WO2022267234A1 - 一种护士机器人 - Google Patents

一种护士机器人 Download PDF

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Publication number
WO2022267234A1
WO2022267234A1 PCT/CN2021/117777 CN2021117777W WO2022267234A1 WO 2022267234 A1 WO2022267234 A1 WO 2022267234A1 CN 2021117777 W CN2021117777 W CN 2021117777W WO 2022267234 A1 WO2022267234 A1 WO 2022267234A1
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WO
WIPO (PCT)
Prior art keywords
shoulder joint
bevel gear
joint
elbow
connecting frame
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PCT/CN2021/117777
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English (en)
French (fr)
Inventor
郭士杰
卢浩
杨志强
陈力
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光华临港工程应用技术研发(上海)有限公司
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Publication of WO2022267234A1 publication Critical patent/WO2022267234A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/008—Manipulators for service tasks
    • B25J11/009—Nursing, e.g. carrying sick persons, pushing wheelchairs, distributing drugs
    • 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
    • B25J18/00—Arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J21/00—Chambers provided with manipulation devices
    • 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
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
    • Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change

Definitions

  • the invention belongs to the technical field of rehabilitation medicine, and in particular relates to a nurse robot.
  • robot nurses are more conducive to the management of patient medical records and the accumulation, sorting and transmission of medical data, which is of great significance to improving the level of medical intelligence. Nurse robots can also be used in general wards, homes, elderly care institutions and other places, which can effectively alleviate the shortage of elderly care workers under the background of my country's population aging, thereby reducing the burden on children and improving the quality of life of the elderly.
  • the purpose of the present invention is to overcome the problems of insufficient medical staff and easy cross-infection between patients and medical staff existing in the prior art, and provide a nurse robot.
  • a nurse robot characterized in that it includes: a mobile base assembly, a front and rear pitching assembly, a left and right swing assembly, a chest frame, and upper limb assemblies installed on the left and right sides of the chest frame;
  • the assembly includes a pitch drive motor installed on the pitch support, a pitch drive pulley connected to the output shaft of the pitch drive motor, a pitch driven pulley linked with the pitch drive pulley through a belt drive, and the pitch drive pulley.
  • the pitching bracket is connected with the first connecting frame through the pitching shaft rotation, and the pitching shaft passes through the bearing
  • the swing bracket is installed on the first connecting frame
  • the left and right swing assembly includes a swing motor mounted on the swing bracket through a motor bracket, a swing driving pulley connected to the output shaft of the swing motor, and
  • the oscillating driving pulley is fixed at the center of the oscillating worm wheel through the oscillating driven pulley connected with the belt transmission, the oscillating worm coaxially connected with the oscillating driven pulley, and the oscillating worm meshed with the oscillating worm shaft;
  • the swing bracket is rotatably connected with a second connecting frame through the swing shaft, and the swing shaft is installed on the swing bracket through a bearing; the rotation shafts of the pitch worm wheel and
  • a third connecting frame is fixedly installed on the second connecting frame, a driver is installed in the third connecting frame, a fourth connecting frame is fixed on the third connecting frame, and the front and rear sides at the center of the upper end of the fourth connecting frame
  • There is an installation block and the two sides of the installation block are symmetrically provided with a first docking surface inclined from the middle to the left and right sides; the upper side of the fourth connecting frame is equipped with a chest frame, and the lower side of the chest frame is connected to the The second docking surface with the same inclination angle of the first docking surface, the middle position of the lower side of the chest frame is installed between the two installation blocks, and is fixed on the fourth connecting frame by bolts; the two second docking surfaces are arranged on Install the left and right sides of the file card.
  • the upper limb assembly includes: a shoulder joint assembly, a first large arm connection frame, a second large arm connection frame, an elbow joint assembly, a first forearm connection frame, a second forearm connection frame and hands; a shoulder joint
  • the assembly includes: the first shoulder joint motor installed in the chest cavity frame, the first driving gear installed on the output shaft of the first shoulder joint motor, the first driven gear meshed with the first driving gear, and the The first shoulder joint worm coaxially connected with the first driven gear, the first shoulder joint turbine meshed with the first shoulder joint worm, and the first shoulder joint active cone coaxially connected with the first shoulder joint turbine Gear
  • the second shoulder joint motor installed in the chest frame, the second driving gear installed on the output shaft of the second shoulder joint motor, the second driven gear meshed with the second driving gear, and the second driven gear meshed with the second
  • the second shoulder joint worm coaxially connected with the second driven gear, the second shoulder joint worm gear meshed with the second shoulder joint worm, the second shoulder joint driving bevel gear coaxially connected with
  • the first shoulder joint shaft is fixedly connected to the upper and lower ends of the chest frame, and the first shoulder joint driven bevel gear is located between the first shoulder joint active bevel gear and the second shoulder joint active bevel gear; the first shoulder joint
  • the connecting frame is rotatably installed on the two ends of the first shoulder joint rotating shaft through bearings.
  • the surface of the upper end of the chest frame for docking with the first shoulder joint link is a shoulder joint installation slope inclined downward from the middle to the left and right sides, and the shoulder joint installation slope is parallel to the second docking surface.
  • the second shoulder joint connection frame is fixedly installed on the rotating shaft of the first shoulder joint driven bevel gear
  • the shoulder joint assembly also includes: a third shoulder joint motor installed in the second shoulder joint connection frame, a third shoulder joint motor installed in the The third shoulder joint driving pulley on the third shoulder joint motor output shaft, the third shoulder joint driven pulley connected with the third shoulder joint driving pulley belt transmission, and the third shoulder joint driven belt
  • the third shoulder joint driving bevel gear connected with the wheel coaxial, the third shoulder joint driven bevel gear meshed with the third shoulder joint driving bevel gear
  • the fourth shoulder joint motor installed in the second shoulder joint connecting frame
  • the fourth shoulder joint driving pulley installed on the output shaft of the fourth shoulder joint motor, the fourth shoulder joint driven pulley connected with the fourth shoulder joint driving pulley, and the fourth shoulder joint driven pulley are connected with the fourth shoulder joint driving pulley.
  • the fourth shoulder joint driven bevel gear coaxially connected with the joint driven pulley, the fourth shoulder joint driven bevel gear meshed with the fourth shoulder joint driven bevel gear, and the third shoulder joint driven bevel gear meshed with the third shoulder joint driven bevel gear.
  • the fifth shoulder joint driven bevel gear meshed with the fourth shoulder joint driven bevel gear.
