WO2022227251A1 - 一种护理机器人 - Google Patents

一种护理机器人 Download PDF

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Publication number
WO2022227251A1
WO2022227251A1 PCT/CN2021/101131 CN2021101131W WO2022227251A1 WO 2022227251 A1 WO2022227251 A1 WO 2022227251A1 CN 2021101131 W CN2021101131 W CN 2021101131W WO 2022227251 A1 WO2022227251 A1 WO 2022227251A1
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WO
WIPO (PCT)
Prior art keywords
cylinder
nursing
frame
head
oil cylinder
Prior art date
Application number
PCT/CN2021/101131
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English (en)
French (fr)
Inventor
徐航
Original Assignee
宿州赛尔沃德物联网科技有限公司
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Publication of WO2022227251A1 publication Critical patent/WO2022227251A1/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
    • B25J17/00—Joints
    • 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
    • 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
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • 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
    • 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
    • B25J19/021—Optical sensing devices
    • B25J19/023—Optical sensing devices including video camera means

Definitions

  • the invention relates to a nursing robot, which belongs to the technical field of robots.
  • the existing nursing care is basically manual care, and the personnel are mainly nurses or children, relatives and friends.
  • Most of the existing robots are industrial control robots, service robots and remote control robots that handle dangerous work.
  • a nursing robot which has online nursing and offline nursing modes, and is composed of a power system, a control system, a head, two arms, a body, a leg and a chassis.
  • the power system connects the head, arms, body, legs and chassis, and the power system is controlled by the control system, so that the head, arms and body can move freely, and the legs can bend freely; in the offline care mode, the care recipient or instructions
  • the person sets the instructions to the control system to control the robot to walk, support, sit, and pick up items to care for the care recipient; in the online care mode, video communication is performed, and the online caregiver is imaged to realize remote communication.
  • Nursing instructions control the movement of the head, arms, body, legs and chassis, simulate the actions of the connected caregiver, and remotely control the care recipient.
  • the power system is divided into two parts according to the installation position, one part is installed in the space limited position, the servo motor drives the ball screw and drives the power cylinder, and then drives the joint action cylinder to work, and the other part is installed in the space Unrestricted position, the joint motion is directly driven by the servo electric cylinder; the power oil cylinder and the action oil cylinder are connected in parallel through the oil pipe, and the cylinder diameter and stroke of the power oil cylinder and the action oil cylinder are exactly the same, and the running direction of the power oil cylinder piston rod and the action oil cylinder piston cylinder On the contrary, the power cylinder is used as the pump body to reciprocate the driving action cylinder to drive the robot joint movement.
  • the head is provided with a mask composed of a spherical transparent panel with an internal coating, a micro projector is set in the head, and images are projected on the mask, a camera is set on the top of the head, and a microphone is set on the head. and speakers, as well as a video control module connected with a projector, a camera, a microphone and a speaker to form a video communication terminal, and the care recipient can communicate with the connected caregiver remotely through the video communication terminal.
  • the head is connected to the piston rod of the neck electric cylinder, and the neck electric cylinder is installed in the middle of the shoulder plate.
  • the legs are composed of a thigh frame and a calf frame.
  • One end of the thigh frame is hinged with one end of the calf frame, and the other end is connected to the waist plate bracket through the crotch shaft.
  • One end of the thigh electric cylinder is connected to the thigh frame, and the other end is connected to the waist plate bracket.
  • a power wheel and a universal driven wheel are installed on the chassis.
  • One end of the connecting rod is installed at one end of the slide rail above the universal driven wheel, and the other end is connected to the thigh frame.
  • the slider is installed on the chassis. Block sliding connection.
  • a seat cushion is installed on the thigh frame, the slide rail is a telescopic piece, and the link pulls the slide rail along the slider to shrink during standing and extend during sitting.
  • the body includes a lower waist plate, an upper waist plate, a middle chest plate and a shoulder plate arranged from bottom to top, a side plate bracket connecting the above plates, and a multi-layered front chest plate connecting the lower waist plate, the upper waist plate and the middle chest plate.
