Anti-dumping device, anti-dumping nursing robot, anti-dumping detection system and method

Abstract

The present invention provides an anti-dumping device, an anti-dumping nursing robot, an anti-dumping detection system and a method. The anti-dumping device comprises a mounting chassis, a rotating counterweight unit and a rotating support unit. When dumping is about to occur, the rotating counterweight unit turns to a direction opposite to the tilting direction, and the support unit spreads the supporting legs to provide additional supporting force for the supporting legs, thereby effectively preventing the nursing robot from dumping in the process of performing nursing tasks and ensuring the safety of the person being cared for and the nursing robot.

Description

Technical Field

[0001] The present invention relates to the technical field of robot design, and in particular to an anti-dumping device, an anti-dumping nursing robot, and an anti-dumping detection system and method. Background Art

[0002] The daily care tasks for disabled elderly people mainly include transferring, bathing, feeding, changing bed sheets, etc. Among them, the transferring and carrying task refers to the physical labor of carrying people with limited mobility from the bed to the wheelchair, or from the wheelchair to the bed, bathroom, toilet and other daily life scenarios. It is one of the most labor-intensive care tasks and sometimes requires the collaboration of multiple caregivers to complete.

[0003] With the development of sensing technology and control technology, home or hospital nursing robots have been born. However, nursing robots may fall over when performing transfer and handling tasks (nursing tasks), which may cause secondary injuries to the person being cared for. Summary of the invention

[0004] The present invention discloses a dumping device, an anti-dumping nursing robot, an anti-dumping detection system and a method, which solve the problem that the nursing robot may dump when performing nursing tasks, and can effectively prevent the nursing robot from dumping in the process of performing nursing tasks, thereby ensuring the safety of the person being cared for and the nursing robot.

[0005] To achieve the above object, the technical solution of the present invention is specifically implemented as follows:

[0006] On one hand, the present invention discloses an anti-dumping device, comprising a mounting chassis, a rotating counterweight unit and a rotating support unit, wherein the rotating counterweight unit is rotatably mounted on the mounting chassis, and a plurality of the rotating support units are rotatably mounted on both sides of the mounting chassis extending in the length direction; the rotating counterweight unit comprises a first driving motor, a rotating rod, a rotating counterweight block and a turntable guide rail, the rotating rod is connected to the output shaft of the first driving motor, the end of the rotating rod is fixedly connected to the rotating counterweight block, and the rotating counterweight block rotates along the turntable guide rail; the rotating support unit comprises a motor mounting seat, a second A driving motor, a driving wheel, a driven wheel, a supporting device and a supporting leg, wherein the motor mounting seat is fixedly connected to the mounting chassis, the second driving motor is fixedly mounted on the motor mounting seat, and the output shaft of the second driving motor is connected to the driving wheel, the driving wheel is connected to the driven wheel through a synchronous belt, the supporting device comprises a supporting mounting seat, the supporting mounting seat is fixed on the mounting chassis, supporting bearings are fixed on two opposite end surfaces of the supporting mounting seat, two supporting bearings are connected through a supporting shaft, the driven wheel is fixedly mounted on the supporting shaft, and the supporting leg is fixedly connected to the supporting shaft.

[0007] Furthermore, the rotation ratio of the driving wheel to the driven wheel is 2:1.

[0008] Furthermore, the rotation support unit is inclined at 15° relative to the mounting chassis.

[0009] Furthermore, a bull's eye wheel is installed at the end of the support leg that contacts the ground.

[0010] Furthermore, a bearing fixing member is fixed on the support mounting seat to fix the support bearing.

[0011] Another aspect of the present invention discloses an anti-dumping nursing robot including the anti-dumping device described above.

[0012] Furthermore, the anti-dumping nursing robot also includes a robot body and a gyroscope, the robot body is fixed on the mounting chassis, the gyroscope is fixed on the mounting chassis, a radar is installed on the head of the robot body, and the surface of the robot body is covered with flexible electronic skin.

