Universal wheel system and patrol robot

Abstract

The utility model provides a universal wheel system and a patrol robot, and relates to the field of robots. The universal wheel system provided by the utility model is applied to but not limited to a patrol robot, and comprises a chassis shell, a chassis, a main beam and a telescopic universal wheel assembly, wherein the chassis shell is mounted at the bottom of the robot; the chassis is mounted in the chassis shell; the main beam is mounted on the downward side of the chassis; the universal wheel assembly is movably connected with the main beam so as to switch the stretching state or the contracting state relative to the chassis shell. Under the normal condition, the universal wheel assembly is contracted in the chassis shell; and when the robot is in a jumping type terrain with a gradient such as a lower step, the universal wheel assembly extends out of the chassis shell to enlarge the chassis area, so that the gravity center of the robot is lowered, and rollover is avoided.

Description

Technical Field

[0001] The utility model relates to the field of robots, in particular to a universal wheel system and a mobile medical inspection robot. Background Art

[0002] A robot is an intelligent machine that can work semi-autonomously or fully autonomously, and has been widely used in industrial production, life services, mobile medical inspection and other fields.

[0003] For example, in the paper "Design of a Remote Mobile Medical Inspection Service Robot System" (doi: 10.16182 / j.issn1004731x.joss.201809002; article number: 104 - 731X(2018)09 - 3238 - 11), the designed remote mobile medical inspection service robot TM-bot is 150 cm high and has a base of 50 cm * 50 cm. The system hardware design mainly includes: a mobile platform, a power supply system, an environmental perception module, a vital sign information collection module, an audio-video image collection module, a control terminal system, etc. The TM-bot robot is mainly used for remote mobile medical inspection services in hospitals, community hospitals or nursing homes. This robot has functions such as self-built map, autonomous navigation, target following, remote audio-video interaction, and remote mobile medical inspection.

[0004] However, due to the humanoid appearance of the above robot, the overall center of gravity is relatively high, which affects the mechanical stability. Especially on sloping and jump terrains such as going down stairs, the robot is prone to tipping over. Content of the Utility Model

[0005] (1) Technical Problems to be Solved

[0006] Aiming at the deficiencies of the prior art, the utility model provides a universal wheel system and a mobile medical inspection robot, which solve the technical problem of the relatively high overall center of gravity when the robot uses a humanoid appearance.

[0007] (2) Technical Solutions

[0008] To achieve the above object, the utility model is realized through the following technical solutions:

[0009] A universal wheel system is applied to a robot and includes a chassis housing, a chassis, a main beam, and a telescopic universal wheel assembly;

[0010] The chassis housing is installed at the bottom of the robot;

[0011] The chassis is installed inside the chassis housing;

[0012] The main beam is installed on the downward side of the chassis;

[0013] The universal wheel assembly is movably connected to the main beam to switch between the extended or retracted state relative to the chassis housing.

[0014] Preferably, the universal wheel assembly includes a load-bearing guide rail and a caster kit;

[0015] The load-bearing guide rail is slidably connected to the main beam;

[0016] The caster kit is installed on the side of the load-bearing guide rail.

[0017] Preferably, any one of the caster kits includes a matching caster carrier plate, a compression spring, and a caster;

[0018] The caster carrier plate is installed on the side of the load-bearing guide rail;

[0019] The caster is elastically connected to the caster carrier plate through a compression spring.

[0020] Preferably, the caster kit is provided with a brake pad.

[0021] Preferably, at least one end of the load-bearing guide rail is provided with a push-pull carrier plate, and a detachable handle is provided on the push-pull carrier plate.

[0022] Preferably, the universal wheel system includes a counterweight block, and the counterweight block is installed on the upward side of the chassis.

[0023] A medical rounds robot includes the universal wheel system, a body shell, a movable robotic arm, and a display screen as described above;

[0024] The universal wheel system is installed at the bottom of the body shell;

[0025] Any one of the robotic arms is installed on the side of the body shell;

[0026] The display screen is installed on the top of the body shell.

[0027] Preferably, a push handle is provided on the back of the body shell;

[0028] Preferably, an emergency stop button is provided on the back of the body shell, and the emergency stop button is used to urgently pause the movement of the driving wheels of the chassis and the robotic arm.

