Summary of the invention
To solve the above-mentioned problems, the present invention provides a kind of nursing robots that motion control accuracy is high.
The technical solution adopted by the present invention to solve the technical problems is specifically:
A kind of nursing robot, comprising: Omni-mobile chassis, the waist joint being located on chassis are set by waist jointThe head for setting the main part on chassis, being located at two mechanical arms of main part two sides and being located above main part, manipulatorArm includes shoulder joints, big arm, ancon joint, small arm, wrist joint and bionical palm；Wherein, main part is equipped with master controlDevice；
Mechanical arm be equipped with for control shoulder joints or so open, big arm swing and rotation, small arm swing and fromTurn and six rotating devices of bionical palm movement, each rotating device include arm servo motor and with arm servo electricityThe one-to-one arm servo controller of machine, master control set communication connection arm servo controller simultaneously control each position of mechanical armMovement；
Waist joint is equipped with the waist control device that rotary motion and pitching movement are carried out for controlling main part, waist controlDevice processed set there are two waist servo motor and with the one-to-one waist servo controller of two waist servo motors, master control dressIt sets communication connection waist servo controller and controls the movement of main part；
Chassis is equipped with the laser radar for real-time location navigation, and master control set control connection laser radar simultaneously controls chassisIt is moved to designated position.
Arm servo controller communication connection in six rotating devices of master control set and mechanical arm in the present invention,The further rotation of the arm servo motor in six rotating devices of control, to realize that the independence of mechanical arm six degree of freedom turnsIt moves, further completes shoulder joints or so opening, the swing of big arm and rotation, the swing of small arm and rotation and bionical palm fortuneDynamic a series of actions.
Further, two waist servo controller communication connections of master control set and waist joint, to control two waistsThe work of portion's servo motor, and then realize the rotary motion by waist joint control main part and/or pitching movement.
Master control set is also controlled with the laser radar on chassis and is connected, to realize that driving chassis reaches designated position, specifically, chassis is equipped with multiple Omni-mobile wheels, such as four Omni-mobile wheels of setting, and wherein Omni-mobile wheel can be received using MikeNurse wheel, to carry out the movement and positioning on chassis.
Another kind specific embodiment according to the present invention, the surface of big arm and small arm in mechanical arm are equipped withArtificial skin, artificial skin include flexible skin layer and the thin-film pressure sensor that is located at below flexible skin layer, and pressure passesSensor signal is connected to master control set.
Further, flexible skin layer is arranged in honeycomb structure.
Wherein, artificial skin is electronic skin structure, and power when can detecte collision and contacting with people has sensitiveDegree height, feature with high accuracy.
Another kind specific embodiment according to the present invention, waist joint further includes waist mounting base, waist attachment base, waistMounting base fixation in portion's is located on chassis, and waist attachment base is located in waist mounting base by waist pitching shaft, waist attachment baseIt is equipped with waist rotary flange, main part is fixedly installed on waist rotary flange, and waist control device is for controlling waist companyJoint chair is around the rotation of waist pitching shaft and the revolution of waist rotary flange.
Another kind specific embodiment according to the present invention, waist control device further includes being located on waist rotary flangeOutput bevel gear wheel, two input bevel gears for being arranged oppositely and being engaged with output bevel gear wheel being located in waist pitching shaft, twoA waist servo motor, which respectively drives two input bevel gears and synchronizes, to be rotate in same direction, and with respect to two input bevel gears of bevel gear are inputtedIt fixes and waist attachment base is rotated around waist pitching shaft；Two waist servo motors respectively drive two inputsThe rotation of bevel gear synchronous backward, input bevel gear rotate relative to two input bevel gears and waist rotary flange are returnedTurn.
Another kind specific embodiment according to the present invention, the number of teeth for inputting bevel gear are equal to the number of teeth of output bevel gear wheel,And input bevel gear and output bevel gear wheel are right angle bevel gear；Specifically, individually between input bevel gear and output bevel gear wheelThe direction for only carrying out power is transmitted, and the scaling without power, wherein the output torque of output bevel gear wheel is two input bevel gearsThe sum of input torque.
Another kind specific embodiment according to the present invention, two waist servo motors are arranged backwards or are oppositely arranged on waistIn portion's mounting base, and the output end of waist servo motor is equipped with double reduction component, and double reduction component includes that waist harmonic wave subtractsFast device, the drive bevel gear for being located at waist harmonic speed reducer output end and the follow bevel gear engaged with drive bevel gear, and it is mainMove the number of teeth that the helical gear number of teeth is less than follow bevel gear.