[0013] On the other hand, the present invention discloses an anti-dumping detection system for an anti-dumping nursing robot, comprising a radar, a flexible electronic skin, a gyroscope and a control unit, wherein the radar is used to obtain the distance between the nursing robot and various obstacles in the working environment, and transmit the obtained information to the control unit; the flexible electronic skin is used to detect the size and direction of the contact force between the nursing robot and the obstacle when the nursing robot collides with the obstacle in the environment, and transmit the obtained information to the control unit; the gyroscope is used to measure the inclination angle of the nursing robot in real time, and transmit the obtained information to the control unit; the control unit is used to receive the distance between the nursing robot and various obstacles in the working environment sent by the radar, and when it is judged that the distance between the nursing robot and the obstacle is less than a set first safety threshold, the anti-dumping detection is started; the size and direction of the contact force between the nursing robot and the obstacle sent by the flexible electronic skin are received, and when it is judged that the contact force between the nursing robot and the obstacle is greater than a set second safety threshold, the anti-dumping device is started; the inclination angle of the nursing robot sent by the gyroscope is received, and when it is judged that the inclination angle of the nursing robot is greater than a set third safety threshold, the anti-dumping device is kept started.

[0014] In another aspect, the present invention discloses an anti-dumping method for an anti-dumping nursing robot, comprising the following steps:

[0015] The minimum safe distance between the nursing robot and the obstacle is set as the first safety threshold; the maximum safe value of the contact force between the nursing robot and the obstacle is set as the second safety threshold; the maximum safe angle of inclination of the nursing robot is set as the third safety threshold;

[0016] The radar obtains the distance between the nursing robot and various obstacles in the working environment in real time, and transmits the obtained information to the control unit. When the control unit determines that the distance between the nursing robot and the obstacle is less than the set first safety threshold, the tipping detection is started;

[0017] After the tipping detection is turned on, when the nursing robot collides with an obstacle, the flexible electronic skin detects the magnitude and direction of the contact force between the nursing robot and the obstacle in real time, and transmits the acquired information to the control unit. When the control unit determines that the contact force between the nursing robot and the obstacle is greater than the set second safety threshold, the anti-tipping device is activated to correct the nursing robot;

[0018] The gyroscope measures the tilt angle of the nursing robot in real time and transmits the acquired information to the control unit. When the control unit determines that the tilt angle of the nursing robot is greater than the set third safety threshold, the anti-dumping device continues to be activated until the nursing robot is in the correct position.

[0019] Beneficial technical effects:

[0020] 1. The present invention discloses an anti-dumping device, which includes a mounting chassis, a rotating counterweight unit and a rotating support unit. When dumping is about to occur, the rotating counterweight unit turns to a direction opposite to the tilting direction, and the support unit spreads the support legs to provide additional support force for the support legs, thereby effectively preventing the nursing robot from dumping during the performance of nursing tasks and ensuring the safety of the person being cared for and the nursing robot.

[0021] 2. In the present invention, the rotation ratio of the driving wheel to the driven wheel is 2:1, which can ensure that the supporting legs can be quickly rotated out;

[0022] 3. In the present invention, the rotation support unit is inclined 15° relative to the mounting chassis to ensure that in a normal state, when the support legs are in a retracted state, the support legs are not in contact with the ground, thereby ensuring that the rotation support unit does not affect the movement of the mounting chassis of the nursing robot in a normal state;

[0023] 4. In the present invention, the ends of the support legs that are in contact with the ground are equipped with bull's eye wheels to ensure that the mounting chassis can still move normally even when the support legs are in the open state;

[0024] 5. In the present invention, a bearing fixing member is fixed on the support mounting seat to fix the support bearing, effectively preventing the support bearings arranged on two opposite end surfaces in the support mounting seat from moving up and down;

[0025] 6. The anti-dumping detection system disclosed in the present invention includes radar, flexible electronic skin, gyroscope and control unit. By fusing multiple sensors to form a closed loop, it can comprehensively detect whether the nursing robot has dumped and activate the anti-dumping device in time to ensure the safe operation of the nursing robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solution of the present invention, the drawings required for describing the embodiments are briefly introduced below.