  • Hollow body several servo motors are fixed on the lower surface of the lower waist plate, the servo motors are connected to the lead screw through the coupling, the lead screw nut is installed on the lead screw and sleeved on the guide post, and the latissimus dorsi driving oil cylinder is installed on the middle chest plate,
  • the piston rod of the latissimus dorsi driving cylinder is connected to the screw nut;
  • the latissimus dorsi driving cylinder is parallel to the oil circuit of the latissimus dorsi action cylinder, the pectoralis major driving cylinder is parallel to the oil circuit of the pectoralis major action cylinder, and the pectoralis major action cylinder and the back
  • the synergistic action of the latissimus action cylinder drives the movement of the shoulder joint.
  • the arm includes a small arm, a large arm, a shoulder frame, and a shoulder shaft.
  • One end of the forearm is hinged to the big arm, the big arm is mounted on the shoulder frame, the shoulder frame is hinged to the shoulder shaft, and one end of the latissimus dorsi action cylinder is connected to the side.
  • the plate bracket, the other end is hinged to the shoulder frame, the forearm driving oil cylinder is set on the upper waist plate, the forearm action oil cylinder is fixed in the big arm, the pulling end of the piston rod of the forearm action oil cylinder is fixed on the forearm, the forearm driving oil cylinder and the forearm are fixed on the forearm.
  • the oil circuits of the actuating cylinders are connected in parallel.
  • the servo-driven oil cylinder is used as the pump body to drive the joint parts.
  • the action oil cylinder realizes the robot joint movement, which occupies a small space, has precise control, has certain flexibility and buffering, and does not shake. Realize nursing, display the expression of the nursing person with video, and use the camera to capture the scene situation and feed it back to the nursing person, complete nursing or remote interaction and nursing, solve the problems existing in nursing, and have the effect of immersing relatives, friends and children.
  • FIG. 1 is a sitting posture diagram of the robot of the present invention.
  • FIG. 2 is a side view of the standing position of the robot of the present invention.
  • FIG. 3 is a back oblique view of the standing position of the robot of the present invention.
  • Chassis 2. Power wheel, 3. Slider, 4. Slide rail, 5. Universal driven wheel, 6. Connecting rod, 7. Action cylinder, 8. Servo electric cylinder, 9. Calf frame, 10. Thigh frame, 11, Seat cushion, 12, Servo motor, 13, Coupling, 14, Front chest plate, 15, Guide post, 16, Ball screw, 17, Forearm action cylinder, 18, Forearm drive cylinder, 19.
  • the head of the nursing robot is composed of a spherical transparent panel with an inner coating to form an inner coating mask 25, and a micro projector 31 is arranged in the head to project images on the mask 25,
  • a camera 26 is arranged at the top, a microphone and a speaker are arranged on the head, and a video control module connected with the projector 31, the camera 26, the microphone and the speaker forms a video communication terminal, and the care recipient can connect with relatives and friends through the video communication terminal.
  • the projection imaging is on a spherical surface, and the spatial optimization of the imaging makes the displayed face hub of the connected relatives and friends more three-dimensional, close to the effect of three-dimensional holography, which can effectively reduce the sense of distance.
  • the microphone head can be placed in two positions similar to the ears, and the horn can be placed in the head cavity close to the mouth.
  • a neck electric cylinder 40 can be designed.
  • the neck electric cylinder 40 is installed in the middle of the shoulder plate 39 and the neck of the neck electric cylinder 40
  • the electric cylinder piston rod 24 is connected to the head, and is used to adjust the height of the head.
  • the neck electric cylinder 40 can also be installed under the head as a neck, and the neck electric cylinder piston rod 24 is connected to the middle of the shoulder plate 39 .
  • the legs of the nursing robot are composed of a thigh frame 10 and a calf frame 9.
  • One end of the thigh frame 10 is hinged to one end of the calf frame 9, and the other end is connected to the waist plate bracket 29 through the crotch shaft 28.
  • One end of the thigh electric cylinder 27 is connected to the thigh frame 10, and the other end is connected to the thigh frame 10.
