WO2023273603A1 - 多功能辅助护理机器人 - Google Patents

多功能辅助护理机器人 Download PDF

Info

Publication number
WO2023273603A1
WO2023273603A1 PCT/CN2022/091337 CN2022091337W WO2023273603A1 WO 2023273603 A1 WO2023273603 A1 WO 2023273603A1 CN 2022091337 W CN2022091337 W CN 2022091337W WO 2023273603 A1 WO2023273603 A1 WO 2023273603A1
Authority
WO
WIPO (PCT)
Prior art keywords
shaped
universal joint
motor
guide
beam body
Prior art date
Application number
PCT/CN2022/091337
Other languages
English (en)
French (fr)
Inventor
王成军
沈豫浙
李德权
卢绍田
吴仁愿
Original Assignee
安徽理工大学
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 安徽理工大学 filed Critical 安徽理工大学
Priority to GB2219849.3A priority Critical patent/GB2610546B/en
Publication of WO2023273603A1 publication Critical patent/WO2023273603A1/zh

Links

Images

Classifications

    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
    • A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
    • A61G7/1013—Lifting of patients by
    • A61G7/1019—Vertical extending columns or mechanisms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
    • A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
    • A61G7/1025—Lateral movement of patients, e.g. horizontal transfer
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
    • A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
    • A61G7/104—Devices carried or supported by
    • A61G7/1046—Mobile bases, e.g. having wheels
    • A61G7/1048—Mobile bases, e.g. having wheels having auxiliary drive means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
    • A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
    • A61G7/1049—Attachment, suspending or supporting means for patients
    • A61G7/1051—Flexible harnesses or slings
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
    • A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
    • A61G7/1063—Safety means
    • A61G7/1065—Safety means with electronic monitoring
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
    • A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
    • A61G7/1073—Parts, details or accessories
    • A61G7/1076—Means for rotating around a vertical axis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/008—Using suspension devices for supporting the body in an upright walking or standing position, e.g. harnesses
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/04—Wheeled walking aids for disabled persons
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching 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
    • B25J9/003—Programme-controlled manipulators having parallel kinematics
    • B25J9/0063—Programme-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/003—Programme-controlled manipulators having parallel kinematics
    • B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2203/00—General characteristics of devices
    • A61G2203/70—General characteristics of devices with special adaptations, e.g. for safety or comfort
    • A61G2203/72—General characteristics of devices with special adaptations, e.g. for safety or comfort for collision prevention
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
    • A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
    • A61G7/1073—Parts, details or accessories
    • A61G7/1078—Clamps for flexible harnesses
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/04—Wheeled walking aids for disabled persons
    • A61H2003/043—Wheeled walking aids for disabled persons with a drive mechanism
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1657—Movement of interface, i.e. force application means
    • A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2203/00—Additional characteristics concerning the patient
    • A61H2203/04—Position of the patient
    • A61H2203/0406—Standing on the feet
    • 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
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries

Definitions

  • the invention belongs to the technical field of medical devices, in particular to a multifunctional auxiliary nursing robot based on a hybrid mechanism.
  • Nursing work for disabled groups mainly includes eating, toileting, cleaning, transfer and transportation, and personal hygiene.
  • the existing nursing care is still mainly manual, with high labor intensity, difficult nursing care, and self-help cannot be realized.
  • transfer and handling robots on the market can safely pick up the care recipient from the bed and move them to a wheelchair or other positions, but the existing robots have the following technical defects: (1)
  • the robot's executive working arm is a rigid mechanical When lifting and moving the care receiver with one arm or both arms, the comfort is poor, and sometimes it is easy to cause harm to the human body; (2) the care receiver is easy to slip when lifting and moving the care receiver, and the safety is low; ( 3) Poor adaptability to people of different shapes and sizes; (4)
  • the lifting process requires the assistance of a nurse and is labor-intensive, with high technical requirements and low automation level; (5)
  • the function is single and cannot meet the actual needs of auxiliary nursing.
  • the Chinese invention patent with application number 201810901199.3 discloses an assisted action nursing robot, which provides an assisted action nursing robot that can reduce the labor intensity of the caregiver, facilitate the movement of the care receiver, and support the care receiver safely and reliably.
  • the disadvantage is that it also depends on the personal physical functions of the care receiver, and needs to complete key actions by grasping the support armrest, and the working space is limited.
  • the application number is 202010929938.7.
  • the Chinese invention patent discloses an auxiliary transporting transfer robot for patients with limited mobility.
  • the Chinese invention patent with the application number of 202010479835.5 discloses a multi-arm cooperative transfer nursing robot, including a frame, a base mechanism, a lifting mechanism, a lifting mechanism and a linkage transfer mechanism. When transferring the care receiver, the lying cloth is lifted by the linkage transfer mechanism
  • the care receiver above is a transfer device with a series structure, which has poor stability and comfort, and has a single function.
  • the Chinese invention patent with the application number 201811644911.2 discloses a medical auxiliary robot for stereotaxic positioning in puncture surgery, including a fixed connection device, a position adjustment device, a control device and a guide device. Assisted Nursing and Rehabilitation Training.
  • the purpose of the present invention is to address the deficiencies in the prior art and provide a multifunctional auxiliary nursing robot based on a hybrid mechanism.
  • the end of its body has five degrees of freedom in space, two translations and three rotations, which can be operated by self-help or nursing staff. Helping the disabled achieve functions such as getting up, transferring, going to the toilet, cleaning, adjusting posture, and assisting sports rehabilitation, reduces the labor intensity and nursing cost of nursing staff, and can overcome the defects of the existing technology.
  • a multifunctional auxiliary nursing robot includes a mobile platform, a slewing device, a lifting device, a support beam assembly, a parallel working arm, a lateral movement driving device, an attitude adjustment driving device and a measurement and control system.
  • the mobile platform includes a vehicle frame, a casing, a driving wheel train, a driven wheel, a driving wheel driving device and a power supply, and is used to carry a slewing device, a lifting device, a support beam assembly, a parallel working arm and drive an auxiliary nursing robot to move and walk.
  • the driving wheel train and the driven wheel are respectively arranged at the rear end and the front end under the vehicle frame, and the driving wheel driving device is arranged at the bottom of the vehicle frame close to the position of the driving wheel train, and is used to drive the driving wheel train to rotate;
  • the casing is fixed and installed on the vehicle frame by screws, which plays the role of safety protection and decoration;
  • a slewing device mounting frame is provided above the rear end of the vehicle frame for fixing and installing the slewing device; on the vehicle frame
  • a bottom bracket is provided below the rear end, a T-shaped bracket and a power supply bracket are arranged on the bottom bracket, and the power supply bracket is located at the front end of the T-shaped bracket, and the T-shaped bracket and the bottom bracket are welded Fixed connection, the power supply bracket and the bottom bracket are fixedly connected by screws;
  • the power supply is installed on the power supply bracket, and is used for the driving device and the measurement and control system to provide power;
  • the driving wheel train includes two driving wheels and a driving wheel shaft, the
  • the lower end of the slewing device is fixed on the slewing device mounting frame of the vehicle frame by screws, and is used to drive the lifting device, the support beam assembly and the parallel working arm to perform slewing motion around the vertical axis.
  • the lower end of the lifting device is fixed on the top of the slewing device by screws, and is used to drive the supporting beam assembly and the parallel working arm to perform lifting movement.
  • the rear end of the support beam assembly is installed on the lifting device, which is used for suspension support and installation of parallel working arms, and also serves as a support device for users to perform rehabilitation training such as assisting standing and walking.
  • the parallel working arm is mainly used to lift the user or adjust the posture of the user.
  • the upper end of the parallel working arm is installed on the support beam assembly, and is connected with the support beam assembly through a traversing drive device.
  • a traversing drive device There are two traversing drive devices, which are symmetrically and fixedly installed under the support beam assembly, and are used to drive the parallel working arm to move back and forth on the support beam assembly.
  • the attitude adjustment driving device is fixedly installed under the right side of the support beam assembly, and is used to provide power for the attitude adjustment of the parallel working arms.
  • the driving device of the driving wheel includes a traveling motor, a driving gear, a driven gear and a combination bracket.
  • the combined bracket includes a main mounting plate, a shaft bracket and a motor mounting plate, which are used for fixedly installing the driving wheel shaft and the walking motor;
  • the walking motor described above is fixedly installed on the motor mounting plate through screws to provide power for the mobile walking of the mobile platform;
  • the driving gear is fixedly installed on the output shaft of the walking motor, and the driven gear is idly mounted on the driving wheel shaft , and is fixedly connected with the driving wheel through screws, and the driving gear and the driven gear are kept in external engagement;
  • the shaft bracket, the motor mounting plate and the main mounting plate are fixedly connected by welding, or made by casting Into an integral casting structure;
  • the travel motor adopts a servo geared motor or a servo hydraulic motor.
  • the rotary device includes a rotary top cover, a rotary base, a rotary motor, a rotary gear and an inner ring gear.
  • the slewing base is fixedly installed on the slewing device mounting frame of the vehicle frame by screws, and is used to support the slewing top cover, install the slewing motor and the ring gear;
  • the slewing top cover is used to support and fix the lifting device ,
  • the revolving top cover is set in the revolving base, and is connected with the revolving base through two deep groove ball radial bearings and a cylindrical roller thrust bearing;
  • the revolving motor is fixedly installed on the revolving base On the base, it is used to provide power for the rotation of the rotary gear.
  • the rotary gear is fixedly installed on the output shaft of the rotary motor; the inner ring gear is fixed and installed in the rotary top cover by screws, and is kept inside the rotary gear. Engagement; an angle sensor is also provided in the revolving base to collect the parameters of the angle of rotation of the revolving top cover relative to the revolving base; the revolving motor adopts a servo geared motor or a servo hydraulic motor.
  • the lifting device includes a bottom connecting plate, a guide column, a connecting beam, a driving cylinder, a lifting seat, a guiding module and a top connecting plate.
  • the bottom connecting plate is fixedly installed on the rotary top cover of the slewing device by screws; there are two guide columns, which are symmetrically installed between the bottom connecting plate and the top connecting plate, and are connected with the bottom connecting plate, the top connecting plate,
  • the connecting plates are fixedly connected by screws or welding; there are two guide modules, which are symmetrically fixed and installed on the lifting seat, and the guide modules are embedded in the guide grooves of the adjacent guide columns.
  • the connecting beam is used to fix and install the drive cylinder, the connecting beam is located above the bottom connecting plate and its two ends are respectively fixed with the adjacent guide columns by means of screws or welding.
  • the drive cylinder can provide power for the lifting seat to slide up and down along the guide column, the lower end of the drive cylinder is fixedly installed on the connecting beam, and its upper end is connected with the lifting seat through a hinge;
  • the upper and lower ends are provided with anti-slip teeth, which are used to prevent the support beam assembly from slipping on the lifting seat;
  • the drive cylinder adopts an electric push rod or an air cylinder or a hydraulic cylinder.
  • the guide module includes a guide frame, an upper guide wheel, an upper adjustment screw, a lower guide wheel and a lower adjustment screw.
  • an upper wheel hole and a lower wheel hole are respectively provided at the upper and lower ends of the guide frame, which are respectively used to install the upper guide wheel and the lower guide wheel, and the upper wheel hole and the lower wheel hole are long waist-shaped through holes
  • the upper guide wheel and the lower guide wheel are respectively installed in the upper wheel hole and the lower wheel hole, and the upper adjustment screw and the lower adjustment screw are respectively located on the outer side of the upper end and the inner side of the lower end of the guide frame, and are connected with the guide frame through threads;
  • the upper guide wheel is located in the guide groove of the guide column and keeps in contact with the front guide surface of the guide groove, and the lower guide wheel is located in the guide groove of the guide column and keeps in contact with the rear guide surface of the guide groove;
  • the adjusting screw is kept perpendicular to the axis of the upper guide wheel, the lower adjusting screw is kept perpendicular to
  • the upper guide wheel includes a wheel body, a mounting part and a locking part.
  • the installation part is located between the wheel body and the locking part, the wheel body and the installation part are connected through bearings, and two symmetrical arrangements are arranged on the outer surface of the installation part and are connected with the upper
  • the positioning plane matched with the wheel hole; an external thread is provided on the outer cylindrical surface of the locking part.
  • the structure of the lower guide wheel is identical to that of the upper guide wheel.
  • the supporting beam assembly includes a left cantilever beam and a right cantilever beam.
  • the structure of the left cantilever beam and the right cantilever beam is exactly the same, and they are arranged symmetrically on the lifting seat of the lifting device.
  • the left cantilever beam includes a left L-shaped beam body, a left embedded cover and a left guide rail. Wherein, the rear end of the left L-shaped beam body is set on the lifting seat, and the left embedded cover is embedded in the left L-shaped beam body by buckling; the left guide rail is located under the left L-shaped beam body And it is connected with the left L-shaped beam body through the ear seat.
  • the right cantilever beam includes a right L-shaped beam body, a right embedded cover and a right guide rail.
  • the rear end of the right L-shaped beam body is set on the lifting seat, the right embedded cover is embedded in the right L-shaped beam body by buckling, and the right guide rail is located under the right L-shaped beam body And it is connected with the right L-shaped beam body through the ear seat.
  • Anti-slip teeth are provided at the rear ends of the left L-shaped beam body and the right L-shaped beam body, and the rear ends of the left L-shaped beam body and the right L-shaped beam body are kept in contact with the lifting seat through the engagement of anti-slip teeth;
  • the bottom of the front end of the beam body and the right L-shaped beam body is provided with a T-shaped chute, which is used to install the adjustable fixed pulley of the traversing drive device. Both the left and right inlays function to improve support comfort, increase traction and decorate.
  • the parallel working arm is a three-degree-of-freedom parallel mechanism with a 4UPR structure, and the parallel working arm includes a first branch chain, a second branch chain, a third branch chain, a fourth branch chain, a left arc plate, and a right arc form board, chest and leg slings.
  • the first branch chain and the third branch chain are symmetrically arranged on the left and right sides below the rear part of the support beam assembly
  • the second branch chain and the fourth branch chain are symmetrically arranged on the left and right sides below the front end of the support beam assembly
  • the upper ends of the branch chain and the second branch chain are installed on the left guide rail of the left cantilever beam, and can slide along the left guide rail under the drive of the traverse drive device
  • the lower ends of the first branch chain and the second branch chain are respectively connected to the left
  • the two ends of the arc-shaped plate are fixedly connected
  • the upper ends of the third branch chain and the fourth branch chain are installed on the right guide rail of the right cantilever beam, and can slide along the right guide rail driven by the traverse drive device.
  • the lower ends of the branch chain and the fourth branch chain are respectively fixedly connected to the two ends of the right arc-shaped plate; the front and rear ends of the left arc-shaped plate are provided with positioning holes for leg straps, and the middle part of the left arc-shaped plate is also fixed.
  • leg slings There are two riveting holes for leg slings, and positioning holes for chest and abdomen slings are provided at both ends of the right arc-shaped plate; the leg slings are used to fix the user's thighs, and the leg slings There are two, and they are symmetrically fixed on the left arc-shaped board; the chest and abdomen straps are used to fix the chest and abdomen of the user, and the two ends of the chest and abdomen straps are respectively connected to the two ends of the right arc-shaped board .
  • the structures of the first branch chain, the second branch chain, the third branch chain and the fourth branch chain are exactly the same, and their mechanism topological structures are all UPR structures.
  • the first branch chain includes a first universal joint, a first outer sleeve, a first inner rod and a first hinge.
  • the upper end of the first universal joint is fitted on the left guide rail and passes through a linear bearing with the left guide rail.
  • the lower end of the first universal joint is fixedly connected with the upper end of the first outer sleeve, a plurality of adjustment pin holes are arranged on the first outer sleeve, and the upper end of the first inner rod is covered
  • the second branch chain includes a second universal joint, a second outer sleeve, a second inner rod and a second hinge, and the upper end of the second universal joint is fitted on the left guide rail and passes through a straight line with the left guide rail
  • the bearing is
  • the traverse driving device includes a traverse motor, a traverse reel, an adjustable fixed pulley, a tensioning device, a traverse wire rope and a traverse motor bracket.
  • the traversing motor bracket is fixedly installed on the left L-shaped beam body or the right L-shaped beam body through screws;
  • the traversing motor is fixedly installed on the traversing motor bracket through screws, and is used for The rotation of the disk and the horizontal movement of the parallel working arm provide power;
  • the traverse reel is fixedly installed on the output shaft of the traverse motor;
  • the adjustable fixed pulley is fixedly installed on the left L-shaped beam body or the right L-shaped beam The front end of the beam body;
  • the tensioning device is used for tensioning the traversing wire rope, and the tensioning device is located at the rear end of the adjustable fixed pulley and is close to the adjustable fixed pulley, and is fixed on the left L-shaped beam by screws body or the front end of the right L-shaped beam body; the front and rear ends of the traversing wire rope are
  • the adjustable fixed pulley includes a pulley seat, a pulley shaft and a pulley.
  • the top of the pulley seat is provided with a T-shaped slider, and the T-shaped slider of the pulley seat is placed in the T-shaped chute of the left L-shaped beam body or the right L-shaped beam body; It is fixedly installed on the pulley seat and connected with the pulley shaft through bearings.
  • the tensioning device includes a tensioning bracket and a tensioning screw.
  • the tensioning bracket is fixedly installed under the front end of the left L-shaped beam body or the right L-shaped beam body through screws, and the tensioning screw is connected with the tensioning bracket through threads, and the front end of the tensioning screw is connected to the front end of the right L-shaped beam body.
  • the pulley blocks remain in contact.
  • the attitude adjustment driving device includes an attitude adjustment motor, an attitude adjustment reel and an attitude adjustment wire rope.
  • the attitude adjustment motor is fixed and installed on the rear end of the right L-shaped beam body by screws and is located directly below the right guide rail. It is the right arc-shaped plate in the parallel working arm and is fixed on the left and right arc-shaped plates.
  • the attitude adjustment of the user provides power;
  • the attitude adjustment reel is fixedly installed on the output shaft of the attitude adjustment motor, and is used to store and wind the attitude adjustment wire rope;
  • the attitude adjustment wire rope has two, and the attitude adjustment wire rope
  • the rear end is fixed and wound on the attitude adjustment reel, and the front end of one of the two attitude adjustment wire ropes passes through the third universal joint and the third outer sleeve and is firmly connected with the third inner rod.
  • the other front end of the wire rope passes through the fourth universal joint and the fourth outer casing and is fixedly connected with the fourth inner rod.
  • Both the traverse motor and the attitude adjustment motor use small servo geared motors.
  • the measurement and control system includes a binocular vision camera, a laser radar, a ranging sensor and a controller.
  • the binocular vision camera is fixed on the top connection plate of the lifting device by screws, and the laser radar is fixed by screws.
  • distance measuring sensors are arranged on the front side, rear side, left side and right side of the cover of the mobile platform, and are fixed on the cover by screws or glue.
  • the ranging sensor adopts a laser ranging sensor or an ultrasonic ranging sensor; the controller is fixedly installed on the T-shaped bracket of the vehicle frame by screws, and a data acquisition card is also provided in the described controller for collecting Sensing information of lidar, ranging sensor, angle sensor and displacement sensor, and the graphic information from binocular vision camera; Described binocular vision camera and the power supply in the vehicle frame, the data acquisition card in the controller pass through respectively
  • the power line is connected with the data line
  • the ranging sensor and the laser radar are connected with the data acquisition card through the data line
  • the binocular vision camera is provided with an LED lighting source.
  • the controller is used to control the mobile platform, the slewing device, the lifting device, the parallel working arm, the traversing drive device, and the attitude adjustment drive device to execute corresponding actions or task instructions.
  • an angle sensor is provided at both ends of the drive shaft
  • a displacement sensor is provided in the guide module and the left cantilever
  • the angle sensor in the slewing base, the angle sensor and the displacement sensor at both ends of the drive shaft pass through It is connected with the data acquisition card through the data line.
  • the parallel working arm is a parallel mechanism with three degrees of freedom in space—translation and two rotations.
  • the parallel working arm, support beam assembly, lifting device and slewing device together constitute a hybrid mechanism with five degrees of freedom in space, two translations and three rotations, wherein the movement in the vertical direction is a redundant degree of freedom.
  • the present invention has a total of six degrees of freedom in three translations and three rotations at most.
  • the present invention When in use, if the present invention performs work tasks such as assisting the user to get up, transfer, go to the toilet, clean, adjust posture, etc., first control the walking motor in the driving wheel drive device, so that the mobile platform and the support beam assembly of the present invention are close to the user, Then drive the traverse motor in the traverse drive device, move the left arc-shaped plate and the right arc-shaped plate in the parallel working arm to approach the user's thigh and chest and abdomen respectively, and respectively connect the user's body with the leg strap and the chest-abdomen strap. The thighs and chest and abdomen are fixed on the parallel working arms.
  • the present invention performs tasks such as assisted movement rehabilitation, it is necessary to appropriately reduce the height of the support beam assembly, and adjust the distance between the left cantilever beam and the right cantilever beam fixed on the lifting seat according to the width of the user's body.
  • the arms are supported on the left and right inlays, and the user's waist or legs can also be fixed on the left and right arc-shaped boards by flexible straps according to the needs of use, so as to improve the safety of use.
  • the lengths of the first branch chain and the second branch chain in the parallel working arm can be manually adjusted according to the actual needs of users.
  • the functions of autonomous navigation, anti-collision and image recognition in the working environment are mainly realized through the laser radar, ranging sensor, binocular vision camera, acquisition card and controller in the measurement and control system.
  • the beneficial effect of the present invention is that, compared with the existing technology, the multifunctional auxiliary nursing robot of the present invention can realize functions such as getting up, transferring, going to the toilet, cleaning, adjusting posture and assisting movement rehabilitation.
  • the series adjustment mechanism and the parallel working arm work together; the human body posture can be adjusted comfortably by configuring the sling or the hanging net, and the working space is expanded through the mobile platform, which increases flexibility and can realize three translations at most.