[0027] Figure 1 A structural state diagram of an anti-dumping device according to the present invention when the supporting legs are opened;

[0028] Figure 2 A structural state diagram of an anti-dumping device according to the present invention when the supporting legs are retracted;

[0029] Figure 3 A schematic diagram of the structure of a rotating counterweight unit in an anti-dumping device according to the invention;

[0030] Figure 4 A schematic structural diagram of a rotating support unit of an anti-dumping device according to the present invention;

[0031] Figure 5 A front view of a support device in a rotating support unit in an anti-dumping device according to the present invention;

[0032] Figure 6 A cross-sectional view of a support device in a rotating support unit in an anti-dumping device according to the present invention;

[0033] Figure 7 This is a schematic diagram of the overall structure of an anti-dumping nursing robot according to the present invention;

[0034] Figure 8 A flowchart of the steps of a method for preventing a nursing robot from tipping over described in the invention.

[0035] Among them, 1-installation chassis, 2-rotation counterweight unit, 21-first drive motor, 22-rotation rod, 23-rotation counterweight block, 24-turntable guide rail, 3-rotation support unit, 31-motor mounting seat, 32-second drive motor, 33-driving wheel, 34-driven wheel, 35-support device, 351-support mounting seat, 352-support bearing, 353-support shaft, 354-bearing fixing part, 36-support leg, 361-bull's eye wheel, 37-synchronous belt, 4-robot body, 5-gyroscope, 6-radar, 7-flexible electronic skin. DETAILED DESCRIPTION

[0036] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0037] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0038] Unless otherwise specifically stated, the relative arrangement of the parts and steps described in these embodiments, numerical expressions and numerical values ​​do not limit the scope of the present invention. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, method and equipment known to ordinary technicians in the relevant field may not be discussed in detail, but in appropriate cases, the technology, method and equipment should be regarded as a part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0039] The embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0040] In order to solve the tipping problem of a nursing robot, the present invention discloses an anti-tipping device, an anti-tipping nursing robot, and an anti-tipping detection system and method.

[0041] The present invention discloses an anti-dumping device. Figure 1-Figure 2 The anti-dumping device includes a mounting chassis 1, a rotating counterweight unit 2 and a rotating support unit 3, wherein the rotating counterweight unit 2 is rotatably mounted on the mounting chassis 1, and a plurality of rotating support units 3 are rotatably mounted on both sides of the mounting chassis 1 extending along the length direction. In an embodiment of the present invention, two rotating support units 3 are respectively mounted on both sides of the mounting chassis 1 extending along the length direction. When dumping is about to occur, the rotating counterweight unit turns to a direction opposite to the tilting direction, and the support unit spreads the support legs to provide additional supporting force for it, thereby effectively preventing the nursing robot from dumping during the performance of nursing tasks and ensuring the safety of the person being cared for and the nursing robot.

[0042] As an embodiment of the present invention, the structure of the rotating counterweight unit 2 is shown in FIG. Figure 3 Specifically, the rotating counterweight unit 2 includes a first drive motor 21, a rotating rod 22, a rotating counterweight block 23 and a turntable guide rail 24. The rotating rod 22 is connected to the output shaft of the first drive motor 21, and the end of the rotating rod 22 is fixedly connected to the rotating counterweight block 23. The rotating counterweight block 23 rotates along the turntable guide rail 24. The first drive motor 21 drives the rotating rod 22 to rotate, and the rotation of the rotating rod 22 drives the rotating counterweight block 23 fixedly connected thereto to rotate along the turntable guide rail 24. The turntable guide rail 24 can provide both guidance and support for the rotating counterweight block 23. When the tilt direction of the nursing robot is determined, the rotating counterweight block 23 rotates quickly to the direction opposite to the tilt direction of the nursing robot, providing the nursing robot with reverse counterweight and then straightening the nursing robot. After the nursing robot is straightened, the rotating counterweight block device 23 returns to its initial position.