[0029] Preferably, a first arm mounting side plate, a second arm mounting side plate, an arm mounting top plate, and an arm mounting bottom plate are provided inside the body shell;

[0030] The two robotic arms share a robotic arm base, and the robotic arm base is horizontally fixed through the first arm mounting side plate, the second arm mounting side plate, the arm mounting top plate, and the arm mounting bottom plate.

[0031] Preferably, at least one end of the robotic arm away from the robotic arm base is provided with a panoramic camera.

[0032] (III) Beneficial Effects

[0033] The present utility model provides a universal wheel system and a mobile medical service robot. Compared with the prior art, the following beneficial effects are achieved:

[0034] The universal wheel system provided by the present utility model is applied to, but not limited to, mobile medical service robots, and includes a chassis housing, a chassis, a main beam, and a telescopic universal wheel assembly. Among them, the chassis housing is installed at the bottom of the robot; the chassis is installed inside the chassis housing; the main beam is installed on the downward side of the chassis; the universal wheel assembly is movably connected to the main beam to switch between the extended or retracted state relative to the chassis housing. Under normal circumstances, the universal wheel assembly is retracted inside the chassis housing; when on a sloped jumping terrain such as going down steps, the universal wheel assembly extends outside the chassis housing, expanding the area of the chassis, reducing the center of gravity of the robot, and preventing rollover. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present utility model, and those of ordinary skill in the art can also obtain other drawings based on these drawings without creative efforts.

[0036] Figure 1 An exploded view of a universal wheel system provided by an embodiment of the present utility model;

[0037] Figure 2 A retracted state diagram of a universal wheel system provided by an embodiment of the present utility model;

[0038] Figure 3 For Figure 2 A cross-sectional schematic diagram of the universal wheel system in the state shown;

[0039] Figure 4 An extended state diagram of a universal wheel system provided by an embodiment of the present utility model;

[0040] Figure 5 For Figure 4 A cross-sectional schematic diagram of the universal wheel system in the state shown;

[0041] Figure 6 A perspective view of the back of a mobile medical service robot provided by an embodiment of the present utility model;

[0042] Figure 7 A perspective view of the front of a mobile medical service robot provided by an embodiment of the present utility model;

[0043] Figure 8 Exploded view of a mobile medical robot provided by an embodiment of the present invention. Detailed implementation manners

[0044] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below. Apparently, the described embodiments are some but not all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without making creative efforts shall fall within the protection scope of the present invention.

[0045] By providing a universal wheel system and a mobile medical robot in the embodiments of the present application, the technical problem that the overall center of gravity of the robot is relatively high when using a humanoid appearance is solved, and the movement stability of the robot is ensured without changing the humanoid appearance.

[0046] The general idea of the technical solutions in the embodiments of the present application to solve the above technical problems is as follows:

[0047] The universal wheel system provided by the embodiment of the present invention is applied to but not limited to a mobile medical robot, and includes a chassis housing, a chassis, a main beam, and a telescopic universal wheel assembly. Among them, the chassis housing is installed at the bottom of the robot; the chassis is installed inside the chassis housing; the main beam is installed on the downward side of the chassis; the universal wheel assembly is movably connected to the main beam to switch between the extended or retracted state relative to the chassis housing. Under normal circumstances, the universal wheel assembly is retracted inside the chassis housing; when on a sloped terrain such as going down a step, the universal wheel assembly extends outside the chassis housing to expand the chassis area, so that the center of gravity of the robot is lowered and the risk of tipping over is avoided.

[0048] To better understand the above technical solutions, the above technical solutions will be described in detail below in conjunction with the accompanying drawings of the specification and specific implementation manners.

[0049] Embodiment 1:

[0050] As Figure 1 shown, the embodiment of the present invention provides a universal wheel system applied to a robot, including a chassis housing 1, a chassis 2, a main beam 3, and a telescopic universal wheel assembly 4.

[0051] The chassis housing 1 is installed at the bottom of the robot;

[0052] The chassis 2 is installed inside the chassis housing 1;

[0053] The main beam 3 is installed on the downward side of the chassis 2;

[0054] The universal wheel assembly 4 is movably connected to the main beam 3 to switch between the extended or retracted state relative to the chassis housing 1.