  • the invention also has the advantages of compact structure, many degrees of freedom of movement, small space occupied by equipment, easy operation and maintenance, etc., and can overcome the defects of the prior art.
  • Self-control can also be realized by remote control on the mechanical body of the present invention.
  • Users or caregivers can realize lifting, moving, posture adjustment, and carry out joint stretching, self-supporting walking assistance, walking exercise assistance, and balance exercises through the control buttons.
  • a series of operations such as auxiliary rehabilitation training can meet the needs of auxiliary nursing work, reduce the work intensity of nursing staff, expand the range of activities of users, and improve the quality of life; and the cost is low, meeting the needs of ordinary wage earners, and easy to popularize and promote.
  • Fig. 1 is the overall structural representation of the present invention
  • Fig. 2 is a schematic diagram of the internal structure of the mobile platform of the present invention.
  • Figure 3 is a schematic diagram of the layout of the power supply and the controller on the frame
  • Fig. 4 is the A direction view of Fig. 3;
  • Figure 5 is a schematic structural view of the combined bracket in the drive wheel drive device
  • Fig. 6 is a schematic structural view of the rotary device of the present invention.
  • Fig. 7 is the structural representation of lifting device of the present invention.
  • Fig. 8 is a schematic structural view of the guiding module in the lifting device of the present invention.
  • FIG. 9 is a schematic diagram of the positional relationship between the parallel working arm and the support beam assembly of the present invention.
  • Fig. 10 is a schematic diagram of the positional relationship between the traversing drive device and the attitude adjustment drive device on the right cantilever beam of the present invention.
  • Fig. 11 is a structural schematic diagram of the tensioning device in the traversing driving device of the present invention.
  • Fig. 12 is a schematic structural view of the upper guide wheel of the present invention.
  • a multifunctional auxiliary nursing robot includes a mobile platform 1, a turning device 2, a lifting device 3, a support beam assembly 4, a parallel working arm 5, a horizontal Shift driving device 6, attitude adjustment driving device 7 and measurement and control system 8.
  • the mobile platform 1 includes a vehicle frame 11, a casing 12, a driving wheel train 13, a driven wheel 14, a driving wheel driving device 15 and a power supply 16 for carrying the slewing device 2, the lifting device 3, the supporting beam assembly 4, and the parallel
  • the working arm 5 drives the auxiliary nursing robot to move and walk.
  • the driving wheel train 13 and the driven wheel 14 are respectively arranged at the rear end and the front end below the vehicle frame 11, and the described driving wheel driving device 15 is arranged at the position below the vehicle frame 11 close to the driving wheel train 13 for driving the driving wheel.
  • the wheel train 13 rotates;
  • the cover 12 is fixed on the vehicle frame 11 by screws, which plays the role of safety protection and decoration;
  • a turning device mounting frame 111 is provided above the rear end of the vehicle frame 11 for fixing and install the swivel device 2; under the rear end of the vehicle frame 11, a bottom bracket 112 is provided, a T-shaped bracket 113 and a power supply bracket 114 are arranged on the bottom bracket 112, and the power supply bracket 114 is located at T
  • the front end of the T-shaped bracket 113, the T-shaped bracket 113 is fixedly connected with the bottom bracket 112 by welding, and the described power supply bracket 114 is fixedly connected with the bottom bracket 112 by screws;
  • the described power supply 16 is installed on the power supply bracket 114 above,
  • the lower end of the slewing device 2 is fixed on the slewing device mounting frame 111 of the vehicle frame 11 by screws, and is used to drive the lifting device 3, the support beam assembly 4 and the parallel working arm 5 to rotate around the vertical axis.
  • the lower end of the lifting device 3 is fixed on the top of the slewing device 2 by screws, and is used to drive the supporting beam assembly 4 and the parallel working arm 5 to perform lifting movement.
  • the rear end of the support beam assembly 4 is installed on the lifting device 3 for suspension support and installation of the parallel working arm 5, and also serves as a support device for users to perform rehabilitation training such as assisting standing and walking.
  • the parallel working arm 5 is mainly used to lift the user or adjust the posture of the user.
  • the upper end of the parallel working arm 5 is installed on the support beam assembly 4 and is connected to the support beam assembly 4 through the traverse driving device 6 .
  • There are two traversing drive devices 6 which are symmetrically and fixedly installed under the support beam assembly 4 , and are used to drive the parallel working arm 5 to move back and forth on the support beam assembly 4 .
  • the attitude adjustment driving device 7 is fixedly installed under the right side of the support beam assembly 4, and is used to provide power for the attitude adjustment of the parallel working arms 5.
  • the driving wheel driving device 15 includes a traveling motor 151 , a driving gear 152 , a driven gear 153 and a combination bracket 154 .
  • the combined bracket 154 includes a main mounting plate 1541, a shaft bracket 1542 and a motor mounting plate 1543 for fixedly installing the driving wheel shaft 132 and the travel motor 151;
  • the main mounting plate 1541 is fixed on the vehicle frame 11 by screws Below the rear end of the bottom bracket 112, the traveling motor 151 is fixedly mounted on the motor mounting plate 1543 by screws to provide power for the mobile walking of the mobile platform 1;
  • the driving gear 152 is fixedly mounted on the output shaft of the traveling motor 151
  • the driven gear 153 is empty-fitted on the driving wheel shaft 132, and is fixedly connected with the driving wheel 131 by screws, and the driving gear 152 and the driven gear 153 keep external meshing;
  • the motor mounting plate 1543 and the main mounting plate 1541 are fixedly connected by welding, or cast into an integral casting structure;
  • the traveling motor 151 is a servo geared motor.
  • the rotary device 2 includes a rotary top cover 21 , a rotary base 22 , a rotary motor 23 , a rotary gear 24 and an inner ring gear 25 .
  • the revolving base 22 is fixedly installed on the revolving device mounting frame 111 of the vehicle frame 11 by screws, and is used to support the revolving top cover 21 and install the revolving motor 23 and the ring gear 25;
  • the revolving top cover 21 is used For supporting and fixing the lifting device 3, the revolving top cover 21 is set in the revolving base 22, and is connected with the revolving base 22 through two deep groove ball radial bearings and a cylindrical roller thrust bearing.
  • the rotary motor 23 is fixedly mounted on the rotary base 22 for providing power for the rotation of the rotary gear 24, and the rotary gear 24 is fixedly mounted on the output shaft of the rotary motor 23;
  • the internal ring gear 25 is fixedly installed in the revolving top cover 21 by screws, and keeps internal engagement with the revolving gear 24;
  • an angle sensor is also provided in the revolving base 22 for collecting the rotation angle parameters of the revolving top cover 21 relative to the revolving base 22;
  • the rotary motor 23 adopts a servo reduction motor.
  • the lifting device 3 includes a bottom connecting plate 31 , a guide column 34 , a connecting beam 33 , a driving cylinder 34 , a lifting seat 35 , a guiding module 36 and a top connecting plate 37 .
  • the bottom connecting plate 31 is fixedly installed on the rotary top cover 21 of the rotary device 2 by screws;
  • the guide column 34 has two, which are symmetrically installed between the bottom connecting plate 31 and the top connecting plate 37, and It is fixedly connected with the bottom connecting plate 31 and the top connecting plate 37 by means of screws or welding;
  • there are two guide modules 36 which are symmetrically fixed on the lifting base 35, and the guide modules 35 are embedded In the guide groove of the adjacent guide post 34, it plays a role of guiding and reducing frictional resistance;
  • the connecting beam 33 is used to fix and install the drive cylinder 34, and the connecting beam 33 is located above the bottom connecting plate 31 and The two ends are fixedly connected with the adjacent guide columns 34 by screws or welding;
  • the drive cylinder 34 can provide power for the lifting seat 35 to slide up and down along the guide columns 34, and the lower end of the drive cylinder 34 is fixedly installed on the On the connecting beam 33, its upper end is connected with the lifting seat 35 through a hinge; the upper and lower ends of the lifting seat 35
  • the guide module 36 includes a guide frame 361 , an upper guide wheel 362 , an upper adjustment screw 363 , a lower guide wheel 364 and a lower adjustment screw 365 .
  • the upper and lower ends of the guide frame 361 are respectively provided with an upper wheel hole 3611 and a lower wheel hole 3612, which are respectively used to install the upper guide wheel 362 and the lower guide wheel 364, and the upper wheel hole 3611 and the lower wheel hole 3612 Both are long waist-shaped through holes; the upper guide wheel 362 and the lower guide wheel 364 are installed in the upper wheel hole 3611 and the lower wheel hole 3612 respectively, and the upper adjustment screw 363 and the lower adjustment screw 365 are respectively located at the outer side and the lower end of the upper end of the guide frame 361
  • the inner side is connected with the guide frame 361 by threads;
  • the upper guide wheel 362 is located in the guide groove of the guide column 32 and keeps in contact with the front guide surface of the guide groove, and the lower guide wheel 364 is located at the guide column 32 in the guide groove and keep in contact with the rear guide surface of the guide groove;
  • the upper adjusting screw 363 keeps perpendicular to the axis of the upper guide wheel 362, and the lower adjusting screw 365
  • the upper guide wheel 362 includes a wheel body 3621 , a mounting portion 3622 and a locking portion 3623 .
  • the installation part 3622 is located between the wheel body 3621 and the locking part 3623, the wheel body 3621 and the installation part 3622 are connected through bearings, and two A positioning plane symmetrically arranged and matched with the upper wheel hole 3611; an external thread is provided on the outer cylindrical surface of the locking part 3623.
  • the structure of the lower guide wheel 364 is exactly the same as that of the upper guide wheel 362 .
  • the support beam assembly 4 includes a left cantilever beam 41 and a right cantilever beam 42, the structure of the left cantilever beam 41 and the right cantilever beam 42 are exactly the same, and they are arranged symmetrically On the lifting seat 35 of the lifting device 3.
  • the left cantilever beam 41 includes a left L-shaped beam body 411 , a left embedded cover 412 and a left guide rail 413 .
  • the right cantilever beam 42 includes a right L-shaped beam body 421 , a right embedded cover 422 and a right guide rail 423 .
  • the rear end of the right L-shaped beam body 421 is set on the lifting seat 35, the right embedded cover 422 is embedded in the right L-shaped beam body 421 by buckling, and the right guide rail 423 is located on the right
  • the bottom of the L-shaped beam body 421 is connected with the right L-shaped beam body 421 through an ear seat.
  • the rear ends of the left L-shaped beam body 411 and the right L-shaped beam body 421 are all provided with anti-skid teeth, and the rear ends of the left L-shaped beam body 411 and the right L-shaped beam body 421 and the lifting seat 35 are all kept by the engagement mode of the anti-skid teeth.
  • a T-shaped chute is provided for installing the adjustable fixed pulley 63 of the traversing drive device 6 .
  • the left inlay 412 and the right inlay 422 both play the role of improving support comfort, increasing friction and decoration.
  • the parallel working arm 5 is a three-degree-of-freedom parallel mechanism with a 4UPR structure
  • the parallel working arm 5 includes a first branch chain 51, a second branch chain 52, a first Three branch chains 53, a fourth branch chain 54, a left arc-shaped plate 55, a right arc-shaped plate 56, a chest strap 57 and a leg strap 58.
  • the first branch chain 51 and the third branch chain 53 are symmetrically arranged on the left and right sides below the rear part of the support beam assembly 4
  • the second branch chain 52 and the fourth branch chain 54 are symmetrically arranged below the front end of the support beam assembly 4.
  • the upper ends of the first branch chain 51 and the second branch chain 52 are installed on the left guide rail 413 of the left cantilever beam 41, and can slide forward and backward along the left guide rail 413 under the drive of the traverse drive device 6;
  • the lower ends of the first branch chain 51 and the second branch chain 52 are fixedly connected with the two ends of the left arc-shaped plate 55 respectively;
  • the upper ends of the third branch chain 53 and the fourth branch chain 54 are installed on the right guide rail 423 of the right cantilever beam 42 , and can slide back and forth along the right guide rail 423 under the drive of the traverse drive device 6,
  • the lower ends of the third branch chain 53 and the fourth branch chain 54 are fixedly connected with the two ends of the right arc-shaped plate 56 respectively;
  • the front and rear ends of the left arc-shaped plate 55 are provided with leg strap positioning holes 551, and two leg strap riveting holes 552 are provided in the middle of the left arc-shaped plate 55.
  • Chest and abdomen strap positioning holes 561 are provided at both ends; the leg strap 58 is used to fix the thigh of the user, and there are two leg straps 58, which are symmetrically fixed on the left arc-shaped plate 55; The chest and abdomen sling 57 described above is used to fix the chest and abdomen of the user, and the two ends of the chest and abdomen sling 57 are respectively connected with the two ends of the right arc-shaped plate 56 .
  • the structures of the first branch chain 51, the second branch chain 52, the third branch chain 53, and the fourth branch chain 54 are completely the same, and their mechanism topology structures are all UPR structures.
  • the first branch chain 51 includes a first universal joint 511, a first outer sleeve 512, a first inner rod 513 and a first hinge 514, the first
  • the upper end of the universal joint 511 is sleeved on the left guide rail 413 and connected with the left guide rail 413 through a linear bearing.
  • the lower end of the first universal joint 511 is fixedly connected with the upper end of the first outer sleeve 512.
  • An outer sleeve 512 is provided with a plurality of adjusting pin holes, and the upper end of the first inner rod 513 is sleeved in the first outer sleeve 512 and fixed with the first outer sleeve 512 by pins.
  • the lower end of the rod 513 is fixedly connected with the upper end of the first hinge 514, and the lower end of the first hinge 514 is fixedly connected with the rear end of the left arc plate 55;
  • the second branch chain 52 includes the second universal joint 521, the second The outer sleeve 522, the second inner rod 523 and the second hinge 524, the upper end of the second universal joint 521 is sleeved on the left guide rail 413 and connected with the left guide rail 413 through a linear bearing, the second universal joint
  • the lower end of the section 521 is fixedly connected with the upper end of the second outer sleeve 522, and a plurality of adjusting pin holes are arranged on the second outer sleeve 522, and the upper end of the second inner rod 523 is sleeved on the second outer sleeve.
  • the third branch chain 53 includes a third universal joint 531, a third outer sleeve 532, a third inner rod 533 and a third hinge 534, and the upper end of the third universal joint 531 is sleeved on the right guide rail 423 and connected with the right guide rail 423 through a linear bearing, the lower end of the third universal joint 531 is fixedly connected with the upper end of the third outer sleeve 532, and the upper end of the third inner rod 533 is sleeved on the third outer sleeve In the pipe 532, the lower end of the third inner rod 533 is fixedly connected with the upper end of the third hinge 534, and the lower end of the third hinge 534 is fixedly connected
  • the described traversing driving device 6 includes a traversing motor 61, a traversing reel 62, an adjustable fixed pulley 63, a tensioning device 64, and a traversing wire rope 65 And traverse motor support 66.
  • the traverse motor bracket 66 is fixedly mounted on the left L-shaped beam body 411 or the right L-shaped beam body 421 by screws; the traverse motor 61 is fixedly mounted on the traverse motor bracket 66 by screws.
  • the traverse reel 62 is fixedly mounted on the output shaft of the traverse motor 61; the adjustable fixed pulley 63 is fixedly mounted At the front end of the left L-shaped beam body 411 or the right L-shaped beam body 421; the tension device 64 is used for tensioning the traverse wire rope 65, and the tension device 64 is located at the rear end of the adjustable pulley 63 and Close to the adjustable pulley 63, and fixedly installed under the front end of the left L-shaped beam body 411 or the right L-shaped beam body 421 by screws; the front and rear ends of the traverse wire rope 65 are respectively wound around the adjustable fixed pulley 63 and On the traversing reel 62, the traversing wire rope 65 located below the middle position is fixedly connected with the first universal joint 511 and the second universal joint 521 or is fixedly connected with the third universal joint 532 and the fourth universal joint 541 .
  • the adjustable fixed pulley 63 includes a pulley seat 631 , a pulley shaft 632 and a pulley 633 .
  • the top of the pulley seat 631 is provided with a T-shaped slider, and the T-shaped slider of the pulley seat 631 is placed in the T-shaped chute of the left L-shaped beam body 411 or the right L-shaped beam body 421;
  • the pulley 633 is fixedly installed on the pulley seat 631 through the pulley shaft 632, and is connected with the pulley shaft 632 through a bearing.
  • the tensioning device 64 includes a tensioning bracket 641 and a tensioning screw 642 .
  • the tension bracket 641 is fixedly installed under the front end of the left L-shaped beam body 411 or the right L-shaped beam body 421 through screws, and the tension screw 642 is connected with the tension bracket 641 through threads, and the tension The front end of the tightening screw 642 keeps in contact with the pulley seat 631 .
  • the attitude adjustment driving device 7 includes an attitude adjustment motor 71 , an attitude adjustment reel 72 and an attitude adjustment wire rope 73 .
  • the attitude-adjusting motor 71 is fixedly installed on the rear end of the right L-shaped beam body 421 by screws and is located directly below the right guide rail 423, and is fixed on the right arc-shaped plate 56 of the parallel working arm 5 and fixed on the left arc-shaped plate 55. 1.
  • the attitude adjustment of the user on the right arc plate 56 provides power; the attitude adjustment reel 72 is fixedly installed on the output shaft of the attitude adjustment motor 71, and is used for storing and winding the attitude adjustment wire rope 73; Attitude steel wire rope 73 has two, and the rear end of posture adjustment steel wire rope 73 is fixed and all is wound on the attitude adjustment reel 72, and the front end of a in two attitude adjustment steel ropes 73 passes the 3rd universal joint 531 and the 3rd overcoat After the pipe 532 is fixedly connected with the third inner rod 533, the front end of the other one of the two posture-adjusting wire ropes 73 passes through the fourth universal joint 541 and the fourth outer sleeve 542 and is fixedly connected with the fourth inner rod 543 .
  • the traverse motor 61 and the attitude adjusting motor 71 all adopt small-sized servo reduction motors.
  • the measurement and control system 8 includes a binocular vision camera 81 , a laser radar 82 , a ranging sensor 83 and a controller 84 .
  • the binocular vision camera 81 is fixedly installed on the top connecting plate 37 of the lifting device 3 by screws
  • the laser radar 82 is fixed on the bottom connecting plate 31 of the lifting device 3 by screws
  • the front side, the rear side, the left side and the right side of the casing 12 are all arranged with ranging sensors 83, and are fixedly installed on the casing 12 by screws or glue
  • the ranging sensors 83 adopt laser ranging Sensor or ultrasonic distance measuring sensor
  • Described controller 84 is fixedly installed on the T-shaped support 113 of vehicle frame 11 by screw, is also provided with data acquisition card in described controller 84, is used for collecting lidar 82, Sensing information of ranging sensor 83, angle sensor and displacement sensor, and from the graphic information of binocular vision
  • the binocular vision camera 81 is provided with an LED lighting source.
  • the controller 84 is used to control the mobile platform 1 , the slewing device 2 , the lifting device 3 , the parallel working arm 5 , the traverse drive device 6 , and the attitude adjustment drive device 7 to execute corresponding actions or task instructions.
  • an angle sensor can also be provided at the two ends of the drive wheel shaft 132, and an angle sensor can be arranged between the guide module 36 and the left cantilever beam 41 Displacement sensors are arranged inside, and the angle sensors in the slewing base 22, the angle sensors and the displacement sensors at both ends of the driving wheel shaft 132 are all connected with the data acquisition card through data lines.
  • the parallel working arm 5 is a parallel mechanism with three degrees of freedom in space—translation and two rotations.
  • the parallel working arm 5, the support beam assembly 4, the lifting device 3 and the turning device 2 together form a hybrid mechanism with two translations and three rotations in space, a total of five degrees of freedom, wherein the movement in the vertical direction is redundant freedom Spend.
  • the present invention has at most six degrees of freedom in total, including three translations and three rotations.
  • the present invention performs work tasks such as assisting the user to get up, transfer, go to the toilet, clean, and adjust posture
  • first control the walking motor 151 in the driving wheel drive device 15 to make the mobile platform 1 and the support beam assembly 4 of the present invention Close to the user
  • then drive the traverse motor 61 in the traverse drive device 6 to move the left arc-shaped plate 55 and the right arc-shaped plate 56 in the parallel working arm 5 to approach the user's thighs and chest and abdomen respectively, and pass through the leg sling 58 and chest and abdomen sling 57 fix the user's thigh and chest and abdomen on the parallel working arm 5 respectively.
  • the present invention performs tasks such as assisted movement rehabilitation, it is necessary to appropriately reduce the height of the support beam assembly 4, and adjust the distance between the left cantilever beam 41 and the right cantilever beam 42 fixed on the lifting seat 35 according to the width of the user's body.
  • the user is supported on the left inlay 411 and the right inlay 421 with both arms, and the user's waist or legs can also be fixed on the left arc-shaped plate 55 and the right arc-shaped plate 56 through flexible straps according to the needs of use. In order to improve the safety of use.
  • the lengths of the first branch chain 51 and the second branch chain 52 in the parallel working arm 5 can be manually adjusted according to the actual needs of the user. Functions such as autonomous navigation, anti-collision and image recognition in the working environment are mainly realized through the laser radar 82 , ranging sensor 83 , binocular vision camera 81 , acquisition card, and controller 84 in the measurement and control system 8 .