[0043] As an embodiment of the present invention, the structure of the rotation support unit 3 is shown in FIG. Figure 4 Specifically, the rotation support unit 3 includes a motor mounting seat 31, a second drive motor 32, a driving wheel 33, a driven wheel 34, a support device 35 and a support leg 36. The motor mounting seat 31 is fixedly connected to the mounting chassis 1, the second drive motor 32 is fixedly installed on the motor mounting seat 31, and the output shaft of the second drive motor 32 is connected to the driving wheel 33, and the driving wheel 33 is connected to the driven wheel 34 through a synchronous belt 37. The specific structure of the support device 35 is shown in Figure 5 and Figure 6, including a support mounting seat 351, the support mounting seat 351 is fixed on the mounting chassis 1, and support bearings 352 are fixed on the two opposite end surfaces of the support mounting seat 351. In order to prevent the two opposite support bearings 352 from moving up and down, a bearing fixing member 354 is fixed on the support mounting seat 351 to fix the two support bearings 352. The two support bearings 352 are connected through a support shaft 353. The driven wheel 34 is fixedly mounted on the support shaft 353, and the support leg 36 is fixedly connected to the support shaft 353. The second drive motor 32 rotates to drive the driving wheel 33 installed on its output shaft to rotate. The driving wheel 33 rotates to drive the driven wheel 34 connected to it through a synchronous belt 37 to rotate. The rotation of the driven wheel 34 drives the two The support shaft 353 between the support bearings 352 rotates, and then the rotation of the support shaft 353 drives the support leg 36 installed on the support shaft 353 to rotate. As the rotation angle increases, the support leg 36 begins to contact the ground, and the greater the rotation angle, the more the support leg 36 contacts the ground, so as to achieve the purpose of straightening the nursing robot. Preferably, the rotation ratio of the driving wheel 33 and the driven wheel 34 is 2:1, so as to ensure that the support leg 36 can be quickly rotated out, and the end of the support leg 36 that contacts the ground is installed with a bull's eye wheel 361, so as to ensure that the mounting chassis 1 can still be moved when the support leg 36 is in an open state, so that the anti-dumping device can provide additional supporting force for the nursing robot when it tends to tip over, thereby ensuring the safety of the nursing robot and the person being cared for.

[0044] like Figure 2 As shown, the support leg 36 is close to the mounting chassis 1 in a normal state and does not contact the ground. Preferably, the rotating support unit 3 is tilted 15° relative to the mounting chassis 1 as a whole to ensure that in a normal state, when the support leg 36 is in a retracted state, the support leg 36 does not contact the ground. This ensures that the rotating support unit does not affect the movement of the robot mounting chassis 1 in a normal state. When it is detected that the nursing robot has a tendency to tip over, the support leg 36 will rotate rapidly. As the rotation angle increases, the support leg 36 begins to contact the ground, and the greater the rotation angle, the more the support leg 36 contacts the ground, so as to achieve the purpose of straightening the nursing robot.

[0045] In another aspect, the present invention discloses an anti-dumping nursing robot, see Figure 7 , including the anti-dumping device as described above, a robot body 4 and a gyroscope 5, the robot body 4 is fixed on the mounting chassis 1, the gyroscope is also fixed on the mounting chassis 1, and a radar 6 is installed on the head of the robot body 4, and the surface of the robot body 4 is covered with a flexible electronic skin 7.

[0046] On the other hand, the present invention discloses an anti-dumping detection system for an anti-dumping nursing robot, comprising a radar 6, a flexible electronic skin 7, a gyroscope 5 and a control unit, wherein the radar 6 is used to obtain the distance between the nursing robot and various obstacles in the working environment, and transmit the obtained information to the control unit; when the nursing robot collides with an obstacle in the environment, the flexible electronic skin detects the size and direction of the contact force between the nursing robot and the obstacle, and transmits the obtained information to the control unit; the gyroscope 5 is used to measure the inclination angle of the nursing robot in real time, and transmits the obtained information to the control unit; the control unit is used to receive the distance between the nursing robot and various obstacles in the working environment sent by the radar 6, and when it is judged that the distance between the nursing robot and the obstacle is less than a set first safety threshold, the anti-dumping detection is started; the size and direction of the contact force between the nursing robot and the obstacle sent by the flexible electronic skin 7 are received, and when it is judged that the contact force between the nursing robot and the obstacle is greater than a set second safety threshold, the anti-dumping device is started; the inclination angle of the nursing robot sent by the gyroscope 5 is received, and when it is judged that the inclination angle of the nursing robot is greater than a set third safety threshold, the anti-dumping device is kept started.

