CN111544216B

CN111544216B - Home service robot

Info

Publication number: CN111544216B
Application number: CN202010473992.5A
Authority: CN
Inventors: 岳一领; 王超强; 王亚周; 史梦格
Original assignee: Taiyuan University of Science and Technology
Current assignee: Taiyuan University of Science and Technology
Priority date: 2020-05-29
Filing date: 2020-05-29
Publication date: 2022-04-01
Anticipated expiration: 2040-05-29
Also published as: CN111544216A

Abstract

The invention relates to a home service robot, comprising a multifunctional wheelchair, a docking device, a multifunctional bed and a mechanical arm device; the docking device is arranged between the multifunctional wheelchair and the multifunctional bed; the multifunctional wheelchair includes a wheelchair device, a standing device and an automatic Obstacle avoidance and navigation system; the multifunctional bed includes a bed device, a stand-up device, and a bedpan moving device; the docking device includes a docking structure I arranged on the multifunctional wheelchair, a docking structure II arranged on the multifunctional bed, and a docking structure arranged on the multifunctional wheelchair. The docking structure III between the wheelchair and the multifunctional bed; the mechanical arm device includes a base, a mechanical arm and a mechanical claw; the present invention can simultaneously satisfy the functions of taking and delivering, wheelchair walking, wheelchair standing, assisting turning over, lifting back and defecation. The present invention relates to the technical field of service robots.

Description

Home service robot

Technical Field

The invention relates to the technical field of service robots, in particular to a home service robot.

Background

Population aging is a big problem faced by all countries in the world, and in the 2017 world robot congress, experts and scholars in the robot field from all countries in the world find the application of the service robot in the population aging society. The proportion of the aged population over 60 years old accounts for 16 percent of the total population, and China has crossed into the threshold of the aging society according to the international traffic standard. Recently issued 'development of the old cause of China' white paper shows that China officials are aware of the urgency of aging of the population. The rapid aging of population and the shortage of nursing homes, the elderly need to accompany, and it can be expected that a great amount of service robots will enter families to meet the wave of the family service of the service robots.

At present, home robots for caring the old are mainly of a monitoring type, can walk, observe the state of a service object, remotely and synchronously provide medical care personnel and children and guardians with information quickly. The robot completes tasks mainly through artificial intelligence such as voice interaction, visual observation and the like, and has low requirements on the action; some functional robots also exist in the market, but most of the functions realized by the robots are very dispersed, for example, the robots only can meet the daily rest of the old, and also can meet the moving requirements of the old for intelligent wheelchairs, and the old is rarely involved in the connection problem between the different robots, so that the prior art needs to be improved.

Disclosure of Invention

In order to overcome the defects in the prior art, the household service robot capable of meeting various service requirements simultaneously is provided.

In order to solve the technical problems, the invention adopts the technical scheme that:

a home service robot comprises a multifunctional wheelchair, a docking device and a multifunctional bed; the docking device is arranged between the multifunctional wheelchair and the multifunctional bed;

the multifunctional wheelchair comprises a wheelchair device, a standing device and an automatic obstacle avoidance and navigation system; the wheelchair device comprises a base frame, a seat plate and a back plate, wherein one end of the seat plate is hinged with the base frame, the other end of the seat plate is hinged with the lower end of the back plate, and the standing device comprises a telescopic mechanism I arranged between the seat plate and the base frame and a telescopic mechanism II arranged between the back plate and the seat plate; the automatic obstacle avoidance and navigation system is arranged on the base frame and comprises a main control chip, a positioning sensor, an obstacle avoidance sensor and an actuator, wherein the main control chip drives the actuator to execute operation through signals fed back by the positioning sensor and the obstacle avoidance sensor;

the multifunctional bed comprises a bed device, a turning-over back-lifting device and a bedpan moving device; the bed device comprises a bed frame and a bed board, the bed board is arranged on the bed frame, the turnover back lifting device comprises a telescopic mechanism III arranged on the side edge of the bed board and a telescopic mechanism IV arranged at the front end of the bed board, one end of the telescopic mechanism III is connected with the side edge of the bed board, and the other end of the telescopic mechanism III is connected with the bed frame; one end of the telescopic mechanism IV is connected with the front end of the bed plate, the other end of the telescopic mechanism IV is connected with the bed frame, and the bedpan moving device is arranged on the bed frame;

the docking device comprises a docking structure I arranged on the multifunctional wheelchair, a docking structure II arranged on the multifunctional bed and a docking structure III arranged between the multifunctional wheelchair and the multifunctional bed.