Abstract

一种多功能辅助护理机器人，包括移动平台（1）、回转装置（2）、升降装置（3）、支撑梁组件（4）、并联工作臂（5）、横移驱动装置（6）、调姿驱动装置（7）和测控系统（8）。机械本体通过串联式调节机构和并联工作臂（5）配合作业可实现绕垂直轴回转、升降、水平横移，以及绕两个水平轴转动共五个运动自由度，能够实现起身、转运、如厕、清洁、调姿及辅助运动康复等辅助护理功能，通过配置吊带或吊网可实现人体姿态舒适调节，通过移动平台（1）扩大作业空间，增加灵活性，最多能实现三平移三转动共六个自由度的运动。可降低护理人员的工作强度，扩大使用者的活动范围，提高生活质量，具有结构紧凑、运动自由度多、占用空间小、操作维护简便和成本低等优点。

Description

多功能辅助护理机器人 技术领域
本发明属于医疗器械技术领域，特别涉及一种基于混联机构的多功能辅助护理机器人。
背景技术
在护理机器人技术领域，由于术后、瘫痪、休克、麻醉、昏迷、渐冻症以及其它失能的病人或老年人因身体机能的损伤、退化而失去或缺乏自主行动能力，产生一批长期或短期失能群体。随着老龄化社会的到来和人们生活水平的提高，失能群体对护理机器人的需求不断增强，他们因缺乏运动能力，很难实现类似从床上到轮椅上或从轮椅上到床上的移动，需要护理人员人力搬运。这个群体的护理工作存在刚性需求，不仅护理工作难度很大，对护理人员的体力和技术都提出较高要求，劳动强度大，而且护理成本高、被护理人员的舒适感低。人工或简易设备辅助转移搬运老年人不仅对于护理人员是一种负担而且会对被护理人员身体造成不必要的损伤。
针对失能群体的护理工作，主要包括进食、如厕、清洁、移乘搬运以及个人卫生清洁等。现有护理仍然以人工为主，劳动强度大、护理困难，无法实现自助。目前，市场上的移乘搬运机器人能够将被护理人从床上安全抱起，并移运至轮椅上或其他位置，但现有机器人存在以下技术缺陷：(1)机器人的执行工作臂是刚性机械臂，单臂或双臂托举、移动被护理人时舒适度较差，有时候容易对人体造成伤害；(2)托举、移动被护理人时被护理人容易滑落，安全性低；(3)对不同体型及身材的人的适应性差；(4)抱举过程需要护工辅助且劳动强度大，技术要求高，自动化水平低；(5)功能单一，无法满足辅助护理的实际需求。
针对护理机器人设计的问题，现有专利文献也提出了一些解决方案。如申请号为201810901199.3的中国发明专利公开了一种辅助行动护理机器人，提供了一种可减轻护理人的劳动强度，便于辅助被护理人行动且对被护理人托撑安全可靠的辅助行动护理机器人，侧重于辅助行动功能，缺点是还依赖于被护理人个人身体机能，需要通过抓取支撑扶手完成关键动作，且作业空间有限。申请号为202010929938.7中国发明专利公开了一种针对行动不便病人的辅助搬运转移型机器人，属于床式移位装置，主要是为了解决被护理者更换病床困难问题。申请号为202010479835.5的中国发明专利公开了一种多臂协作式转运护理机器人，包括机架、底座机构、托举机构、升降机构和联动转运机构，转运被护理者时通过联动转运机构抬升躺布上的被护理者，是一种串联结构的转运装置，稳定性和舒适性较差，且功能单一。申请号为201811644911.2的中国发明专利公开了一种穿刺手术立体定位用医疗辅助机器人，包括固定连接装置、位置调整装置、控制装置和导向装置，设计方案侧重于解决病人姿态精确确定与调整，不在于辅助护理和康复训练。
虽然现在国内外已经出现了转乘机器人，但是目前已有的转乘机器人多是需要先改变坐姿或者身体姿态然后换乘到机器人上，对失能者或护工辅助的要求较高，适应性差。此外，国外先进护理机器人成本高、操作难度大，不宜普及。
因此，目前亟需研制一种实用、安全可靠，可帮助失能者实现起身、转运、如厕、清 洁、调姿及辅助运动康复等功能的多功能辅助护理机器人，在降低护理人员劳动强度的同时，大幅度提高被护理者的生活质量。
发明内容
本发明的目的是针对现有技术的不足，提供一种基于混联机构的多功能辅助护理机器人，其本体末端具有空间两平移三转动共五个运动自由度，在自助或护理人员协助操作下帮助失能者实现起身、转运、如厕、清洁、调姿及辅助运动康复等功能，降低了护理人员的劳动强度和护理成本，可克服现有技术的缺陷。
本发明所要解决的技术问题采用以下技术方案来实现。
一种多功能辅助护理机器人，一种多功能辅助护理机器人，包括移动平台、回转装置、升降装置、支撑梁组件、并联工作臂、横移驱动装置、调姿驱动装置和测控系统。所述的移动平台包括车架、罩壳、主动轮系、从动轮、主动轮驱动装置和电源，用于承载回转装置、升降装置、支撑梁组件、并联工作臂并驱动辅助护理机器人移动行走。其中，主动轮系、从动轮分别布置在车架下方的后端与前端，所述的主动轮驱动装置布置在车架的下方靠近主动轮系的位置，用于驱动主动轮系转动；所述的罩壳通过螺钉固定安装在车架上，起安全防护和装饰的作用；在所述的车架后端上方设有回转装置安装架，用于固定和安装回转装置；在所述的车架后端下方设有底支架，在所述的底支架上设有T型支架和电源支架，且所述的电源支架位于T型支架的前端，所述的T型支架与底支架通过焊接的方式固连，所述的电源支架与底支架通过螺钉相固连；所述的电源安装在电源支架上，用于为主动轮驱动装置、回转装置、升降装置、横移驱动装置、调姿驱动装置和测控系统提供电力；所述的主动轮系包括两个主动轮和一根主动轮轴，所述的主动轮轴通过主动轮驱动装置与车架相连接，两个主动轮对称安装在主动轮轴的两端，且与主动轮轴通过轴承相连接。所述的回转装置的下端通过螺钉固定安装在车架的回转装置安装架上，用于驱动升降装置、支撑梁组件和并联工作臂进行绕垂直轴的回转运动。所述的升降装置的下端通过螺钉固定安装在回转装置的顶部，用于驱动支撑梁组件和并联工作臂进行升降运动。所述的支撑梁组件的后端安装在升降装置上，用于悬挂支撑和安装并联工作臂，还作为使用者进行辅助站立、辅助行走等康复训练的支撑装置。所述的并联工作臂主要用于起吊使用者或调整使用者的姿态，并联工作臂上端安装在支撑梁组件上，并通过横移驱动装置与支撑梁组件相连接。所述的横移驱动装置有两个，对称固定安装在支撑梁组件的下方，用于驱动并联工作臂在支撑梁组件上前后移动。所述的调姿驱动装置固定安装在支撑梁组件的右侧下方，用于为并联工作臂的调姿提供动力。
所述的主动轮驱动装置包括行走电机、主动齿轮、从动齿轮和组合支架。其中，所述的组合支架包括主安装板、轴支架和电机安装板，用于固定安装主动轮轴和行走电机；所述的主安装板通过螺钉固定安装在车架的底支架后端下方，所述的行走电机通过螺钉固定安装在电机安装板上，为移动平台的移动行走提供动力；所述的主动齿轮固定安装在行走电机的输出轴上，所述的从动齿轮空套装在主动轮轴上，且与主动轮通过螺钉相固连，所述的主动齿轮与从动齿轮保持外啮合；所述的轴支架、电机安装板与主安装板通过焊接的方式固连，或采用铸造成型方法制成整体铸件结构；所述的行走电机采用伺服减速电机或伺服液压马达。
所述的回转装置包括包括回转顶盖、回转底座、回转马达、回转齿轮和内齿圈。其中，所述的回转底座通过螺钉固定安装在车架的回转装置安装架上，用于支撑回转顶盖，安装回转马达和内齿圈；所述的回转顶盖用于支撑和固定安装升降装置，所述的回转顶盖套装在回转底座内，且与回转底座之间通过两个深沟球型径向轴承和一个圆柱滚子型止推轴承相连接；所述的回转马达固定安装在回转底座上，用于为回转齿轮的旋转提供动力，所述的回转齿轮固定安装在回转马达的输出轴上；所述的内齿圈通过螺钉固定安装在回转顶盖内，且与回转齿轮保持内啮合；在所述的回转底座内还设有角度传感器，用于采集回转顶盖相对回转底座的转角参数；所述的回转马达采用伺服减速电机或伺服液压马达。
所述的升降装置包括底连接板、导向柱、连接梁、驱动缸、升降座、导向模组和顶连接板。其中，所述的底连接板通过螺钉固定安装在回转装置的回转顶盖上；所述的导向柱有两个，对称安装在底连接板与顶连接板之间，且与底连接板、顶连接板之间通过螺钉或焊接的方式固连；所述的导向模组有两个，且对称固定安装在升降座上，所述的导向模组嵌入在相邻的导向柱的导向槽内，起导向和减小摩擦阻力作用；所述的连接梁用于固定和安装驱动缸，所述的连接梁位于底连接板的上方且两端分别与相邻的导向柱通过螺钉或焊接的方式固连；所述的驱动缸可为升降座沿着导向柱的上下滑移提供动力，驱动缸的下端固定安装在连接梁上，其上端与升降座通过铰链相连接；在所述的升降座的上下两端均设有防滑齿，用于避免支撑梁组件在升降座上产生滑移；所述的驱动缸采用电动推杆或气缸或液压缸。
所述的导向模组包括导向架、上导向轮、上调整螺钉、下导向轮和下调整螺钉。其中，在所述的导向架的上下两端分别设有上轮孔和下轮孔，分别用于安装上导向轮和下导向轮，且上轮孔和下轮孔均为长腰形通孔；上导向轮和下导向轮分别安装在上轮孔和下轮孔内，上调整螺钉与下调整螺钉分别位于导向架的上端外侧和下端内侧，且与导向架均通过螺纹相连接；所述的上导向轮位于导向柱的导向槽内且与导向槽的前导向面保持接触，所述的下导向轮位于导向柱的导向槽内且与导向槽的后导向面保持接触；所述的上调整螺钉与上导向轮的轴线保持垂直相交，所述的下调整螺钉与下导向轮的轴线保持垂直相交，上调整螺钉与下调整螺钉的轴线保持平行，确保导向模组在导向柱上的安装、拆卸方便并实现可调。所述的上导向轮包括轮体、安装部和锁紧部。其中，所述的安装部位于轮体与和锁紧部之间，所述的轮体与安装部通过轴承相连接，且在所述的安装部的外侧面设有两个对称布置且与上轮孔相配合的定位平面；在所述的锁紧部的外圆柱面上设有外螺纹。所述的下导向轮与上导向轮的结构完全相同。
所述的支撑梁组件包括左悬臂梁、右悬臂梁，左悬臂梁与右悬臂梁结构完全相同，且对称布置在升降装置的升降座上。所述的左悬臂梁包括左L型梁体、左嵌盖和左导轨。其中，所述的左L型梁体的后端套装在升降座上，所述的左嵌盖通过卡扣方式嵌入在左L型梁体内；所述的左导轨位于左L型梁体的下方且通过耳座与左L型梁体相连接。所述的右悬臂梁包括右L型梁体、右嵌盖和右导轨。其中，所述的右L型梁体的后端套装在升降座上，所述的右嵌盖通过卡扣方式嵌入在右L型梁体内，所述的右导轨位于右L型梁体的下方且通过耳座与右L型梁体相连接。在左L型梁体和右L型梁体的后端均设有防滑齿，左L型梁体和右L型梁体的后端与升降座均通过防滑齿啮合方式保持接触；在左L型梁体和右L型梁体的前端下方均设有T型滑槽，用于安装横移驱动装置的可调定滑轮。左嵌盖和右嵌盖均起提高支撑舒 适度、增加摩擦力和装饰的作用。
所述的并联工作臂为4UPR结构的三自由度并联机构，所述的并联工作臂包括第一支链、第二支链、第三支链、第四支链、左弧形板、右弧形板、胸腹吊带和腿部吊带。其中，第一支链、第三支链对称布置在支撑梁组件中后部的下方左右两侧，第二支链、第四支链对称布置在支撑梁组件前端的下方左右两侧；第一支链、第二支链的上端安装在左悬臂梁的左导轨上，且在横移驱动装置的驱动下可沿着左导轨滑移；第一支链、第二支链的下端分别与左弧形板的两端相固连；第三支链、第四支链的上端安装在右悬臂梁的右导轨上，且在横移驱动装置的驱动下可沿着右导轨滑移，第三支链、第四支链的下端分别与右弧形板的两端相固连；在所述的左弧形板的前后两端设有腿部吊带定位孔，在左弧形板的中部还设有两个腿部吊带铆接孔，在所述的右弧形板的两端设有胸腹吊带定位孔；所述的腿部吊带用于固定使用者的大腿部位，所述的腿部吊带有两根，且对称固定在左弧形板上；所述的胸腹吊带用于固定使用者的胸腹部位，所述的胸腹吊带的两端分别与右弧形板的两端相连接。所述的第一支链与第二支链、第三支链、第四支链的结构完全相同，其机构拓扑结构均为UPR结构。
所述的第一支链包括第一万向节、第一外套管、第一内杆和第一铰链，所述的第一万向节的上端套装在左导轨上且与左导轨通过直线轴承相连接，所述的第一万向节的下端与第一外套管的上端固连，在所述的第一外套管上设有多个调节销孔，所述的第一内杆的上端套接在第一外套管内且与第一外套管通过销钉相固定，所述的第一内杆的下端与第一铰链的上端固连，第一铰链的下端与左弧形板的后端固连；所述的第二支链包括第二万向节、第二外套管、第二内杆和第二铰链，所述的第二万向节的上端套装在左导轨上且与左导轨通过直线轴承相连接，所述的第二万向节的下端与第二外套管的上端固连，在所述的第二外套管上设有多个调节销孔，所述的第二内杆的上端套接在第二外套管内且与第二外套管通过销钉相固定，所述的第二内杆的下端与第二铰链的上端固连，第二铰链的下端与左弧形板的前端固连；所述的第三支链包括第三万向节、第三外套管、第三内杆和第三铰链，所述的第三万向节的上端套装在右导轨上且与右导轨通过直线轴承相连接，所述的第三万向节的下端与第三外套管的上端固连，所述的第三内杆的上端套接在第三外套管内，所述的第三内杆的下端与第三铰链的上端固连，第三铰链的下端与右弧形板的后端固连；所述的第四支链包括第四万向节、第四外套管、第四内杆和第四铰链，所述的第四万向节的上端套装在右导轨上且与右导轨通过直线轴承相连接，所述的第四万向节的下端与第四外套管的上端固连，所述的第四内杆的上端套接在第四外套管内，所述的第四内杆的下端与第四铰链的上端固连，第四铰链的下端与右弧形板的前端固连；第一铰链与第二铰链的轴线相互平行，第三铰链与第四铰链的轴线相互平行，第一铰链与第三铰链的轴线相互垂直；在初始状态下，第一万向节的十字轴两条轴线分别与第二万向节的十字轴的两条轴线保持平行，第三万向节的十字轴两条轴线分别与第四万向节的十字轴的两条轴线保持平行，第一铰链的轴线与第一万向节的十字轴的一条轴线保持平行，第三铰链的轴线与第三万向节的十字轴的一条轴线保持平行。从而保证了并联工作臂所构成的并联机构具有确定的空间内一个平移和两个转动共三个运动自由度。
