixing seat 231 is fixed on the trunk On the outer side wall of the column 21, the trunk shell 22 is wrapped around the trunk column 21.
  • the walking chassis module 3 includes a chassis frame 31, a retractable counterweight 32, and omnidirectional wheels 33.
  • the upper part of the chassis frame 31 is connected to the trunk column 21.
  • the retractable counterweight 32 includes a sliding guide rail 321 and a counterweight seat 322. And a counterweight 323, the fixed rail of the sliding guide rail 321 is fixed on the chassis frame 31, the counterweight seat 322 is connected to the sliding rail of the sliding guide rail 321, and the counterweight 323 is placed on the counterweight Re-seat 322.
  • the control module 4 includes a main controller 41, a robotic arm sub-controller 42, a walking sub-controller 43, an ultrasonic distance sensor 44, and an operating handle 45; the main controller 41 and the robotic arm sub-controller 42 are placed in the Inside the torso column 21, the walking sub-controller 43 is placed under the chassis frame 31, and the ultrasonic distance sensor 44 is arranged around the chassis frame 31; the operating handle 45 communicates with the main controller wirelessly 41 for communication, the main controller 41 is connected to the robotic arm sub-controller 42 and the walking sub-controller 43 through the EtherCAT bus, and the robotic arm sub-controller 42 communicates with the linear module and the joint model through the CANopen bus. Group connection.
  • the operating handle 45 wirelessly sends operating instructions to the main controller 41, and the main controller 41 sends corresponding control instructions to the robotic arm sub-controller 42 and the walking sub-controller 43 according to the instruction, The sub-controller then controls the robotic arm and the walking module to perform actions according to the obtained instructions.
  • the ultrasonic distance sensor 44 sends distance information to the main controller 41 via the sub-controller, and the main controller 41 determines whether there is a danger of collision, performs an emergency stop operation and issues an alarm based on this.
  • the control flow of the four-arm handling robot is shown in Figs. 5 and 6.
  • the robot is started, and the robot performs system initialization and self-checking. If the system is normal, it starts to wait for receiving a control command from the operating handle 45.
  • the main controller 41 parses the instruction. If it is a walking instruction, first determine the direction and distance of the obstacle according to the distance information of the ultrasonic sensor 44.
  • the main controller 41 sends a parking instruction To the walking sub-controller and send out an alarm, the walking sub-controller 43 controls the parking and waits for the next operation of the handle command, otherwise the main controller sends the walking direction and speed information to the walking sub-controller 43, and the walking sub-controller 43 is based on the obtained information Control the walking motor to realize walking. If it is a robotic arm control command, enter the robotic arm control subroutine.
  • the main controller plans the motion trajectory of each robotic arm according to the trajectory planning algorithm, and then sends the motion trajectory to the corresponding robotic arm sub-controller ,
  • the sub-controller controls the movement of each joint of the robotic arm according to the motion trajectory.
  • the posture conversion it will wait to receive the instruction of the operating handle; if it is a single-arm control instruction, the main controller will send the target position of the corresponding robotic arm to the corresponding The robotic arm sub-controller 42 and the robotic arm sub-controller 42 control the movement of each joint of the robotic arm.
  • the specific process of the four-arm transport robot in this embodiment for transporting the user from the hospital bed to the hospital bed is as follows: first, the folding mechanism at the front end of the forearm 15 is flattened, the robot is moved to the side of the hospital bed by remote control, and the machines are adjusted.
  • each robotic arm is slowly lowered to use
  • the patient is basically in contact with the hospital bed, and then manually flatten the folding mechanism at the front end of the forearm 15, then the robot retreats and pulls out the forearm 15.
  • the robot arm should be slightly pressed down to prevent the user from moving with the robot.
