Autonomous indoor navigation nursing robot based on laser radar

Abstract

The invention provides an autonomous indoor navigation nursing robot based on a laser radar, and relates to the field of nursing robots. Comprising a base, driving wheels used for moving the base are arranged at the bottom of the base, an induction radar is arranged on the front side of the base, a linear driving mechanism is arranged on the top of the base, and a body is installed through the linear driving mechanism and used for achieving the advancing action and the retreating action of the body on the top of the base. Through the arrangement of the first driving assembly, the second driving assembly, the downward pressing mechanism and the walking mechanism, staggered advancing and downward pressing of the first pressing strip and the second pressing strip are achieved through the mechanisms, so that a concave area allowing the main bracket to move to the position below a nursing object can be pressed on a mattress below the nursing object; the discomfort of the nursing object caused when the main bracket extends below the body of the nursing object is reduced, and meanwhile, the bed sheet is prevented from being wrinkled in the moving process of the main bracket.

Description

Technical Field

[0001] The invention belongs to the technical field of nursing robots, in particular to a nursing robot with autonomous indoor navigation based on laser radar. Background Art

[0002] ‌Care robots‌ are robots specially designed to care for and provide care for the elderly, the disabled, or other people who require long-term care. They have a variety of functions designed to improve the quality and efficiency of care services and meet the diverse care needs of different groups of people‌.

[0003] The patent with application number CN201911185973.6 discloses a holding type multi-arm collaborative transfer and nursing robot, including a track chassis, a robot body, a contact arm and a head; the track chassis includes a chassis bracket, a screw module, a track mechanism and a main body bearing chassis; the screw module is used to drive the main body bearing chassis to move and position; the robot body includes a support frame, a lifting frame, a pulley set and a contact arm support plate; the contact arm support plate is fixed to the top of the lifting frame; the lifting frame is retractable and the retraction is achieved by the main body hydraulic cylinder; the contact arm mechanism includes an outer contact arm, an inner contact arm and an outer arm lifting part; the outer contact arm and the inner contact arm are used to lift the human body; the bottom of the outer arm lifting part is fixedly installed on the contact arm support plate, which is used to drive the outer contact arm to lift and lower.

[0004] Although the above patent solves the problem that the existing two-arm nursing robots cannot achieve good safety, stability and comfort, on the one hand, the center of gravity leans forward when holding the nursing object, so that there is still a certain degree of stability in the lifting workpiece. On the other hand, before lifting the patient, the contact arm needs to be extended under the patient. During this process, if there is not enough space under the patient, it will be difficult to extend the contact arm, and it will also easily cause wrinkles in the bed sheets.

[0005] In summary, the present invention provides a nursing robot with autonomous indoor navigation based on laser radar to solve the above problems. Summary of the invention

[0006] In order to solve the above technical problems, the present invention provides a nursing robot with autonomous indoor navigation based on laser radar, which is achieved by the following specific technical means: A nursing robot for autonomous indoor navigation based on lidar, comprising a base. A driving wheel for moving the base is provided at the bottom of the base. An induction radar is provided at the front side of the base. A linear driving mechanism is provided at the top of the base, and a body is installed through the linear driving mechanism to realize the forward and backward movements of the body on the top of the base. A visual monitoring module is provided at the top of the body. Lifting mechanisms are provided on both sides of the body, and a supporting arm is installed through the lifting mechanisms. The supporting arm includes: A main bracket, one end of the main bracket is connected to the lifting mechanism to realize the lifting movement. An installation groove one is provided at the bottom of the main bracket. Moving grooves are respectively provided on both sides of the installation groove one. A rack is provided at the bottom of the moving groove. A pressing strip, the pressing strip includes a pressing strip one and a pressing strip two, and both are located in the installation groove one. The pressing strip one is arranged at the middle position of the installation groove one. The number of the pressing strip two is two, and they are respectively located on both sides of the pressing strip one. Installation grooves two and three are respectively provided at the tops of the pressing strip one and the pressing strip two. The pressing strip one and the pressing strip two are used to press out depressions on the mattress to provide a space for the main bracket to move under the care object. A U-shaped frame, the U-shaped frame is installed inside the installation groove one, located between the inner wall of the installation groove one and the pressing strip, and is slidably connected to the installation groove one. A downward pressing mechanism, the downward pressing mechanism includes a downward pressing component one and a downward pressing component two, which are respectively connected to the pressing strip one and the pressing strip two, and are used to drive the pressing strip one and the pressing strip two to complete the downward pressing movement. A walking mechanism, the walking mechanism includes a walking component one and a walking component two, which are respectively connected to the pressing strip one and the pressing strip two, and are used to drive the pressing strip one and the pressing strip two to complete the forward stretching movement.

[0007] Further, the downward pressing component one includes a rotating shaft one, a through groove one and a limiting groove one. The through groove one and the limiting groove one are respectively opened on the pressing strip two and the U-shaped frame. The rotating shaft one penetrates through the pressing strip one and is rotatably connected thereto. Both ends extend from the inside of the through groove one to the inside of the limiting groove one, and an oval block one is sleeved on the surface of the part of the rotating shaft one located inside the limiting groove one. The downward pressing component two includes a rotating shaft two, a through groove two and a limiting groove two. The through groove two and the limiting groove two are respectively opened on the pressing strip one and the U-shaped frame. The middle part of the rotating shaft two is located in the installation groove two. Both ends penetrate through the pressing strip one from the inside of the through groove two and extend to the inside of the limiting groove two. The part of the rotating shaft two located between the limiting groove two and the pressing strip one penetrates through the pressing strip two and passes through the installation groove three, and is rotatably connected to the pressing strip two. An oval block two is sleeved on the surface of the part of the rotating shaft two located inside the limiting groove two.