  • the waist plate support 29 to drive the movement of the thigh frame 10 and the waist plate support 29; the other end of the calf frame 9 is connected to the chassis 1 through the ankle shaft 30, one end of the leg servo electric cylinder 8 is connected to the thigh frame 10, the other end is connected to the calf frame 9, the thigh In the movement between the frame 10 and the calf frame 9, one end of the action cylinder 7 is connected to the chassis 1, and the other end is connected to the calf frame 9 to drive the movement of the ankle joint between the calf frame 9 and the chassis 1. Because the oil circuit has a certain buffering effect, the A certain degree of flexibility can be maintained between the robot body and the chassis, and a more comfortable bearing effect can be achieved without additional shock absorption mechanism.
  • a power wheel 2 and a universal driven wheel 5 are installed on the chassis 1.
  • One end of the connecting rod 6 is installed at the rear end of the slide rail 4 above the universal driven wheel 5, and the other end is connected to the thigh frame 10.
  • the slider 3 is installed on the chassis 1.
  • the slide rail 4 is slidably connected with the slide block 3 .
  • a seat cushion 11 is installed on the thigh frame 10, the slide rail 4 is stretched or shortened by the connecting rod 6 in the slider 3, the robot supports the care recipient with both arms, and makes it lean on the seat cushion 11 of the robot thigh, and then is moved by the station.
  • the posture is slowly adjusted to a sitting posture, so that the person to be nursed finally sits on the seat cushion 11 of the robot thigh, and at the same time, the sliding rail 4 is stretched through the connecting rod 6 connecting the robot thigh frame 10 and the sliding rail 4, so that the distance between the front and rear wheels is Elongation; when the sitting posture is restored to the standing posture, the link 6 pulls the slide rail 4 to shorten, so that the robot can not only ensure that the standing posture nursing does not take up space, but also realize a more stable movement when the sitting posture carries the nursing person.
  • the body includes a lower waist plate 32, an upper waist plate 38, a middle chest plate 37, a shoulder plate 39 arranged from bottom to top, a side plate bracket 19 connecting the above plates, and a front chest plate 14 connecting the lower waist plate 32, the upper waist plate 38, and the middle chest plate 37.
  • the multi-layer hollow body, a plurality of servo motors 12 are fixed on the lower surface of the lower waist plate 32, the servo motors 12 are connected to the lead screw 16 through the coupling 13, and the lead screw nut 33 is installed on the lead screw 16 and sleeved on the guide post 15,
  • the latissimus dorsi driving oil cylinder 35 is installed on the middle chest plate 37, the latissimus dorsi driving oil cylinder piston rod 34 is connected to the lead screw nut 33; 41 is connected in parallel with the oil circuit of the pectoralis major action cylinder 42.
  • the pectoralis major action oil cylinder 42 and the latissimus dorsi action oil cylinder 36 act in concert to drive the shoulder joint movement.
  • the shoulder movement of the robot relies on the action oil cylinder and the latissimus dorsi located in the pectoralis major muscle.
  • the positional action cylinders are coordinated to drive to complete the humanoid action of the big
  • the arm includes a small arm 20, a large arm 21, a shoulder frame 22, and a shoulder shaft 23.
  • One end of the small arm 20 is hinged to the big arm 21.
  • the big arm 21 is installed on the shoulder frame 22, and the shoulder frame 22 is hinged to the shoulder shaft 23.
  • the latissimus dorsi muscle action One end of the oil cylinder 36 is connected to the side plate bracket 19, the other end is hinged to the shoulder frame 22, the forearm driving oil cylinder 18 is arranged on the upper waist plate, the forearm action oil cylinder 17 is fixed in the big arm, and the forearm action oil cylinder 17 is fixed in the small arm.
  • the small arm driving oil cylinder 18 is connected in parallel with the oil circuit of the small arm actuating oil cylinder 17 .
  • the robot has two arms, and there are two sets of latissimus dorsi driving cylinders, latissimus dorsi action cylinders, forearm driving cylinders, and forearm action cylinders.