  • the specific process of the four-arm transport robot described in this embodiment for transporting the user from the hospital bed to the wheelchair is as follows: First, the user is lifted from the hospital bed. This process is consistent with the foregoing and will not be repeated. After the user is fully lifted, control the robot to walk to the side of the wheelchair, and the patient's head is located on the side of the wheelchair backrest, then lift the mechanical arm on the side close to the head, and rotate the shoulder and wrist joints to make The patient changed from lying down to sitting. Finally, the patient is aligned with the wheelchair, and the various robotic arms are slowly lowered synchronously. The patient is placed on the wheelchair, the robot backs out, and the robotic arm is pulled out to complete the transportation of the patient from the bed to the wheelchair.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Nursing (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Manipulator (AREA)
  • Rehabilitation Tools (AREA)

Abstract

一种实现使用者坐卧姿转换和搬运的多臂机器人，包括机械臂模块（1）、躯干模块（2）、行走底盘模块（3）和控制模块（4）。机械臂模块（1）至少包含3个机械臂，通过直线模组（23）与躯干模块（2）连接。躯干模块（2）包括躯干本体以及直线模组（23），并通过螺栓与行走底盘模块（3）连接。行走底盘模块（3）包括多组全向轮（33）和可伸缩配重（32）。控制模块（4）包括驱动模块、操作模块、信息采集模块、运动控制模块、数据处理模块、通信模块和预警模块。该多臂机器人，能够实现使用者在手术台、病床和轮椅三者之间的转运，也能够用于病患的辅助盥洗，减轻护理人员的劳动强度。

Description

一种实现使用者的坐卧姿转换和搬运的多臂机器人
 
技术领域
本发明涉及医疗机器人技术领域，具体涉及一种能够对使用者进行姿势调整，并实现平稳的抬升、下降和水平移动搬运机器人。
 背景技术
随着中国老龄化的到来，失能和半失能人员日益增多，护理人员短缺而且工作强度大，护理人员成本由此不断提高，这使得普通家庭难以承受。由此催生出多种款式的护理床，虽能实现使用者的起卧，但在对床单与使用者的卫生清洁工作，仍需要护理人员很强的体力来挪动使用者。此外在其他瘫痪、肢体残疾、麻醉手术使用者的日常护理中，也需要对使用者在承载体之间的来回转运工作，护理人员的工作强度很大。
 技术问题
针对现有技术中存在的难题，本发明提供了一种用于实现使用者的坐卧姿转换和搬运的多臂机器人，可全面接替护理人员对使用者的挪动与转移工作，实现使用者在手术台、病床或轮椅之间的机械化搬运，达到对使用者的盥洗与护理要求，减轻护理人员的工作强度。
 技术解决方案
本发明提供的技术方案如下：
一种实现使用者坐卧姿转换和搬运的多臂机器人，包括机械臂模块、躯干模块2、底盘行走模块3和控制模块4；所述机械臂模块，至少由3个机械臂1组成，对人体的作用点至少有三个：肩背部、尾椎骨和腰椎骨之间、膝关节；所述躯干模块2，包括躯干立柱21、躯干外壳22和直线模组23；所述直线模组23通过机械臂连接件与机械臂连接；所述行走底盘模块3包括底盘架31、可伸缩配重32、全向轮33，所述底盘架31上方与躯干立柱21连接，所述可伸缩配重32设置在底盘架31上，所述全向轮33设置在底盘架31四周，呈十字布局；所述控制模块4包括驱动模块、操作模块、信息采集模块、运动控制模块、数据处理模块、通信模块和预警模块。