Another kind specific embodiment according to the present invention, follow bevel gear and input bevel gear coaxial arrangement, and it is drivenThe helical gear number of teeth is greater than the number of teeth of input bevel gear, is conducive to the stability for improving transmission process.
Waist joint in the present invention is based on differential steering principle, in conjunction with multi-stage speed-reducing with realize overall structure size byIt still can have the fan-out capability of relatively large load in the case where limitation.
Another kind specific embodiment according to the present invention, main part is equipped with to carry out pitching movement and returns for controlling headThe dynamic head control device of transhipment, head control device include two head servo motors and with two head servo motors one by oneCorresponding head servo controller, master control set communication connection head servo controller and the pitching movement and revolution for controlling headMovement, wherein the pitching movement on head and rotary motion can be respectively adopted individual head servo motor and be controlled.
Another kind specific embodiment according to the present invention, shoulder joints include mounting base, the first rotating device, joint companyJoint chair one, the second rotating device and joint attachment base two, the first rotating device are located in mounting base and drive joint attachment base oneIt is rotated around the first axis direction, the second rotating device is located on joint attachment base one and drives joint attachment base two around the second axisDirection rotation, it is orthogonal between the first axis direction and the second axis direction.
Wherein, the first rotating device specifically include the first rotating electric machine, by the first rotating electric machine driving the first output shaft,First harmonic decelerator, the first output flange for being located at first harmonic decelerator output end, the first controller and the first encoder,The fixation of first rotating electric machine is located in mounting base, and the first controller is located in mounting base and controls the first rotating electric machine of connection, theOne encoder is located in mounting base and the first rotating electric machine of communication connection, first harmonic decelerator are located on the first output shaft, theOne output flange is fixedly attached to joint attachment base and joint attachment base one is driven to rotate around the first axis direction together, the first outputAxis and the first axis direction are coaxially disposed.
Preferably, mounting base is additionally provided with the check and correction encoder for detecting the first output flange output revolving speed.
Further, the second rotating device preferably includes the second rotating electric machine, by the second defeated of the second rotating electric machine drivingShaft, second harmonic retarder, second controller and second encoder, the fixation of the second rotating electric machine are located at joint attachment base oneOn, second controller is located on joint attachment base one and controls the second rotating electric machine of connection, and second encoder is located at joint connectionOn seat one and the second rotating electric machine of communication connection, second harmonic retarder are located on the second output shaft and drive joint attachment base twoIt is rotated around the second axis direction, the second output shaft and the second axis direction are coaxially disposed.
Another kind specific embodiment according to the present invention, joint attachment base one are U-board shape, and joint attachment base two is UShape plate, the second rotating device are additionally provided with support shaft and two rolling bearings, and support shaft fixation is located on joint attachment base one simultaneouslyIt is coaxially disposed with the second output shaft, joint attachment base two is rotatablely connected respectively by two rolling bearings to the second output shaft respectivelyAnd support shaft.
Further, the swing relative to one larger angle range of joint attachment base may be implemented in joint attachment base two,
Another kind specific embodiment according to the present invention, big arm are from rotary big arm, including large arm revolving drumBody, third rotating device and large arm connecting flange, large arm connecting flange are fixedly attached to joint attachment base two, third rotating deviceIt is arranged on large arm connecting flange and is located in large arm rotating cylinder and large arm rotating cylinder is driven to rotate around third axis direction,It is mutually perpendicular between third axis direction and the second axis direction.
Further, third rotating device preferably include third rotating electric machine, the third that is driven by third rotating electric machine it is defeatedShaft, Spur Gear Driving group, the third harmonic retarder for being drivingly connected large arm connecting flange, third controller and third codingDevice, the fixation of third rotating electric machine are located in large arm rotating cylinder, and third controller is located in large arm rotating cylinder and controls connectionThird rotating electric machine, third encoder are located at communication connection third rotating electric machine in large arm rotating cylinder, Spur Gear Driving group packetInclude from third export shaft-driven active spur gear and with the driven spur gear with active spur gear, third output shaft and thirdAxis direction is arranged in parallel.
Wherein, the driven spur gear is connected to third harmonic retarder, and the fixation of large arm connecting flange is located at third harmonicThe output end of retarder, due to fixed, the rotation of third rotating electric machine at this time relative to joint attachment base two of large arm connecting flangeDrive bevel gear can be driven relative to the rotation of driven wheel of differential, and then realize that large arm rotating cylinder surrounds the revolution of third axis directionMovement.