所述的横移驱动装置包括横移电机、横移卷盘、可调定滑轮、张紧装置、横移钢丝绳和横移电机支架。其中，所述的横移电机支架通过螺钉固定安装在左L型梁体或右L型梁 体上；所述的横移电机通过螺钉固定安装在横移电机支架上，用于为横移卷盘的转动及并联工作臂的水平移动提供动力；所述的横移卷盘固定安装在横移电机的输出轴上；所述的可调定滑轮固定安装在左L型梁体或右L型梁体的前端；所述的张紧装置用于张紧横移钢丝绳，所述的张紧装置位于可调定滑轮的后端并靠近可调定滑轮，且通过螺钉固定安装在左L型梁体或右L型梁体的前端下方；所述的横移钢丝绳的前后两端分别缠绕在可调定滑轮和横移卷盘上，且位于中间位置下方的横移钢丝绳与第一万向节、第二万向节固连或与第三万向节、第四万向节固连。
所述的可调定滑轮包括滑轮座、滑轮轴和滑轮。其中，所述的滑轮座的顶部设有T型滑块，滑轮座的T型滑块置于左L型梁体或右L型梁体的T型滑槽内；所述的滑轮通过滑轮轴固定安装在滑轮座上，且与滑轮轴之间通过轴承相连接。
所述的张紧装置包括张紧支架和张紧螺钉。其中，所述的张紧支架通过螺钉固定安装在左L型梁体或右L型梁体的前端下方，所述的张紧螺钉与张紧支架通过螺纹相连接，且张紧螺钉的前端与滑轮座保持接触。
所述的调姿驱动装置包括调姿电机、调姿卷盘和调姿钢丝绳。其中，所述的调姿电机通过螺钉固定安装在右L型梁体后端且位于右导轨的正下方，为并联工作臂中右弧形板及固定在左弧形板、右弧形板上面的使用者的姿态调节提供动力；所述的调姿卷盘固定安装在调姿电机的输出轴上，用于存储和缠绕调姿钢丝绳；所述的调姿钢丝绳有两根，调姿钢丝绳的后端固定并均缠绕在调姿卷盘上，两根调姿钢丝绳中的一根的前端穿过第三万向节和第三外套管后与第三内杆相固连，两根调姿钢丝绳中的另一根的前端穿过第四万向节和第四外套管后与第四内杆相固连。
横移电机、调姿电机均采用小型伺服减速电机。
所述的测控系统包括双目视觉摄像头、激光雷达、测距传感器和控制器，所述的双目视觉摄像头通过螺钉固定安装在升降装置的顶连接板上，所述的激光雷达通过螺钉固定安装在升降装置的底连接板上，在移动平台的罩壳的前侧面、后侧面、左侧面和右侧面均布置有测距传感器，且通过螺钉或胶水固定安装在罩壳上，所述的测距传感器采用激光测距传感器或超声波测距传感器；所述的控制器通过螺钉固定安装在车架的T型支架上，在所述的控制器内还设有数据采集卡，用于采集激光雷达、测距传感器、角度传感器和位移传感器的传感信息，以及来自双目视觉摄像头的图形信息；所述的双目视觉摄像头与车架内的电源、控制器内的数据采集卡分别通过电源线和数据线相连接，测距传感器和激光雷达通过数据线与数据采集卡相连接，所述的双目视觉摄像头设有LED照明光源。所述的控制器用于控制移动平台、回转装置、升降装置、并联工作臂、横移驱动装置、调姿驱动装置执行相应的动作或任务指令。
更进一步的，在所述的主动轮轴的两端设有角度传感器，在导向模组和左悬臂梁内设位移传感器，且回转底座内的角度传感器、主动轮轴两端的角度传感器和位移传感器均通过与数据采集卡通过数据线相连接。
从机构学的角度看，并联工作臂即为一个具有空间一平移和两转动共三个运动自由度的并联机构。所述的并联工作臂、支撑梁组件、升降装置和回转装置一起构成一个具有空间两个平移三个转动共五个自由度的混联机构，其中垂直方向的移动为冗余自由度。再加上移动平台在地面上的移动，本发明最多具有三平移三转动共六个运动自由度。
使用时，如果本发明执行辅助使用者起身、转运、如厕、清洁、调姿等工作任务，先控制主动轮驱动装置中的行走电机，使本发明的移动平台和支撑梁组件接近使用者，再驱动横移驱动装置中的横移电机，移动并联工作臂中的左弧形板、右弧形板分别靠近使用者的大腿和胸腹部，通过腿部吊带和胸腹吊带分别将使用者的大腿和胸腹部固定在并联工作臂上。然后根据需要，可选择通过升降装置起吊并通过回转装置调整角度，或通过控制调姿驱动装置中的调姿电机，驱动第三支链、第四支链伸长或缩短，进而调节使用者的姿态。当本发明执行辅助运动康复等任务时，需要适当降低支撑梁组件的高度，并根据使用者身体的宽度调整固定在升降座上的左悬臂梁与右悬臂梁之间的间距，使用者通过双臂支撑在左嵌盖和右嵌盖上，根据使用需要也可以通过柔性绑带将使用者的腰部或腿部固定在左弧形板和右弧形板上，以提高使用安全性。并联工作臂中第一支链、第二支链的长度可根据使用者的实际需求进行手动调节。工作环境中的自主导航、防碰撞和图像识别等功能主要通过测控系统中的激光雷达、测距传感器、双目视觉摄像头及采集卡、控制器来实现。
本发明的有益效果是，与现有的技术相比，本发明的多功能辅助护理机器人能够实现起身、转运、如厕、清洁、调姿及辅助运动康复等功能，其机械本体末端具有两平移三转动共五个运动自由度，通过串联式调节机构和并联工作臂配合作业；通过配置吊带或吊网可实现人体姿态舒适调节，通过移动平台扩大作业空间，增加灵活性，最多能实现三平移三转动共六个自由度的运动。本发明还具有结构紧凑、运动自由度多、设备占用空间小、操作维护简便等优点，可克服现有技术的缺陷。在本发明的机械本体上还可通过遥控操作实现自助控制，使用者或护理人员通过控制按钮即可实现升降、移动、调姿，以及开展关节伸曲、自立步行辅助、步行练习辅助、平衡练习辅助康复训练等一系列操作，可满足辅助护理工作需求，降低护理工作人员的工作强度，同时扩大了使用者的活动范围，提高生活质量；且成本低，满足普通工薪阶层需求，便于普及推广。
附图说明
图1为本发明的总体结构示意图；
图2为本发明的移动平台的内部结构示意图；
图3为电源与控制器在车架上的布局示意图；
图4为图3的A向视图；
图5为主动轮驱动装置中组合支架的结构示意图
图6为本发明的回转装置的结构示意图；
图7为本发明的升降装置的结构示意图；
图8为本发明的升降装置中导向模组的结构示意图；
图9为本发明的并联工作臂与支撑梁组件的位置关系示意图；
图10为本发明的横移驱动装置与调姿驱动装置在右悬臂梁上的位置关系示意图；
图11为本发明的横移驱动装置中张紧装置的结构示意图；
图12为本发明的上导向轮的结构示意图。
具体实施方式
为了使本发明所实现的技术手段、创作特征、达成目的与功效易于明白了解，下面 结合具体实施例和图示，进一步阐述本发明。
如图1、图2、图3、图4和图7所示，一种多功能辅助护理机器人，包括移动平台1、回转装置2、升降装置3、支撑梁组件4、并联工作臂5、横移驱动装置6、调姿驱动装置7和测控系统8。所述的移动平台1包括车架11、罩壳12、主动轮系13、从动轮14、主动轮驱动装置15和电源16，用于承载回转装置2、升降装置3、支撑梁组件4、并联工作臂5并驱动辅助护理机器人移动行走。其中，主动轮系13、从动轮14分别布置在车架11下方的后端与前端，所述的主动轮驱动装置15布置在车架11的下方靠近主动轮系13的位置，用于驱动主动轮系13转动；所述的罩壳12通过螺钉固定安装在车架11上，起安全防护和装饰的作用；在所述的车架11后端上方设有回转装置安装架111，用于固定和安装回转装置2；在所述的车架11后端下方设有底支架112，在所述的底支架112上设有T型支架113和电源支架114，且所述的电源支架114位于T型支架113的前端，所述的T型支架113与底支架112通过焊接的方式固连，所述的电源支架114与底支架112通过螺钉相固连；所述的电源16安装在电源支架114上，用于为主动轮驱动装置15、回转装置2、升降装置3、横移驱动装置6、调姿驱动装置7和测控系统8提供电力；所述的主动轮系13包括两个主动轮131和一根主动轮轴132，所述的主动轮轴132通过主动轮驱动装置15与车架11相连接，两个主动轮131对称安装在主动轮轴132的两端，且与主动轮轴132通过轴承相连接。所述的回转装置2的下端通过螺钉固定安装在车架11的回转装置安装架111上，用于驱动升降装置3、支撑梁组件4和并联工作臂5进行绕垂直轴的回转运动。所述的升降装置3的下端通过螺钉固定安装在回转装置2的顶部，用于驱动支撑梁组件4和并联工作臂5进行升降运动。所述的支撑梁组件4的后端安装在升降装置3上，用于悬挂支撑和安装并联工作臂5，还作为使用者进行辅助站立、辅助行走等康复训练的支撑装置。所述的并联工作臂5主要用于起吊使用者或调整使用者的姿态，并联工作臂5上端安装在支撑梁组件4上，并通过横移驱动装置6与支撑梁组件4相连接。所述的横移驱动装置6有两个，对称固定安装在支撑梁组件4的下方，用于驱动并联工作臂5在支撑梁组件4上前后移动。所述的调姿驱动装置7固定安装在支撑梁组件4的右侧下方，用于为并联工作臂5的调姿提供动力。
如图1、图2、图3、图4和图5所示，所述的主动轮驱动装置15包括行走电机151、主动齿轮152、从动齿轮153和组合支架154。其中，所述的组合支架154包括主安装板1541、轴支架1542和电机安装板1543，用于固定安装主动轮轴132和行走电机151；所述的主安装板1541通过螺钉固定安装在车架11的底支架112后端下方，所述的行走电机151通过螺钉固定安装在电机安装板1543上，为移动平台1的移动行走提供动力；所述的主动齿轮152固定安装在行走电机151的输出轴上，所述的从动齿轮153空套装在主动轮轴132上，且与主动轮131通过螺钉相固连，所述的主动齿轮152与从动齿轮153保持外啮合；所述的轴支架1542、电机安装板1543与主安装板1541通过焊接的方式固连，或采用铸造成型方法制成整体铸件结构；所述的行走电机151采用伺服减速电机。
如图1、图2和图6所示，所述的回转装置2包括包括回转顶盖21、回转底座22、回转马达23、回转齿轮24和内齿圈25。其中，所述的回转底座22通过螺钉固定安装在车架11的回转装置安装架111上，用于支撑回转顶盖21，安装回转马达23和内齿圈25；所述的回转顶盖21用于支撑和固定安装升降装置3，所述的回转顶盖21套装在回转底座22内，且与回转底座22之间通过两个深沟球型径向轴承和一个圆柱滚子型止推轴承相连接；所述的回转马达23 固定安装在回转底座22上，用于为回转齿轮24的旋转提供动力，所述的回转齿轮24固定安装在回转马达23的输出轴上；所述的内齿圈25通过螺钉固定安装在回转顶盖21内，且与回转齿轮24保持内啮合；在所述的回转底座22内还设有角度传感器，用于采集回转顶盖21相对回转底座22的转角参数；所述的回转马达23采用伺服减速电机。
如图1和图7所示，所述的升降装置3包括底连接板31、导向柱34、连接梁33、驱动缸34、升降座35、导向模组36和顶连接板37。其中，所述的底连接板31通过螺钉固定安装在回转装置2的回转顶盖21上；所述的导向柱34有两个，对称安装在底连接板31与顶连接板37之间，且与底连接板31、顶连接板37之间通过螺钉或焊接的方式固连；所述的导向模组36有两个，且对称固定安装在升降座35上，所述的导向模组35嵌入在相邻的导向柱34的导向槽内，起导向和减小摩擦阻力作用；所述的连接梁33用于固定和安装驱动缸34，所述的连接梁33位于底连接板31的上方且两端分别与相邻的导向柱34通过螺钉或焊接的方式固连；所述的驱动缸34可为升降座35沿着导向柱34的上下滑移提供动力，驱动缸34的下端固定安装在连接梁33上，其上端与升降座35通过铰链相连接；在所述的升降座35的上下两端均设有防滑齿，用于避免支撑梁组件4在升降座35上产生滑移；所述的驱动缸34采用电动推杆，驱动缸34的伸缩通过升降电机341正反转来控制，所述的升降电机341采用伺服减速电机。