作为优选的实施方案，本发明的多臂机器人的机械臂，除了作用于肩背部、尾椎骨和腰椎骨之间、膝关节外，其他机械臂的作用点可分布在：头部、大腿、机动位置；所述机械臂布置在躯干的两侧和前部。
进一步地，所述机械臂包括肩部关节11、大臂12、肘部关节13、腕部关节14和小臂15；所述肩部关节11实现机械臂的左右转动，用于调节作用点位置；所述肘部关节13实现机械臂的前后转动，用于调节所述机械臂小臂15的倾角，所述腕部关节14实现所述小臂15的旋转，用于调节所述小臂15与使用者的接触角；所述小臂15为扁平结构，由小臂板151和前端带有活动的折叠结构组成；所述折叠结构包括挡板152和拉板153，所述拉板153用于固定所述挡板152。
进一步的，机械臂具有4个自由度，包括肩部的1个直线移动副和1个转动副、肘部的1个转动副以及腕部的一个转动副。
进一步地，所述躯干立柱21为中空结构，所述直线模组23可分为直线模组固定座231和直线模组滑台232两部分，所述直线模组固定座231固定于躯干外壳22的侧壁上，所述直线模组滑台232通过机械臂连接件与机械臂连接，所述直线模组固定座231固定在躯干立柱21外侧壁上，所述躯干外壳22包覆在躯干立柱21外。
进一步地，所述可伸缩配重32包括滑动导轨321、配重座322和配重块323，所述滑动导轨321的固定轨固定在所述底盘架31上，所述配重座322连接在所述滑动导轨321的滑动轨上，所述配重块323放置在配重座322上；所述的全向轮33均带有减震器。
进一步地，所述控制模块4包括主控制器41、机械臂子控制器42、行走子控制器43、超声波距离传感器44和操作手柄45；所述主控制器41和机械臂子控制器42放置在所述躯干立柱21内部，所述行走子控制器43放置在所述底盘架31下方，所述超声波距离传感器44设置在所述底盘架31四周，所述操作手柄45通过无线方式将操作指令发送至主控制器41，主控制器41根据该指令发送相应的控制指令至所述机械臂子控制器42和所述行走子控制器43，子控制器再根据所得指令控制机械臂和行走模块进行动作。所述超声波距离传感器44将距离信息经由子控制器发送至所述主控制器41，所述主控制器41据此判断是否发生碰撞危险，进行紧急停车操作并发出警报。
 有益效果
与现有技术相比，本发明的有益效果是：
1、多臂机器人通过机械臂模块、躯干模块、底盘行走模块和控制模块相互配合实现使用者在手术台、病床或轮椅之间的转运，以及盥洗的要求，减轻护理人员的工作强度；
2、多臂机器人可以检测各机械臂的载荷，实现机械臂交替承重，并自动调整配重位置，同时能够对周围环境中的物体进行实时测距，保证了机器人的安全和稳定性。
3 、多臂机器人的小臂采用扁平式结构，能都顺利楔入使用者和床之间的间隙，避免触伤使用者身体，小臂前端为可活动折叠结构，能够实现使用者防滑脱预警功能。
附图说明
图1为多臂机器人整体结构示意图；
图2为侧机械臂和前机械臂结构示意图；
图3为去除躯干外壳的躯干模块结构示意图；
图4为行走底盘模块结构示意图；
图5为控制系统组成框图；
图6为主控制流程图；
图7为机械臂控制流程图。
图中：1.机械臂模块；2.躯干模块；3.底盘行走模块；4.控制模块；11.肩部关节；12.大臂；13.肘部关节；14.腕部关节；15.小臂；16.前臂连接件；17.侧壁连接件；151.小臂板；152.挡板；153.拉板；21.躯干立柱；22.躯干外壳；23.直线模组；231.直线模组固定座；232.直线模组滑台；31.包括底盘架；32.可伸缩配重；33.全向轮；321滑动导轨321；322配重座；323配重块；41.主控制器；42.机械臂子控制器；43.行走子控制器；44.超声波距离传感器；45.操作手柄。
 本发明的实施方式
以下结合附图和具体实施例对本发明进行详细说明。本分明为多臂机器人，实施例的以四臂机器人为例进行说明。
如图1、2、3、4、5所示的四臂转运机器人，包括机械臂模块1、躯干模块2、行走底盘模块3和控制模块4。所述机械臂模块1由4个机械臂组成，其中两个位于躯干模块2的两侧各布置1个，所述躯干模块2前部布置2个机械臂；布置在两侧的机械臂通过侧臂连接件17与所述直线模组滑台232连接，布置在前部的机械臂通过前臂连接件16与所述直线模组滑台232连接；