  • a nursing robot with online nursing and offline nursing modes, is composed of a power system, a control system, a head, two arms, a body, a leg and a walking chassis, and the power system connects the head, the two arms, the body, the legs and the walking chassis,
  • the power system is controlled by the control system, so that the head, arms and body can move freely, and the legs can bend freely.
  • the care recipient or the instruction issuer sets instructions to the control system to control the robot to walk, support, and sit to care for the care recipient.
  • the control system controls the movement of the head, arms, body, legs and walking chassis according to the instructions of the connected relatives and friends, simulating the remote relatives and friends. Action, remote control of care recipients.
  • the power system is divided into two parts according to the installation position. One part is installed in the space-limited position.
  • the servo motor drives the ball screw and drives the power cylinder, and then drives the action cylinder of the kinematic joint to work. , the joint is directly driven by the servo electric cylinder; the power cylinder and the action cylinder are connected in parallel through the oil pipe 43, and the cylinder diameter and stroke of the power cylinder and the action cylinder are exactly the same, and the power cylinder piston rod and the action cylinder piston cylinder run in the opposite direction, so that the power cylinder acts as a pump
  • the body carries out the reciprocating driving action cylinder, which drives the joint movement of the robot.
  • the robot is set up in two modes, offline and online, in order to satisfy the robot nursing under the control of the caregiver, in which the caregiver can be beside the care recipient, or remotely, or it can satisfy the robot care only under the control of the care recipient.