如图1、图7、图8和图12所示，所述的导向模组36包括导向架361、上导向轮362、上调整螺钉363、下导向轮364和下调整螺钉365。其中，在所述的导向架361的上下两端分别设有上轮孔3611和下轮孔3612，分别用于安装上导向轮362和下导向轮364，且上轮孔3611和下轮孔3612均为长腰形通孔；上导向轮362和下导向轮364分别安装在上轮孔3611和下轮孔3612内，上调整螺钉363与下调整螺钉365分别位于导向架361的上端外侧和下端内侧，且与导向架361均通过螺纹相连接；所述的上导向轮362位于导向柱32的导向槽内且与导向槽的前导向面保持接触，所述的下导向轮364位于导向柱32的导向槽内且与导向槽的后导向面保持接触；所述的上调整螺钉363与上导向轮362的轴线保持垂直相交，所述的下调整螺钉365与下导向轮364的轴线保持垂直相交，上调整螺钉363与下调整螺钉365的轴线保持平行，确保导向模组36在导向柱32上的安装、拆卸方便并实现可调。所述的上导向轮362包括轮体3621、安装部3622和锁紧部3623。其中，所述的安装部3622位于轮体3621与和锁紧部3623之间，所述的轮体3621与安装部3622通过轴承相连接，且在所述的安装部3622的外侧面设有两个对称布置且与上轮孔3611相配合的定位平面；在所述的锁紧部3623的外圆柱面上设有外螺纹。所述的下导向轮364与上导向轮362的结构完全相同。
如图1、图9、图10和图11所示，所述的支撑梁组件4包括左悬臂梁41、右悬臂梁42，左悬臂梁41与右悬臂梁42的结构完全相同，且对称布置在升降装置3的升降座35上。所述的左悬臂梁41包括左L型梁体411、左嵌盖412和左导轨413。其中，所述的左L型梁体411的后端套装在升降座35上，所述的左嵌盖412通过卡扣方式嵌入在左L型梁体411内；所述的左导轨413位于左L型梁体411的下方且通过耳座与左L型梁体411相连接。所述的右悬臂梁42包括右L型梁体421、右嵌盖422和右导轨423。其中，所述的右L型梁体421的后端套装在升降座35上，所述的右嵌盖422通过卡扣方式嵌入在右L型梁体421内，所述的右导轨423位于右L型梁体421的下方且通过耳座与右L型梁体421相连接。在左L型梁体411和右L型梁体421的后端均设有防滑齿，左L型梁体411和右L型梁体421的后端与升降座35均通过防滑齿啮合方式保持接触；在左L型梁体411和右L型梁体421的前端下方均设有T型滑槽，用于安装横移驱动装 置6的可调定滑轮63。左嵌盖412和右嵌盖422均起提高支撑舒适度、增加摩擦力和装饰的作用。
如图1、图9和图10所示，所述的并联工作臂5为4UPR结构的三自由度并联机构，所述的并联工作臂5包括第一支链51、第二支链52、第三支链53、第四支链54、左弧形板55、右弧形板56、胸腹吊带57和腿部吊带58。其中，第一支链51、第三支链53对称布置在支撑梁组件4中后部的下方左右两侧，第二支链52、第四支链54对称布置在支撑梁组件4前端的下方左右两侧；第一支链51、第二支链52的上端安装在左悬臂梁41的左导轨413上，且在横移驱动装置6的驱动下可沿着左导轨413前后滑移；第一支链51、第二支链52的下端分别与左弧形板55的两端相固连；第三支链53、第四支链54的上端安装在右悬臂梁42的右导轨423上，且在横移驱动装置6的驱动下可沿着右导轨423前后滑移，第三支链53、第四支链54的下端分别与右弧形板56的两端相固连；在所述的左弧形板55的前后两端设有腿部吊带定位孔551，在左弧形板55的中部还设有两个腿部吊带铆接孔552，在所述的右弧形板56的两端设有胸腹吊带定位孔561；所述的腿部吊带58用于固定使用者的大腿部位，所述的腿部吊带58有两根，且对称固定在左弧形板55上；所述的胸腹吊带57用于固定使用者的胸腹部位，所述的胸腹吊带57的两端分别与右弧形板56的两端相连接。所述的第一支链51与第二支链52、第三支链53、第四支链54的结构完全相同，其机构拓扑结构均为UPR结构。
如图1、图9和图10所示，所述的第一支链51包括第一万向节511、第一外套管512、第一内杆513和第一铰链514，所述的第一万向节511的上端套装在左导轨413上且与左导轨413通过直线轴承相连接，所述的第一万向节511的下端与第一外套管512的上端固连，在所述的第一外套管512上设有多个调节销孔，所述的第一内杆513的上端套接在第一外套管512内且与第一外套管512通过销钉相固定，所述的第一内杆513的下端与第一铰链514的上端固连，第一铰链514的下端与左弧形板55的后端固连；所述的第二支链52包括第二万向节521、第二外套管522、第二内杆523和第二铰链524，所述的第二万向节521的上端套装在左导轨413上且与左导轨413通过直线轴承相连接，所述的第二万向节521的下端与第二外套管522的上端固连，在所述的第二外套管522上设有多个调节销孔，所述的第二内杆523的上端套接在第二外套管522内且与第二外套管522通过销钉相固定，所述的第二内杆523的下端与第二铰链524的上端固连，第二铰链524的下端与左弧形板55的前端固连；所述的第三支链53包括第三万向节531、第三外套管532、第三内杆533和第三铰链534，所述的第三万向节531的上端套装在右导轨423上且与右导轨423通过直线轴承相连接，所述的第三万向节531的下端与第三外套管532的上端固连，所述的第三内杆533的上端套接在第三外套管532内，所述的第三内杆533的下端与第三铰链534的上端固连，第三铰链534的下端与右弧形板56的后端固连；所述的第四支链54包括第四万向节541、第四外套管542、第四内杆543和第四铰链544，所述的第四万向节541的上端套装在右导轨423上且与右导轨423通过直线轴承相连接，所述的第四万向节541的下端与第四外套管542的上端固连，所述的第四内杆543的上端套接在第四外套管542内，所述的第四内杆543的下端与第四铰链544的上端固连，第四铰链544的下端与右弧形板56的前端固连；第一铰链514与第二铰链524的轴线相互平行，第三铰链534与第四铰链544的轴线相互平行，第一铰链514与第三铰链534的轴线相互垂直；在初始状态下，第一万向节511的十字轴两条轴线分别与第二万向节521的十字轴的两条轴线保持平行，第三万向节531的十字轴两条轴线分别与第四万向节541的十字轴的两条轴线 保持平行，第一铰链514的轴线与第一万向节511的十字轴的一条轴线保持平行，第三铰链534的轴线与第三万向节531的十字轴的一条轴线保持平行。从而保证了并联工作臂5所构成的并联机构具有确定的空间内一个平移和两个转动共三个运动自由度。
如图1、图9、图10和图11所示，所述的横移驱动装置6包括横移电机61、横移卷盘62、可调定滑轮63、张紧装置64、横移钢丝绳65和横移电机支架66。其中，所述的横移电机支架66通过螺钉固定安装在左L型梁体411或右L型梁体421上；所述的横移电机61通过螺钉固定安装在横移电机支架66上，用于为横移卷盘62的转动及并联工作臂5的水平移动提供动力；所述的横移卷盘62固定安装在横移电机61的输出轴上；所述的可调定滑轮63固定安装在左L型梁体411或右L型梁体421的前端；所述的张紧装置64用于张紧横移钢丝绳65，所述的张紧装置64位于可调定滑轮63的后端并靠近可调定滑轮63，且通过螺钉固定安装在左L型梁体411或右L型梁体421的前端下方；所述的横移钢丝绳65的前后两端分别缠绕在可调定滑轮63和横移卷盘62上，且位于中间位置下方的横移钢丝绳65与第一万向节511、第二万向节521固连或与第三万向节532、第四万向节541固连。
如图1、图9、图10和图11所示，所述的可调定滑轮63包括滑轮座631、滑轮轴632和滑轮633。其中，所述的滑轮座631的顶部设有T型滑块，滑轮座631的T型滑块置于左L型梁体411或右L型梁体421的T型滑槽内；所述的滑轮633通过滑轮轴632固定安装在滑轮座631上，且与滑轮轴632之间通过轴承相连接。
如图1、图9和图11所示，所述的张紧装置64包括张紧支架641和张紧螺钉642。其中，所述的张紧支架641通过螺钉固定安装在左L型梁体411或右L型梁体421的前端下方，所述的张紧螺钉642与张紧支架641通过螺纹相连接，且张紧螺钉642的前端与滑轮座631保持接触。
如图1、图9和图10所示，所述的调姿驱动装置7包括调姿电机71、调姿卷盘72和调姿钢丝绳73。其中，所述的调姿电机71通过螺钉固定安装在右L型梁体421后端且位于右导轨423的正下方，为并联工作臂5中右弧形板56及固定在左弧形板55、右弧形板56上面的使用者的姿态调节提供动力；所述的调姿卷盘72固定安装在调姿电机71的输出轴上，用于存储和缠绕调姿钢丝绳73；所述的调姿钢丝绳73有两根，调姿钢丝绳73的后端固定并均缠绕在调姿卷盘72上，两根调姿钢丝绳73中的一根的前端穿过第三万向节531和第三外套管532后与第三内杆533相固连，两根调姿钢丝绳73中的另一根的前端穿过第四万向节541和第四外套管542后与第四内杆543相固连。
如图1、图9和图10所示，横移电机61、调姿电机71均采用小型伺服减速电机。
如图1、图3和图7所示，所述的测控系统8包括双目视觉摄像头81、激光雷达82、测距传感器83和控制器84。其中，所述的双目视觉摄像头81通过螺钉固定安装在升降装置3的顶连接板37上，所述的激光雷达82通过螺钉固定安装在升降装置3的底连接板31上，在移动平台1的罩壳12的前侧面、后侧面、左侧面和右侧面均布置有测距传感器83，且通过螺钉或胶水固定安装在罩壳12上，所述的测距传感器83采用激光测距传感器或超声波测距传感器；所述的控制器84通过螺钉固定安装在车架11的T型支架113上，在所述的控制器84内还设有数据采集卡，用于采集激光雷达82、测距传感器83、角度传感器和位移传感器的传感信息，以及来自双目视觉摄像头81的图形信息；所述的双目视觉摄像头81与车架11内的电源16、控制器84内的数据采集卡分别通过电源线和数据线相连接，激光雷达82和测距传感器 83通过数据线与数据采集卡相连接，所述的双目视觉摄像头81设有LED照明光源。所述的控制器84用于控制移动平台1、回转装置2、升降装置3、并联工作臂5、横移驱动装置6、调姿驱动装置7执行相应的动作或任务指令。
如图1、图4、图6、图7和图8所示，更进一步的，还可在在所述的主动轮轴132的两端设有角度传感器，在导向模组36和左悬臂梁41内设位移传感器，且回转底座22内的角度传感器、主动轮轴132两端的角度传感器和位移传感器均通过与数据采集卡通过数据线相连接。
从机构学的角度看，并联工作臂5即为一个具有空间一平移和两转动共三个运动自由度的并联机构。所述的并联工作臂5、支撑梁组件4、升降装置3和回转装置2一起构成一个具有空间两个平移三个转动共五个自由度的混联机构，其中垂直方向的移动为冗余自由度。再加上移动平台1在地面上的移动，本发明最多具有三平移三转动共六个运动自由度。
使用时，如果本发明执行辅助使用者起身、转运、如厕、清洁、调姿等工作任务，先控制主动轮驱动装置15中的行走电机151，使本发明的移动平台1和支撑梁组件4接近使用者，再驱动横移驱动装置6中的横移电机61，移动并联工作臂5中的左弧形板55、右弧形板56分别靠近使用者的大腿和胸腹部，通过腿部吊带58和胸腹吊带57分别将使用者的大腿和胸腹部固定在并联工作臂5上。然后根据需要，可选择通过升降装置3起吊并通过回转装置2调整角度，或通过控制调姿驱动装置7中的调姿电机71，驱动第三支链53、第四支链54伸长或缩短，进而调节使用者的姿态。当本发明执行辅助运动康复等任务时，需要适当降低支撑梁组件4的高度，并根据使用者身体的宽度调整固定在升降座35上的左悬臂梁41与右悬臂梁42之间的间距，使用者通过双臂支撑在左嵌盖411和右嵌盖421上，根据使用需要也可以通过柔性绑带将使用者的腰部或腿部固定在左弧形板55和右弧形板56上，以提高使用安全性。并联工作臂5中第一支链51、第二支链52的长度可根据使用者的实际需求，采取手动调节方式调节第一支链51和第二支链52的长度。工作环境中的自主导航、防碰撞和图像识别等功能主要通过测控系统8中的激光雷达82、测距传感器83、双目视觉摄像头81及采集卡、控制器84来实现。
在本发明的描述中，需要理解的是，术语“上”、“下”、“顶”、“底”、“内”、“外”、“前”、“后”、“左”、“右”、“水平”、“垂直”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。
以上显示和描述了本发明的基本原理、主要特征和优点。本行业的技术人员应该了解，本发明不受上述实施例的限制，上述实施例和说明书中描述的只是说明本发明的原理，在不脱离本发明精神和范围的前提下，本发明还会有各种变化和改进，这些变化和改进都落入要求保护的本发明范围内。本发明要求保护范围由所附的权利要求书及其等效物界定。