[0008] Further, the sizes of the first oval block and the second oval block are the same. The bottom surfaces of the first limiting groove and the second limiting groove are both flat and flush with each other. The heights of the first limiting groove and the second limiting groove are equal and greater than the lengths of the major axes of the first oval block and the second oval block.

[0009] Further, the first walking assembly includes a third rotating shaft, a third through groove, and a fourth through groove. The third through groove and the fourth through groove are respectively arranged on the second pressing strip and the C-shaped frame. The third rotating shaft penetrates through the first pressing strip and is rotatably connected thereto. Both ends extend from the inner sides of the third through groove and the fourth through groove to the inside of the movable groove. An oval gear one is sleeved on the surface of the part of the third rotating shaft located in the movable groove. The second walking assembly includes a fourth rotating shaft, a fifth through groove, and a sixth through groove. The fifth through groove and the sixth through groove are respectively formed in the first pressing strip and the C-shaped frame. The middle part of the fourth rotating shaft is located in the second installation groove. Both ends extend from the inner sides of the fifth through groove and the sixth through groove to the inside of the movable groove. The part of the fourth rotating shaft located between the sixth through groove and the first pressing strip penetrates through the second pressing strip and passes through the third installation groove. The fourth rotating shaft is rotatably connected to the second pressing strip. An oval gear two is sleeved on the surface of the part of the fourth rotating shaft located in the sixth through groove. Both the oval gear one and the oval gear two can be meshed with the rack.

[0010] Further, the fourth through groove is vertically strip-shaped and has a width equal to the diameter of the third rotating shaft.

[0011] Further, the supporting and holding arm further includes a first driving assembly and a second driving assembly: The first driving assembly includes a first synchronous pulley sleeved outside the first rotating shaft and the third rotating shaft in the second installation groove. The first synchronous pulleys are传动连接 by a first synchronous belt. The first driving assembly further includes a first motor fixedly connected in the second installation groove. A second synchronous pulley is sleeved on the output end of the first motor and the outside of the first rotating shaft. The second synchronous pulleys are传动连接 by a second synchronous belt. The second driving assembly includes a third synchronous pulley sleeved on the surfaces of the second rotating shaft and the fourth rotating shaft in the third installation groove. The third synchronous pulleys are传动连接 by a third synchronous belt. The second driving assembly further includes a second motor fixedly installed in the third installation groove. A fourth synchronous pulley is sleeved on the output end of the second motor and the outside of the second rotating shaft. The fourth synchronous pulleys are传动连接 by a fourth synchronous belt.

[0012] It should be noted that there is an unclear expression "传动连接" in the original text, which may need to be further clarified according to the actual situation to ensure the accuracy of the translation. Here, a more general expression "driven connection" is used first.Further, the supporting and holding arm further includes a holding mechanism. The holding mechanism includes an electric push rod fixedly installed at the inner top of the U-shaped frame. The bottom end of the electric push rod is fixedly connected to a cross bar. A sliding rod is vertically penetrated through the end of the cross bar. The top end of the sliding rod is connected to a limiting plate. The bottom end of the sliding rod is connected to a fixing frame. A roller is installed at the bottom of the fixing frame. A first spring is sleeved on the surface of the sliding rod between the cross bar and the fixing frame, and two ends of the first spring are respectively fixedly connected to the cross bar and the fixing frame. There are two groups of the holding mechanisms, and the two groups are respectively located in the upper regions of the installation groove two and the installation groove three. The rollers in the two groups of holding mechanisms are respectively in contact with the bottom inner walls of the installation groove two and the installation groove three under the action of the first spring.

[0013] Further, a bearing mechanism is arranged between the body and the base. The bearing mechanism includes a connecting frame arranged at the front top of the base and sliding grooves opened on both sides of the body. Sliders are slidably installed inside the sliding grooves. A bearing pad is rotatably installed at the top of the connecting frame. Two connecting rods are arranged on one side of the bearing pad away from the connecting frame, and one ends of the two connecting rods away from the bearing pad are respectively rotatably connected to the two sliders. A second spring is installed below the slider in the sliding groove, and two ends of the second spring are respectively fixedly connected to the slider and the bottom inner wall of the sliding groove.

[0014] Further, protective pads are arranged on both the bearing pad and the main bracket. The outer side of the protective pad is made of leather and the inside is filled with sponge.

[0015] Compared with the prior art, the present invention has the following beneficial effects: 1. By arranging the driving component one, the driving component two, the pressing mechanism and the walking mechanism, the above mechanisms can realize the staggered forward movement and downward pressing of the pressing strip one and the pressing strip two, so that a concave area for the main bracket to move under the care object can be pressed out on the mattress under the care object, reducing the discomfort caused to the care object when the main bracket extends under the care object, and at the same time preventing the bedsheet from being wrinkled during the movement of the main bracket.

[0016] 2. By arranging the bearing mechanism, during the process of holding the care object above the base, the bearing mechanism rotates to the lower part of the care object, and the direction changes from vertical to horizontal, which can provide additional support for the care object and improve the comfort of the care object when being held. Description of the Drawings

[0017] Figure 1 is a three-dimensional schematic diagram of the present invention; Figure 2 is a side view schematic diagram of the present invention; Figure 3It is a three-dimensional schematic diagram of the supporting arm in the present invention; Figure 4 It is a partial schematic diagram of the main bracket in the present invention; Figure 5 It is an exploded schematic diagram of the supporting arm in the present invention; Figure 6 It is a three-dimensional schematic diagram of the pressing mechanism and the walking mechanism in the present invention; Figure 7 It is a three-dimensional schematic diagram of the shaped frame and the holding mechanism in the present invention; Figure 8 It is a front cross-sectional schematic diagram of the supporting arm in the present invention; Fig. 9 It is a three-dimensional schematic diagram of the layering strip in the present invention; Fig.10 The present invention Figure 5 A local enlarged schematic diagram of the middle A; Fig.11 The present invention Figure 5 A partial enlarged schematic diagram of point B in the middle; Fig.12 The present invention Figure 6 A partial enlarged schematic diagram of point C in the middle; Fig.13 The present invention Figure 6 A partial enlarged schematic diagram of point D in the middle; Fig.14 The present invention Figure 8 A partial enlarged schematic diagram of point E in the middle.