  • the power system meets the movement ability required by the robot nursing.
  • the nursing robot disclosed in the present invention can be directly produced by using the existing technology, and aims to replace the human with the robot.
  • the control system of the robot is used to set the nursing program.
  • the active setting of the caregiver is used for nursing work in the offline state, such as instructing the robot to help, walking the robot as a car, and taking items (drugs, tea, clothes, etc.), or basic nursing work such as massage.
  • the robot can directly imitate the actions of the caregiver to achieve care.
  • the caregiver can be relatives, friends, children or professional caregivers.
  • the robot can display the expression of the caregiver with video, and use the camera to capture the scene and feed it back to the caregiver.
  • the completion of nursing or remote interaction and nursing solves the problems existing in people's nursing, and also has the effect of immersing relatives, friends and children.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Nursing (AREA)
  • Multimedia (AREA)
  • Manipulator (AREA)

Abstract

一种护理机器人，由动力系统、控制系统、头部、双臂、躯体、腿和底盘构成，动力系统连接头部、双臂、躯体、腿和底盘，控制系统控制动力系统，使头部、双臂和躯体自由运动，腿自由弯曲；离线护理模式下，被护理人或指令发出人设置指令至控制系统，控制机器人行走、搀扶、坐立，以护理被护理人；在线护理模式下，在头部成像，显示连线亲友，进行视频通讯，远程交流，控制系统根据连线亲友指令，控制头部、双臂、躯体、腿和底盘的运动，模拟远程亲友的动作，远程操控护理被护理人。以机器人代替人进行护理，实时模仿护理人的动作和表情，捕捉现场情况反馈至护理人，完成互动沟通和护理，具有身临其境的效果，实现机器人护理。

Description

一种护理机器人 技术领域
本发明涉及一种护理机器人，属于机器人技术领域。
 背景技术
随着社会进入老龄化，老弱病残都需要有人照顾，现有的护理基本是人工护理，人员主要是护工或子女亲友。现有机器人大多都是工控机器人，服务机器人及处理危险工作的远程操控机器人。
 技术问题
由于人容易疲劳、偷懒、惰性等问题，导致护理人与被护理人之间存在诸多矛盾，无法化解。机器人用于护理可以解决人的疲劳、偷懒、惰性等问题，然而，现有机器人功能简单单一，没有陪护功能或能力，将现有机器人直接改进也基本不能实现护理工作，现实急需一种功能更全，更能满足护理需要的护理机器人。
 技术解决方案
为解决当前技术中存在的问题，本发明所采用的技术手段是：一种护理机器人，具有在线护理和离线护理模式，由动力系统、控制系统、头部、双臂、躯体、腿和底盘构成，动力系统连接头部、双臂、躯体、腿和底盘，并由控制系统控制动力系统，使头部、双臂和躯体自由运动，腿自由弯曲；离线护理模式下，被护理人或指令发出人设置指令至控制系统，控制机器人行走、搀扶、坐立、拿取物品，以护理被护理人；在线护理模式下，进行视频通讯，成像显示在线护理人，实现远程交流，控制系统根据连线护理人指令，控制头部、双臂、躯体、腿和底盘的运动，模拟连线护理人的动作，远程操控护理被护理人。