Another kind specific embodiment according to the present invention, ancon joint include ancon joint connector drum, the 4th rotationDevice and joint attachment base three, ancon joint connector drum are fixedly attached to large arm rotating cylinder, and the 4th rotating device is located at elbowIn the connector drum of portion joint and joint attachment base three is driven to rotate around the 4th axis direction, the 4th axis direction and third axis direction itBetween be mutually perpendicular to.
Preferably, the 4th rotating device includes the 4th rotating electric machine, the 4th output shaft by the driving of the 4th rotating electric machine, coneGear drive group, the 4th harmonic speed reducer, the 4th controller and the 4th encoder, the fixation of the 4th rotating electric machine are located at big revolution of armIn cylinder, the 4th controller is located in large arm rotating cylinder and controls the 4th rotating electric machine of connection, and the 4th encoder is located at large armThe 4th rotating electric machine of communication connection in rotating cylinder, Bevel Gear Transmission group include by the 4th shaft-driven drive bevel gear of output andWith the driven wheel of differential of drive bevel gear cooperation, driven wheel of differential is surrounded by the 4th harmonic speed reducer band movable joint attachment base threeThe rotation of 4th axis direction, the 4th output shaft are vertical and parallel with third axis direction with the 4th axis direction.
Further, Bevel Gear Transmission group is located in the connector drum of ancon joint, specially right angle Bevel Gear Transmission group.
Another kind specific embodiment according to the present invention, small arm are from rotary small arm, including forearm rotary cylinderBody, the 5th rotating device and forearm connecting flange, forearm connecting flange are fixedly attached to joint attachment base three, the 5th rotating dressIt installs on forearm connecting flange and is located in forearm rotary cylinder and forearm rotary cylinder is driven to turn around the 5th axis directionIt is dynamic, it is mutually perpendicular between the 5th axis direction and the 4th axis direction.
Further, the 5th rotating device preferably includes the 5th rotating electric machine, by the 5th defeated of the 5th rotating electric machine drivingShaft, the 5th harmonic speed reducer, the 5th controller and the 5th encoder for being drivingly connected forearm connecting flange, the 5th rotating electric machineFixation is located in forearm rotary cylinder, and the 5th controller is located in forearm rotary cylinder and controls the 5th rotating electric machine of connection, theFive encoders are located at the 5th rotating electric machine of communication connection in forearm rotary cylinder, and the 5th harmonic speed reducer is located at the 5th output shaftOn, the 5th output shaft and the 4th axis direction are coaxially disposed.
Another kind specific embodiment according to the present invention, wrist joint include the 6th rotating device and joint attachment baseFour, the 6th rotating device is located in forearm rotary cylinder and joint attachment base four is driven to rotate around the 6th axis direction, the 6th axisOrthogonal between direction and the 5th axis direction, bionical palm is located on joint attachment base four.
Further, the 6th rotating device include the 6th rotating electric machine, by the 6th rotating electric machine driving the 6th output shaft,It is provided simultaneously with the right-angle reduction device, the 6th controller and the 6th encoder of deceleration and commutation, the fixation of the 6th rotating electric machine is located at smallIn revolution of arm cylinder, the 6th controller is located in forearm rotary cylinder and controls the 6th rotating electric machine of connection, and the 6th encoder is setThe 6th rotating electric machine of communication connection in forearm rotary cylinder, right-angle reduction device are located at the end of forearm rotary cylinder and by the 6Output shaft driving, joint attachment base four are located on the output shaft of right-angle reduction device and bionical palm are driven to turn around the 6th axis directionDynamic, the output shaft of right-angle reduction device and the 6th axis direction are coaxially disposed.
Mechanical arm in the present invention individually realizes the only of six rotational freedoms by the way that six rotating devices are arrangedVertical control, control accuracy is high, and can be adjusted in real time according to holding task, and the automatic control of bio-robot is facilitatedSystem.
Further, it is fixedly connected between the ancon joint connector drum in mechanical arm and large arm rotating cylinder, and theThree rotating electric machines and the 4th rotating electric machine are all set in inside large arm rotating cylinder, are conducive to integrally-built modularized design.
Another kind specific embodiment according to the present invention, the front side on head are equipped with binocular camera, and binocular camera communication connectsIt is connected to master control set, the posture of binocular camera real-time detection robot, and signal is fed back into master control set, to realize to holdingThe real-time adjustment of posture.
Another kind specific embodiment according to the present invention, main part are additionally provided with communication device, connect with communication device signalThe touch screen and loudspeaker connect, communication device can be wired or wireless module, further, it is also possible to fill on head or main partCamera is carried, to realize the video calling between patient and nursing staff or household, or can be used for long-range monitoring etc..