所述机械臂包括肩部关节11、大臂12、肘部关节13、腕部关节14和小臂15；所述小臂15与腕部关节14连接，所述腕部关节14直接与肘部关节13连接，所述肘部关节13连接于大臂12的一端，所述大臂12的另一端与肩部关节11连接；肩部关节11实现机械臂的左右转动，用于调节作用点位置；所述肘部关节13实现机械臂的前后转动，用于调节所述机械臂小臂15的倾角，所述腕部关节14实现所述小臂15的旋转，用于调节所述小臂15与使用者的接触角；所述小臂15为扁平结构，由小臂板151和前端带有活动的折叠结构组成，所述折叠结构包括挡板152和拉板153，所述拉板153用于固定所述挡板152。
所述躯干模块2，包括躯干立柱21、躯干外壳22和直线模组23；所述直线模组23可分为直线模组滑台232和直线模组固定座231两部分，所述直线模组滑台232通过机械臂连接件与机械臂连接，所述直线模组固定座231固定于躯干本体的侧壁上；所述躯干立柱21为中空结构，所述直线模组固定座231固定在躯干立柱21外侧壁上，所述躯干外壳22包覆在躯干立柱21外。
所述行走底盘模块3包括底盘架31、可伸缩配重32、全向轮33，所述底盘架31上方与躯干立柱21连接，所述可伸缩配重32包括滑动导轨321、配重座322和配重块323，所述滑动导轨321的固定轨固定在所述底盘架31上，所述配重座322连接在所述滑动导轨321的滑动轨上，所述配重块323放置在配重座322上。
所述控制模块4包括主控制器41、机械臂子控制器42、行走子控制器43、超声波距离传感器44和操作手柄45；所述主控制器41和机械臂子控制器42放置在所述躯干立柱21内部，所述行走子控制器43放置在所述底盘架31下方，所述超声波距离传感器44设置在所述底盘架31四周；所述操作手柄45通过无线方式与所述主控制器41进行通信，所述主控制器41通过EtherCAT总线与所述机械臂子控制器42和所述行走子控制器43连接，所述机械臂子控制器42通过CANopen总线与直线模组和关节模组连接。所述操作手柄45通过无线方式将操作指令发送至主控制器41，所述主控制器41根据该指令发送相应的控制指令至所述机械臂子控制器42和所述行走子控制器43，子控制器再根据所得指令控制机械臂和行走模块进行动作。所述超声波距离传感器44将距离信息经由子控制器发送至所述主控制器41，所述主控制器41据此判断是否发生碰撞危险，进行紧急停车操作并发出警报。
所述四臂搬运机器人的控制流程如图5、图6所示，首先启动机器人，机器人进行系统初始化和自检，若系统正常，便开始等待接收操作手柄45的控制指令。当接收到控制指令后，主控制器41对指令进行解析。若为行走指令，则首先根据超声波传感器44的距离信息判断障碍物所在的方向和距离，若当前距离小于安全距离阈值且指令中的行走方向为靠近障碍物，则主控制器41将停车指令发送至行走子控制器并发出警报，行走子控制器43控制停车，等待下一次操作手柄指令，否则主控器将行走方向和速度信息发送至行走子控制器43，行走子控制器43根据所得信息控制行走电机，实现行走。若为机械臂控制指令，则进入机械臂控制子程序，若为姿态转换指令，主控制器根据轨迹规划算法规划出各个机械臂的运动轨迹，再将运动轨迹发送给相应的机械臂子控制器，子控制器根据运动轨迹控制机械臂各个关节的运动，当完成姿态转换后，重新等待接收操作手柄的指令；若为单臂控制指令，主控制器将相应机械臂的目标位置发送至对应的机械臂子控制器42，进而机械臂子控制器42控制机械臂各个关节的运动。
本实施例所述的四臂搬运机器人将使用者从病床搬运至病床的具体过程如下：首先将小臂15前端的折叠机构展平，通过遥控方式使机器人行走至病床一侧，并调整各机械臂位置，使各机械臂的小臂15对准使用者与病床之间的间隙，然后控制机器人缓慢前进，使各机械臂的小臂15楔入使用者与病床的间隙，直至小臂15前端的折叠结构完全露出，接着各机械臂稍稍抬升，调整各机械臂，使各机械臂作用点处于合适的位置，再手动将小臂15前端的折叠结构折叠以固定使用者。固定完成后，抬升机械臂，使使用者与病床完全分离，再通过遥控方式控制机器人行走至另一张病床的一侧，待使用者对准病床的合适位置后，各机械臂缓慢下降至使用者与病床基本接触，再手动展平小臂15前端的折叠机构，然后机器人后退，抽出小臂15，在抽出过程中，机械臂应稍向下压，避免使用者跟随机器人移动。
本实施例所述的四臂搬运机器人将使用者从病床搬运至轮椅的具体过程如下：首先将使用者从病床抬起，该过程与前文一致，不再赘述。将使用者完全抬起后，控制机器人行走至轮椅的一侧，且病患头部位于靠近轮椅靠背一侧，再抬升靠近头部的一侧的机械臂，并转动肩关节和腕关节，使病患由平躺状态变为坐姿状态。最后，将病患对准轮椅，使各个机械臂同步缓慢下放，将病患放置在轮椅上，机器人后退，抽出机械臂，完成病患从病床到轮椅的搬运。