作为具体设计，所述动力系统以安装位置分为两部分，一部分安装在空间受限的位置，由伺服电机带动滚珠丝杠并驱动动力油缸，再带动关节的动作油缸进行工作，一部分安装在空间不受限的位置，由伺服电缸直接驱动关节运动；所述动力油缸和动作油缸通过油管并联，且动力油缸和动作油缸的缸径和行程完全一致，动力油缸活塞杆和动作油缸活塞缸运行方向相反，使动力油缸作为泵体进行往复驱动动作油缸，带动机器人关节运动。
作为具体设计，所述头部设置由带内部涂层的类球面透明面板构成的面罩，头部内设置微型投影仪，在面罩上投影成像，在头部顶端设置摄像头，在头部设置咪头和喇叭，以及与投影仪、摄像头、咪头和喇叭连接的视频控制模块，组成视频通讯终端，被护理人通过视频通讯终端，与连线护理人进行远程交流。
作为优选设计，所述头部连接颈部电缸的活塞杆，颈部电缸安装在肩板的中间。
作为具体设计，所述腿由大腿框架和小腿框架构成，大腿框架的一端与小腿框架的一端铰接，另一端通过胯轴连接腰板支架，大腿电缸一端连接大腿框架，另一端连接腰板支架，驱动大腿框架和腰板支架的运动；小腿框架的另一端通过踝轴连接底盘，腿部伺服电缸一端连接大腿框架，另一端连接小腿框架，大腿框架和小腿框架之间的运动，动作油缸一端连接底盘，另一端连接小腿框架，驱动小腿框架和底盘之间的踝关节运动。
作为具体设计，所述底盘上安装有动力轮、万向从动轮，连杆一端安装在万向从动轮上方的滑轨一端，另一端连接大腿框架，滑块安装在底盘上，滑轨与滑块滑动连接。
作为优选设计，所述大腿框架上安装坐垫，滑轨为伸缩件，连杆牵引滑轨沿滑块在站立过程中收缩，坐姿过程中伸长。
作为具体设计，所述躯体包括由下至上设置的下腰板、上腰板、中间胸板、肩板，以及连接上述板的侧板支架，连接下腰板、上腰板、中间胸板的前胸板构成的多层中空体，若干伺服电机固定在下腰板的下表面，伺服电机通过联轴器连接丝杠，丝杠螺母安装在丝杠上并套接在导柱上，背阔肌驱动油缸安装在中间胸板上，背阔肌驱动油缸活塞杆连接丝杠螺母；背阔肌驱动油缸与背阔肌动作油缸的油路并联，胸大肌驱动油缸与胸大肌动作油缸油路并联，胸大肌动作油缸和背阔肌动作油缸协同动作驱动肩关节运动。
作为具体设计，所述手臂包括小臂、大臂、肩架、肩轴，小臂的一端铰接大臂，大臂安装在肩架上，肩架铰接肩轴，背阔肌动作油缸一端连接侧板支架，另一端铰接肩架，小臂驱动油缸设置在上腰板上，小臂动作油缸固定在大臂中，小臂动作油缸活塞杆牵引端固定在小臂上，小臂驱动油缸与小臂动作油缸的油路并联。
 有益效果
由伺服驱动的油缸作为泵体驱动关节部位动作油缸实现机器人关节动作，占用空间小，控制精准且具有一定柔性和缓冲，不会抖动，以机器人代替人，以离线或在线模式，模仿人的动作实现护理，以视频显示护理人的表情，以摄像头捕捉现场情况反馈至护理人，完成护理或远程互动、看护，解决了人进行护理时存在的问题，又具有亲友儿女身临其境的效果。
 附图说明
图1为本发明的机器人坐姿图。
图2为本发明的机器人站姿侧视图。
图3为本发明的机器人站姿背面斜视图。
图中：1、底盘，2、动力轮，3、滑块，4、滑轨，5、万向从动轮，6、连杆，7、动作油缸，8、伺服电缸，9、小腿框架，10、大腿框架，11、坐垫，12、伺服电机，13、联轴器，14、前胸板，15、导柱，16、滚珠丝杠，17、小臂动作油缸，18、小臂驱动油缸，19、侧板支架，20、小臂，21、大臂，22、肩架，23、肩轴，24、颈部电缸活塞杆，25、面罩，26、摄像头，27、大腿电缸，28、胯轴，29、腰板支架，30、踝轴，31、投影仪，32、下腰板，33、丝杠螺母，34、油缸活塞杆，35、背阔肌驱动油缸,36、背阔肌动作油缸，37、胸板，38、上腰板，39、肩板，40、颈部电缸，41、胸大肌动力油缸，42、胸大肌动作油缸，43、油管。
 本发明的最佳实施方式
如图1、2、3所示，护理机器人头部由带内部涂层的类球面透明面板构成内涂层面罩25，头部内设置微型投影仪31，在面罩25上投影成像，在头部顶端设置摄像头26，在头部设置咪头和喇叭，以及与投影仪31、摄像头26、咪头和喇叭连接的视频控制模块，组成视频通讯终端，被护理人通过视频通讯终端，与连线亲友进行远程交流。投影成像在类球面上，通过成像的空间优化让显示的连线亲友面部轮毂更具立体感，接近三维全息的效果，能有效减少距离感。咪头可以仿人体设置两个在类似耳部的位置，而喇叭可以设置在头部空腔靠近嘴巴的位置。