Further, still include the mechanical arm device, the mechanical arm device sets up in one side of multi-functional bed, and the mechanical arm device includes base, arm and gripper, and the arm rotates with the base to be connected, and the gripper rotates with the arm to be connected, the arm includes a rotary joint, three every single move joint and a telescopic sleeve, the gripper sets up on telescopic sleeve.

Furthermore, be provided with automatic table device I on the bed frame of multi-functional wheelchair, automatic table device I is including setting up the electric power push rod on the bed frame, and electric power push rod's flexible end is fixed and is provided with the rotating electrical machines, is provided with rotatory layer board on the output shaft of rotating electrical machines.

Furthermore, the telescopic mechanism I and the telescopic mechanism II are both electric push rods, the fixed end of the telescopic mechanism I is hinged with the base frame, and the telescopic end of the telescopic mechanism I is hinged with the seat plate; the fixed end of the telescopic mechanism II is hinged with the seat plate, and the telescopic end of the telescopic mechanism II is hinged with the back plate.

Furthermore, the positioning sensor adopts a GPS module, the obstacle avoidance sensor adopts infrared rays to avoid the obstacle sensor, the multifunctional wheelchair further comprises a Bluetooth communication module, and the Bluetooth communication module is connected with a main control chip.

Furthermore, the multifunctional bed further comprises an automatic table device II, the automatic table device II comprises an electric power push rod arranged on the bed frame, a rotating motor is fixedly arranged at the telescopic end of the electric power push rod, and a rotating supporting plate is arranged on an output shaft of the rotating motor.

Further, the bedpan moving device comprises a bedpan, a bedpan cover and a linear push rod, the bedpan is connected with the bed frame in a sliding mode, one end of the bedpan cover is hinged to the bed frame, a rotating handle is fixedly arranged on the bedpan cover, one end of the linear push rod is hinged to the bed frame, the other end of the linear push rod is hinged to the rotating handle, a connecting rod is arranged between the bedpan cover and the bedpan, and two ends of the connecting rod are hinged to the bedpan cover and the bedpan respectively.

Further, transfer the board and include cushion and back of the body pad, transfer the board and be hollow structure, transfer the board inside and slide and be provided with the expansion plate, be provided with driving motor between expansion plate and the transfer board.

Furthermore, the mechanical claw is rotationally connected with the mechanical arm, a rotating motor is arranged between the mechanical claw and the mechanical arm, the mechanical claw adopts a four-bar mechanism, and the grabbing action of the mechanical claw is driven by a worm and gear mechanism.

Further, a driving motor is arranged at the rotating joint, and the three pitching joints are respectively: the first joint is provided with a linear push rod, pitching motion is achieved by driving of the linear push rod, and driving motors are arranged in the second joint and the third joint.

Compared with the prior art, the invention has the following beneficial effects:

1. the invention comprises a docking device, which ensures seamless docking and comfort for transferring the old person between the wheelchair and the bed.

2. The automatic bedpan device on the multifunctional bed realizes regular movement of the bedpan cover and the bedpan barrel by only one driving source through the ingenious combination of the push rod and the connecting rod.

3. The multifunctional wheelchair achieves the purpose of comfortably helping the old to stand through the mutual matching of the two sets of hydraulic rod telescopic devices, and meanwhile, the multifunctional wheelchair is provided with a plurality of sensors to meet the requirement of automatically avoiding the obstacle.

Drawings

The following will explain embodiments of the present invention in further detail through the accompanying drawings.

FIG. 1 is a schematic diagram of a home service robot mechanism;

FIG. 2 is a schematic view of a multifunctional bed

FIG. 3 is a schematic view of the structure of the bedpan moving device and the back-up device

FIG. 4 is a schematic view of a multifunctional wheelchair

FIG. 5 is a schematic view of the standing mechanism

FIG. 6 is a schematic view of the docking mechanism

FIG. 7 is a schematic view of a robot arm device

FIG. 8 is a schematic view of the gripper structure

FIG. 9 is a control schematic diagram of the docking device;

FIG. 10 is a schematic diagram of infrared sensor control;

FIG. 11 is a schematic diagram of a robot arm assembly control;

figure 12 is a control schematic diagram of the multi-function wheelchair.