The present invention has following the utility model has the advantages that the output of relatively large load may be implemented in the waist joint in the present invention, mostBig bearing capacity is used in 80KG or more, the medical care that can satisfy nearly all patient；
Six rotating devices in mechanical arm are controlled using master control set in the present invention, realize Apery manipulator respectivelyArm tool is opened, big arm is swung and rotation, small arm pendulum there are six rotational freedom with imitating human arm such as shoulder or soThe a series of actions such as dynamic and rotation and palm swing, and the movement between each component is mutually non-interference, it is right in conjunction with binocular cameraPosture when robot holding is adjusted in real time；
Artificial skin (flexible skin layer and pressure sensor) is enclosed on mechanical arm of the invention, when contacting with peopleAfter may be implemented contact force feedback, so as to adjust the position in each joint of mechanical arm；And it can pass through when placing patientWhether pressure sensor real-time perception patient on mechanical arm is safe to be placed on wheelchair.
The present invention has many advantages, such as that compact-sized, control precision is high, has a safety feature.
The present invention is described in further detail with reference to the accompanying drawing.
Embodiment 1
As shown in Fig. 1-17, a kind of nursing robot, including Omni-mobile chassis 1,2, two mechanical arms 3 of main part,Waist joint 4, head 5.
Wherein, as shown in Figure 1, chassis 1 is set, there are four Omni-mobile wheels 11, to carry out the movement and positioning on chassis 1, the bottom of atDisk 1 is equipped with the base plate electric machine for driving four Omni-mobile wheels 11 mobile.
Main part 2 by waist joint 4 can pitching movement and the setting of rotary motion on chassis 1, be equipped in main part 2Master control set, wherein master control set can choose as PC host computer.
As shown in figure 3, waist joint 4 includes waist control device 41, waist mounting base 42 and waist attachment base 43,In, the fixation of waist mounting base 42 is located on chassis 1, and waist attachment base 43 is located at waist mounting base 42 by waist pitching shaft 44On, waist attachment base 43 is equipped with waist rotary flange 45, and main part 2 is fixedly installed on waist rotary flange 45, waist controlDevice 41 processed includes two waist servo motors 411 and two one-to-one waist servo controllers of waist servo motor 411412, two (not shown), output bevel gear wheel input bevel gears 413 being arranged oppositely, two of them input bevel gear 413It is located in waist pitching shaft 44 and is engaged respectively with output bevel gear wheel 412, two waist servo motors 411 respectively drive twoBevel gear 413 is inputted to rotate.
Preferably, input bevel gear 413 is equal to the number of teeth of output bevel gear wheel 412, specifically, individually input bevel gear 413The direction that power is only carried out between output bevel gear wheel 412 is transmitted, and the scaling without power.
Further, two waist servo motors 411, which respectively drive two input bevel gears 413 and synchronize, rotates in same direction, defeatedEnter with respect to the two input bevel gears 413 of bevel gear 413 to fix and waist attachment base 43 is carried out around waist pitching shaft 44Rotation, at this point, the output torque of output bevel gear wheel 412 is the sum of the input torque of two input bevel gears 413；
Two waist servo motors 411 respectively drive two input 413 synchronous backward of bevel gear rotations, input bevel gear413 turn round waist rotary flange relative to two input bevel gear 413 rotations, at this point, output bevel gear wheel 412 is defeatedTorque is the sum of the input torque of two input bevel gears 413 out.
Further preferably, two waist servo motors 411 are arranged in waist mounting base 42 backwards, and waist servo motor411 output end is equipped with double reduction component, and double reduction component includes waist harmonic speed reducer 414, is located at waist harmonic wave and subtractsThe drive bevel gear 415 of fast 414 output end of device and the follow bevel gear 416 engaged with drive bevel gear 415, and drive bevel gear415 number of teeth is less than the number of teeth of follow bevel gear 416.
Further, follow bevel gear 416 and input bevel gear 413 are coaxially disposed, and the number of teeth of follow bevel gear 416 is bigIn the number of teeth of input bevel gear 413, to improve the stability of transmission process.
Waist joint 4 in the present embodiment is based on differential steering principle, in conjunction with multi-stage speed-reducing to realize in overall structure rulerIt still can have the fan-out capability of relatively large load in very little restricted situation.
As shown in figure 4, mechanical arm 3 includes shoulder joints 31, big arm 32, ancon joint 33, small arm 34, wrist passSection 35 and bionical palm 36；Wherein, the tool of mechanical arm 3 is there are six rotational freedom, R1, R2 shown in respectively Fig. 4, R3,R4, R5 and R6, six rotational freedoms are respectively adopted the rotating device that six control independently of each other and are controlled, and are revolved by sixIndependent control of the rotary device to six rotational freedoms, to realize the swing of the shoulder for imitating human arm or so opening, large armThe a series of actions swung with rotation, the swing of forearm and rotation and palm.