  • the third shoulder joint driving bevel gear and the fourth shoulder joint driving bevel gear are arranged oppositely and are installed on the second shoulder joint rotating shaft through bearings, and the fifth shoulder joint driven bevel gear is clamped on the second shoulder joint shaft.
  • the first big arm connecting frame is connected to the end of the second shoulder joint connecting frame in rotation, and the second shoulder joint rotating shaft is connected to the second shoulder joint.
  • the frame is fixedly connected, the first big arm connecting frame is rotatably installed on the second shoulder joint rotating shaft through the bearing, and the second large arm connecting frame is fixedly connected with the rotating shaft of the driven bevel gear of the fifth shoulder joint.
  • the elbow joint assembly includes: a first elbow joint motor installed in the second boom connecting frame, a first elbow joint driving pulley connected to the output shaft of the first elbow joint motor, and the first elbow joint driving pulley connected to the The first elbow joint driving pulley is connected to the first elbow joint driven pulley through a belt, the first elbow joint driving bevel gear coaxially connected with the first elbow joint driven pulley, and the first elbow joint
  • a second forearm link is fixedly connected to the shaft of the driven bevel gear of the second elbow joint, and a hand is rotatably connected to the end of the second forearm link.
  • the center position of the upper end of the chest frame is a plane and a head assembly is installed, and a camera is installed on the head assembly.
  • the swing bracket includes four first support plates, second support plates, third support plates and fourth support plates arranged parallel to each other, and the four support plates
  • the lower end of the plate has a positioning bar, and after the positioning bar is clamped into the positioning groove to the correct position, the four support plates are fixed together on the first connecting frame by bolts.
  • the nurse robot can be tilted forward and backward through the front and rear pitch components, and the left and right swing of the nurse robot’s waist can be realized through the left and right swing components.
  • Patient completes general care and monitors patient status.
  • the driving mechanism of the shoulder joint is installed inside the chest frame and the inside of the first arm connecting frame, and the driving mechanism of the elbow joint is installed inside the first forearm connecting frame to ensure that there is no protruding structure on the appearance of the nurse robot, reducing the The small size of the robot, covered with artificial skin, will give the patient a sense of affinity and comfort when caring for the patient.
  • the upper end of the chest rack is provided with a shoulder joint installation slope, which is more similar to the mechanism at the human shoulder to make the arm movement more flexible.
  • Fig. 1 is the overall three-dimensional structure diagram of the embodiment of the present invention.
  • Fig. 2 is a perspective view of the front and rear pitching components of the embodiment of the present invention.
  • Fig. 3 is a perspective view of a left and right swing assembly according to an embodiment of the present invention.
  • Fig. 4 is a rear perspective view of some default parts of the left and right swing assembly according to the embodiment of the present invention.
  • Fig. 5 is a diagram of parts near the chest frame of the embodiment of the present invention.
  • Fig. 6 is a partial structural view of the shoulder joint assembly of the embodiment of the present invention.
  • Fig. 7 is a partial structural view of the elbow joint assembly of the embodiment of the present invention.
  • Fig. 8 is a perspective view of a swing bracket according to an embodiment of the present invention.
  • Fig. 9 is a structural diagram of a fourth connecting frame according to the embodiment of the present invention.
  • FIG. 1-9 A specific embodiment of a nurse robot of the present invention as shown in Figures 1-9,
  • It includes a mobile base assembly, a front and rear pitch assembly, a left and right swing assembly, a chest frame 25, and upper limb assemblies installed on the left and right sides of the chest frame 25;
  • the mobile base assembly includes a base frame and four mecanum wheels 1 installed at the four corners of the base frame; batteries are placed on the base frame.
  • a pitch support 2 is fixedly installed on the base frame, and the front and rear pitch components include a pitch drive motor 3 mounted on the pitch support 2, and a pitch drive pulley 4 connected to the output shaft of the pitch drive motor 3 , a pitching driven pulley 5 linked with the pitching driving pulley 4 through a belt transmission, a pitching worm 6 coaxially connected with the pitching driven pulley 5, a pitching worm gear 7 engaged with the pitching worm, and The pitch shaft 8 fixedly connected on the pitch worm wheel 7.
  • the pitch support 2 is connected with the first connecting frame 9 through the rotation of the pitch shaft 8, and the pitch shaft 8 is installed on the pitch support 2 through a bearing.
  • the swing bracket 10 With a positioning groove 91, the swing bracket 10 includes four first support plates 11, a second support plate 12, a third support plate 13 and a fourth support plate 14 arranged parallel to each other. Referring to FIG. 8, the lower ends of the four support plates have The positioning bar 15 is clamped into the positioning groove 91 to the correct position through the positioning bar 15, and then the four support plates are fixed together on the first connecting frame 9 by bolts.
  • the left and right swing assembly includes a swing motor 16 mounted on the swing bracket 10 through a motor bracket, a swing driving pulley 17 connected to the output shaft of the swing motor 16, and the swing driving pulley 17 is driven by a belt.
  • the connected swing driven pulley 18, the swing worm 19 coaxially connected with the swing driven pulley 18, and the swing worm wheel 20 meshed with the swing worm 19 are fixed on the swing shaft 21 at the center of the swing worm wheel 20;
  • the swing support 10 is connected with the second connecting frame 22 through the swing shaft 21.
  • the swing shaft 21 is installed on the swing support 10 through the bearing; swing motor 16, swing driving pulley 17, swing driven pulley 18, swing worm 19.
  • the oscillating worm gear 20 is located in the space formed by the first support plate 11 and the second support plate 12 . Wherein the pitch worm gear 7 and the rotating shaft of the said swing worm gear 20 are perpendicular to each other.
  • a third connecting frame 23 is fixedly installed on the second connecting frame 22, a driver is installed in the third connecting frame 23, and a fourth connecting frame 24 is fixed on the third connecting frame 23, referring to Fig. 9 , at the center of the upper end of the fourth connecting frame 24
  • the chest frame 25 is installed on the upper side of the fourth connecting frame 24, and the chest frame
  • the lower side of the frame 25 is the second butt joint surface 251 with the same inclination angle as the first butt joint surface 242, and the middle position of the lower side of the chest cavity frame 25 is installed between the two installation blocks 241, and is fixed on the fourth joint by bolts. on the connecting frame 24.
  • the two second abutting surfaces 251 are arranged on the left and right sides of the mounting bracket 24 .