In the figure: 1 is a multifunctional wheelchair, 11 is a wheelchair device, 111 is a base frame, 112 is a seat plate, 113 is a back plate, 114 is an actuator, 12 is a standing device, 121 is a telescopic mechanism I, 122 is a telescopic mechanism II, 13 is an automatic obstacle avoidance and navigation system, 14 is an automatic table plate device I, 141 is an electric push rod, 142 is a rotating motor, 143 is a rotating supporting plate, 2 is a butt joint device, 21 is a butt joint structure I, 211 is a lifting mechanism I, 212 is a conveying plate, 213 is a horizontal guide rail I, 214 is a roller, 215 is a telescopic plate, 22 is a butt joint structure II, 221 is a lifting mechanism II, 222 is a horizontal guide rail II, 23 is a butt joint structure III, 231 is a lifting mechanism III, 232 is a telescopic guide rail, 233 is a movable guide rail, 3 is a multifunctional bed, 31 is a bed device, 311 is a bed frame, 312 is a bed plate, 32 is a turnover back lifting device, 321 is a telescopic mechanism III, 322 is a telescopic mechanism IV, 33 is a bedpan moving device, 331 is a bedpan, 332 is a manhole cover, 333 is a linear push rod, 34 is an automatic table device ii, 4 is a robot arm device, 41 is a base, 42 is a robot arm, 421 is a rotary joint, 422 is a pitch joint, 423 is an expansion sleeve, 424 is a first joint, 425 is a second joint, 426 is a third joint, and 43 is a gripper.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Example (b):

as shown in fig. 1 to 12, a home service robot includes a multifunctional wheelchair 1, a docking device 2, a robot arm device 4, and a multifunctional bed 3; the mechanical arm device 4 is arranged on one side of the multifunctional bed 3 and used for helping the old to take and deliver objects, and the docking device 2 is arranged between the multifunctional wheelchair 1 and the multifunctional bed 3 and used for stably and comfortably transferring the old between the multifunctional bed 3 and the multifunctional wheelchair 1;

the multifunctional wheelchair 1 can realize the following functions: the multifunctional wheelchair 1 comprises a wheelchair device 11, a standing device 12 and an automatic obstacle avoidance and navigation system 13;

the wheelchair device 11 comprises a base frame 111, a seat plate 112 and a back plate 113, wherein one end of the seat plate 112 is hinged with the base frame 111, the other end of the seat plate 112 is hinged with the lower end of the back plate 113, the standing device 12 comprises an electric push rod arranged on the base frame 111, one end of the electric push rod is hinged with the base frame 111, the other end of the electric push rod is hinged with the lower end of the seat plate 112, and the seat plate 112 can be controlled to rotate around the base frame 111 through the electric push rod; two electric power push rods are arranged between the seat plate 112 and the back plate 113 and are respectively positioned at two sides of the back plate 113, one end of each electric power push rod is hinged with the seat plate 112, the other end of each electric power push rod is hinged with the back plate 113, and the angle of the back plate 113 can be controlled through the electric power push rods. When the wheelchair device 11 is in a sitting posture, the seat plate 112 is parallel to the ground, the angle between the back plate 113 and the seat plate 112 is 95 degrees, the wheelchair is in a standing state, the seat plate 112 is parallel to the back plate 113, and the angle between the seat plate 112 and the ground is 82 degrees.

The wheelchair device 11 further comprises a wheelchair driving motor, and the wheelchair driving motor is connected with the wheels of the wheelchair through a speed reducer to control the traveling speed and direction of the wheelchair.

An automatic table device I14 is arranged on a base frame 111 of the multifunctional wheelchair 1, the automatic table device I14 comprises an electric power push rod 141 arranged on the base frame 111, a stepping motor is fixedly arranged at the telescopic end of the electric power push rod 141, and a rotating supporting plate 143 is arranged on an output shaft of a rotating motor 142. The height of the rotary supporting plate 143 is controlled by the electric power push rod 141, and the position of the rotary supporting plate 143 is controlled by the stepping motor.