[0018] In the figure: 1. Base; 101. Driving wheel; 102. Inductive radar; 103. Linear driving mechanism; 2. Body; 201. Visual monitoring module; 202. Lifting mechanism; 3. Supporting and holding arm; 301. Main bracket; 3011. First installation groove; 3012. Movable groove; 3013. Rack; 302. Pressing strip; 3021. First pressing strip; 3022. Second pressing strip; 3023. Second installation groove; 3024. Third installation groove; 303. C-shaped frame; 4. Pressing-down mechanism; 401. First pressing-down component; 4011. First rotating shaft; 4012. First through groove; 4013. First limiting groove; 4014. First oval block; 402. Second pressing-down component; 4021. Second rotating shaft; 4022. Second through groove; 4023. Second limiting groove; 4024. Second oval block; 5. Walking mechanism; 501. First walking component; 5011. Third rotating shaft; 5012. Third through groove; 5013. Fourth through groove; 5014. First oval gear; 502. Second walking component; 5021. Fourth rotating shaft; 5022. Fifth through groove; 5023. Sixth through groove; 5024. Second oval gear; 6. First driving component; 601. First synchronous pulley; 602. First synchronous belt; 603. First motor; 604. Second synchronous pulley; 605. Second synchronous belt; 7. Second driving component; 701. Third synchronous pulley; 702. Third synchronous belt; 703. Second motor; 704. Fourth synchronous pulley; 705. Fourth synchronous belt; 8. Holding mechanism; 801. Electric push rod; 802. Cross bar; 803. Slide bar; 804. Limiting plate; 805. Fixed bracket; 806. Roller; 807. First spring; 9. Bearing mechanism; 901. Connecting frame; 902. Chute; 903. Slide block; 904. Bearing pad; 905. Connecting rod; 906. Second spring; 10. Protective pad. Detailed implementation manners

[0019] The following further describes in detail the implementation manners of the present invention in conjunction with the accompanying drawings and embodiments. The following embodiments are used to illustrate the present invention, but cannot be used to limit the scope of the present invention.

[0020] As Figure 1-14 shown, the present invention provides a nursing robot for autonomous indoor navigation based on lidar, including a base 1. A driving wheel 101 for realizing the movement of the base 1 is arranged at the bottom of the base 1. An inductive radar 102 is arranged on the front side of the base 1. A linear driving mechanism 103 is arranged on the top of the base 1, and a body 2 is installed through the linear driving mechanism 103 to realize the forward and backward movements of the body 2 on the top of the base 1. A visual monitoring module 201 is arranged on the top of the body 2. By combining the visual monitoring module 201 with the inductive radar 102, obstacle avoidance is realized, thereby improving the safety when supporting and holding a nursing object for movement. Lifting mechanisms 202 are arranged on both sides of the body 2, and a supporting and holding arm 3 is installed through the lifting mechanisms 202. The supporting and holding arm 3 includes: Main bracket 301, one end of the main bracket 301 is connected to the lifting mechanism 202 to achieve the lifting action. An installation groove one 3011 is provided at the bottom of the main bracket 301. Moving grooves 3012 are opened on both sides of the installation groove one 3011, and a rack 3013 is provided at the bottom of the moving groove 3012; Pressing strip 302, the pressing strip 302 includes a pressing strip one 3021 and a pressing strip two 3022, and both are located in the installation groove one 3011. The pressing strip one 3021 is arranged at the middle position of the installation groove one 3011. The number of the pressing strip two 3022 is two, which are respectively located on both sides of the pressing strip one 3021. Installation grooves two 3023 and three 3024 are respectively provided at the tops of the pressing strip one 3021 and the pressing strip two 3022. The pressing strip one 3021 and the pressing strip two 3022 are used to press out a depression on the mattress to provide a space for the main bracket 301 to move under the care object; C-shaped frame 303, the C-shaped frame 303 is installed inside the installation groove one 3011, located between the inner wall of the installation groove one 3011 and the pressing strip 302, and is slidably connected to the installation groove one 3011; Lower pressing mechanism 4, the lower pressing mechanism 4 includes a lower pressing component one 401 and a lower pressing component two 402, which are respectively connected to the pressing strip one 3021 and the pressing strip two 3022, and are used to drive the pressing strip one 3021 and the pressing strip two 3022 to complete the lower pressing action; Walking mechanism 5, the walking mechanism 5 includes a walking component one 501 and a walking component two 502, which are respectively connected to the pressing strip one 3021 and the pressing strip two 3022, and are used to drive the pressing strip one 3021 and the pressing strip two 3022 to complete the forward extension action.

[0021] Among them, the lower pressing component one 401 includes a rotating shaft one 4011, a through groove one 4012 and a limiting groove one 4013. The through groove one 4012 and the limiting groove one 4013 are respectively opened on the pressing strip two 3022 and the C-shaped frame 303. The rotating shaft one 4011 passes through the pressing strip one 3021 and is rotatably connected to it. Both ends extend from the inside of the through groove one 4012 to the limiting groove one 4013, and an oval block one 4014 is sleeved on the surface of the part of the rotating shaft one 4011 located in the limiting groove one 4013; The lower pressing component two 402 includes a second rotating shaft 4021, a second through groove 4022, and a second limiting groove 4023. The second through groove 4022 and the second limiting groove 4023 are respectively formed in the first pressing strip 3021 and the C-shaped frame 303. The middle part of the second rotating shaft 4021 is located in the second installation groove 3023, and both ends pass through the outside of the first pressing strip 3021 from the inside of the second through groove 4022 and extend into the second limiting groove 4023. Moreover, the part of the second rotating shaft 4021 located between the second limiting groove 4023 and the first pressing strip 3021 penetrates through the second pressing strip 3022 and passes through the third installation groove 3024, and the second rotating shaft 4021 is rotatably connected to the second pressing strip 3022. An oval block two 4024 is sleeved on the surface of the part of the second rotating shaft 4021 located in the second limiting groove 4023.

[0022] Among them, the oval block one 4014 and the oval block two 4024 have the same size. The bottom surfaces of the first limiting groove 4013 and the second limiting groove 4023 are both flat and flush with each other. The heights of the first limiting groove 4013 and the second limiting groove 4023 are equal and greater than the length of the major axis of the oval block one 4014 and the oval block two 4024.

[0023] Among them, the first walking component 501 includes a third rotating shaft 5011, a third through groove 5012, and a fourth through groove 5013. The third through groove 5012 and the fourth through groove 5013 are respectively arranged on the second pressing strip 3022 and the C-shaped frame 303. The third rotating shaft 5011 penetrates through the first pressing strip 3021 and is rotatably connected to it. Both ends extend from the inside of the third through groove 5012 and the inside of the fourth through groove 5013 into the movable groove 3012. Moreover, an oval gear one 5014 is sleeved on the surface of the part of the third rotating shaft 5011 located in the movable groove 3012; The second walking component 502 includes a fourth rotating shaft 5021, a fifth through groove 5022, and a sixth through groove 5023. The fifth through groove 5022 and the sixth through groove 5023 are respectively formed in the first pressing strip 3021 and the C-shaped frame 303. The middle part of the fourth rotating shaft 5021 is located in the second installation groove 3023, and both ends extend from the inside of the fifth through groove 5022 and the sixth through groove 5023 into the movable groove 3012. The part of the fourth rotating shaft 5021 located between the sixth through groove 5023 and the first pressing strip 3021 penetrates through the second pressing strip 3022 and passes through the third installation groove 3024, and the fourth rotating shaft 5021 is rotatably connected to the second pressing strip 3022. An oval gear two 5024 is sleeved on the surface of the part of the fourth rotating shaft 5021 located in the sixth through groove 5023; Both the oval gear one 5014 and the oval gear two 5024 can be engaged with the rack 3013.

[0024] Among them, the fourth through groove 5013 is vertically strip-shaped, and its width is equal to the diameter of the third rotating shaft 5011.

[0025] Among them, the supporting arm 3 further includes a first driving component 6 and a second driving component 7: The driving component 1 6 includes a synchronous wheel 1 601 which is sleeved on the outer side of the rotating shaft 1 4011 and the rotating shaft 3 5011 in the second installation groove 3023, and the synchronous wheels 1 601 are connected to each other through a synchronous belt 1 602. The driving component 1 6 also includes a motor 1 603 which is fixedly connected in the second installation groove 3023, and the output end of the motor 1 603 and the outer side of the rotating shaft 1 4011 are sleeved with a synchronous wheel 2 604, and the synchronous wheels 2 604 are connected to each other through a synchronous belt 2 605. The motor 1 603 drives the rotating shaft 1 4011 to rotate through the synchronous wheel 2 604 and the synchronous belt 2 605, and the rotating shaft 1 4011 then drives the rotating shaft 3 5011 to rotate synchronously through the synchronous wheel 1 601 and the synchronous wheel 2 604. The driving component 2 7 includes a synchronous wheel 3 701 which is sleeved on the surface of the rotating shaft 2 4021 and the rotating shaft 4 5021 in the installation groove 3 3024, and the synchronous wheels 3 701 are connected to each other through a synchronous belt 3 702. The driving component 2 7 also includes a motor 2 703 which is fixedly installed in the installation groove 3 3024. The output end of the motor 2 703 and the outer side of the rotating shaft 2 4021 are sleeved with a synchronous wheel 4 704, and the synchronous wheels 4 704 are connected to each other through a synchronous belt 4 705. The motor 2 703 drives the rotating shaft 2 4021 to rotate through the synchronous wheel 4 704 and the synchronous belt 4 705, and the rotating shaft 1 4011 then drives the rotating shaft 4 5021 to rotate synchronously through the synchronous wheel 3 701 and the synchronous wheel 3 701.

[0026] like Figure 1-2 As shown, when the care object on the bed needs to be lifted up, the body 2 is first moved to the rear side of the base 1 by the linear drive mechanism 103, and at the same time, the height of the bed on which the care object is lying is detected by the visual monitoring module 201 and the height of the supporting arm 3 is adjusted by the lifting mechanism 202. After the supporting arm 3 is higher than the bed, the driving wheel 101 is started and drives the base 1 and the body 2 to move, so that the end of the supporting arm 3 moves to a position above the bed. When the lifting mechanism 202 is started, the supporting arm 3 moves downward and presses a concave area on the mattress.

[0027] like Figure 2-6As shown, the motor 1 603 and the motor 2 703 in the driving assembly 1 6 and the driving assembly 2 7 are started alternately. Each time the motor 1 603 and the motor 2 703 are started, the synchronous wheel 1 601, the synchronous belt 1 602, the motor 1 603, the synchronous wheel 2 604, the synchronous belt 2 605 and the synchronous wheel 3 701, the synchronous belt 3 702, the motor 2 703, the synchronous wheel 4 704, the synchronous belt 4 705 respectively rotate the shaft 1 4011 and the shaft 2 4021 by 180 degrees. During the rotation, the elliptical block 1 4014 and the elliptical block 2 4024 are driven to rotate respectively, and the bottoms of the elliptical block 1 4014 and the elliptical block 2 4024 are fitted with the bottom surfaces of the limiting groove 1 4013 and the limiting groove 2 4023. With the rotation of the elliptical block 1 4014 and the elliptical block 2 4024, the rotating shaft 1 4011 and the rotating shaft 2 4021 will repeat the process of rising and falling, thereby driving the layer 1 3021 and the layer 2 3022 to repeat rising and falling respectively.

[0028] like Figure 2-6 As shown, during the rotation of the rotating shaft 1 4011 and the rotating shaft 2 4021, the rotating shaft 3 5011 and the rotating shaft 4 5021 will be driven to rotate synchronously respectively. When the rotating shaft 3 5011 and the rotating shaft 4 5021 rotate, the elliptical gear 1 5014 and the elliptical gear 2 5024 located in the movable groove 3012 are driven to rotate. During the rotation of the elliptical gear 1 5014 and the elliptical gear 2 5024, they mesh with the rack 3013 located at the bottom of the movable groove 3012. The elliptical block 4014 and the elliptical block 4024 are combined, thereby driving the pressure bar 1 3021 and the pressure bar 2 3022 to move forward respectively. Similarly, when the elliptical gear 1 5014 and the elliptical gear 2 5024 rotate, the rotating shaft 3 5011 and the rotating shaft 2 4021 can be repeatedly raised and lowered, and keep synchronization with the height changes of the rotating shaft 1 4011 and the rotating shaft 2 4021, thereby achieving the purpose of keeping the pressure bar 1 3021 and the pressure bar 2 3022 always horizontal.

[0029] From the above, it can be known that after the motor 1 603 is started, the shaft 1 4011 and the shaft 3 5011 can be driven to rotate. When the shaft 1 4011 and the shaft 3 5011 rotate, they respectively drive the elliptical block 1 4014 and the elliptical gear 1 5014 to rotate, so that the pressure bar 1 3021 first rises and then falls. In this process, since the elliptical gear 1 5014 is meshed with the rack 3013, the pressure bar 1 3021 will move forward a distance. Similarly, after the motor 2 703 is started, the pressure bar 2 3022 will also repeat the above process. The pressure strips 1 3021 and 2 3022 leave the mattress during the rising process, and press down to create a depression on the mattress again during the pressing process. As the pressure strips 1 3021 and 2 3022 continue to move forward, the depressed area of ​​the mattress pressed down continues to increase until the pressure strips 1 3021 and 2 3022 completely pass under the body of the person being cared for. By staggeredly starting the motor 1 603 and the motor 2 703, at least one of the pressure strips 1 3021 and 2 3022 remains in the state of pressing down the mattress to prevent the mattress from rebounding.

[0030] like Figure 1-2 As shown, after the body of the care object is completely above the pressure bar 1 3021 and the pressure bar 2 3022, the linear drive mechanism 103 is started again to move the torso 2 from the rear side of the base 1 to the front side of the base 1, and during the movement of the torso 2, the main bracket 301 is driven to move under the care object, until the care object is completely above the main bracket 301, the lifting mechanism 202 drives the main bracket 301 to rise, thereby lifting the care object from the bed, and finally the linear drive mechanism 103 drives the torso 2 to move from the front side of the base 1 to the rear side of the base 1 again, so that the care object is moved above the base 1, thereby keeping the center above the base 1, thereby improving the stability during holding.

[0031] like Figure 5 , 9 As shown, it should be noted that, since the pressure strip 1 3021 and the pressure strip 2 3022 will produce relative movement, the through slot 1 4012, the through slot 3 5012 and the through slot 2 4022, the through slot 5 5022 corresponding to the rotating shaft 2 4021, the rotating shaft 4 5021 and the rotating shaft 1 4011 and the rotating shaft 3 5011 are respectively provided on the pressure strip 1 3021 and the pressure strip 2 3022, and the through slot 1 4012, the through slot 2 4022, the through slot 3 5012 and the through slot 5 5022 need to be adapted to the movement range change of the rotating shaft 1 4011, the rotating shaft 2 4021, the rotating shaft 3 5011 and the rotating shaft 4 5021 respectively, so as to avoid the rotating shaft 1 4011, the rotating shaft 3 5011 and the rotating shaft 2 4021, the rotating shaft 4 5021 and the pressure strip 2 3022, the pressure strip 1 3021 to produce motion interference; Since the vertical strip-shaped through slot four 5013 provided on the C-shaped frame 303 is equal in diameter to the rotating shaft three 5011, when the rotating shaft three 5011 moves forward, it will drive the C-shaped frame 303 to move forward synchronously. Therefore, there is also a relative movement in the horizontal direction between the C-shaped frame 303 and the pressing strip two 3022. Therefore, the size of the through slot six 5023 needs to adapt to the movement range of the rotating shaft four 5021 to prevent movement interference between the rotating shaft four 5021 and the C-shaped frame 303; Since the C-shaped frame 303 and the pressing strip one 3021 move forward synchronously, there will also be a relative movement in the horizontal direction between the C-shaped frame 303 and the pressing strip two 3022. Therefore, the through slot six 5023 needs to adapt to the change in the movement range of the rotating shaft four 5021, and the size of the limiting slot two 4023 needs to adapt to the change in the movement range of the oval block two 4024 to prevent movement interference between the oval block two 4024 and the C-shaped frame 303; The specific method of adaptation is to increase the length and width of the through slot one 4012, the through slot two 4022, the through slot three 5012, the through slot five 5022, and the through slot six 5023 to ensure that the rotating shaft one 4011, the rotating shaft two 4021, the rotating shaft three 5011, and the rotating shaft four 5021 will not contact the inner walls of the through slot one 4012, the through slot two 4022, the through slot three 5012, the through slot five 5022, and the through slot six 5023 when there is relative movement. By increasing the length of the limiting slot two 4023, it is ensured that when the oval block two 4024 has relative movement with the C-shaped frame 303, it will not contact the front and rear inner walls of the limiting slot two 4023.

[0032] Among them, the supporting and holding arm 3 further includes a holding mechanism 8. The holding mechanism 8 includes an electric push rod 801 fixedly installed on the inner top of the C-shaped frame 303. The bottom end of the electric push rod 801 is fixedly connected to a cross bar 802. A sliding rod 803 is vertically penetrated through the end of the cross bar 802. The top end of the sliding rod 803 is connected to a limiting plate 804. The bottom end of the sliding rod 803 is connected to a fixing frame 805. A roller 806 is installed at the bottom of the fixing frame 805. A first spring 807 is sleeved on the surface of the sliding rod 803 between the cross bar 802 and the fixing frame 805, and the two ends of the first spring 807 are respectively fixedly connected to the cross bar 802 and the fixing frame 805; There are two groups of holding mechanisms 8, and the two groups are respectively located in the upper regions above the installation slot two 3023 and the installation slot three 3024. The rollers 806 in the two groups of holding mechanisms 8 are respectively in contact with the bottom inner walls of the installation slot two 3023 and the installation slot three 3024 under the action of the first spring 807.

[0033] As Figure 7-8As shown, the roller 806 in the holding mechanism 8 is always in contact with the bottom inner wall of the second installation groove 3023 or the third installation groove 3024 under the action of the first spring 807, and the first spring 807 in the compressed state can make the elliptical block 1 4014 and the second elliptical block 4024 always fit with the bottom inner wall of the first limiting groove 4013 and the second limiting groove 4023, and the first elliptical gear 5014 and the second elliptical gear 5024 are always meshed with the rack 3013, completing the action process of the first pressure strip 3021 and the second pressure strip 3022 mentioned above; Before the main bracket 301 moves under the care object, the electric push rod 801 starts to drive the cross bar 802 to move upward. After the cross bar 802 contacts the limit plate 804, the distance between the cross bar 802 and the fixed frame 805 no longer changes. Then the electric push rod 801 continues to drive the cross bar 802 to move upward so that the roller 806 can be separated from the bottom sides of the second installation groove 3023 and the third installation groove 3024. After that, the mattress rebounds and the elliptical gear 1 5014 and the elliptical gear 2 5024 are separated from the rack 3013 at the bottom of the movable groove 3012, so that the main bracket 301 can move forward smoothly.

[0034] It should be noted that after the electric push rod 801 drives the cross bar 802 to move upward, the mattress will cause the first pressure bar 3021 and the second pressure bar 3022 to move upward for a certain distance under the action of the mattress rebound force, which may cause the mattress to not sink enough. Therefore, after the electric push rod 801 contracts, the lifting mechanism 202 can be started, and the lifting mechanism 202 drives the main bracket 301 to move downward to offset the height changes of the first pressure bar 3021 and the second pressure bar 3022.

[0035] Among them, a bearing mechanism 9 is arranged between the body 2 and the base 1, and the bearing mechanism 9 includes a connecting frame 901 arranged at the top of the front side of the base 1 and a slide groove 902 opened on both sides of the body 2, a slider 903 is slidably installed inside the slide groove 902, and a bearing pad 904 is rotatably installed on the top of the connecting frame 901, and two connecting rods 905 are arranged on the side of the bearing pad 904 away from the connecting frame 901, and the ends of the two connecting rods 905 away from the bearing pad 904 are respectively rotatably connected to the two sliders 903, and a spring 2 906 is installed in the slide groove 902 below the slider 903, and the two ends of the spring 2 906 are respectively fixedly connected to the slider 903 and the bottom inner wall of the slide groove 902.

[0036] like Figure 2As shown, in the process of the linear drive mechanism 103 driving the body 2 to move from the front side to the rear side above the base 1, since the bottom end position of the supporting pad 904 remains unchanged, when the body 2 moves, the supporting pad 904 pulls the slider 903 through the connecting rod 905 to move downward in the slide groove 902, and at the same time, the supporting pad 904 rotates from a vertical state to a horizontal state. When the body 2 moves to the rear side of the base 1, the top side of the supporting pad 904 remains horizontal. At this time, the lifting mechanism 202 can be used to drive the supporting arm 3 to move downward so that the care object falls on the supporting pad 904, so as to increase the supporting area for the care object and improve the comfort of the care object when being supported.

[0037] Among them, a protective pad 10 is provided on the carrying pad 904 and the main bracket 301. The outer side of the protective pad 10 is made of leather and the inside is filled with sponge, which can further improve the comfort of the care object being held.

[0038] Working principle: When it is necessary to lift the care object on the bed, the body 2 is first moved to the rear side of the base 1 by the linear drive mechanism 103. At the same time, the height of the bed on which the care object is lying is detected by the visual monitoring module 201 and the height of the supporting arm 3 is adjusted by the lifting mechanism 202. After the supporting arm 3 is higher than the bed, the driving wheel 101 is started and drives the base 1 and the body 2 to move, so that the end of the supporting arm 3 moves to a position above the bed. When the lifting mechanism 202 is started, the supporting arm 3 moves downward and presses a concave area on the mattress.

[0039] After the motor 1 603 is started, it can drive the shaft 1 4011 and the shaft 3 5011 to rotate. When the shaft 1 4011 and the shaft 3 5011 rotate, they respectively drive the elliptical block 1 4014 and the elliptical gear 1 5014 to rotate, so that the pressure bar 1 3021 first rises and then falls. In this process, since the elliptical gear 1 5014 is meshed with the rack 3013, the pressure bar 1 3021 will move forward a distance. Similarly, after the motor 2 703 is started, the pressure bar 2 3022 will also repeat the above process. The pressure bar 1 3021 is moved forward for a distance. During the rising process, the first pressing bar 3021 and the second pressing bar 3022 leave the mattress, and during the pressing process, they press a depression on the mattress again. As the pressing bar 1 3021 and the second pressing bar 3022 continue to move forward, the depressed area of ​​the mattress pressed down continues to increase, until the pressing bar 1 3021 and the second pressing bar 3022 completely pass under the body of the nursing object, and by staggeredly starting the motor 1 603 and the motor 2 703, at least one of the pressing bar 1 3021 and the second pressing bar 3022 is kept in the state of pressing down the mattress to prevent the mattress from rebounding.

[0040] After the body of the care object is completely above the pressure bar 1 3021 and the pressure bar 2 3022, the linear drive mechanism 103 is started again to move the torso 2 from the rear side of the base 1 to the front side of the base 1. During the movement of the torso 2, the main bracket 301 is driven to move under the care object. After the care object is completely above the main bracket 301, the lifting mechanism 202 drives the main bracket 301 to rise, thereby lifting the care object from the bed. Finally, the linear drive mechanism 103 drives the torso 2 to move from the front side of the base 1 to the rear side of the base 1 again, so that the care object is moved above the base 1, thereby keeping the center above the base 1, thereby improving the stability during holding.

[0041] The embodiments of the present invention are provided for the purpose of illustration and description. Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations of the present invention. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A nursing robot with autonomous indoor navigation based on laser radar, comprising a base (1), the bottom of the base (1) being provided with a driving wheel (101) for realizing movement of the base (1), the front side of the base (1) being provided with a sensing radar (102), the top of the base (1) being provided with a linear drive mechanism (103), and a body (2) being installed through the linear drive mechanism (103) for realizing forward and backward movement of the body (2) on the top of the base (1), a visual monitoring module (201) being provided on the top of the body (2), lifting mechanisms (202) being provided on both sides of the body (2), and a holding arm (3) being installed through the lifting mechanisms (202), characterized in that: The supporting and holding arm (3) includes: A main bracket (301), one end of the main bracket (301) is connected to the lifting mechanism (202) to achieve the lifting action. An installation groove one (3011) is provided at the bottom of the main bracket (301). Moving grooves (3012) are opened on both sides of the installation groove one (3011), and a rack (3013) is provided at the bottom of the moving groove (3012); A pressing strip (302), the pressing strip (302) includes a pressing strip one (3021) and a pressing strip two (3022), and both are located in the installation groove one (3011). The pressing strip one (3021) is arranged at the middle position of the installation groove one (3011). The number of the pressing strip two (3022) is two, which are respectively located on both sides of the pressing strip one (3021). Installation grooves two (3023) and installation grooves three (3024) are respectively provided at the tops of the pressing strip one (3021) and the pressing strip two (3022). The pressing strip one (3021) and the pressing strip two (3022) are used to press out a depression on the mattress to provide a space for the main bracket (301) to move under the care object; A C-shaped frame (303), the C-shaped frame (303) is installed inside the installation groove one (3011), located between the inner wall of the installation groove one (3011) and the pressing strip (302), and is slidably connected to the installation groove one (3011); A downward pressing mechanism (4), the downward pressing mechanism (4) includes a downward pressing component one (401) and a downward pressing component two (402), which are respectively connected to the pressing strip one (3021) and the pressing strip two (3022), and are used to drive the pressing strip one (3021) and the pressing strip two (3022) to complete the downward pressing action; A walking mechanism (5), the walking mechanism (5) includes a walking component one (501) and a walking component two (502), which are respectively connected to the pressing strip one (3021) and the pressing strip two (3022), and are used to drive the pressing strip one (3021) and the pressing strip two (3022) to complete the forward extending action.

2. The laser radar-based autonomous indoor navigation nursing robot as claimed in claim 1, characterized in that: The downward pressing component one (401) includes a rotating shaft one (4011), a through groove one (4012) and a limiting groove one (4013). The through groove one (4012) and the limiting groove one (4013) are respectively opened on the pressing strip two (3022) and the C-shaped frame (303). The rotating shaft one (4011) penetrates through the pressing strip one (3021) and is rotatably connected thereto. Both ends extend from the inside of the through groove one (4012) to the inside of the limiting groove one (4013), and an oval block one (4014) is sleeved on the surface of the part of the rotating shaft one (4011) located in the limiting groove one (4013); The second pressing component (402) includes a second rotating shaft (4021), a second through groove (4022) and a second limiting groove (4023), wherein the second through groove (4022) and the second limiting groove (4023) are respectively arranged on the first pressure strip (3021) and the shaped frame (303), the middle part of the second rotating shaft (4021) is located in the second mounting groove (3023), and the two ends pass through the inside of the second through groove (4022) to the outside of the pressure strip (3021) and extend to The second rotating shaft (4021) is located in the limiting groove (4023), and the part of the second rotating shaft (4021) between the second limiting groove (4023) and the first pressure strip (3021) passes through the second pressure strip (3022) and passes through the installation groove (3024), and the second rotating shaft (4021) is rotatably connected with the second pressure strip (3022), and the surface of the part of the second rotating shaft (4021) located in the limiting groove (4023) is provided with an elliptical block (4024).

3. The laser radar-based autonomous indoor navigation nursing robot as claimed in claim 2, characterized in that: The elliptical block 1 (4014) and the elliptical block 2 (4024) have the same size, the bottom side surfaces of the limiting groove 1 (4013) and the limiting groove 2 (4023) are both flat and flush with each other, and the heights of the limiting groove 1 (4013) and the limiting groove 2 (4023) are equal and greater than the length of the long axis of the elliptical block 1 (4014) and the elliptical block 2 (4024).

4. The nursing robot with autonomous indoor navigation based on laser radar as claimed in claim 3, characterized in that: The walking component one (501) comprises a rotating shaft three (5011), a through slot three (5012) and a through slot four (5013), wherein the through slot three (5012) and the through slot four (5013) are respectively arranged on the layering strip two (3022) and the shaped frame (303), the rotating shaft three (5011) passes through the layering strip one (3021) and is rotatably connected thereto, and two ends extend from the inner sides of the through slot three (5012) and the inner sides of the through slot four (5013) into the movable slot (3012), and an elliptical gear one (5014) is sleeved on the surface of the rotating shaft three (5011) located in the movable slot (3012); The walking component 2 (502) includes a rotating shaft 4 (5021), a through slot 5 (5022) and a through slot 6 (5023), wherein the through slot 5 (5022) and the through slot 6 (5023) are respectively arranged on the pressure strip 1 (3021) and the shaped frame (303), the middle part of the rotating shaft 4 (5021) is located in the mounting slot 2 (3023), and the two ends extend from the inner sides of the through slot 5 (5022) and the through slot 6 (5023) to In the movable groove (3012), the portion of the rotating shaft 4 (5021) located between the through groove 6 (5023) and the pressure strip 1 (3021) passes through the pressure strip 2 (3022) and passes through the installation groove 3 (3024), and the rotating shaft 4 (5021) is rotatably connected to the pressure strip 2 (3022), and the surface of the rotating shaft 4 (5021) located in the through groove 6 (5023) is sleeved with an elliptical gear 2 (5024); The elliptical gear one (5014) and the elliptical gear two (5024) can both mesh with the rack (3013).

5. The laser radar-based autonomous indoor navigation nursing robot as claimed in claim 4, characterized in that: The through slot four (5013) is vertically strip-shaped and has a width equal to the diameter of the rotating shaft three (5011).

6. The laser radar-based autonomous indoor navigation nursing robot as claimed in claim 5, characterized in that: The supporting arm (3) further includes a driving component one (6) and a driving component two (7): The driving component one (6) includes a synchronous pulley one (601) sleeved outside the rotating shaft one (4011) and the rotating shaft three (5011) in the installation slot two (3023), and the synchronous pulley one (601) is传动连接 by a synchronous belt one (602). The driving component one (6) further includes a motor one (603) fixedly connected in the installation slot two (3023). A synchronous pulley two (604) is sleeved on the output end of the motor one (603) and the outside of the rotating shaft one (4011), and the synchronous pulley two (604) is传动连接 by a synchronous belt two (605). The driving component two (7) includes a synchronous pulley three (701) sleeved on the surface of the rotating shaft two (4021) and the rotating shaft four (5021) in the installation slot three (3024), and the synchronous pulley three (701) is传动连接 by a synchronous belt three (702). The driving component two (7) further includes a motor two (703) fixedly installed in the installation slot three (3024). A synchronous pulley four (704) is sleeved on the output end of the motor two (703) and the outside of the rotating shaft two (4021), and the synchronous pulley four (704) is传动连接 by a synchronous belt four (705).

7. The laser radar-based autonomous indoor navigation nursing robot as claimed in claim 1, characterized in that: The supporting arm (3) further includes a holding mechanism (8). The holding mechanism (8) includes an electric push rod (801) fixedly installed on the inner top of the C-shaped frame (303). The bottom end of the electric push rod (801) is fixedly connected to a cross bar (802). A sliding rod (803) is vertically penetrated through the end of the cross bar (802). The top end of the sliding rod (803) is connected to a limiting plate (804). The bottom end of the sliding rod (803) is connected to a fixing frame (805). A roller (806) is installed at the bottom of the fixing frame (805). A first spring (807) is sleeved on the surface of the sliding rod (803) between the cross bar (802) and the fixing frame (805), and the two ends of the first spring (807) are respectively fixedly connected to the cross bar (802) and the fixing frame (805). There are two sets of the holding mechanism (8), and the two sets are respectively located in the upper regions of the installation slot two (3023) and the installation slot three (3024). The rollers (806) in the two sets of the holding mechanism (8) are respectively in contact with the bottom inner walls of the installation slot two (3023) and the installation slot three (3024) under the action of the first spring (807).

8. The laser radar-based autonomous indoor navigation nursing robot as claimed in claim 1, characterized in that: A bearing mechanism (9) is arranged between the body (2) and the base (1), and the bearing mechanism (9) comprises a connecting frame (901) arranged at the top of the front side of the base (1) and a slide groove (902) opened on both sides of the body (2), a slider (903) is slidably installed inside the slide groove (902), a bearing pad (904) is rotatably installed on the top of the connecting frame (901), two connecting rods (905) are arranged on the side of the bearing pad (904) away from the connecting frame (901), and one end of the two connecting rods (905) away from the bearing pad (904) is respectively rotatably connected to the two sliders (903), a second spring (906) is installed in the slide groove (902) below the slider (903), and the two ends of the second spring (906) are respectively fixedly connected to the slider (903) and the bottom inner wall of the slide groove (902).

9. The laser radar-based autonomous indoor navigation nursing robot as claimed in claim 8, characterized in that: The bearing pad (904) and the main bracket (301) are both provided with a protective pad (10), the outer side of the protective pad (10) being made of leather and the inside being filled with sponge.

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