[0055] In normal use, Figures 2 - 3 as shown, the universal wheel assembly is retracted inside the chassis housing; when on a sloping jumping terrain such as going down steps, Figures 4 - 5 as shown, the universal wheel assembly extends outside the chassis housing to expand the chassis area, lowering the center of gravity of the robot and preventing it from tipping over.

[0056] In an alternative embodiment, Figure 1 as shown, the chassis 2 is symmetrically provided with driving wheels 21, and each driving wheel 21 is provided with a locking member 22 (specifically a knob plunger shown in the figure) to ensure that the robot can be fixed in position.

[0057] In an alternative embodiment, Figure 1 as shown, the universal wheel assembly 4 includes a load-bearing guide rail 41 and a caster wheel kit 42.

[0058] The load-bearing guide rail 41 is slidably connected to the main beam 3;

[0059] The caster wheel kit 42 is installed on the side of the load-bearing guide rail 41.

[0060] In an alternative embodiment, Figure 1 as shown, any one of the caster wheel kits 42 includes a matching caster wheel carrier plate 421, a compression spring 422, and a caster wheel 423 (the caster wheel in the figure is a universal wheel). Among them, the caster wheel carrier plate 421 is installed on the side of the load-bearing guide rail 41; the caster wheel 423 is elastically connected to the caster wheel carrier plate 421 through the compression spring 422 to buffer and absorb shock and maintain the component spacing, prevent damage to the caster wheel 423, and at the same time help to maintain stability.

[0061] Exemplarily, Figure 1 the caster wheel kits 42 shown in are grouped in pairs, and each group can slide along the main beam 3 in different directions through the load-bearing guide rail 41 to realize the switching between the extended or retracted state of the universal wheel assembly 4 relative to the chassis housing 1.

[0062] In an alternative embodiment, Figure 1 as shown, the caster wheel kit 42 is further provided with a brake pad 424 to increase the friction of the caster wheel 423 in cases such as standing on a slope to prevent rolling.

[0063] The embodiments of the present utility model do not limit the specific implementation manner of the contraction or extension of the universal wheel assembly. Those skilled in the art can design it as motor-driven or manual adjustment according to needs. Here, only manual adjustment is taken as an example for illustration:

[0064] As Figure 1As shown in the figure, push-pull bearing plates 411 may be provided at both ends of the load-bearing guide rail 41 for supporting the auxiliary telescopic universal wheels. Specifically, a detachable handle 412 may also be provided on the push-pull bearing plate 411 for easy manual operation.

[0065] It can be understood that when the robot extends manually and descends the steps, it is necessary to consider simultaneously the upward supporting force applied to the universal wheel assembly 4, the overall downward gravity of the robot, and the lever effect formed by the intermediate connecting load-bearing guide rail 41. Therefore, the embodiments of the present invention need to define that the guide rail 3 has sufficient load-bearing capacity.

[0066] Particularly, as Figure 3 shown, when the universal wheel assembly 4 slides along the main beam 3 to the fully retracted state, the pull bearing plate 411 can be fixedly connected to the end of the main beam 3 by a manual first locking screw 100 to maintain the current retracted state; as Figure 5 shown, when the universal wheel assembly 4 slides along the main beam 3 to the fully extended state, the load-bearing guide rail 41 can be fixedly connected to the end of the main beam 3 by a manual second locking screw 200 to maintain the current extended state.

[0067] In order to further reduce the center of gravity position of the robot, in an optional embodiment, the universal wheel system further includes a counterweight 5, and the counterweight 5 is installed on the upward side of the chassis 2.

[0068] Embodiment 2:

[0069] As Figures 6 - 7 shown, the embodiments of the present invention provide a rounds robot, including the universal wheel system, a body shell 6, a movable robotic arm 7, and a display screen 8 as described in Embodiment 1;

[0070] The universal wheel system is installed at the bottom of the body shell 6;

[0071] Any one of the robotic arms 7 is installed on the side of the body shell 6;

[0072] The display screen 8 is installed on the top of the body shell 6.

[0073] In an optional embodiment, as Figures 6 - 7 shown, a push handle 61 is provided on the back of the body shell 6. Specifically, a U-shaped aluminum push handle design can be adopted, which is located at a suitable height of the robot to provide a manual control mode for facilitating the operation of the robot in a non-autonomous navigation environment.