[0047] In the anti-dumping detection system, multiple sensors are integrated to form a closed loop, which can comprehensively detect whether the nursing robot has tipped over and activate the anti-dumping device in time to ensure the safe operation of the nursing robot.

[0048] Another aspect of the present invention discloses an anti-dumping detection method, see Figure 8 , specifically including the following steps:

[0049] The minimum safe distance between the nursing robot and the obstacle is set as the first safety threshold; the maximum safe value of the contact force between the nursing robot and the obstacle is set as the second safety threshold; the maximum safe angle of inclination of the nursing robot is set as the third safety threshold;

[0050] The radar 6 obtains the distance between the nursing robot and various obstacles in the working environment in real time, and transmits the obtained information to the control unit. When the control unit determines that the distance between the nursing robot and the obstacle is less than the set first safety threshold, the tipping detection is activated, otherwise, the anti-tip device is not activated;

[0051] After the tipping detection is turned on, when the nursing robot collides with an obstacle, the flexible electronic skin 7 detects the magnitude and direction of the contact force between the nursing robot and the obstacle in real time, and transmits the acquired information to the control unit. When the control unit determines that the contact force between the nursing robot and the obstacle is greater than the set second safety threshold, the anti-tip device is activated to correct the nursing robot. Otherwise, the anti-tip device stops running and returns to the initial state.

[0052] The gyroscope 5 measures the tilt angle of the nursing robot in real time and transmits the acquired information to the control unit. When the control unit determines that the tilt angle of the nursing robot is greater than the set third safety threshold, the anti-dumping device continues to be activated until the nursing robot is in the correct position.

[0053] Specifically, when it is detected that the robot has a tendency to tip over, the support leg 36 rotates, and as the rotation angle increases, the support leg 36 gradually begins to contact the ground, and the greater the rotation angle, the more the support leg 36 contacts the ground, so as to achieve the purpose of straightening the nursing robot; when the tilt direction of the nursing robot is determined, the rotating counterweight 23 will quickly rotate to the direction opposite to the tilt direction of the nursing robot, providing the nursing robot with a reverse counterweight and then straightening the nursing robot. After the nursing robot is straightened, the rotating counterweight 23 returns to the initial position.

[0054] The present invention discloses an anti-dumping device, a nursing robot provided with the anti-dumping device, and an anti-dumping detection system and method, which can effectively prevent the nursing robot from tipping over in the process of performing nursing tasks, thereby ensuring the safety of a person being cared for and the nursing robot, and has a simple structure and a simple implementation method, thereby facilitating wide application and promotion.

[0055] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0056] The above embodiments are only descriptions of the preferred implementation modes of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary engineering and technical personnel in the field should fall within the protection scope determined by the claims of the present invention.

Claims

1. An anti-dumping device, characterized in that: It comprises a mounting chassis (1), a rotating counterweight unit (2) and a rotating support unit (3), wherein the rotating counterweight unit (2) is rotatably mounted on the mounting chassis (1), and a plurality of rotating support units (3) are rotatably mounted on both sides of the mounting chassis (1) extending in the length direction; The rotating counterweight unit (2) comprises a first driving motor (21), a rotating rod (22), a rotating counterweight block (23) and a turntable guide rail (24); the rotating rod (22) is connected to the output shaft of the first driving motor (21); the end of the rotating rod (22) is fixedly connected to the rotating counterweight block (23); and the rotating counterweight block (23) rotates along the turntable guide rail (24); The rotation support unit (3) comprises a motor mounting seat (31), a second drive motor (32), a driving wheel (33), a driven wheel (34), a support device (35) and a support leg (36); the motor mounting seat (31) is fixedly connected to the mounting chassis (1); the second drive motor (32) is fixedly mounted on the motor mounting seat (31); the output shaft of the second drive motor (32) is connected to the driving wheel (33); the driving wheel (33) is connected to the driven wheel (34) via a synchronous belt (37); the support device (35) comprises a support mounting seat (351); The support mounting seat (351) is fixed on the mounting chassis (1); support bearings (352) are fixed on two opposite end surfaces in the support mounting seat (351); the two support bearings (352) are connected via a support shaft (353); the driven wheel (34) is fixedly mounted on the support shaft (353); and the support leg (36) is fixedly connected to the support shaft (353); the rotating support unit (3) is tilted by 15° relative to the mounting chassis (1) as a whole, so as to ensure that in a normal state, when the support leg (36) is in a retracted state, the support leg (36) does not contact the ground.