Shoulder joints 31 include mounting base 311, the first rotating device 312, joint attachment base 1, the second rotating device314 and joint attachment base 2 315, the first rotating device 312 be located in mounting base 311 and joint attachment base 1 driven to surroundFirst axis direction rotation, wherein the rotational freedom around the first axis direction is R1.
As shown in figure 5, the first rotating device 312 can specifically include the first rotating electric machine 3121, by the first rotating electric machineFirst output shaft 3122 of 3121 drivings, first harmonic decelerator 3123, be located at 3123 output end of first harmonic decelerator theOne output flange 3124, the first controller 3125 and the first encoder 3126, the first rotating electric machine 3121 pass through first support3127 fixations are located in mounting base 311, and the first controller 3125 is located in mounting base 311 simultaneously by the first controller bracket 3128Control the first rotating electric machine 3121 of connection, the first encoder 3126 is located in mounting base 311 and the first rotating electric machine of communication connection3121, first harmonic decelerator 3123 is located on the first output shaft 3122, and the first output flange 3124 is fixedly attached to joint companyJoint chair 1 simultaneously drives joint attachment base 1 to rotate around the first axis direction, and the first output shaft 3122 and the first axis direction are sameAxis setting.
Further, the mounting base 311 in the present embodiment is preferably tubular structure comprising installation cylinder 3111 and installationRear cover 3112.
In other examples of the invention, it is also provided in mounting base 311 and 3124 communication connection of the first output flangeCheck and correction encoder 3113, check and correction encoder 3113 is used to detect the output revolving speed of the first output flange 3124.
As shown in fig. 6, the second rotating device 314 can specifically include the second rotating electric machine 3141, by the second rotating electric machineThe second output shaft 3142, second harmonic retarder 3143, second controller 3144 and the second encoder 3145 of 3141 drivings, theThe fixation of two rotating electric machines 3141 is located on joint attachment base 1, and second controller 3144 is located on joint attachment base 1 simultaneouslyControl the second rotating electric machine 3141 of connection, second encoder 3145 is located on joint attachment base 1 and communication connection second is revolvedRotating motor 3141, second harmonic retarder 3143 are located on the second output shaft 3142 and drive joint attachment base 2 315 around theThe rotation of two axis directions, the second output shaft 3142 and the second axis direction are coaxially disposed, wherein around the rotatably mounted of the second axis directionDegree is R2.
Specifically, joint attachment base 1 is U-board shape, joint attachment base 2 315 is also U-board shape, the second rotating dressIt sets 314 and is additionally provided with support shaft 3146 and two rolling bearings 3147, the fixation of support shaft 3146 is located on joint attachment base 1 simultaneouslyIt is coaxially disposed with the second output shaft 3142, joint attachment base 2 315 is rotatablely connected by two rolling bearings 3147 respectively respectivelyTo the second output shaft 3142 and support shaft 3146.
Preferably, it is also provided on joint attachment base 2 315 for covering the protection cap structure for closing support shaft 31463147。
Further, the pendulum relative to one 313 larger angle range of joint attachment base may be implemented in joint attachment base 2 315It is dynamic,
As Figure 7-8, big arm 32 and ancon joint 33 form double freedom module.
Specifically, big arm 32 is from rotary big arm, including large arm rotating cylinder 321,322 and of third rotating deviceLarge arm connecting flange 323, large arm connecting flange 323 are fixedly attached to joint attachment base 2 315, and third rotating device 322 is arrangedOn large arm connecting flange 323 and it is located in large arm rotating cylinder 321 and drives large arm rotating cylinder 321 around third axis directionRotation, is mutually perpendicular between third axis direction and the second axis direction, wherein the rotational freedom around third axis direction is R3.
Third rotating device 322 can specifically include third rotating electric machine 3221, fixed third rotating electric machine 3221 theThree brackets 3222, Spur Gear Driving group, are drivingly connected large arm company at the third output shaft 3223 driven by third rotating electric machine 3221Third harmonic retarder 3224, third controller 3225 and the third encoder (figure does not always show) of acting flange 323, third electric rotatingThe fixation of machine 3221 is located in large arm rotating cylinder 321, and third controller 3225 is located in large arm rotating cylinder 321 and controls connectionThird rotating electric machine 3221, third controller 3225 have detection function, can be used for detecting the rotation of third rotating electric machine 3221Angle；Third encoder is located in large arm rotating cylinder 321 and communication connection third rotating electric machine 3221, Spur Gear Driving groupIncluding from active spur gear 3226 that third output shaft 3223 drives and with the driven spur gear with active spur gear 32263227, third output shaft 3223 is arranged in parallel with third axis direction.