Automatic obstacle avoidance and navigation system 13 sets up on bed frame 111, including main control chip, GPS module, infrared ray sensor and executor 114, executor 114 includes wheelchair driving motor, and infrared ray sensor sets up in the place ahead of bed frame 111 for detect multi-functionally, the distance of wheelchair to the place ahead barrier, after the distance is less than safe distance, infrared ray sensor returns main control chip with signal feedback, and the wheelchair sends out the police dispatch newspaper sound, and main control chip automatic calculation is best route and is avoided the barrier.

Obstacle avoidance principle: according to the infrared reflection property of the object, if no obstacle exists, the emitted infrared ray gradually weakens due to the longer propagation distance and finally disappears within a certain range. If there is an obstacle, the infrared ray encounters the obstacle and is reflected to the sensor receiving head. When the sensor detects the signal, the obstacle in front of the vehicle can be confirmed and sent to the main control chip. In order to realize accurate positioning, a program can be written in advance according to the furnishing objects of the old people in the house and is recorded into the singlechip, the program is similar to a mini-map, then the singlechip carries out a series of processing analysis, if the objects in the program meet, the two wheels of the trolley work in coordination according to the set program to turn, and the function of avoiding obstacles is completed

The wheelchair system mainly has the functions of controlling the movement and steering of the wheelchair, collecting and processing information of the GPS, the infrared module and the Bluetooth communication module, processing position information in real time, planning a path, controlling the angle between a standing mechanism and a cushion of the wheelchair, controlling the operation of the automatic table device and controlling the operation of the user control panel.

The external peripheral includes: the wheelchair comprises a GPS module, a Bluetooth module, an infrared module, a user control panel module, 2 wheelchair driving motors, 1 stepping motor, 4 push rods, a 24v lead storage battery and a 24-3.3v voltage reduction module.

The wheelchair control system main control chip adopts STM32F103RGT6 of STMicroelectronics company as the main control chip of the intelligent wheelchair. STM32F103RGT6 is a 32-bit microcontroller based on the ARM Cortex-M core STM32 family.

The multifunctional bed 3 comprises a bed device 31, a turning-over back-lifting device 32 and a bedpan moving device 33; the dimensions of the bed arrangement 31 are: length: 2215mm, width: 1000mm, high: 600 mm; the bed device 31 includes a bed frame 311 and a bed board 312, and the bed board 312 is disposed on the bed frame 311.

The turnover back lifting device 32 comprises a telescopic mechanism III 321 arranged on the side edge of the bed plate 312 and a telescopic mechanism IV 322 arranged at the front end of the bed plate, one end of the telescopic mechanism III 321 is connected with the side edge of the bed plate 312, and the other end is connected with the bed frame 311; one end of the telescopic mechanism IV 322 is connected with the front end of the bed board 312, the other end is connected with the bed frame 311, and the telescopic mechanism III 321 arranged on the side edge of the bed board 312 and the bed board 312 form a turnover device which can carry out turnover action on the old people in the bed; the telescopic mechanism III 321 arranged in front of the bed plate 312 and the bed plate 312 form a back lifting device which can lift the back of the old people in bed;

the bedpan moving device 33 comprises a bedpan 331, a bedpan cover 332 and a linear push rod 333, wherein the bedpan 331 is slidably connected with a guide rail on the bed frame 311, one end of the bedpan cover 332 is hinged with the bed frame 311, the bedpan cover 332 and the bed plate 312 are in the same plane, the transfer plate 212 is provided with a defecation hole, the bedpan cover 332 and the defecation hole have the same size, and when the defecation hole is not needed, the bedpan cover 332 covers the defecation hole. A rotating handle is fixedly arranged on the toilet cover 332, one end of a linear push rod 333 is hinged with the bedstead 311, the other end of the linear push rod 333 is hinged with the rotating handle, the linear push rod 333 extends to drive the toilet cover 332 to rotate downwards, a connecting rod is arranged between the toilet cover 332 and the toilet 331, and when the toilet cover 332 rotates downwards, the toilet 331 is driven to move forwards in the guide rail; when the push rod is retracted, the bowl cover 332 rotates upward and the bowl 331 moves rearward.

The multifunctional bed 3 also comprises an automatic table device II 34, and the structure and the principle of the automatic table device II are the same as those of the automatic table device I14.