  • the shoulder joint assembly includes: the first shoulder joint motor 26 installed in the chest frame 25, the first driving gear 27 installed on the output shaft of the first shoulder joint motor 26, and the first driving gear 27 meshed first driven gear 28, the first shoulder joint worm 29 coaxially connected with the first driven gear 28, the first shoulder joint worm gear 30 meshed with the first shoulder joint worm 29, and the The first shoulder joint driving bevel gear 31 coaxially connected with the first shoulder joint turbine 30, the second shoulder joint motor 32 installed in the chest frame 25, the second shoulder joint motor 32 installed on the output shaft of the second shoulder joint motor 32 The driving gear is not shown, the second driven gear 34 meshed with the second driving gear, the second shoulder joint worm 35 coaxially connected with the second driven gear 34 , and the second shoulder joint worm 35 meshed second shoulder joint turbine 36, the second shoulder joint driving bevel gear 37 coaxial
  • the first shoulder joint driven bevel gear 38 meshed with the bevel gear 37; the first shoulder joint driving bevel gear 31 and the second shoulder joint driving bevel gear 37 are relatively installed on the first shoulder joint rotating shaft 39 through bearings.
  • the first shoulder joint rotating shaft 39 is fixedly connected to the upper and lower ends of the chest frame 25 , and the first shoulder joint driven bevel gear 38 is located between the first shoulder joint driving bevel gear 31 and the second shoulder joint driving bevel gear 37 .
  • the first shoulder joint connecting frame 40 is rotatably mounted on both ends of the first shoulder joint rotating shaft 39 through bearings.
  • the upper end of the chest frame 25 is used to dock with the first shoulder joint frame 40 as a shoulder joint mounting slope 253 that slopes downward from the middle to the left and right sides, and the shoulder joint mounting slope 253 is connected to the second shoulder joint.
  • the planes 251 are parallel, and this structure is similar to the structure at the shoulder of the human body.
  • the center position of the upper end of the chest frame 25 is a plane and a head assembly 41 is installed on the head assembly 41 with a camera 71, which is equivalent to human eyes.
  • the second shoulder joint connecting frame 42 is fixedly installed on the rotating shaft of the first shoulder joint driven bevel gear 38, and the shoulder joint assembly also includes: the third shoulder joint motor 43 installed in the second shoulder joint connecting frame 42 , the third shoulder joint driving pulley 44 installed on the output shaft of the third shoulder joint motor 43, the third shoulder joint driven pulley 45 connected with the third shoulder joint driving pulley 44 belt transmission, and
  • the third shoulder joint driven bevel gear 46 coaxially connected with the third shoulder joint driven pulley 45, the third shoulder joint driven bevel gear 47 meshed with the third shoulder joint driven bevel gear 46 are installed on the The fourth shoulder joint motor 48 in the two shoulder joint connecting frames 42, the fourth shoulder joint driving pulley 49 installed on the output shaft of the fourth shoulder joint motor 48, and the fourth shoulder joint driving pulley 49 belt
  • the fourth shoulder joint driven pulley 50 connected by transmission, the fourth shoulder joint driving bevel gear 51 coaxially connected with the fourth shoulder joint driven pulley 50, meshes with the fourth shoulder joint driving bevel gear 51
  • the third shoulder joint driving bevel gear 46 and the fourth shoulder joint driving bevel gear 51 are oppositely arranged and are installed on the second shoulder joint rotating shaft 54 through bearings, and the fifth shoulder joint driven bevel gear 55 is clamped on the third shoulder joint rotating shaft 54.
  • the first big arm connecting frame 53 is rotatably connected to the end of the second shoulder joint connecting frame 42
  • the second shoulder joint rotating shaft 54 is fixedly connected with the second shoulder joint connecting frame 42
  • the first big arm connecting frame 53 is rotatably mounted on the second shoulder joint connecting frame 42 through a bearing.
  • the second big arm connecting frame 56 is fixedly connected with the rotating shaft of the fifth shoulder joint driven bevel gear 55.
  • the driving part of the elbow joint assembly is installed in the second big arm connecting frame 56, and the elbow joint assembly includes: the first elbow joint motor 57 installed in the second big arm connecting frame 56, and the first elbow The first elbow joint driving pulley 58 connected to the output shaft of the joint motor 57, the first elbow driven pulley 59 connected with the first elbow driving pulley 58 by a belt, and the first elbow driven pulley 59 connected with the first elbow joint
  • the first elbow joint driving bevel gear 60 coaxially connected with the driving pulley 59 and the first elbow driven bevel gear 61 meshed with the first elbow joint driving bevel gear 60 are installed in the second big arm connecting frame 56
  • the second elbow joint motor 62, the second elbow joint driving pulley 63 connected to the output shaft of the second elbow joint motor 62, the second elbow joint driving pulley 63 connected with the second elbow joint through a belt
  • the driven pulley 64, the second elbow joint driving bevel gear 65 coaxially connected with the second elbow joint driven pulley 64, and the
  • a second forearm link 72 is fixedly connected to the rotating shaft of the second elbow driven bevel gear 67 , and a hand 70 is rotatably connected to the end of the second forearm link 72 .
  • the embodiment of the present invention can realize personal escort for the patient, monitor the patient's expression state and needs at all times, and feed back real-time video and images to the remote monitoring room through the camera 71 .
  • the embodiment of the present invention can also serve for feeding and delivering medicine to the patient and the action of picking up the patient.
  • the mecanum wheel can drive the nurse robot to move, turn, etc. Both the front and rear pitch components and the left and right swing components drive the turbine to rotate through the worm, and then drive the frame fixedly connected with the turbine to rotate to realize the pitch and left and right swing movements of the body respectively.
  • the shoulder joint of the upper limb assembly adopts two differential mechanisms to realize the flexible movement of the shoulder joint of the robot.
  • the shoulder joint assembly as an example to illustrate the working principle and process of differential motion, if the active bevel gear 31 of the first shoulder joint and the active bevel gear 31 of the second shoulder joint
  • the bevel gear 37 rotates in the same direction and at the same speed, and then drives the first shoulder joint driven bevel gear 38 to rotate around its own axis of rotation to realize the internal rotation and external rotation of the big arm around its own axis.
  • first shoulder joint driving bevel gear 31 and the second shoulder joint driving bevel gear 37 move in opposite directions at the same speed, the first shoulder joint driven bevel gear 38 will be driven to rotate around the first shoulder joint rotating shaft 39 to realize the adduction of the big arm and outreach. If the first shoulder joint driving bevel gear 31 and the second shoulder joint driving bevel gear 37 rotate in the same direction at different speeds or move in the opposite direction at different speeds, the compound motion of internal rotation/external rotation and adduction/abduction is realized.