为了在被护理人坐在机器人上时，机器人的头部不会影响被护理人，可以设计颈部电缸40，颈部电缸40安装在肩板39中间，颈部电缸40的颈部电缸活塞杆24连接头部，用于调整头部的高度，当机器人处于坐姿变为移动轮椅时，适当升高头部，也可使摄像头和机器人面罩不被被护理人头部遮挡。当然，颈部电缸40也可以安装在头部下方作为颈部，颈部电缸活塞杆24连接肩板39中间。
护理机器人的腿由大腿框架10和小腿框架9构成，大腿框架10的一端与小腿框架9的一端铰接，另一端通过胯轴28连接腰板支架29，大腿电缸27一端连接大腿框架10，另一端连接腰板支架29，驱动大腿框架10和腰板支架29的运动；小腿框架9的另一端通过踝轴30连接底盘1，腿部伺服电缸8一端连接大腿框架10，另一端连接小腿框架9，大腿框架10和小腿框架9之间的运动，动作油缸7一端连接底盘1，另一端连接小腿框架9，驱动小腿框架9和底盘1之间的踝关节运动，由于油路具备一定的缓冲作用，使得机器人躯体与底盘之间可以保持一定的柔性，不需要另外加减震机构就能实现比较舒适的承载效果。
底盘1上安装有动力轮2、万向从动轮5，连杆6一端安装在万向从动轮5上方的滑轨4后端，另一端连接大腿框架10，滑块3安装在底盘1上，滑轨4与滑块3滑动连接。
大腿框架10上安装坐垫11，滑轨4在滑块3内被连杆6牵引伸长或缩短，机器人用双臂搀扶被护理人，并让其靠在机器人大腿的坐垫11上，然后由站姿慢慢调整为坐姿，让被护理人最终坐在机器人大腿的坐垫11上，同时通过连接机器人大腿框架10和滑轨4的连杆6将滑轨4拉伸，使得前后轮之间的距离拉长；在坐姿恢复站姿时，连杆6拉动滑轨4缩短，使得机器人既能保证站姿护理时不占地方，又能实现坐姿承载被护理人时更平稳运动。
躯体包括由下至上设置的下腰板32、上腰板38、中间胸板37、肩板39，以及连接上述板的侧板支架19，连接下腰板32、上腰板38、中间胸板37的前胸板14构成的多层中空体，若干伺服电机12固定在下腰板32的下表面，伺服电机12通过联轴器13连接丝杠16，丝杠螺母33安装在丝杠16上并套接在导柱15上，背阔肌驱动油缸35安装在中间胸板37上，背阔肌驱动油缸活塞杆34连接丝杠螺母33；背阔肌驱动油缸35与背阔肌动作油缸36的油路并联，胸大肌驱动油缸41与胸大肌动作油缸42油路并联，胸大肌动作油缸42和背阔肌动作油缸36协同动作驱动肩关节运动，机器人的肩部运动靠位于胸大肌部位的动作油缸和背阔肌位置的动作油缸协同驱动完成大臂仿人动作。
手臂包括小臂20、大臂21、肩架22、肩轴23，小臂20的一端铰接大臂21，大臂21安装在肩架22上，肩架22铰接肩轴23，背阔肌动作油缸36一端连接侧板支架19，另一端铰接肩架22，小臂驱动油缸18设置在上腰板上，小臂动作油缸17固定在大臂中，小臂动作油缸17活塞杆牵引端固定在小臂上，小臂驱动油缸18与小臂动作油缸17的油路并联。
机器人具有两只手臂，就设置两组背阔肌驱动油缸、背阔肌动作油缸、小臂驱动油缸、小臂动作油缸。
 本发明的实施方式
一种护理机器人，具有在线护理和离线护理模式，由动力系统、控制系统、头部、双臂、躯体、腿和行走底盘构成，动力系统连接头部、双臂、躯体、腿和行走底盘，并由控制系统控制动力系统，使头部、双臂和躯体自由运动，腿自由弯曲。
离线护理模式下，被护理人或指令发出人设置指令至控制系统，控制机器人行走、搀扶、坐立，以护理被护理人。
在线护理模式下，在头部成像，显示连线亲友，进行视频通讯，远程交流，控制系统根据连线亲友指令，控制头部、双臂、躯体、腿和行走底盘的运动，模拟远程亲友的动作，远程操控护理被护理人。
动力系统以安装位置分为两部分，一部分安装在空间受限的位置，由伺服电机带动滚珠丝杠并驱动动力油缸，再带动运动关节的动作油缸进行工作，一部分安装在空间不受限的位置，由伺服电缸直接驱动关节；动力油缸和动作油缸通过油管43并联，且动力油缸和动作油缸的缸径和行程完全一致，动力油缸活塞杆和动作油缸活塞缸运行方向相反，使动力油缸作为泵体进行往复驱动动作油缸，带动机器人关节运动。
机器人设置离线和在线两种模式，是为了满足有护理人控制下的机器人护理，其中护理人可以是在被护理人身边的，或远程的，也可以满足只有被护理人自己控制下的机器人护理，动力系统满足机器人护理所需要的运动能力。
 工业实用性