[0074] In an optional embodiment, as Figures 6 - 7As shown, an emergency stop button 62 is provided on the back of the body shell 6. The emergency stop button 62 is used to urgently pause the movement of the drive wheels 21 on the chassis 2 and the movable robotic arm 7. Specifically, the emergency stop button 62 should be embedded in an easily accessible position (for example, designed ergonomically at the height of the end of the human forearm) for quick use in an emergency, and a relay with a relatively fast response speed can be used to connect the two circuits of the chassis and the robotic arm.

[0075] In an alternative embodiment, as Figure 8 shown, a first arm mounting side plate 63, a second arm mounting side plate 64, an arm mounting top plate 65, and an arm mounting bottom plate 66, all made of alloy plates, are provided inside the body shell 6. Among them:

[0076] The two robotic arms 7 share a robotic arm base 71. The robotic arm base 71 is horizontally fixed through the first arm mounting side plate 63, the second arm mounting side plate 64, the arm mounting top plate 65, and the arm mounting bottom plate 66 to simulate the posture of a human arm. Specifically, an arm support member 67 can also be provided inside the body shell 6 to assist in supporting the robotic arm base 71 and apply an upward supporting force to ensure stability.

[0077] In an alternative embodiment, as Figures 6 - 7 shown, a panoramic camera 72 is provided at one end of at least one robotic arm 7 away from the robotic arm base 71 (as shown in the figure, the left robotic arm is provided with a panoramic camera), so as to enable live broadcast to be started when the robotic arm 7 moves to the extended state and observe the panoramic data of the position where the robot is located.

[0078] Through the design of the robotic arm 7 and the panoramic camera 72, compared with the traditional environmental perception ability with a fixed angle in front of the chest, the robot can obtain a wider perspective. Especially in the clinical environment of an intensive care unit, it can consult with patients while referring to the monitor, ventilator, and electroencephalogram information.

[0079] It can be understood that although each of the above components may affect the overall stability of the robot. For example, if a robotic arm is only installed on one side, it will cause the center of gravity of the robot to shift, and thus it is easy to tip over when moving; however, as described in Embodiment 1, a counterweight can also be provided in the omnidirectional wheel system at the bottom of the robot. By adding the counterweight, the center of gravity returns to the center point, and the robotic arm will not have an obvious offset in multiple poses.

[0080] In addition, in order to enhance the rigidity and durability of the structure, those skilled in the art can also add other structural details to the robot. For example, fixing parts / ribs are installed between sheet metal parts, or a push handle is designed to pass through the rear shell of the body of the body shell and is fixed through fixing parts, etc., which will not be elaborated here.

[0081] In summary, compared with the prior art, the following beneficial effects are achieved:

[0082] 1. The universal wheel system provided by the embodiment of the present utility model is applied to, but not limited to, mobile medical service robots, and includes a chassis housing, a chassis, a main beam, and a telescopic universal wheel assembly. Among them, the chassis housing is installed at the bottom of the robot; the chassis is installed inside the chassis housing; the main beam is installed on the downward side of the chassis; the universal wheel assembly is movably connected to the main beam to switch between the extended or retracted state relative to the chassis housing. Under normal circumstances, the universal wheel assembly is retracted inside the chassis housing; when encountering sloped and jumpy terrains such as going down steps, the universal wheel assembly extends outside the chassis housing, expanding the chassis area, lowering the center of gravity of the robot, and preventing rollover.

[0083] 2. In the embodiment of the present utility model, any one of the caster kits includes a matching caster carrier plate, a compression spring, and a caster. Among them, the caster carrier plate is installed on the side of the load-bearing guide rail; the caster is elastically connected to the caster carrier plate through the compression spring, buffering and absorbing shock and maintaining the component spacing, preventing caster damage, and helping to maintain stability.

[0084] 3. In the embodiment of the present utility model, push-pull carrier plates are provided at both ends of the load-bearing guide rail for supporting and assisting the stretching or retracting of the universal wheels. Specifically, a detachable handle can also be provided on the push-pull carrier plate for easy manual operation.

[0085] 4. In order to further lower the center of gravity position of the robot, the universal wheel system further includes a counterweight block, and the counterweight block is installed on the upward side of the chassis.

[0086] 5. In the embodiment of the present utility model, a U-shaped aluminum pusher is designed at a suitable height of the robot, providing a manual control mode for facilitating the operation of the robot in a non-autonomous navigation environment.