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

Abstract

一种护士机器人，包括移动底座组件、前后俯仰组件、左右摆动组件、胸腔架（25）、以及安装在胸腔架（25）左右两侧的上肢组件；前后俯仰组件包括俯仰驱动电机（3）、连接俯仰驱动电机（3）输出轴上的俯仰主动带轮（4）、与俯仰主动带轮（4）通过带传动链接的俯仰从动带轮（5）、与俯仰从动带轮（5）同轴连接的俯仰蜗杆（6）、与俯仰蜗杆（6）啮合的俯仰蜗轮（7）以及固定连接在俯仰蜗轮（7）上的俯仰轴（8）；俯仰蜗轮（7）与摆动蜗轮（20）的转轴相互垂直。通过前后俯仰组件能够实现护士机器人的前俯后仰，通过左右摆动组件能够实现护士机器人腰部的左右摆动，另外通过上肢组件可以实现对病人的抱起、送药、送饭等，能够对病人完成一般的护理和监控病人的状态。

Description

一种护士机器人 技术领域
本发明属于康复医疗技术领域，具体涉及一种护士机器人。
背景技术
重大传染病和突发公共卫生事件发生时，常伴有医护人员感染，导致病患交叉感染、隔离环境难有效控制等难题。为解决这些难题及护士不足的问题，本申请研究远程操作护士机器人，旨在研发一种具备消毒、患者健康状态监测、对患者进行搀扶、移动辅助、送饭(水)送药、喂饭(水)喂药、换输液袋、生活照料、推轮椅以及情感陪护等功能的护士机器人，满足传染病房内多模式环境下的患者照顾需求。对解决疫情突发期间医护人员不足、无法为患者提供必要照护及24小时无缝监护等问题至关重要，社会意义重大。另一方面，机器人护士更有利于患者病历管理和医疗数据的积累、整理与传输，对提高医疗智能化水平，具有重要意义。护士机器人也可用于普通病房、居家、养老机构等场所，可有效缓解我国人口老龄化背景下养老护理人手不足问题，从而减轻子女负担，提高老人的生活品质。
发明内容
本发明的目的是克服现有技术中存在的医护人员不足、容易病患人员与医护人员之间容易产生交叉感染的问题，提供一种护士机器人。
本发明解决其技术问题所采用的技术方案是：
一种护士机器人，其特征在于：包括：移动底座组件、前后俯仰组件、左右摆动组件、胸腔架、以及安装在胸腔架左右两侧的上肢组件；移动底座组件上固定安装有俯仰支架，前后俯仰组件包括安装在俯仰支架上的俯仰驱动电机、连接做所述俯仰驱动电机输出轴上的俯仰主动带轮、与所述俯仰主动带轮通过带传动链接的俯仰从动带轮、与所述俯仰从动带轮同轴连接的俯仰涡杆、与所述俯仰蜗杆啮合的俯仰蜗轮以及固定连接在俯仰蜗轮上的俯仰轴；俯仰支架上通过俯仰轴转动连接有第一连接架，俯仰轴通过轴承安装在俯仰支架上，所述第一连接架上安装有摆动支架，所述左右摆动组件包括通过电机支架安装在摆动支架上的摆动电机、连接在摆动电机输出轴上的摆动主动带轮、与所述摆动主动带轮通过带传动连接的摆动从动带轮、与所述摆动从动带轮同轴连接的摆动蜗杆、与所述摆动蜗杆啮合的摆动蜗轮固定在所述摆动蜗轮中心的摆动轴；摆动支架上通过摆动轴转动连接有第二连接架，摆动轴通过轴承安装在所述摆动支架上；所述俯仰蜗轮与所述摆动蜗轮的转轴相互垂直。
进一步地，所述第二连接架上固定安装有第三连接架，第三连接架内安装驱动器，第三连接架上固定有第四连接架，所述第四连接架上端中心处的前后侧具有安装挡块，安装挡块的两侧对称设置有从中间向左右两侧倾斜的第一对接面；所述第四连接架上侧面安装胸腔架，所述胸腔架的下侧面为与所述第一对接面倾斜角度相同的第二对接面，胸腔架的下侧的中间位置安装在两安装挡块之间，并通过螺栓固定在第四连接架上；两所述第二对接面设置在安装档卡的左右两侧。
进一步地，所述上肢组件包括：肩关节组件、第一大臂连架、第二大臂连架、肘关节组件、第一小臂连架、第二小臂连架和手部；肩关节组件包括：安装在胸腔架内的第一肩关节电机、安装在所述第一肩关节电机输出轴上的第一主动齿轮、与所述第一主动齿轮啮合的第一从动齿轮、与所述第一从动齿轮同轴连接的第一肩关节蜗杆、与所述第一肩关节蜗杆啮合的第一肩关节涡轮、与所述第一肩关节涡轮同轴连接的第一肩关节主动锥齿轮、安装在胸腔架内的第二肩关节电机、安装在所述第二肩关节电机输出轴上的第二主动齿轮、与所述第二主动齿轮啮合的第二从动齿轮、与所述第二从动齿轮同轴连接的第二肩关节蜗杆、与所述第二肩关节蜗杆啮合的第二肩关节涡轮、与所述第二肩关节涡轮同轴连接的第二肩关节主动锥齿轮以及均与所述第一肩关节主动锥齿轮和第二肩关节主动锥齿轮啮合的第一肩关节从动锥齿轮；所述第一肩关节主动锥齿轮与所述第二肩关节主动锥齿轮通过轴承相对安装在第一肩关节转轴上。第一肩关节转轴与胸腔架的上下两端固定连接，所述第一肩关节从动锥齿轮位于第一肩关节主动锥齿轮和第二肩关节主动锥齿轮之间；所述第一肩关节连架通过轴承转动安装在第一肩关节转轴的两端。
进一步地，所述胸腔架的上端用来与所述第一肩关节连架对接的面为从中间向左右两侧向下倾斜的肩关节安装斜面，肩关节安装斜面与第二对接面平行。
进一步地，第二肩关节连接架固定安装在第一肩关节从动锥齿轮的转轴上，肩关节组件还包括：安装在第二肩关节连接架内的第三肩 关节电机、安装在所述第三肩关节电机输出轴上的第三肩关节主动带轮、与所述第三肩关节主动带轮带传动连接的第三肩关节从动带轮、与所述第三肩关节从动带轮同轴连接的第三肩关节主动锥齿轮、与所述第三肩关节主动锥齿轮啮合的第三肩关节从动锥齿轮、安装在第二肩关节连接架内的第四肩关节电机、安装在所述第四肩关节电机输出轴上的第四肩关节主动带轮、与所述第四肩关节主动带轮带传动连接的第四肩关节从动带轮、与所述第四肩关节从动带轮同轴连接的第四肩关节主动锥齿轮、与所述第四肩关节主动锥齿轮啮合的第四肩关节从动锥齿轮、以及均与所述第三肩关节从动锥齿轮和第四肩关节从动锥齿轮啮合的第五肩关节从动锥齿轮。
进一步地，所述第三肩关节主动锥齿轮和所述第四肩关节主动锥齿轮相对设置且均通过轴承安装在第二肩关节转轴上，第五肩关节从动锥齿轮被夹持在所述第三肩关节从动锥齿轮和第四肩关节从动锥齿轮之间；第一大臂连架转动连接在第二肩关节连接架的末端，第二肩关节转轴与第二肩关节连接架固定连接，第一大臂连架通过轴承转动安装在所述第二肩关节转轴上，第二大臂连架与第五肩关节从动锥齿轮的转轴固定连接。
进一步地，所述肘关节组件包括：安装在第二大臂连架内的第一肘关节电机、与所述第一肘关节电机的输出轴连接的第一肘关节主动带轮、与所述第一肘关节主动带轮通过带连接的第一肘关节从动带轮、与所述第一肘关节从动带轮同轴连接的第一肘关节主动锥齿轮、与所述第一肘关节主动锥齿轮啮合的第一肘关节从动锥齿轮、安装在第二 大臂连架内的第二肘关节电机、与所述第二肘关节电机的输出轴连接的第二肘关节主动带轮、与所述第二肘关节主动带轮通过带连接的第二肘关节从动带轮、与所述第二肘关节从动带轮同轴连接的第二肘关节主动锥齿轮、与所述第二肘关节主动锥齿轮啮合的第二肘关节从动锥齿轮以及与第一肘关节从动锥齿轮和第二肘关节从动锥齿轮均啮合的第三肘关节从动锥齿轮；第二大臂连架的下端转动连接有第一小臂连架，第一肘关节从动锥齿轮和第二肘关节从动锥齿轮转动安装在同一个肘关节转轴上，肘关节转轴与第二大臂连架固定连接，肘关节转轴的两端通过轴承转动安装在第一小臂连架上，所述第三肘关节从动锥齿轮位于第一肘关节从动锥齿轮和第二肘关节从动锥齿轮之间。
进一步地，所述第二肘关节从动锥齿轮的转轴上固定连接有第二小臂连架，所述第二小臂连架的末端转动连接有手部。
进一步地，所述胸腔架上端的中心位置为平面且安装有头部组件，头部组件上具有摄像头。
更进一步地，所述第一连接架的上面具有定位槽，所述摆动支架包括四个相互平行设置的第一支撑板、第二支撑板、第三支撑板和第四支撑板，四个支撑板的下端具有定位条，通过定位条卡设到定位槽到正确的位置后，再通过螺栓将四个支撑板于第一连接架固定在一起。
本发明的一种护士机器人的有益效果是：
1、通过前后俯仰组件能够实现护士机器人的前俯后仰，通过左右摆动组件能够实现护士机器人腰部的左右摆动，另外通 过上肢组件可以实现对病人的抱起、送药、送饭等，能够对病人完成一般的护理和监控病人的状态。
2、肩关节的驱动机构安装在胸腔架的内部以及第一大臂连架的内部，肘关节的驱动机构安装在第一小臂连架的内部，保证护士机器人的外表没有突出的结构，减小机器人的体积，包上人造皮肤后在护理病人时给病人产生亲和感和舒适感。
3、将胸腔架的上端设置肩关节安装斜面，更类似人类肩膀处的机构使手臂运动更灵活。
附图说明
下面结合附图和具体实施方式对本发明作进一步详细的说明。
图1是本发明实施例整体立体结构图；
图2是本发明实施例的前后俯仰组件立体图；
图3是本发明实施例的左右摆动组件立体图；
图4是本发明实施例的左右摆动组件缺省部分部件后立体图；
图5是本发明实施例的胸腔架附近零部件图；
图6是本发明实施例的肩关节组件的部分结构图；
图7是本发明实施例的肘关节组件的部分结构图；
图8是本发明实施例的摆动支架的立体图；
图9是本发明实施例的第四连接架结构图。
图中:1、麦克纳姆轮，2、俯仰支架，3、俯仰驱动电机，4、俯仰主动带轮，5、俯仰从动带轮，6、俯仰涡杆，7、俯仰蜗轮，8、俯仰轴，9、第一连接架，91、定位槽，10、摆动支架，11、第一支撑板，12、第二支撑板，13、第三支撑板，14、第四支撑板，15、定位条，16、摆动电机，17、摆动主动带轮，18、摆动从动带轮，19、摆动蜗杆，20、摆动蜗轮，21、摆动轴，22、第二连接架，23、第三连接架，24、第四连接架，241、安装挡块，242、第一对接面，25、胸腔架，251、第二对接面，253、肩关节安装斜面，26、第一肩关节电机，27、第一主动齿轮，28、第一从动齿轮，29、第一肩关节蜗杆，30、第一肩关节涡轮，31、第一肩关节主动锥齿轮，32、第二肩关节电机，34、第二从动齿轮，35、第二肩关节蜗杆，36、第二肩关节涡轮，37、第二肩关节主动锥齿轮，38、第一肩关节从动锥齿轮，39、第一肩关节转轴，40、第一肩关节连架，41、头部组件，42、第二肩关节连接架，43、第三肩关节电机，44、第三肩关节主动带轮，45、第三肩关节从动带轮，46、第三肩关节主动锥齿轮，47、第三肩关节从动锥齿轮，48、第四肩关节电机，49、第四肩关节主动带轮，50、第四肩关节从动带轮，51、第四肩关节主动锥齿轮，52、第四肩关节从动锥齿轮，53、第一大臂连架，54、第二肩关节转轴，55、第五肩关节从动锥齿轮，56、第二大臂连架，57、第一肘关节电机，58、第一肘关节主动带轮，59、第一肘关节从动带轮，60、第一肘关节主动锥齿轮，61、第一肘关节从动锥齿轮，62、第二肘关节电机，63、第 二肘关节主动带轮，64、第二肘关节从动带轮，65、第二肘关节主动锥齿轮，66、第二肘关节从动锥齿轮，67、第三肘关节从动锥齿轮，68、第一小臂连架，69、肘关节转轴，70、手部，71、摄像头，72、第二小臂连架。
具体实施方式
现在结合附图对本发明作进一步详细的说明。这些附图均为简化的示意图，仅以示意方式说明本发明的基本结构，因此其仅显示与本发明有关的构成。
如图1-图9所示的本发明的一种护士机器人的具体实施例，
包括移动底座组件、前后俯仰组件、左右摆动组件、胸腔架25、以及安装在胸腔架25左右两侧的上肢组件；