The multifunctional bed 3 assists the old to turn over, get up, adjust sitting posture and relieve the bowels on the bed.

The docking device 2 comprises a docking structure I21 arranged on the multifunctional wheelchair 1, a docking structure II 22 arranged on the multifunctional bed 3 and a docking structure III 23 arranged between the multifunctional wheelchair 1 and the multifunctional bed 3.

The butt joint structure I21 comprises a lifting mechanism I211 arranged on the base frame 111 and a transfer plate 212 arranged on the seat plate 112 and the back plate 113, wherein two horizontal guide rails I213 are arranged on the lifting mechanism I211, rollers 214 are arranged at the lower part of the transfer plate 212, and the rollers 214 can slide along the horizontal guide rails I213; the transfer plate 212 comprises a cushion and a back cushion, the transfer plate 212 is of a hollow structure, a telescopic plate 215 is arranged in the transfer plate 212 in a sliding mode, a driving motor is arranged between the telescopic plate 215 and the back cushion, and the telescopic plate 215 can be pulled to transfer between the back cushion and the cushion; the seat cushion is provided with a defecation hole.

The butt joint structure II 22 comprises a lifting mechanism II 221, two horizontal guide rails II 222 are arranged on the lifting mechanism II 221, a transfer hole is formed in the bed plate 312, the butt joint structure II 22 is arranged in the transfer hole of the bed plate 312, and the lower end of the lifting mechanism II 221 is fixedly connected with the bed frame 311.

Docking structure III 23 includes elevating system III 231, flexible guide rail 232 and mobile rail 233, and flexible guide rail 232 sets up the top at elevating system III 231, and mobile rail 233 sets up the upper end of flexible guide rail 232, and mobile rail 233 can slide along flexible guide rail 232, and flexible guide rail 232 can dock with I213 of horizontal guide rail on elevating system I211 and II 222 of horizontal guide rail on the elevating system II.

When the old people need to be transferred from the multifunctional wheelchair 1 to the multifunctional bed 3, the back plate 113 is laid flat through the electric power push rod arranged between the seat plate 112 and the back plate 113, meanwhile, the back cushion is also flush with the seat cushion, a locking mechanism is arranged between the back cushion and the seat cushion, and the back cushion and the seat cushion are kept in a flush state; a driving motor arranged between the back cushion and the telescopic plate 215 drives the telescopic plate 215 to move from the back cushion to the seat cushion, and the defecation hole in the seat cushion is sealed by the telescopic plate 215;

the lifting mechanism III 231 of the butt joint structure III 23 lifts the telescopic guide rail 232 to be in a state of being equal to the height of the horizontal guide rail I213 of the lifting mechanism I211, the lifting mechanism III 231 drives the telescopic guide rail 232 to incline towards the end of the multifunctional wheelchair, the telescopic rod of the telescopic guide rail 232 slides towards the horizontal guide rail I213 of the lifting mechanism I211, one end of the telescopic guide rail 232 is provided with an electric buckle which is driven by a motor, when the telescopic guide rail 232 is in contact with the horizontal guide rail I213 of the lifting mechanism I211, the telescopic guide rail 232 is connected with the horizontal guide rail I213 of the lifting mechanism I211 through the electric buckle, the reliability of connection is ensured, the movable guide rail 233 is released, the movable guide rail 233 is in butt joint with the horizontal guide rail I213, the lifting mechanism I211 and the lifting mechanism III 231 are adjusted to incline towards the multifunctional bed 3 side, the transfer plate 212 slides onto the movable guide rail 233, the movable guide rail 233 returns to the top end of the lifting mechanism III 231 along the telescopic guide rail 232, an electromagnetic braking device is arranged between the movable guide rail 233 and the telescopic guide rail 232, and the movable guide rail 233 of the locking electromagnetic braking device is stopped at the upper end of the telescopic guide rail 232;

the connection between the electric hasp and the horizontal guide rail I213 is released, the telescopic guide rail 232 slides to the side of the butt joint structure II and is connected with the horizontal guide rail II 222 of the butt joint mechanism II, the electromagnetic braking device is released, the moving guide rail 233 drives the moving plate 212 to move towards the horizontal guide rail II 222 of the butt joint mechanism II, when the moving guide rail 233 is in butt joint with the horizontal guide rail II 222, the braking device between the moving guide rail 233 and the moving plate 212 is released, and the moving plate 212 moves to the horizontal guide rail II 222;

the telescopic plate 215 is retracted to the back cushion through the driving motor, the lifting mechanism II 221 drives the horizontal guide rail II 222 and the transfer plate 212 to move downwards, the transfer plate 212 is placed on the bed plate 312, the defecation hole cover 332 rotates upwards, and the defecation hole is blocked.