显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
上面对本发明的实施方式作了详细说明，但是本发明并不限于上述实施方式，在本领域的普通技术人员所具备的知识范围内，还可以在不脱离本发明宗旨的前提下作出各种变化。

Claims (8)

  1. 一种实现使用者坐卧姿转换和搬运的多臂机器人，其特征在于，包括机械臂模块、躯干模块（2）、行走底盘模块（3）和控制模块（4）；所述机械臂模块，包括至少3个机械臂（1），对人体的作用点至少有三个：肩背部、尾椎骨和腰椎骨之间、膝关节；
    所述躯干模块（2），包括躯干立柱（21）、躯干外壳（22）和直线模组（23），所述直线模组（23）通过机械臂连接件与机械臂（1）连接；
    所述行走底盘模块（3）包括底盘架（31）、可伸缩配重（32）、全向轮（33），所述底盘架（31）上方与躯干立柱（21）连接，所述可伸缩配重（32）设置在底盘架（31）上，所述全向轮（33）设置在底盘架（31）四周，呈十字布局；
    所述控制模块（4）包括主控制器（41）、机械臂子控制器（42）、行走子控制器（43）、超声波距离传感器（44）和操作手柄（45）；主控制器（41）和机械臂子控制器（42）放置在所述躯干立柱（21）内部；行走子控制器（43）放置在底盘架（31）下方；超声波距离传感器（44）设置在底盘架（31）四周；所述操作手柄（45）通过无线方式将操作命令发送至主控制器（41），主控制器（41）根据该命令发送相应的控制指令至所述机械臂子控制器（42）和所述行走子控制器（43），子控制器再根据所得指令控制机械臂和行走模块进行动作；超声波距离传感器（44）将距离信息经由子控制器发送至所述主控制器（41），主控制器（41）据此判断是否发送危险，进行紧急停车操作并发出警报。
  2. 根据权利要求1所述的一种实现使用者坐卧姿转换和搬运的多臂机器人，其特征还在于，除了作用于肩背部、尾椎骨和腰椎骨之间、膝关节这三个部位的3个机械臂（1）外，还包括作用点分布在头部、大腿或机动位置的其他机械臂；所述机械臂可布置在躯干的两侧和前部。
  3. 根据权利要求1或2所述的一种实现使用者坐卧姿转换和搬运的多臂机器人，其特征在于，
    所述机械臂包括肩部关节（11）、大臂（12）、肘部关节（13）、腕部关节（14）和小臂（15）；
    所述肩部关节（11）实现机械臂的左右转动，用于调节作用点位置；
    所述肘部关节（13）实现机械臂的前后转动，用于调节所述机械臂小臂（15）的倾角；
    所述腕部关节（14）实现所述小臂（15）的旋转，用于调节所述小臂（15）与患者的接触角；
    所述小臂（15）由小臂板（151）和前端带有活动的折叠结构组成，折叠结构包括挡板（152）和拉板（153），拉板（153）用于固定所述挡板（152）。
  4. 根据权利要求3所述的一种实现使用者坐卧姿转换和搬运的多臂机器人，其特征在于，所述机械臂具有4个自由度，包括肩部的1个直线移动副和1个转动副、肘部的1个转动副以及腕部的一个转动副。
  5. 根据权利要求1、2或4所述的一种坐姿、卧姿转换和搬运的多臂机器人，其特征在于，所述机械臂的小臂（15）是扁平结构。
  6. 根据权利要求5所述的一种实现使用者坐卧姿转换和搬运的多臂机器人，其特征在于，所述躯干立柱（21）为中空结构；直线模组（23）分为直线模组固定座（231）和直线模组滑台（232）两部分，直线模组固定座（231）固定于躯干外壳（22）的侧壁上，直线模组滑台（232）通过机械臂连接件与机械臂连接，直线模组固定座（231）固定在躯干立柱（21）外侧壁上，躯干外壳（21）包覆在躯干立柱（21）外。
  7. 根据权利要求1、2或6所述的一种实现使用者坐卧姿转换和搬运的多臂机器人，其特征在于，所述可伸缩配重（32）包括滑动导轨（321）、配重座（322）和配重块（323）；滑动导轨（321）的固定轨固定在所述底盘架（31）上，配重座（322）连接在所述滑动导轨（321）的滑动轨上，配重块（323）放置在配重座（322）上，全向轮（33）带有减震器。
  8. 根据权利要求7所述的一种实现使用者坐卧姿转换和搬运的多臂机器人，其特征在于，所述主控制器（41）通过EtherCAT总线与所述机械臂子控制器（42）和所述行走子控制器（43）连接；所述机械臂子控制器（42）通过CANopen总线与直线模组和关节模组连接。
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