2. The anti-dumping device according to claim 1, characterized in that: The rotation ratio between the driving wheel (33) and the driven wheel (34) is 2:

1.

3. The anti-dumping device according to claim 1, characterized in that: The end of the support leg (36) in contact with the ground is provided with a bull's eye wheel (361).

4. The anti-dumping device according to claim 1, characterized in that: A bearing fixing member (354) is fixed on the support mounting seat (351) for fixing the support bearing (352).

5. An anti-dumping nursing robot, characterized in that: It comprises an anti-dumping device as described in any one of claims 1-4.

6. The anti-dumping nursing robot according to claim 5, characterized in that: The invention also comprises a robot body (4) and a gyroscope (5), wherein the robot body (4) is fixed on the mounting chassis (1), the gyroscope (5) is fixed on the mounting chassis (1), a radar (6) is installed on the head of the robot body (4), and a surface of the robot body (4) is covered with a flexible electronic skin (7).

7. The anti-dumping detection system of the anti-dumping nursing robot according to claim 6, characterized in that: include: A radar (6) is used to obtain the distance between the nursing robot and various obstacles in the working environment, and transmit the obtained information to the control unit; The flexible electronic skin (7) is used to detect the magnitude and direction of the contact force between the nursing robot and the obstacle when the nursing robot collides with the obstacle in the environment, and transmit the acquired information to the control unit; A gyroscope (5) is used to measure the tilt angle of the nursing robot in real time and transmit the acquired information to the control unit; The control unit is used to receive the distance between the nursing robot and various obstacles in the working environment sent by the radar (6), and when it is determined that the distance between the nursing robot and the obstacle is less than a set first safety threshold, the anti-dumping detection is started; receive the magnitude and direction of the contact force between the nursing robot and the obstacle sent by the flexible electronic skin (7), and when it is determined that the contact force between the nursing robot and the obstacle is greater than a set second safety threshold, the anti-dumping device is started; receive the tilt angle of the nursing robot sent by the gyroscope (5), and when it is determined that the tilt angle of the nursing robot is greater than a set third safety threshold, the anti-dumping device is kept started.

8. The detection method of the anti-dumping detection system of the anti-dumping nursing robot according to claim 7, characterized in that: The following steps are involved: The minimum safe distance between the nursing robot and the obstacle is set as the first safety threshold; the maximum safe value of the contact force between the nursing robot and the obstacle is set as the second safety threshold; the maximum safe angle of inclination of the nursing robot is set as the third safety threshold; The radar (6) acquires the distance between the nursing robot and various obstacles in the working environment in real time, and transmits the acquired information to the control unit. When the control unit determines that the distance between the nursing robot and the obstacle is less than a set first safety threshold, the tipping detection is started; After the tipping detection is turned on, when the nursing robot collides with an obstacle, the flexible electronic skin (7) detects the magnitude and direction of the contact force between the nursing robot and the obstacle in real time, and transmits the acquired information to the control unit. When the control unit determines that the contact force between the nursing robot and the obstacle is greater than a set second safety threshold, the anti-tipping device is activated to correct the nursing robot; The gyroscope (5) measures the tilt angle of the nursing robot in real time and transmits the acquired information to the control unit. When the control unit determines that the tilt angle of the nursing robot is greater than a set third safety threshold, the anti-tipping device continues to be activated until the nursing robot is in the correct position.

Images