本发明所公开的护理机器人，利用现有技术能够直接生产出来，旨在以机器人代替人，机器人的控制系统用于设置护理程序，护理程序可以是出厂固化的部分，被护理人主动设置，或护理人的主动设置，用于离线状态下的护理工作，比如指令机器人搀扶、将机器人作为座驾行走，拿取物品（药品、茶水、衣服等），也可以是按摩等基本护理工作。而在线模式下，机器人可以直接模仿护理人的动作实现护理，此时的护理人可以是亲友儿女或专业护理人员，机器人能以视频显示护理人的表情，以摄像头捕捉现场情况反馈至护理人，完成护理或远程互动、看护，解决了人进行护理时存在的问题，又具有亲友儿女身临其境的效果。
 序列表自由内容
在此处键入序列表自由内容描述段落。

Claims (9)

  1. 一种护理机器人，其特征在于：具有在线护理和离线护理模式，由动力系统、控制系统、头部、双臂、躯体、腿和底盘构成，动力系统连接头部、双臂、躯体、腿和底盘，并由控制系统控制动力系统，使头部、双臂和躯体自由运动，腿自由弯曲；离线护理模式下，被护理人或指令发出人设置指令至控制系统，控制机器人行走、搀扶、坐立、拿取物品，以护理被护理人；在线护理模式下，进行视频通讯，成像显示在线护理人，实现远程交流，控制系统根据连线护理人指令，控制头部、双臂、躯体、腿和底盘的运动，模拟连线护理人的动作，远程操控护理被护理人。
  2. 根据权利要求1所述的护理机器人，其特征在于：所述动力系统以安装位置分为两部分，一部分安装在空间受限的位置，由伺服电机带动滚珠丝杠并驱动动力油缸，再带动关节的动作油缸进行工作，一部分安装在空间不受限的位置，由伺服电缸直接驱动关节运动；所述动力油缸和动作油缸通过油管并联，且动力油缸和动作油缸的缸径和行程完全一致，动力油缸活塞杆和动作油缸活塞缸运行方向相反，使动力油缸作为泵体进行往复驱动动作油缸，带动机器人关节运动。
  3. 根据权利要求1所述的护理机器人，其特征在于：所述头部设置由带内部涂层的类球面透明面板构成的面罩，头部内设置微型投影仪，在面罩上投影成像，在头部顶端设置摄像头，在头部设置咪头和喇叭，以及与投影仪、摄像头、咪头和喇叭连接的视频控制模块，组成视频通讯终端，被护理人通过视频通讯终端，与连线护理人进行远程交流。
  4. 根据权利要求3所述的护理机器人，其特征在于：所述头部连接颈部电缸的活塞杆，颈部电缸安装在肩板的中间。
  5. 根据权利要求1所述的护理机器人，其特征在于：所述腿由大腿框架和小腿框架构成，大腿框架的一端与小腿框架的一端铰接，另一端通过胯轴连接腰板支架，大腿电缸一端连接大腿框架，另一端连接腰板支架，驱动大腿框架和腰板支架的运动；小腿框架的另一端通过踝轴连接底盘，腿部伺服电缸一端连接大腿框架，另一端连接小腿框架，驱动大腿框架和小腿框架之间的运动，动作油缸一端连接底盘，另一端连接小腿框架，驱动小腿框架和底盘之间的踝关节运动。
  6. 根据权利要求5所述的护理机器人，其特征在于：所述底盘上安装有动力轮和滑块，以及与滑块滑动连接的滑轨，滑轨后端连接万向从动轮，连杆一端安装在万向从动轮上方的滑轨一端，另一端连接大腿框架。
  7. 根据权利要求6所述的护理机器人，其特征在于：所述大腿框架上安装坐垫，滑轨为伸缩件，连杆牵引滑轨沿滑块在站立过程中收缩，坐姿过程中伸长，机器人搀扶被护理人使其靠在坐垫上，并从站姿缓慢变为坐姿，让被护理人坐在坐垫上，变身为机器人轮椅，或以站姿搀扶被护理人。
  8. 根据权利要求1所述的护理机器人，其特征在于：躯体包括由下至上设置的下腰板、上腰板、中间胸板、肩板，以及连接上述板的侧板支架，连接下腰板、上腰板、中间胸板的前胸板构成的多层中空体，若干伺服电机固定在下腰板的下表面，伺服电机通过联轴器连接丝杠，丝杠螺母安装在丝杠上并套接在导柱上，背阔肌驱动油缸安装在中间胸板上，背阔肌驱动油缸活塞杆连接丝杠螺母；背阔肌驱动油缸与背阔肌动作油缸的油路并联，胸大肌驱动油缸与胸大肌动作油缸油路并联，胸大肌动作油缸和背阔肌动作油缸协同动作驱动肩关节运动。
  9. 根据权利要求1所述的护理机器人，其特征在于：手臂包括小臂、大臂、肩架、肩轴，小臂的一端铰接大臂，大臂安装在肩架上，肩架铰接肩轴，背阔肌动作油缸一端连接侧板支架，另一端铰接肩架，小臂驱动油缸设置在上腰板上，小臂动作油缸固定在大臂中，小臂动作油缸活塞杆牵引端固定在小臂上，小臂驱动油缸与小臂动作油缸的油路并联。
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