Arm liftable omnidirectional mobile compound nursing robot

Abstract

The invention discloses an arm liftable omnidirectional mobile compound nursing robot, and belongs to the field of robots and artificial intelligence. The robot comprises an omnidirectional mobile chassis, a lifting mechanism, a four-degree-of-freedom lightweight mechanical arm, a two-degree-of-freedom tripod head, a control and display module, an electrical module and a connecting and fixing device. According to the robot, the omnidirectional mobile chassis, the lifting mechanism and a four-axis mechanical arm jointly form a Scheimman-like arm, the working space and the grabbing capacity of the six-degree-of-freedom mechanical arm can be achieved, and meanwhile, the design cost is greatly reduced. According to the design, a servo motor is combined with an incremental encoder to realize closed-loop control, the control precision is higher, and feedback adjustment can be performed. On the basis of the modular design concept, the omnidirectional mobile chassis, the lifting mechanism, thefour-degree-of-freedom lightweight mechanical arm and the two-degree-of-freedom tripod head are independent modules and are convenient to machine and assemble, and corresponding configuration can beselected according to different requirements of customers.

Description

technical field [0001] The invention belongs to the field of robots, and relates to an omnidirectional mobile composite care robot with liftable arms. Background technique [0002] At present, the robots that are widely used in the market are basically developed for specific tasks, such as industrial robots, underwater robots and special robots. However, with the aging trend of the world population, the working population accounts for The proportion is decreasing year by year, and an arm-liftable omnidirectional mobile composite nursing robot with multiple functions has attracted more and more attention from researchers. The research on the omni-directional mobile compound nursing robot with liftable arms runs through many fields such as biomechanics, mechanics, artificial intelligence, electronics, materials science, computer science and robotics. The advantages of this robot are: integrated movement, grasping, The functions of visual recognition and intelligent navigation...

AI Technical Summary

Problems solved by technology

[0003] Most of the existing mobile chassis are dual-wheel differential, which has the disadvantages of large turning radius and low degree of freedom. The robotic arm is built with a steering gear and does not have a brake function. There are problems such as low grasping accuracy and insufficient system security. , and most of the products are installed with 6-axis or 7-axis robotic arms on the mobile chassis. Although this can make the grabbing range meet the requirements, it is unavoidable that the weight is high and the cost is high.

In the design process of the robot, the idea of ​​modularization is widely used, but the modules of the existing robot are not completely independent, and the real modular structure has not been realized, and it cannot be quickly and easily disassembled.

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