The wheelchair control system main control chip also adopts STM32F103RGT6 of STMicroelectronics company as the main control chip of the intelligent wheelchair.

The mechanical arm device 4 is arranged on one side of the multifunctional bed 3, the mechanical arm device 4 comprises a base 41, a mechanical arm 42 and a mechanical claw 43, the mechanical arm 42 is rotatably connected with the base 41, the mechanical claw 43 is rotatably connected with the mechanical arm 42, the mechanical arm 42 comprises a rotary joint 421, three pitching joints 422 and an expansion sleeve 423, and the mechanical claw 43 is arranged on the expansion sleeve 423.

The mechanical claw 43 is rotationally connected with the mechanical arm 42, a rotating motor is arranged between the mechanical claw 43 and the mechanical arm 42, and the grabbing motion of the mechanical claw 43 is driven by a worm and gear mechanism.

The rotary joint 421 is provided with a driving motor, and the three pitch joints 422 are respectively: the first joint 424, the second joint 425 and the third joint 426, a linear push rod is arranged at the first joint 424 and driven by the linear push rod to realize pitching motion, and driving motors are arranged in the second joint 425 and the third joint 426.

The mechanical arm 42 can help the old people to take articles and deliver the articles by matching with the mechanical claw 43, and can also match with a self telescopic mechanism to meet the requirement of training the part of the body of the old people. The arm can guarantee to transport the travelling comfort of old man and the accuracy of getting the thing.

Although only the preferred embodiments of the present invention have been described in detail, the present invention is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present invention within the knowledge of those skilled in the art, and all changes are encompassed in the scope of the present invention.

Claims

1. A home service robot, characterized in that: it comprises a multifunctional wheelchair (1), a docking device (2) and a multifunctional bed (3); the docking device (2) is arranged on the multifunctional wheelchair (1) and the multifunctional bed (3) between;

The multifunctional wheelchair (1) includes a wheelchair device (11), a standing device (12) and an automatic obstacle avoidance and navigation system (13); the wheelchair device (11) includes a base frame (111), a seat plate (112) and a back plate (113), one end of the seat plate (112) is hinged with the base frame (111), the other end of the seat plate (112) is hinged with the lower end of the back plate (113), and the standing device (12) comprises a The telescopic mechanism I (121) between the base frame (111) and the telescopic mechanism II (122) arranged between the back plate (113) and the seat plate (112), the telescopic mechanism I (121) and the telescopic mechanism II (122) are all electric push rods, the fixed end of the telescopic mechanism I (121) is hinged with the base frame (111), and the telescopic end of the telescopic mechanism I (121) is hinged with the seat plate (112); the telescopic mechanism II (122) The fixed end of the telescopic mechanism II (122) is hinged with the seat plate (112), and the telescopic end of the telescopic mechanism II (122) is hinged with the back plate (113); the automatic obstacle avoidance and navigation system (13) is arranged on the base frame (111), including the main a control chip, a positioning sensor, an obstacle avoidance sensor, and an actuator (114), and the main control chip drives the actuator (114) to perform operations through signals fed back by the positioning sensor and the obstacle avoidance sensor;

The multifunctional bed (3) includes a bed device (31), a turning-up device (32), and a bedpan moving device (33); the bed device (31) includes a bed frame (311) and a bed board (312), the bed board (312) is arranged on the bed frame (311), and the device (32) for turning over and lifting up includes a telescopic mechanism III (321) arranged on the side of the bed board (312) and a telescopic mechanism IV (322) arranged at the front end of the bed board. One end of III (321) is connected with the side of the bed board (312), and the other end is connected with the bed frame (311); one end of the telescopic mechanism IV (322) is connected with the front end of the bed board (312), and the other end is connected with the bed frame (311), The bedpan moving device (33) is arranged on the bed frame (311);