Claims (7)

  1. 一种多功能辅助护理机器人，包括移动平台、回转装置、升降装置、支撑梁组件、并联工作臂、横移驱动装置、调姿驱动装置和测控系统，其特征在于：所述的移动平台包括车架、罩壳、主动轮系、从动轮、主动轮驱动装置和电源，主动轮系、从动轮分别布置在车架下方的后端与前端，所述的主动轮驱动装置布置在车架的下方靠近主动轮系的位置，所述的罩壳通过螺钉固定安装在车架上；在所述的车架后端上方设有回转装置安装架，在所述的车架后端下方设有底支架，在所述的底支架上设有T型支架和电源支架，且所述的电源支架位于T型支架的前端，所述的电源安装在电源支架上；所述的回转装置的下端通过螺钉固定安装在车架的回转装置安装架上，所述的升降装置的下端通过螺钉固定安装在回转装置的顶部；所述的支撑梁组件的后端安装在升降装置上，所述的并联工作臂的上端安装在支撑梁组件上，并通过横移驱动装置与支撑梁组件相连接；所述的横移驱动装置有两个，对称固定安装在支撑梁组件的下方；所述的调姿驱动装置固定安装在支撑梁组件的右侧下方；所述的主动轮系包括两个主动轮和一根主动轮轴，所述的主动轮轴通过主动轮驱动装置与车架相连接，两个主动轮对称安装在主动轮轴的两端，且与主动轮轴通过轴承相连接；
    所述的回转装置包括包括回转顶盖、回转底座、回转马达、回转齿轮和内齿圈，所述的回转底座通过螺钉固定安装在车架的回转装置安装架上；所述的回转顶盖套装在回转底座内，且与回转底座之间通过两个深沟球型径向轴承和一个圆柱滚子型止推轴承相连接；所述的回转马达固定安装在回转底座上，所述的回转齿轮固定安装在回转马达的输出轴上；所述的内齿圈通过螺钉固定安装在回转顶盖内，且与回转齿轮保持内啮合；在所述的回转底座内还设有角度传感器；所述的回转马达采用伺服减速电机或伺服液压马达；
    所述的升降装置包括底连接板、导向柱、连接梁、驱动缸、升降座、导向模组和顶连接板，所述的底连接板通过螺钉固定安装在回转装置的回转顶盖上；所述的导向柱有两个，对称安装在底连接板与顶连接板之间，且与底连接板、顶连接板之间通过焊接的方式固连；所述的导向模组有两个，且对称固定安装在升降座上，所述的导向模组嵌入在相邻的导向柱的导向槽内；所述的连接梁位于底连接板的上方，且两端分别与相邻的导向柱通过焊接的方式固连；所述的驱动缸的下端固定安装在连接梁上，其上端与升降座通过铰链相连接；在所述的升降座的上下两端均设有防滑齿；所述的驱动缸采用电动推杆或气缸或液压缸；
    所述的支撑梁组件包括左悬臂梁、右悬臂梁，左悬臂梁与右悬臂梁的结构完全相同，且对称布置在升降装置的升降座上；所述的左悬臂梁包括左L型梁体、左嵌盖和左导轨，所述的左L型梁体的后端套装在升降座上，所述的左嵌盖通过卡扣方式嵌入在左L型梁体内，所述的左导轨位于左L型梁体的下方且通过耳座与左L型梁体相连接；所述的右悬臂梁包括右L型梁体、右嵌盖和右导轨，所述的右L型梁体的后端套装在升降座上，所述的右嵌盖通过卡扣方式嵌入在右L型梁体内，所述的右导轨位于右L型梁体的下方且通过耳座与右L型梁体相连接；在左L型梁体和右L型梁体的后端均设有防滑齿，左L型梁体和右L型梁体的后端与升降座均通过防滑齿啮合方式保持接触；在左L型梁体和右L型梁体的前端下方均设有T型滑槽；
    所述的并联工作臂为4UPR结构的三自由度并联机构，所述的并联工作臂包括第一支链、第二支链、第三支链、第四支链、左弧形板、右弧形板、胸腹吊带和腿部吊带，第一支链、第三支链对称布置在支撑梁组件中后部的下方左右两侧，第二支链、第四支链对称布置在支撑梁组件前端的下方左右两侧；第一支链、第二支链的上端安装在左悬臂梁的左导轨上， 且通过横移驱动装置与左L型梁体相连接，第一支链、第二支链的下端分别与左弧形板的两端相固连；第三支链、第四支链的上端安装在右悬臂梁的右导轨上，且通过横移驱动装置与右L型梁体相连接，第三支链、第四支链的下端分别与右弧形板的两端相固连；所述的腿部吊带有两根，且对称固定在左弧形板上；所述的胸腹吊带的两端分别与右弧形板的两端相连接；所述的第一支链与第二支链、第三支链、第四支链的结构完全相同，其机构拓扑结构均为URP结构；
    所述的横移驱动装置包括横移电机、横移卷盘、可调定滑轮、张紧装置、横移钢丝绳和横移电机支架，所述的横移电机支架通过螺钉固定安装在左L型梁体或右L型梁体上，所述的横移电机通过螺钉固定安装在横移电机支架上，所述的横移卷盘固定安装在横移电机的输出轴上；所述的可调定滑轮固定安装在左L型梁体或右L型梁体的前端，所述的张紧装置位于可调定滑轮的后端且靠近可调定滑轮，所述的张紧装置通过螺钉固定安装在左L型梁体或右L型梁体的前端下方；所述的横移钢丝绳的前后两端分别缠绕在可调定滑轮和横移卷盘上，且位于中间位置下方的横移钢丝绳与第一万向节、第二万向节固连或与第三万向节、第四万向节固连；
    所述的可调定滑轮包括滑轮座、滑轮轴和滑轮，所述的滑轮座的顶部设有T型滑块，滑轮座的T型滑块置于左L型梁体或右L型梁体的T型滑槽内；所述的滑轮通过滑轮轴固定安装在滑轮座上，且与滑轮轴之间通过轴承相连接；
    所述的张紧装置包括张紧支架和张紧螺钉，所述的张紧支架通过螺钉固定安装在左L型梁体或右L型梁体的前端下方，所述的张紧螺钉与张紧支架通过螺纹相连接，且张紧螺钉的前端与滑轮座保持接触；
    所述的测控系统包括双目视觉摄像头、激光雷达、测距传感器和控制器，所述的双目视觉摄像头通过螺钉固定安装在升降装置的顶连接板上，所述的激光雷达通过螺钉固定安装在升降装置的底连接板上，所述的测距传感器通过螺钉或胶水固定安装在移动平台的罩壳上，所述的控制器通过螺钉固定安装在车架的T型支架上，在所述的控制器内还设有数据采集卡，所述的双目视觉摄像头与车架内的电源、控制器内的数据采集卡分别通过电源线和数据线相连接，测距传感器和激光雷达通过数据线与数据采集卡相连接，所述的双目视觉摄像头设有LED照明光源。
  2. 根据权利要求1所述的一种多功能辅助护理机器人，其特征在于：所述的第一支链包括第一万向节、第一外套管、第一内杆和第一铰链，所述的第一万向节的上端套装在左导轨上且与左导轨通过直线轴承相连接，所述的第一万向节的下端与第一外套管的上端固连，所述的第一内杆的上端套接在第一外套管内且与第一外套管通过销钉相固定，所述的第一内杆的下端与第一铰链的上端固连，第一铰链的下端与左弧形板的后端固连；所述的第二支链包括第二万向节、第二外套管、第二内杆和第二铰链，所述的第二万向节的上端套装在左导轨上且与左导轨通过直线轴承相连接，所述的第二万向节的下端与第二外套管的上端固连，所述的第二内杆的上端套接在第二外套管内且与第二外套管通过销钉相固定，所述的第二内杆的下端与第二铰链的上端固连，第二铰链的下端与左弧形板的前端固连；所述的第三支链包括第三万向节、第三外套管、第三内杆和第三铰链，所述的第三万向节的上端套装在右导轨上且与右导轨通过直线轴承相连接，所述的第三万向节的下端与第三外套管的上端固连，所述的第三内杆的上端套接在第三外套管内，所述的第三内杆的下端与第三 铰链的上端固连，第三铰链的下端与右弧形板的后端固连；所述的第四支链包括第四万向节、第四外套管、第四内杆和第四铰链，所述的第四万向节的上端套装在右导轨上且与右导轨通过直线轴承相连接，所述的第四万向节的下端与第四外套管的上端固连，所述的第四内杆的上端套接在第四外套管内，所述的第四内杆的下端与第四铰链的上端固连，第四铰链的下端与右弧形板的前端固连；在第一外套管和第二外套管上均设有多个调节销孔；第一铰链与第二铰链的轴线相互平行，第三铰链与第四铰链的轴线相互平行，第一铰链与第三铰链的轴线相互垂直；在初始状态下，第一万向节的十字轴两条轴线分别与第二万向节的十字轴的两条轴线保持平行，第三万向节的十字轴两条轴线分别与第四万向节的十字轴的两条轴线保持平行，第一铰链的轴线与第一万向节的十字轴的一条轴线保持平行，第三铰链的轴线与第三万向节的十字轴的一条轴线保持平行。
  3. 根据权利要求1所述的一种多功能辅助护理机器人，其特征在于：所述的主动轮驱动装置包括行走电机、主动齿轮、从动齿轮和组合支架，所述的组合支架包括主安装板、轴支架和电机安装板，所述的主安装板通过螺钉固定安装在车架的底支架后端下方，所述的行走电机通过螺钉固定安装在电机安装板上，所述的主动齿轮固定安装在行走电机的输出轴上，所述的从动齿轮空套装在主动轮轴上，且与主动轮通过螺钉相固连，所述的主动齿轮与从动齿轮保持外啮合；所述的轴支架、电机安装板与主安装板通过焊接的方式固连，或构成整体铸件结构；所述的行走电机采用伺服减速电机或伺服液压马达。
  4. 根据权利要求1所述的一种多功能辅助护理机器人，其特征在于：所述的调姿驱动装置包括调姿电机、调姿卷盘和调姿钢丝绳，所述的调姿电机通过螺钉固定安装在右L型梁体后端，且位于右导轨的正下方；所述的调姿卷盘固定安装在调姿电机的输出轴上；所述的调姿钢丝绳有两根，调姿钢丝绳的后端固定并均缠绕在调姿卷盘上，两根调姿钢丝绳中的一根的前端穿过第三万向节和第三外套管后与第三内杆相固连，两根调姿钢丝绳中的另一根的前端穿过第四万向节和第四外套管后与第四内杆相固连。
  5. 根据权利要求1所述的一种多功能辅助护理机器人，其特征在于：所述的导向模组包括导向架、上导向轮、上调整螺钉、下导向轮和下调整螺钉，在所述的导向架的上下两端分别设有上轮孔和下轮孔，且上轮孔和下轮孔均为长腰形通孔；上导向轮和下导向轮分别安装在上轮孔和下轮孔内，上调整螺钉与下调整螺钉分别位于导向架的上端外侧和下端内侧，且与导向架均通过螺纹相连接；所述的上导向轮位于导向柱的导向槽内且与导向槽的前导向面保持接触，所述的下导向轮位于导向柱的导向槽内且与导向槽的后导向面保持接触；所述的上调整螺钉与上导向轮的轴线保持垂直相交，所述的下调整螺钉与下导向轮的轴线保持垂直相交，上调整螺钉与下调整螺钉的轴线保持平行；所述的下导向轮与上导向轮的结构完全相同。
  6. 根据权利要求1或4所述的一种多功能辅助护理机器人，其特征在于：所述的横移电机和所述的调姿电机均采用小型伺服减速电机。
  7. 根据权利要求5所述的一种多功能辅助护理机器人，其特征在于：所述的上导向轮包括轮体、安装部和锁紧部，所述的安装部位于轮体与和锁紧部之间，所述的轮体与安装部通过轴承相连接，且在所述的安装部的外侧面设有两个对称布置且与上轮孔相配合的定位平面；在所述的锁紧部的外圆柱面上设有外螺纹。
PCT/CN2022/091337 2021-06-30 2022-05-07 多功能辅助护理机器人 WO2023273603A1 (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
GB2219849.3A GB2610546B (en) 2021-06-30 2022-05-07 Multifunctional auxiliary nursing robot