Preferably, the number of teeth of active spur gear 3226 is slightly less than the number of teeth of driven spur gear 3227, such as Spur Gear DrivingThe transmission ratio of group is 1:1.5, then such as 1:1.25.
Further, the output end of third rotating electric machine 3221 is also provided with planetary reduction gear 1, third outputAxis 3223 is located at the output end of planetary reduction gear 1.
Again specifically, ancon joint 33 is connected including ancon joint connector drum 331, the 4th rotating device 332 with jointSeat 3 333, ancon joint connector drum 331 is fixedly attached to large arm rotating cylinder 321, and the 4th rotating device 332 is located at anconIn joint connector drum 331 and joint attachment base 3 333 is driven to rotate around the 4th axis direction, the 4th axis direction and third axis sideIt is mutually perpendicular between, wherein the rotational freedom around the 4th axis direction is R4.
4th rotating device 332 can specifically include the 4th rotating electric machine 3321, fix the of the 4th rotating electric machine 3321Four brackets 3322, the 4th output shaft 3323, Bevel Gear Transmission group, the 4th harmonic speed reducer driven by the 4th rotating electric machine 33213324, the 4th controller 3325 and the 4th encoder (not shown), the fixation of the 4th rotating electric machine 3321 are located at large arm revolving drumIn body 321, the 4th controller 3325 is located in large arm rotating cylinder 321 and controls the 4th rotating electric machine 3321 of connection, the 4th controlDevice 3325 processed has detection function, can be used for the angle of detection the 4th rotating electric machine 3321 rotation；4th encoder 3326It is located at the 4th rotating electric machine 3321 of communication connection in large arm rotating cylinder 321, Bevel Gear Transmission group includes by the 4th output shaftThe drive bevel gear 3326 of 3323 drivings and the driven wheel of differential 3327 cooperated with drive bevel gear 3326, driven wheel of differential 3326Rotated with movable joint attachment base 3 333 around the 4th axis direction by the 4th harmonic speed reducer 3324, the 4th output shaft 3323 with4th axis direction is vertical and parallel with third axis direction.
Wherein, drive bevel gear 3326 and driven wheel of differential 3327 are isometrical straight bevel gear, the number of teeth between the twoIdentical, in other preferable examples of the invention, the number of teeth of drive bevel gear 3326 and driven wheel of differential 3327 can not also phaseTogether, specifically the gear ratio of the number of teeth Yu drive bevel gear 3326 of such as driven wheel of differential 3327 is 1.5:1.
Further, the output end of the 4th rotating electric machine 3321 is also provided with planetary reduction gear 2 3328, and the 4th is defeatedShaft 3323 is located at the output end of planetary reduction gear 2 3328.
Again specifically, being equipped with ancon articular branches far from the side of joint attachment base 3 333 in ancon joint connector drum 331Seat 3329 is supportted, to be connected to the 4th humorous by supporting shaft 334 to be fixed on ancon joint support seat 3329 for driven wheel of differential 3327The input terminal of wave retarder 3324.
As shown in figure 9, small arm 34 and wrist joint 35 form double freedom module.
Specifically, small arm 34 is from rotary small arm, including forearm rotary cylinder 341,342 and of the 5th rotating deviceForearm connecting flange 343, forearm connecting flange 343 are fixedly attached to joint attachment base 3 333, the setting of the 5th rotating device 342On forearm connecting flange 343 and it is located in forearm rotary cylinder 341 and drives forearm rotary cylinder 341 around the 5th axis directionRotation, is mutually perpendicular between the 5th axis direction and the 4th axis direction, wherein the rotational freedom around the 5th axis direction is R5.
5th rotating device 342 can specifically include the 5th rotating electric machine 3421, be used to support the 5th rotating electric machine 3421The 5th bracket (not shown), driven by the 5th rotating electric machine 3421 the 5th output shaft 3422, be drivingly connected forearm connectionThe 5th harmonic speed reducer 3423, the 5th controller 3424 and the 5th encoder 3425 of flange 343, the 5th rotating electric machine 3421 are solidSurely it is located in forearm rotary cylinder 341, the 5th controller 3424 is located in forearm rotary cylinder 341 and controls the 5th rotation of connectionMotor 3421, the 5th encoder 3425 are located at the 5th rotating electric machine 3421 of communication connection in forearm rotary cylinder 341, the 5th harmonic waveRetarder 3423 is located on the 5th output shaft 3422, and the 5th output shaft 3422 and the 4th axis direction are coaxially disposed.
Again specifically, wrist joint 35 includes the 6th rotating device 351 and joint attachment base 4 352, the 6th rotating device351 are located in forearm rotary cylinder 341 and joint attachment base 4 352 are driven to rotate around the 6th axis direction, the 6th axis direction andOrthogonal between 5th axis direction, bionical palm 36 is located on joint attachment base 4 352.
6th rotating device 351 can specifically include the 6th rotating electric machine 3511, be used to support the 6th rotating electric machine 3511The 6th bracket (not shown), driven by the 6th rotating electric machine 3511 the 6th output shaft 3512, be provided simultaneously with deceleration and changeTo right-angle reduction device 3513, the 6th controller 3514 and the 6th encoder 3515, the 6th rotating electric machine 3511 is fixed be located at it is smallIn revolution of arm cylinder 341, the 6th controller 3514 is located in forearm rotary cylinder 341 and controls the 6th rotating electric machine of connection3511, the 6th encoder 3515 is located at the 6th rotating electric machine 3511 of communication connection in forearm rotary cylinder 341, right-angle reduction device3513 are located at the end of forearm rotary cylinder 341 and are driven by the 6th output shaft 3512, and joint attachment base 4 352 is located at right angle and subtractsOn the output shaft of fast device 3513 and drive bionical palm 36 around the 6th axis direction rotate, the output shaft of right-angle reduction device 3513 with6th axis direction coaxial arrangement, wherein the rotational freedom around the 6th axis direction is R6.
Mechanical arm 3 in the present embodiment is set there are six rotating device, each rotating device includes arm servo electricityMachine (i.e. the first rotating electric machine, the second rotating electric machine, third rotating electric machine, the 4th rotating electric machine, the 5th rotating electric machine and the 6th rotationRotating motor) and with arm servo motor one-to-one arm servo controller (the first controller, second controller, third controlDevice, the 4th controller, the 5th controller and the 6th controller processed), master control set communication connection arm servo controller is to realizeControl the movement at each position of mechanical arm 3.
First harmonic decelerator 3123, second harmonic retarder 3143 in the present embodiment mechanical arm 3, third harmonic subtractFast device 3224, the 4th harmonic speed reducer 3324 and 3423 structure of the 5th harmonic speed reducer are almost the same, with third harmonic retarderIt is illustrated for 3224.
As shown in fig. 7, third harmonic retarder 3224 include: reducer shell 32241, it is harmonic wave connecting flange 32242, humorousWave retarder main body 32243, adapter flange 32244 and roller bearing 32245, wherein reducer shell 32241 is located at large arm and returnsIt is fixedly connected except drum body 321 and with large arm rotating cylinder 321, large arm connecting flange 323 is located at reducer shell 32241On, driven spur gear is located on harmonic wave connecting flange 32242；Harmonic speed reducer main body 32243 is located at reducer shell 32241On, specifically, harmonic wave connecting flange 32242 is connected with the flexbile gear of harmonic speed reducer main body 32243,32,244 1 side of adapter flangeFace is connected with the firm gear of harmonic speed reducer main body 32243, is on the other hand drivingly connected with the inner ring of crossed roller bearing 32245,Such as the rib that can be embedded in and (specially be interference fitted) in inner ring is equipped in adapter flange 32244, realize adapter flangeThe rotation of 32244 driving 32245 inner rings of crossed roller bearing.
More specifically, reducer shell 32241 is equipped with annular carrier ring 32246 and end ring 32247, crossed roller axisIt holds 32245 outer ring to be compacted on annular carrier ring 32246 by end ring 32247, wherein end ring 32247 usesSuch as the mode of bolt is fixed on reducer shell 32241；Large arm connecting flange 323 is interior with crossed roller bearing 32245It encloses relatively fixed, other technique realities for fixing such as synchronouss rotation, such as welding can be realized by the way of for example embeddedNow it is bonded.
Wherein, in the magnet ring 32248 and reading head wiring board that third harmonic retarder 3224 can also include for detection32249, for obtaining the real-time rotational angle of large arm connecting flange 323.
As figs 11-13, the outer surface of the big arm 32 in the present embodiment and small arm 34 is equipped with artificial skin37, artificial skin 37 includes flexible skin layer 371 and the thin-film pressure sensor 372 for being located at 371 lower section of flexible skin layer.
Wherein, artificial skin 37 is electronic skin structure, can detecte collision and power when contacting with people, byDeformation under to external force is as shown in figure 12.
Further, flexible skin layer 371 is made of silica gel material, is had and is preferably used honeycomb as shown in figure 11Shape structure, when mechanical arm 3 with people when contacting, and can be contacted from figure side to reduce with people by flexible skin layer 371Wait generate stress concentrate, in addition the thin-film pressure sensor 372 below flexible skin can real-time detection mechanical arm 3 beIt is no to collide (itself collision detection and foreign object collision detection), it can be further improved the security performance of mechanical arm 3.
Further, in order to complete the acquisition to 372 data of pressure sensor, master control is also provided in the present embodimentDevice (mechanical arm slave computer) processed, is acquired and is handled by data of the master controller to multiple pressure sensors 372, a kind ofSpecific data acquisition transfer mode is as shown in figure 14, and it is (specific preferred to carry out 372 array of pressure sensor by collecting circuit boardFor 8X8 array) data acquisition, be equipped with one piece of STM32F103CBT6 microprocessor on each collecting circuit board, can be very squareThe data of two pieces of 372 permutations of 8*8 pressure sensor of realization just acquire, and are CAN between each collecting circuit boardInterface tandem carries out data transmitting, host computer is sent to finally by serial ports, then be transferred to master controller, to complete manipulatorThe data transmitting of multiple pressure sensors 372 on arm 3.
Specifically, the mechanical arm 3 in the present embodiment completes process such as Figure 15 institute of collision detection by artificial skin 37Show.
Chassis 1 in the present embodiment is equipped with the laser radar 12 for real-time location navigation, and master control set control connection swashsOptical radar 12 is to realize that control chassis 1 is moved to designated position.
Further, main part 2 is equipped with the head control dress that pitching movement and rotary motion are carried out for controlling head 5It sets, head control device includes two head servo motors and controls with the one-to-one head servo of two head servo motorsDevice, master control set communication connection head servo controller and the movement for controlling head 5, wherein the pitching movement and revolution on head 5Movement can be respectively adopted individual head servo motor and be controlled.
Specifically, the front side on head 5 is also provided with binocular camera 51,51 communication connection of binocular camera to master control set,The posture of 51 real-time detection robot of binocular camera, and signal is fed back into master control set, to realize to the real-time of holding postureAdjustment.
More specific main part 2 is additionally provided with communication device and the touch screen connecting with communication device signal 21, communication deviceIt can be wired or wireless module, further, it is also possible to camera be loaded on head 5 or main part 2, to realize patient and nursingVideo calling between personnel or household, or can be used for long-range monitoring etc..
Each component joint freedom degrees of nursing robot in the present embodiment are as shown in figure 16, wherein each joint is freeDegree is realized and is connect with the control of master control set, is passed through master control set real-time detection and is adjusted the specific works state of each component,To cooperate with the holding process for completing nursing robot, such as complete the process being transferred to patient from hospital bed on wheelchair.
A kind of process that data are transmitted between master control set and each component in the present embodiment is as shown in figure 17, is filled by master controlIt sets and the movement between each component is subjected to centralized control, and can be with robot motion of the dummy robot under actual care sceneProcess, in order to be applied in reality scene.
Nursing robot in the present embodiment has at least three kinds of control models:
1, before the navigation of nursing robot's autonomous positioning is moved to hospital bed, patient's phase automatic mode: is detected by binocular cameraFor the position of nursing robot, the then each joint of adjust automatically, by patient from the bed gently take in one's arms, be moved to wheelchairSide is slowly put down.
2, remote control mode: all movements of nursing robot can be completed by remote controler, remote controler communication connection to master controlDevice before the chassis of nursing robot is moved to hospital bed by remote controler, then adjusts separately waist and mechanical arm respectively closesHolding movement is completed in the movement of section, before then remote control nursing robot is moved to wheelchair, then each joint motions of secondary control, slowlyPut down patient.
3, tactile guidance mode: before remote-controlled robot is moved to hospital bed, then care-giver passes through directly contact and cleaning deviceDevice people moves relevant part and robot is guided slowly to take patient in one's arms, before then remote control nursing robot is moved to wheelchair, leads toThe same manner is crossed to put down patient.
Wherein tactile guidance mode is realized based on pliable pressure sensor array.
Although the present invention is disclosed above in the preferred embodiment, it is not intended to limit the invention the range of implementation.AnyThe those of ordinary skill in field is not departing from invention scope of the invention, improves when can make a little, i.e., all according to this hairBright done same improvement, should be the scope of the present invention and is covered.