[0087] 6. In the embodiment of the present utility model, the emergency stop button should be embedded in an easily accessible position (for example, designed ergonomically at the height of the end of the human forearm) for quick use in case of emergency, and a relay with a relatively fast response speed can be used to connect the two circuits of the chassis and the robotic arm.

[0088] 7. In the embodiment of the present utility model, the two robotic arms share a robotic arm base, and the robotic arm base is horizontally fixed through the first arm mounting side plate, the second arm mounting side plate, the arm mounting top plate, and the arm mounting bottom plate to simulate the posture of the human arm.

[0089] 8. In the embodiment of the present utility model, the emergency stop button should be embedded in an easily accessible position (for example, designed ergonomically at the height of the end of the human forearm) for quick use in case of emergency, and a relay with a relatively fast response speed can be used to connect the two circuits of the chassis and the robotic arm.

[0090] 9. In the embodiment of the present utility model, through the design of the robotic arm and the panoramic camera, compared with the environmental perception ability with a fixed angle in front of the chest in the traditional way, the robot can obtain a wider perspective. Especially in the clinical environment of the intensive care unit, it can refer to the monitor, ventilator and electroencephalogram information while consulting with the patient.

[0091] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including one..." does not exclude the existence of additional identical elements in the process, method, article or device including the said element.

[0092] The above embodiments are only used to illustrate the technical solutions of the present utility model, rather than to limit it; although the present utility model has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present utility model.

Claims

1. A swivel wheel system, characterized in that, Applied to a robot, comprising a chassis housing (1), a chassis (2), a main beam (3), and a telescopic universal wheel assembly (4); The chassis housing (1) is installed at the bottom of the robot; The chassis (2) is installed inside the chassis housing (1); The main beam (3) is installed on the downward side of the chassis (2); The universal wheel assembly (4) is movably connected to the main beam (3) to switch between an extended or retracted state relative to the chassis housing (1).

2. The swivel wheel system according to claim 1, characterized in that, The universal wheel assembly (4) includes a load-bearing guide rail (41) and a caster kit (42); The load-bearing guide rail (41) is slidably connected to the main beam (3); The caster kit (42) is installed on the side of the load-bearing guide rail (41).

3. The caster system according to claim 2, wherein, Any one of the caster kits (42) includes a matching caster carrier plate (421), a compression spring (422), and a caster (423); The caster carrier plate (421) is installed on the side of the load-bearing guide rail (41); The caster (423) is elastically connected to the caster carrier plate (421) through the compression spring (422).

4. The caster wheel system according to claim 3, characterized in that, The caster kit (42) is provided with a brake pad (424).

5. The caster wheel system according to claim 2, wherein, At least one end of the load-bearing guide rail (41) is provided with a push-pull carrier plate (411), and a detachable handle (412) is provided on the push-pull carrier plate (411).

6. The caster wheel system according to claim 1, wherein The universal wheel system includes a counterweight (5), and the counterweight (5) is installed on the upward side of the chassis (2).

7. A mobile medical inspection robot, characterized in that, Including the universal wheel system according to any one of claims 1 to 6, a body shell (6), a movable robotic arm (7), and a display screen (8); The universal wheel system is installed at the bottom of the body shell (6); Any one of the robotic arms (7) is installed on the side of the body shell (6); The display screen (8) is installed on the top of the body shell (6).

8. The mobile medical robot according to claim 7, characterized in that A push handle (61) is provided on the back of the body shell (6); And / or an emergency stop button (62) is provided on the back of the body shell (6), and the emergency stop button (62) is used to urgently pause the movement of the drive wheels (21) of the chassis (2) and the robotic arm (7).

9. The rounds-making robot according to claim 7, wherein Inside the body shell (6), there are a first arm mounting side plate (63), a second arm mounting side plate (64), an arm mounting top plate (65), and an arm mounting bottom plate (66); The two robotic arms (7) share a robotic arm base (71), and the robotic arm base (71) is horizontally fixed through the first arm mounting side plate (63), the second arm mounting side plate (64), the arm mounting top plate (65), and the arm mounting bottom plate (66).

10. The rounds-making robot according to claim 9, characterized in that, At least one end of the robotic arm (7) away from the robotic arm base (71) is provided with a panoramic camera (72).

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