移动底座组件包括底架以及安装在底架四个角位置的四个麦克纳姆轮1；底架上放置有蓄电池。
参见图1和图2，底架上固定安装有俯仰支架2，前后俯仰组件包括安装在俯仰支架2上的俯仰驱动电机3、连接做所述俯仰驱动电机3输出轴上的俯仰主动带轮4、与所述俯仰主动带轮4通过带传动链接的俯仰从动带轮5、与所述俯仰从动带轮5同轴连接的俯仰涡杆6、与所述俯仰蜗杆啮合的俯仰蜗轮7以及固定连接在俯仰蜗轮7上的俯仰轴8。
俯仰支架2上通过俯仰轴8转动连接有第一连接架9，俯仰轴8通过轴承安装在俯仰支架2上，所述第一连接架9上安装有摆动支架10，第一连接架9的上面具有定位槽91，摆动支架10包括四个相互 平行设置的第一支撑板11、第二支撑板12、第三支撑板13和第四支撑板14，参见图8，四个支撑板的下端具有定位条15，通过定位条15卡设到定位槽91到正确的位置后，再通过螺栓将四个支撑板于第一连接架9固定在一起。
参见图3，所述左右摆动组件包括通过电机支架安装在摆动支架10上的摆动电机16、连接在摆动电机16输出轴上的摆动主动带轮17、与所述摆动主动带轮17通过带传动连接的摆动从动带轮18、与所述摆动从动带轮18同轴连接的摆动蜗杆19、与所述摆动蜗杆19啮合的摆动蜗轮20固定在所述摆动蜗轮20中心的摆动轴21；摆动支架10上通过摆动轴21转动连接有第二连接架22，摆动轴21通过轴承安装在所述摆动支架10上；摆动电机16、摆动主动带轮17、摆动从动带轮18、摆动蜗杆19、摆动蜗轮20位于第一支撑板11和第二支撑板12形成的空间内。其中俯仰蜗轮7与所述摆动蜗轮20的转轴相互垂直。
第二连接架22上固定安装有第三连接架23，第三连接架23内安装驱动器，第三连接架23上固定有第四连接架24，参见图9，第四连接架24上端中心处的前后侧具有安装挡块24，安装挡块241的两侧对称设置有从中间向左右两侧倾斜的第一对接面242；所述第四连接架24上侧面安装胸腔架25，所述胸腔架25的下侧面为与所述第一对接面242倾斜角度相同的第二对接面251，胸腔架25的下侧的中间位置安装在两安装挡块241之间，并通过螺栓固定在第四连接架24上。两所述第二对接面251设置在安装档卡24的左右两侧。
两上肢组件对称安装在胸腔架25的左右两侧，参见图1，上肢组件包括：肩关节组件、第一大臂连架53、第二大臂连架56、肘关节组件、第一小臂连架68、第二小臂连架73和手部70。参见图5，肩关节组件包括：安装在胸腔架25内的第一肩关节电机26、安装在所述第一肩关节电机26输出轴上的第一主动齿轮27、与所述第一主动齿轮27啮合的第一从动齿轮28、与所述第一从动齿轮28同轴连接的第一肩关节蜗杆29、与所述第一肩关节蜗杆29啮合的第一肩关节涡轮30、与所述第一肩关节涡轮30同轴连接的第一肩关节主动锥齿轮31、安装在胸腔架25内的第二肩关节电机32、安装在所述第二肩关节电机32输出轴上的第二主动齿轮未示出、与所述第二主动齿轮啮合的第二从动齿轮34、与所述第二从动齿轮34同轴连接的第二肩关节蜗杆35、与所述第二肩关节蜗杆35啮合的第二肩关节涡轮36、与所述第二肩关节涡轮36同轴连接的第二肩关节主动锥齿轮37以及均与所述第一肩关节主动锥齿轮31和第二肩关节主动锥齿轮37啮合的第一肩关节从动锥齿轮38；所述第一肩关节主动锥齿轮31与所述第二肩关节主动锥齿轮37通过轴承相对安装在第一肩关节转轴39上。第一肩关节转轴39与胸腔架25的上下两端固定连接，所述第一肩关节从动锥齿轮38位于第一肩关节主动锥齿轮31和第二肩关节主动锥齿轮37之间。第一肩关节连架40通过轴承转动安装在第一肩关节转轴39的两端。
参见图5，胸腔架25的上端用来与所述第一肩关节连架40对接的面为从中间向左右两侧向下倾斜的肩关节安装斜面253，肩关节安 装斜面253与第二对接面251平行，这种结构跟类似人体的肩膀处结构。胸腔架25上端的中心位置为平面且安装有头部组件41，头部组件41上具有摄像头71，相当于人类的眼睛。
参见图6，第二肩关节连接架42固定安装在第一肩关节从动锥齿轮38的转轴上，肩关节组件还包括：安装在第二肩关节连接架42内的第三肩关节电机43、安装在所述第三肩关节电机43输出轴上的第三肩关节主动带轮44、与所述第三肩关节主动带轮44带传动连接的第三肩关节从动带轮45、与所述第三肩关节从动带轮45同轴连接的第三肩关节主动锥齿轮46、与所述第三肩关节主动锥齿轮46啮合的第三肩关节从动锥齿轮47、安装在第二肩关节连接架42内的第四肩关节电机48、安装在所述第四肩关节电机48输出轴上的第四肩关节主动带轮49、与所述第四肩关节主动带轮49带传动连接的第四肩关节从动带轮50、与所述第四肩关节从动带轮50同轴连接的第四肩关节主动锥齿轮51、与所述第四肩关节主动锥齿轮51啮合的第四肩关节从动锥齿轮52、以及均与所述第三肩关节从动锥齿轮47和第四肩关节从动锥齿轮52啮合的第五肩关节从动锥齿轮55。
第三肩关节主动锥齿轮46和第四肩关节主动锥齿轮51相对设置且均通过轴承安装在第二肩关节转轴54上，第五肩关节从动锥齿轮55被夹持在所述第三肩关节从动锥齿轮47和第四肩关节从动锥齿轮52之间。第一大臂连架53转动连接在第二肩关节连接架42的末端，第二肩关节转轴54与第二肩关节连接架42固定连接，第一大臂连架53通过轴承转动安装在所述第二肩关节转轴54上，第二大臂连架56 与第五肩关节从动锥齿轮55的转轴固定连接。
参见图7，肘关节组件的驱动部分安装在第二大臂连架56内，肘关节组件包括：安装在第二大臂连架56内的第一肘关节电机57、与所述第一肘关节电机57的输出轴连接的第一肘关节主动带轮58、与所述第一肘关节主动带轮58通过带连接的第一肘关节从动带轮59、与所述第一肘关节从动带轮59同轴连接的第一肘关节主动锥齿轮60、与所述第一肘关节主动锥齿轮60啮合的第一肘关节从动锥齿轮61、安装在第二大臂连架56内的第二肘关节电机62、与所述第二肘关节电机62的输出轴连接的第二肘关节主动带轮63、与所述第二肘关节主动带轮63通过带连接的第二肘关节从动带轮64、与所述第二肘关节从动带轮64同轴连接的第二肘关节主动锥齿轮65、与所述第二肘关节主动锥齿轮65啮合的第二肘关节从动锥齿轮66以及与第一肘关节从动锥齿轮61和第二肘关节从动锥齿轮66均啮合的第三肘关节从动锥齿轮67；第二大臂连架56的下端转动连接有第一小臂连架68，第一肘关节从动锥齿轮61和第二肘关节从动锥齿轮66转动安装在同一个肘关节转轴69上，肘关节转轴69与第二大臂连架56固定连接，肘关节转轴69的两端通过轴承转动安装在第一小臂连架68上，所述第三肘关节从动锥齿轮67位于第一肘关节从动锥齿轮61和第二肘关节从动锥齿轮66之间。
第二肘关节从动锥齿轮67的转轴上固定连接有第二小臂连架72，第二小臂连架72的末端转动连接有手部70。
本发明实施例的附图中仅表现出了护士机器人内部的机械传动 结构，还需要在机械传动结构外部包上人造皮肤，人体皮肤使机器人更温和的与病人接触。
本发明实施例能够实现对病人的贴身陪护，时刻监控病人的表情状态以及需求，通过摄像头71拍摄实时视频和图像反馈给远端的监控室。本发明实施例还能为病人喂药送药服务以及将病人抱起的动作。
本发明的各关节的运动过程为：
麦克娜姆轮可以带动护士机器人移动、转弯等。前后俯仰组件和左右摆动组件均是通过蜗杆带动涡轮转动进而带动与涡轮固定连接的架体转动分别实现身体的俯仰和左右摆动动作。
上肢组件的肩关节采用两个差动机构实现机器人肩关节的灵活运动，以肩关节组件为例说明差动运动的工作原理和过程，若第一肩关节主动锥齿轮31和第二肩关节主动锥齿轮37同向同速转动，则带动第一肩关节从动锥齿轮38绕其自身的转轴转动，实现大臂绕自身轴线的内旋和外旋运动。若第一肩关节主动锥齿轮31和第二肩关节主动锥齿轮37反向同速运动，则带动第一肩关节从动锥齿轮38绕第一肩关节转轴39转动，实现大臂的内收和外展运动。若第一肩关节主动锥齿轮31和第二肩关节主动锥齿轮37同向不同速转动或者反向不同速运动，则实现内旋/外旋和内收/外展的复合运动。
应当理解，以上所描述的具体实施例仅用于解释本发明，并不用于限定本发明。由本发明的精神所引伸出的显而易见的变化或变动仍处于本发明的保护范围之中。

Claims (10)

  1. 一种护士机器人，其特征在于：包括：移动底座组件、前后俯仰组件、左右摆动组件、胸腔架(25)、以及安装在胸腔架(25)左右两侧的上肢组件；移动底座组件上固定安装有俯仰支架(2)，前后俯仰组件包括安装在俯仰支架(2)上的俯仰驱动电机(3)、连接做所述俯仰驱动电机(3)输出轴上的俯仰主动带轮(4)、与所述俯仰主动带轮(4)通过带传动链接的俯仰从动带轮(5)、与所述俯仰从动带轮(5)同轴连接的俯仰涡杆(6)、与所述俯仰蜗杆啮合的俯仰蜗轮(7)以及固定连接在俯仰蜗轮(7)上的俯仰轴(8)；俯仰支架(2)上通过俯仰轴(8)转动连接有第一连接架(9)，俯仰轴(8)通过轴承安装在俯仰支架(2)上，所述第一连接架(9)上安装有摆动支架(10)，所述左右摆动组件包括通过电机支架安装在摆动支架(10)上的摆动电机(16)、连接在摆动电机(16)输出轴上的摆动主动带轮(17)、与所述摆动主动带轮(17)通过带传动连接的摆动从动带轮(18)、与所述摆动从动带轮(18)同轴连接的摆动蜗杆(19)、与所述摆动蜗杆(19)啮合的摆动蜗轮(20)固定在所述摆动蜗轮(20)中心的摆动轴(21)；摆动支架(10)上通过摆动轴(21)转动连接有第二连接架(22)，摆动轴(21)通过轴承安装在所述摆动支架(10)上；所述俯仰蜗轮(7)与所述摆动蜗轮(20)的转轴相互垂直。
  2. 根据权利要求1所述的一种护士机器人，其特征在于：所述第二连接架(22)上固定安装有第三连接架(23)，第三连接架(23)内安全驱动器，第三连接架(23)上固定有第四连接架(24)，所述第四连接架(24)上端中心处的前后侧具有安装挡块(24)，安装挡块(241)的两侧对称设置有从中间向左右两侧倾斜的第一对接面(242)；所述第四连接架(24)上侧面安装胸腔架(25)，所述 胸腔架(25)的下侧面为与所述第一对接面(242)倾斜角度相同的第二对接面(251)，胸腔架(25)的下侧的中间位置安装在两安装挡块(241)之间，并通过螺栓固定在第四连接架(24)上；两所述第二对接面(251)设置在安装档卡(24)的左右两侧。
  3. 根据权利要求2所述的一种护士机器人，其特征在于：所述上肢组件包括：肩关节组件、第一大臂连架(53)、第二大臂连架(56)、肘关节组件、第一小臂连架(68)、第二小臂连架(73)和手部(70)；所述肩关节组件包括：安装在胸腔架(25)内的第一肩关节电机(26)、安装在所述第一肩关节电机(26)输出轴上的第一主动齿轮(27)、与所述第一主动齿轮(27)啮合的第一从动齿轮(28)、与所述第一从动齿轮(28)同轴连接的第一肩关节蜗杆(29)、与所述第一肩关节蜗杆(29)啮合的第一肩关节涡轮(30)、与所述第一肩关节涡轮(30)同轴连接的第一肩关节主动锥齿轮(31)、安装在胸腔架(25)内的第二肩关节电机(32)、安装在所述第二肩关节电机(32)输出轴上的第二主动齿轮、与所述第二主动齿轮啮合的第二从动齿轮(34)、与所述第二从动齿轮(34)同轴连接的第二肩关节蜗杆(35)、与所述第二肩关节蜗杆(35)啮合的第二肩关节涡轮(36)、与所述第二肩关节涡轮(36)同轴连接的第二肩关节主动锥齿轮(37)以及均与所述第一肩关节主动锥齿轮(31)和第二肩关节主动锥齿轮(37)啮合的第一肩关节从动锥齿轮(38)；所述第一肩关节主动锥齿轮(31)与所述第二肩关节主动锥齿轮(37)通过轴承相对安装在第一肩关节转轴(39)上。第一肩关节转轴(39)与胸腔架(25)的上下两端固定连接，所述第一肩关节从动锥齿轮(38)位于第一肩关节从动锥齿轮(38)和第二肩关节从动锥齿轮(53)之间；所述第一肩关节连架(40)通过轴承转动安装在第一肩关节转轴(39)的两端。
  4. 根据权利要求3所述的一种护士机器人，其特征在于：所述胸腔架(25)的上端用来与所述第一肩关节连架(40)对接的面为从中间向左右两侧向下倾斜的肩关节安装斜面(253)，肩关节安装斜面(253)与第二对接面(251)平行。
  5. 根据权利要求4所述的一种护士机器人，其特征在于：第二肩关节连接架(42)固定安装在第一肩关节从动锥齿轮(38)的转轴上，肩关节组件还包括：安装在第二肩关节连接架(42)内的第三肩关节电机(43)、安装在所述第三肩关节电机(43)输出轴上的第三肩关节主动带轮(44)、与所述第三肩关节主动带轮(44)带传动连接的第三肩关节从动带轮(45)、与所述第三肩关节从动带轮(45)同轴连接的第三肩关节主动锥齿轮(46)、与所述第三肩关节主动锥齿轮(46)啮合的第三肩关节从动锥齿轮(47)、安装在第二肩关节连接架(42)内的第四肩关节电机(48)、安装在所述第四肩关节电机(48)输出轴上的第四肩关节主动带轮(49)、与所述第四肩关节主动带轮(49)带传动连接的第四肩关节从动带轮(50)、与所述第四肩关节从动带轮(50)同轴连接的第四肩关节主动锥齿轮(51)、与所述第四肩关节主动锥齿轮(51)啮合的第四肩关节从动锥齿轮(52)、以及均与所述第三肩关节从动锥齿轮(47)和第四肩关节从动锥齿轮(52)啮合的第五肩关节从动锥齿轮(55)。
  6. 根据权利要求5所述的一种护士机器人，其特征在于：所述第三肩关节主动锥齿轮(46)和所述第四肩关节主动锥齿轮(51)相对设置且均通过轴承安装在第二肩关节转轴(54)上，第五肩关节从动锥齿轮(55)被夹持在所述第三肩关节从动锥齿轮(47)和第四肩关节从动锥齿轮(52)之间；第一大臂连架(53)转动连接在第二肩关节连接架(42)的末端，第三肩关节从动锥齿轮(47)和第四肩关 节从动锥齿轮(52)通过轴承转动安装在第二肩关节转轴(54)上，第二肩关节转轴(54)与第二肩关节连接架(42)固定连接，第一大臂连架(53)通过轴承转动安装在所述第二肩关节转轴(54)上，第二大臂连架(56)与第五肩关节从动锥齿轮(55)的转轴固定连接。
  7. 根据权利要求6所述的一种护士机器人，其特征在于：所述肘关节组件包括：安装在第二大臂连架(56)内的第一肘关节电机(57)、与所述第一肘关节电机(57)的输出轴连接的第一肘关节主动带轮(58)、与所述第一肘关节主动带轮(58)通过带连接的第一肘关节从动带轮(59)、与所述第一肘关节从动带轮(59)同轴连接的第一肘关节主动锥齿轮(60)、与所述第一肘关节主动锥齿轮(60)啮合的第一肘关节从动锥齿轮(61)、安装在第二大臂连架(56)内的第二肘关节电机(62)、与所述第二肘关节电机(62)的输出轴连接的第二肘关节主动带轮(63)、与所述第二肘关节主动带轮(63)通过带连接的第二肘关节从动带轮(64)、与所述第二肘关节从动带轮(64)同轴连接的第二肘关节主动锥齿轮(65)、与所述第二肘关节主动锥齿轮(65)啮合的第二肘关节从动锥齿轮(66)以及与第一肘关节从动锥齿轮(61)和第二肘关节从动锥齿轮(66)均啮合的第三肘关节从动锥齿轮(67)；第二大臂连架(56)的下端转动连接有第一小臂连架(68)，第一肘关节从动锥齿轮(61)和第二肘关节从动锥齿轮(66)转动安装在同一个肘关节转轴(69)上，肘关节转轴(69)与第二大臂连架(56)固定连接，肘关节转轴(69)的两端通过轴承转动安装在第一小臂连架(68)上，所述第三肘关节从动锥齿轮(67)位于第一肘关节从动锥齿轮(61)和第二肘关节从动锥齿轮(66)之间。
  8. 根据权利要求7所述的一种护士机器人，其特征在于：所述 第二肘关节从动锥齿轮(67)的转轴上固定连接有第二小臂连架(72)，所述第二小臂连架(72)的末端转动连接有手部(70)。
  9. 根据权利要求4所述的一种护士机器人，其特征在于：所述胸腔架(25)上端的中心位置为平面且安装有头部组件(41)，头部组件(41)上具有摄像头(71)。
  10. 根据权利要求2所述的一种护士机器人，其特征在于：所述第一连接架(9)的上面具有定位槽(91)，所述摆动支架(10)包括四个相互平行设置的第一支撑板(11)、第二支撑板(12)、第三支撑板(13)和第四支撑板(14)，四个支撑板的下端具有定位条(15)，通过定位条(15)卡设到定位槽(91)到正确的位置后，再通过螺栓将四个支撑板于第一连接架(9)固定在一起。
PCT/CN2021/117777 2021-06-25 2021-09-10 一种护士机器人 WO2022267234A1 (zh)

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