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202110733286.4 2021-06-30
CN202110733286.4A CN113386153B (zh) 2021-06-30 2021-06-30 多功能辅助护理机器人

Publications (1)

Publication Number Publication Date
WO2023273603A1 true WO2023273603A1 (zh) 2023-01-05

Family

ID=77624527

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2022/091337 WO2023273603A1 (zh) 2021-06-30 2022-05-07 多功能辅助护理机器人

Country Status (3)

Country Link
CN (1) CN113386153B (zh)
GB (1) GB2610546B (zh)
WO (1) WO2023273603A1 (zh)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117133096A (zh) * 2023-10-26 2023-11-28 中汽研汽车检验中心(宁波)有限公司 一种用于驾驶员注意力监测系统的测试系统及测试方法
CN117300572A (zh) * 2023-11-29 2023-12-29 山东高速德建建筑科技股份有限公司 一种基于bim的机电管线装配装置

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113386153B (zh) * 2021-06-30 2022-08-16 安徽理工大学 多功能辅助护理机器人
CN113799173A (zh) * 2021-09-27 2021-12-17 复旦大学 一种护士机器人抱起病人用安全辅助机构

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002336307A (ja) * 2001-05-14 2002-11-26 Glory Ltd 介護用移動補助装置
US20060128537A1 (en) * 2004-12-14 2006-06-15 Philips Edward H Paraplegic rehabilitation apparatus
CN204468616U (zh) * 2015-02-06 2015-07-15 安徽理工大学 三自由度混联式中医推拿按摩机器人
CN105232293A (zh) * 2015-10-12 2016-01-13 哈尔滨工程大学 一种移动式腰部随动装置
CN107930029A (zh) * 2017-12-19 2018-04-20 刘坤 多功能坐站运动辅助与康复运动训练机器人
CN111419632A (zh) * 2020-03-31 2020-07-17 合肥工业大学 冗余约束柔索驱动下肢训练并联康复机器人及其控制方法
CN111588573A (zh) * 2020-05-29 2020-08-28 燕山大学 一种多臂协作式转运护理机器人
CN113386153A (zh) * 2021-06-30 2021-09-14 安徽理工大学 多功能辅助护理机器人

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104606035B (zh) * 2015-02-06 2016-05-25 安徽理工大学 三自由度混联式中医推拿按摩机器人
CN105459095B (zh) * 2016-01-26 2019-03-15 安徽理工大学 三自由度混联式全向移动搬运机器人
CN108996232A (zh) * 2018-10-10 2018-12-14 安徽理工大学 一种行李升降机器人

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002336307A (ja) * 2001-05-14 2002-11-26 Glory Ltd 介護用移動補助装置
US20060128537A1 (en) * 2004-12-14 2006-06-15 Philips Edward H Paraplegic rehabilitation apparatus
CN204468616U (zh) * 2015-02-06 2015-07-15 安徽理工大学 三自由度混联式中医推拿按摩机器人
CN105232293A (zh) * 2015-10-12 2016-01-13 哈尔滨工程大学 一种移动式腰部随动装置
CN107930029A (zh) * 2017-12-19 2018-04-20 刘坤 多功能坐站运动辅助与康复运动训练机器人
CN111419632A (zh) * 2020-03-31 2020-07-17 合肥工业大学 冗余约束柔索驱动下肢训练并联康复机器人及其控制方法
CN111588573A (zh) * 2020-05-29 2020-08-28 燕山大学 一种多臂协作式转运护理机器人
CN113386153A (zh) * 2021-06-30 2021-09-14 安徽理工大学 多功能辅助护理机器人

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117133096A (zh) * 2023-10-26 2023-11-28 中汽研汽车检验中心(宁波)有限公司 一种用于驾驶员注意力监测系统的测试系统及测试方法
CN117133096B (zh) * 2023-10-26 2024-01-09 中汽研汽车检验中心(宁波)有限公司 一种用于驾驶员注意力监测系统的测试系统及测试方法
CN117300572A (zh) * 2023-11-29 2023-12-29 山东高速德建建筑科技股份有限公司 一种基于bim的机电管线装配装置
CN117300572B (zh) * 2023-11-29 2024-01-23 山东高速德建建筑科技股份有限公司 一种基于bim的机电管线装配装置

Also Published As

Publication number Publication date
CN113386153A (zh) 2021-09-14
GB202219849D0 (en) 2023-02-15
GB2610546A (en) 2023-03-08
CN113386153B (zh) 2022-08-16
GB2610546B (en) 2023-12-06

Similar Documents

Publication Publication Date Title
WO2023273603A1 (zh) 多功能辅助护理机器人
CN216124708U (zh) 一种智能护理床
CN102824254B (zh) 一种辅助护理移乘装置
AU705337B2 (en) An invalid lifting device
CN201558247U (zh) 伤病员换乘转运机器人
JP2813871B2 (ja) 病人の搬送装置
US20150182403A1 (en) A Mobile Robotic Lifting and Transferring System for Bariatric Patients
CN202802005U (zh) 一种辅助护理移乘装置
CN205019285U (zh) 侧位升降多功能移位机
CN104546320B (zh) 瘫痪老人洗澡用转运系统
CN106333801B (zh) 侧位升降多功能移位机
CN205459418U (zh) 一种方便病人平移转运且背部自动升降的转运床装置
KR101502591B1 (ko) 재활치료용 보행보조 리프트 이송장치
CN113274222B (zh) 准备旋转受治疗者和使用高架升降件旋转受治疗者的方法
CN201684092U (zh) 肩背式折叠急救担架
JP2014076185A (ja) 歩行補助及びリハビリ用介護システム
CN101766521A (zh) 使瘫痪病人翻身和体位升降的综合护理架
CN210330990U (zh) 移位机器人
JP2001104378A (ja) 移載装置
CN111821126A (zh) 可协助人体护理的多功能仿生装置
JPS61252083A (ja) スレ−ブロボツト
CN210903805U (zh) 天轨移位机
WO2021253629A1 (zh) 一种实现使用者的坐卧姿转换和搬运的多臂机器人
CN111374851A (zh) 用于转运病患的辅助装置
CN217611780U (zh) 多功能失能护理床

Legal Events

Date Code Title Description
ENP Entry into the national phase

Ref document number: 202219849

Country of ref document: GB

Kind code of ref document: A

Free format text: PCT FILING DATE = 20220507

121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 22831430

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE