Home nursing robot and control method thereof

Abstract

The invention discloses a household nursing robot and a control method thereof, and relates to the technical field of robots, the household nursing robot is characterized in that a balance weight is movably arranged on a walking wheel shaft, a gyroscope, a balance weight motor and a controller of the balance weight motor are arranged on a machine body, and the gyroscope inputs inclination information of the machine body into the controller; and the controller controls a motor which is arranged on the machine body and is used for driving the balance weight, so that the swing of the balance weight counteracts the inclination of the machine body. According to the structure, the number of the walking wheels adopted by the household nursing robot can be reduced, the diameter of the walking wheels is increased, and therefore the problem that an existing household nursing robot is low in adaptability to the ground when walking is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a robot for home care of the elderly and children and a control method thereof. Background Art

[0002] Robots for home care of the elderly and children mainly have functions such as tracking the elderly and children, reminding, or providing drinking water, taking medicine, and providing and conveying information to guardians. This type of robot is very different from the robots applied in various fields such as industry and commerce. For example, this kind of home care robot has little requirement for load-bearing, its movement route is not fixed and narrow, and its action scenarios are not fixed and numerous. Therefore, the existing robots applied in industry and commerce are not suitable for home care. In addition, its usage scenario determines that it has a low cost, small footprint, light weight, and flexible movement. There is a kind of "Intelligent Home Care Robot" (Chinese Patent Application No. CN202330131766.3, Patent Publication No. CN308129893S). Its walking mechanism is composed of walking wheels or related functional components provided on a disc-shaped base. The position of the disc-shaped base is too low, and the walking wheels or related functional components are too small. The disadvantage of this kind of home care robot is that its movement limitation is too large, that is, it has a high requirement for the ground flatness. If the ground is not flat, or there are some small protrusions or depressions, it is difficult to cross the ditches and ridges. Summary of the Invention

[0003] The present invention provides a home care robot and a control method thereof to solve the problem that the existing home care robot has low adaptability to the ground during walking.

[0004] To solve the above problems, this home care robot includes a body, a left walking wheel and a right walking wheel. A balance weight is movably installed on the walking wheel shaft. A gyroscope, a balance weight motor and a controller of the balance weight motor are installed on the body.

[0005] The above-mentioned home care robot has two parts at the lower part of the fuselage, namely the lower left part of the fuselage and the lower right part of the fuselage; the walking wheel shaft has two parts, namely the left walking wheel shaft provided at the lower left part of the fuselage and the right walking wheel shaft provided at the lower right part of the fuselage. Heavy hammer parts are provided at the lower ends of the lower left part of the fuselage and the lower right part of the fuselage; there is only one left walking wheel and one right walking wheel; the balance weight has two parts, namely the left balance weight provided on the inner side of the left walking wheel and mounted on the left walking wheel shaft, and the right balance weight provided on the inner side of the right walking wheel and mounted on the right walking wheel shaft; the balance weight motor has a left balance weight motor and a right balance weight motor. The left walking wheel motor for driving the left walking wheel, the right walking wheel motor for driving the right walking wheel, the left balance weight motor and the right balance weight motor can all be installed outside the fuselage or all be installed inside the fuselage. In the solution where the left walking wheel motor, the right walking wheel motor, the left balance weight motor and the right balance weight motor are all installed outside the fuselage, the left walking wheel motor is meshed and connected to the external teeth of the left walking wheel through a gear, the right walking wheel motor is meshed and connected to the external teeth of the right walking wheel through a gear, the left balance weight motor is meshed and connected to the external teeth of the left balance weight through a gear, and the right balance weight motor is meshed and connected to the external teeth of the right balance weight through a gear. In the solution where the left walking wheel motor, the right walking wheel motor, the left balance weight motor and the right balance weight motor are all installed inside the fuselage, the shaft of the left walking wheel motor passes through the long slot of the left balance weight and is meshed and connected to the internal teeth of the left walking wheel through a gear, and the shaft of the right walking wheel motor passes through the long slot of the right balance weight and is meshed and connected to the internal teeth of the right walking wheel through a gear; the left balance weight motor is meshed and connected to the internal teeth of the left balance weight through a gear, and the right balance weight motor is meshed and connected to the internal teeth of the right balance weight through a gear.

[0006] To solve the above problems, the control method of this home care robot is as follows: This home care robot has a balance weight mounted on the walking wheel shaft, a gyroscope and a controller are installed on the fuselage. The gyroscope inputs the inclination information of the fuselage into the controller, and the controller drives the swinging direction and amplitude of the balance weight by controlling the motor installed on the fuselage to drive the balance weight so as to offset the inclination of the fuselage.

[0007] Due to the adoption of the above technical solutions, the present invention has the following beneficial effects compared with the prior art: 1. Since a counterweight is installed on the walking wheel axle, and a gyroscope for detecting the swing information of the fuselage and a controller are installed on the fuselage, the controller can control the swing of the counterweight through the counterweight motor to offset the tilt of the fuselage. Therefore, this robot can adopt a walking mechanism with only two walking wheels of a larger diameter, so that it can have a much stronger obstacle-crossing ability than the prior art under the condition of a very small floor area, and is especially suitable for use in a home environment.

[0008] 2. The scheme of installing the motors for driving the walking wheels and the counterweight outside the fuselage has the advantage of being convenient for inspection and maintenance; while the scheme of installing the motors for driving the walking wheels and the counterweight inside the fuselage can prevent dust from contaminating the gear transmission mechanism and prevent sundries from winding around the driving gears, thereby improving the reliability of the operation of this robot.

[0009] 3. The structure in which the fuselage is divided into the lower left part of the fuselage and the lower right part of the fuselage, and the walking wheel axle is also borne by the lower left part of the fuselage and the lower right part of the fuselage, can make this home care robot have the advantages of fewer mechanical parts, being convenient for manufacturing and reducing the manufacturing cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 is the front view of Embodiment 1 of the home care robot of the present invention.

[0011] Figure 2 is Figure 1 the sectional view taken along line A-A in

[0012] Figure 3 is Figure 1 the sectional view taken along line B-B in

[0013] Figure 4 is Figure 1 the sectional view taken along line C-C in

[0014] Figure 5 is the front view of the lower left part of the fuselage in Embodiment 1 of the home care robot of the present invention.

[0015] Figure 6 is the left view of the lower left part of the fuselage in Embodiment 1 of the home care robot of the present invention.

[0016] Figure 7 is the front view of the left walking wheel in Embodiment 1 of the home care robot of the present invention.

[0017] Figure 8 is the right view of the left walking wheel in Embodiment 1 of the home care robot of the present invention.

[0018] Figure 9 is the front view of the left counterweight in Embodiment 1 of the home care robot of the present invention.

[0019] Figure 10 It is the right view of the left balance weight in Embodiment 1 of the home care robot of the present invention.

[0020] Figure 11 It is the front view of Embodiment 2 of the home care robot of the present invention.

[0021] Figure 12 It is Figure 2 the cross-sectional view taken along line A-A in

[0022] Figure 13 It is Figure 2 the cross-sectional view taken along line B-B in

[0023] Figure 14 It is Figure 2 the cross-sectional view taken along line C-C in

[0024] Figure 15 It is Figure 2 the cross-sectional view taken along line D-D in

[0025] Figure 16 It is the front view of the lower left part of the fuselage in Embodiment 2 of the home care robot of the present invention.

[0026] Figure 17 It is the left view of the lower left part of the fuselage in Embodiment 2 of the home care robot of the present invention.

[0027] Figure 18 It is the front view of the left driving wheel in Embodiment 2 of the home care robot of the present invention.

[0028] Figure 19 It is the right view of the left driving wheel in Embodiment 2 of the home care robot of the present invention.

[0029] Figure 20 It is the front view of the left balance weight in Embodiment 2 of the home care robot of the present invention.

[0030] Figure 21 It is the right view of the left balance weight in Embodiment 2 of the home care robot of the present invention.

[0031] The reference numerals and names in the figure are as follows: 1 - Left nut, 2 - Left traveling wheel, 3 - Left balance weight, 4 - Gear, 5 - Left traveling wheel motor, 6 - Gear, 7 - Left balance weight motor, 8 - Upper part of the fuselage, 9 - Right balance weight motor, 10 - Gear, 11 - Right traveling wheel motor, 12 - Gear, 13 - Right balance weight, 14 - Right traveling wheel, 15 - Right nut, 16 - Lower right part of the fuselage, 17 - Lower left part of the fuselage; 101 - Left nut, 102 - Left traveling wheel, 103 - Left balance weight 3, 104 - Gear, 105 - Left traveling wheel motor, 106 - Gear, 107 - Left balance weight motor, 108 - Upper part of the fuselage, 109 - Right balance weight motor, 110 - Gear, 111 - Right traveling wheel motor, 112 - Gear, 113 - Right balance weight, 114 - Right traveling wheel, 115 - Right nut, 116 - Lower right part of the fuselage, 117 - Lower left part of the fuselage. Detailed implementation manner

[0032] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments: Embodiment 1 of a home care robot and its control method: Figure 1 , Figure 2 , Figure 3 and Figure 4The shown home care robot has a fuselage composed of three fixedly connected parts: the upper part 8 of the fuselage, the lower left part 17 of the fuselage, and the lower right part 16 of the fuselage. The lower left part 17 of the fuselage is provided with a left walking wheel shaft part, and the lower right part 16 of the fuselage is provided with a right walking wheel shaft part; at the outer end of the left walking wheel shaft of the lower left part 17 of the fuselage, a left walking wheel 2 is installed, and at the outer end of the right walking wheel shaft of the lower right part 16 of the fuselage, a right walking wheel 14 is installed. Inside the left walking wheel 2, a left balance weight 3 is mounted on the left walking wheel shaft, and inside the right walking wheel 14, a right balance weight 13 is mounted on the right walking wheel shaft. Their positions are respectively limited by the left nut 1 and the right nut 15; outside the lower left part 17 of the fuselage, a left balance weight motor 7 and a left walking wheel motor 5 are installed. The left balance weight motor 7 is meshed and connected to the external teeth of the left balance weight 3 through a gear 6, and the left walking wheel motor 5 is meshed and connected to the external teeth of the left walking wheel 2 through a gear 4; outside the lower right part 16 of the fuselage, a right balance weight motor 9 and a right walking wheel motor 11 are installed. The right balance weight motor 9 is meshed and connected to the external teeth of the right balance weight 13 through a gear 10, and the right walking wheel motor 11 is meshed and connected to the external teeth of the right walking wheel 14 through a gear 12. On the upper part 8 of the fuselage, a gyroscope and a controller for detecting the tilting direction and amplitude of the fuselage are installed. Here, the gyroscope and the controller are omitted and not shown in the figure. The control method of this home care robot is that when the walking speed of the home care robot changes or when it encounters a walking obstacle causing the upper part 8 of the fuselage to swing forward or backward, the gyroscope installed on the upper part 8 of the fuselage inputs the inclination information of the fuselage into the controller, and the controller controls the swinging direction and amplitude of the left balance weight 3 and the right balance weight 13 through the left balance weight motor 7 and the right balance weight motor 9 installed on the lower left part 17 and the lower right part 16 of the fuselage to offset the inclination of the upper part 8 of the fuselage and keep the upper part 8 of the fuselage as upright as possible.

[0033] Figure 5 , Figure 6 are the front view and the left view of the lower left part 17 of the fuselage. Figure 5 In the left, the slender rod part is the left walking wheel shaft part, and at the left end of this part, there is a threaded part for connecting with the nut 1. Figure 6 At the lower end of the shown lower left part 17 of the fuselage, there is a weight part. The lower right part 16 of the fuselage in this embodiment has the same shape and structure as the lower left part 17 of the fuselage, except that its orientation is opposite to that of the lower left part 17 of the fuselage when installed.

[0034] Figure 7 , Figure 8 are the front view and the right view of the left walking wheel 2. Figure 7 In the shown left walking wheel 2, the left part is the wheel part, and the right side is provided with an external tooth ring, and in the center, there is a through hole for mounting the left walking wheel shaft. The right walking wheel 14 in this embodiment has the same shape and structure as the left walking wheel 2, except that its orientation is opposite to that of the left walking wheel 2 when installed.

[0035] Figure 9 , Figure 10 are the front view and right view of the left balance weight 3. Figure 9 As shown, the right part of the left balance weight 3 is provided with an external gear ring, and its lower end is the weight part. The right balance weight 13 in this embodiment has the same shape and structure as the left balance weight 3, except that it is installed in the opposite direction to the left balance weight 3.

[0036] Example 2 of a home care robot and its control method: Figure 11 , Figure 12 , Figure 13 Figure 14 and Figure 15 The home care robot shown. Its fuselage is fixedly connected and composed of three parts: the upper part of the fuselage 108, the lower left part of the fuselage 117, and the lower right part of the fuselage 116. The lower left part of the fuselage 117 is provided with a left walking wheel shaft part, and the lower right part of the fuselage 116 is provided with a right walking wheel shaft part; at the outer end of the left walking wheel shaft of the lower left part of the fuselage 117, a left walking wheel 102 is installed, and at the outer end of the right walking wheel shaft of the lower right part of the fuselage 16, a right walking wheel 114 is installed. Inside the left walking wheel 102, a left balance weight 103 is installed on the left walking wheel shaft, and inside the right walking wheel 114, a right balance weight 113 is installed on the right walking wheel shaft. Their positions are respectively limited by the left nut 101 and the right nut 115; inside the lower left part of the fuselage 117, a left balance weight motor 1077 and a left walking wheel motor 105 are installed. The left balance weight motor 107 is meshed and connected with the internal teeth of the left balance weight 103 through a gear 106, and the left walking wheel motor 105 is meshed and connected with the internal teeth of the left walking wheel 102 through a gear 104; outside the lower right part of the fuselage 116, a right balance weight motor 109 and a right walking wheel motor 111 are installed. The right balance weight motor 109 is meshed and connected with the internal teeth of the right balance weight 113 through a gear 110, and the right walking wheel motor 111 is meshed and connected with the external teeth of the right walking wheel 114 through a gear 112. On the upper part of the fuselage 108, a gyroscope and a controller for detecting the tilting direction and amplitude of the fuselage are installed. The gyroscope and the controller described here are omitted and not shown in the figure. The control method of this home care robot is that when the walking speed of the home care robot changes or when it encounters a walking obstacle and causes the upper part of the fuselage 8 to swing forward or backward, the gyroscope installed on the upper part of the fuselage 108 inputs the inclination information of the fuselage into the controller, and the controller controls the swinging direction and amplitude of the left balance weight 103 and the right balance weight 113 through the left balance weight motor 107 and the right balance weight motor 109 installed on the lower left part of the fuselage 117 and the lower right part of the fuselage 116 to offset the inclination of the upper part of the fuselage 108, so that the upper part of the fuselage 1088 tries to maintain an upright state.

[0037] Figure 16 , Figure 17 are the front view and left view of the lower left part of the fuselage 117. Figure 16The slender rod part on the left in the middle is the left traveling wheel shaft part, and a threaded part for connecting with the nut 101 is provided at the left end of this part. Figure 16 A weight part is provided at the lower end of the lower left part 117 of the fuselage shown. The shape and structure of the lower right part 116 of the fuselage in this embodiment are exactly the same as those of the lower left part 117 of the fuselage, except that the orientation is opposite to that of the lower left part 117 of the fuselage during installation.

[0038] Figure 18 、 Figure 19 are the front view and right view of the left traveling wheel 102. Figure 18 The left part of the left traveling wheel 102 shown is the wheel part, an external gear ring is provided on the right side part, and a through hole for installing the left traveling wheel shaft is provided in the center. The shape and structure of the right traveling wheel 114 in this embodiment are exactly the same as those of the left traveling wheel 102, except that the orientation is opposite to that of the left traveling wheel 102 during installation.

[0039] Figure 20 、 Figure 21 are the front view and right view of the left balance weight 103. Figure 20 An external gear ring is provided on the right part of the left balance weight 103 shown, and its lower end is the weight part. The shape and structure of the right balance weight 113 in this embodiment are exactly the same as those of the left balance weight 103, except that the orientation is opposite to that of the left balance weight 103 during installation.

[0040] In other embodiments of the present invention, it can also be a solution that only uses one balance weight located in the middle of the lower part of the fuselage, and the traveling wheels on both sides can adopt a structure with a motor built into the wheel. In this way, the number of components can be streamlined and the occupied area of the traveling part can be further reduced, making the present invention more flexible in movement.

Claims

1. A family care robot, comprising a body, a left running wheel and a right running wheel, characterized in that: A balance hammer is movably arranged on the travel wheel shaft, and a gyroscope, a balance hammer motor and a controller of the balance hammer motor are arranged on the machine body.

2. The home care robot according to claim 1, characterized in that: The lower part of the fuselage comprises two parts, namely, a lower left part of the fuselage and a lower right part of the fuselage; the running wheel axle comprises two parts, namely, a left running wheel axle arranged at the lower left part of the fuselage and a right running wheel axle arranged at the lower right part of the fuselage, and a weight part is arranged at the lower ends of the lower left part of the fuselage and the lower right part of the fuselage; there is only one left running wheel and one right running wheel; the counterweight comprises two parts, namely, a left counterweight arranged at the inner side of the left running wheel and mounted on the left running wheel axle, and a right counterweight arranged at the inner side of the right running wheel and mounted on the right running wheel axle; the counterweight motor comprises a left counterweight motor and a right counterweight motor.

3. The home care robot according to claim 2, characterized in that: The left walking wheel motor and the right walking wheel motor as well as the left counterweight motor and the right counterweight motor are all installed outside the fuselage. The left walking wheel motor is meshed and connected with the outer teeth of the left walking wheel through a gear, the right walking wheel motor is meshed and connected with the outer teeth of the right walking wheel through a gear, the left counterweight motor is meshed and connected with the outer teeth of the left counterweight through a gear, and the right counterweight motor is meshed and connected with the outer teeth of the right counterweight through a gear.

4. The home care robot according to claim 2, characterized in that: The left walking wheel motor and the right walking wheel motor as well as the left counterweight motor and the right counterweight motor are all installed in the fuselage, the shaft of the left walking wheel motor passes through the long slot of the left counterweight and is meshed with the internal teeth of the left walking wheel through a gear, the shaft of the right walking wheel motor passes through the long slot of the right counterweight and is meshed with the internal teeth of the right walking wheel through a gear; the left counterweight motor is meshed with the internal teeth of the left counterweight through a gear, and the right counterweight motor is meshed with the internal teeth of the right counterweight through a gear.

5. A control method for a home care robot, characterized in that: This home care robot has a balance weight installed on the walking wheel axle, and a gyroscope and a controller are installed on the body. The gyroscope inputs the tilt information of the body into the controller, and the controller drives the swing direction and amplitude of the balance weight to offset the tilt of the body by controlling the motor installed on the body to drive the balance weight.

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