The docking device (2) comprises a docking structure I (21) provided on the multifunctional wheelchair, a docking structure II (22) provided on the multifunctional bed (3), and a docking structure II (22) provided on the multifunctional wheelchair (1) and the multifunctional wheelchair. The docking structure III (23) between the beds (3);

The docking structure I (21) comprises a lifting mechanism I (211) arranged on the base frame (111) and a transfer plate (212) arranged on the seat plate (112) and the back plate (113), the transfer plate (212) It includes a seat cushion and a back cushion, the transfer plate (212) is a hollow structure, a telescopic plate (215) is slidably arranged inside the transfer plate (212), and a drive motor and a lifting mechanism are arranged between the telescopic plate (215) and the transfer plate (212). Two horizontal guide rails I (213) are arranged on I (211), and rollers (214) are arranged at the lower part of the transfer plate (212), and the rollers (214) can slide along the horizontal guide rails I (213); the docking structure II (22) includes Lifting mechanism II (221), the lifting mechanism II (221) is provided with two horizontal guide rails II (222), the bed plate (312) is provided with a transfer hole, and the docking structure II (22) is arranged in the transfer hole of the bed plate (312) , the lower end of the lifting mechanism II (221) is fixedly connected with the bed frame (311); the docking structure III (23) includes a lifting mechanism III (231), a telescopic guide rail (232) and a moving guide rail (233). At the top of the lifting mechanism III (231), one end of the telescopic guide rail (232) is provided with an electric hasp, the moving guide rail (233) is arranged on the upper end of the telescopic guide rail (232), and the moving guide rail (233) can slide along the telescopic guide rail (232). An electromagnetic braking device is arranged between the moving guide rail (233) and the telescopic guide rail (232), and the telescopic guide rail (232) can be connected with the horizontal guide rail I (213) on the lifting mechanism I (211) and the horizontal guide rail on the lifting mechanism II II (222) butt joint;

The lifting mechanism III (231) of the docking structure III (23) raises the telescopic guide rail (232) to the same height as the horizontal guide rail I (213) of the lifting mechanism I (211), and the lifting mechanism III (231) drives the telescopic guide rail (232). ) to the multifunctional wheelchair end, the telescopic rod of the telescopic guide rail (232) slides to the horizontal guide rail I (213) of the lifting mechanism I (211), when the telescopic guide rail (232) and the horizontal guide rail I ( 213) when they are in contact, connect the telescopic guide rail (232) with the horizontal guide rail I (213) of the lifting mechanism I (211) through the electric buckle to ensure the reliability of the connection, release the moving guide rail (233), and the moving guide rail (233) ) and the horizontal guide rail I (213), adjust the lifting mechanism I (211) and the lifting mechanism III (231) to incline to the side of the multifunctional bed (3), the transfer plate (212) slides onto the moving guide rail (233), and moves The guide rail (233) returns to the top of the lifting mechanism III (231) along the telescopic guide rail (232), and the electromagnetic braking device is locked so that the moving guide rail (233) stops at the upper end of the telescopic guide rail (232);

Release the connection between the electric hasp and the horizontal guide rail I (213), slide the telescopic guide rail (232) to the side of the docking structure II, connect with the horizontal guide rail II (222) of the docking mechanism II, release the electromagnetic braking device, The moving guide rail (233) drives the transfer plate (212) to move toward the horizontal guide rail II (222) of the docking mechanism II. 212), the transfer plate (212) moves to the horizontal guide rail II (222), the lifting mechanism II (221) drives the horizontal guide rail II (222) and the transfer plate (212) to move down, and the transfer plate ( 212) is placed on the bed board (312).

2. A home service robot according to claim 1, characterized in that: further comprising a mechanical arm device (4), the mechanical arm device (4) is arranged on one side of the multifunctional bed (3), and the mechanical arm device ( 4) It includes a base (41), a mechanical arm (42) and a mechanical claw (43), the mechanical arm (42) is rotatably connected to the base (41), the mechanical claw (43) is rotatably connected to the mechanical arm (42), and the mechanical The arm (42) includes a rotating joint (421), three pitching joints (422) and a telescopic sleeve (423), and the mechanical claw (43) is arranged on the telescopic sleeve (423).

3. A home service robot according to claim 1, characterized in that: the base frame (111) of the multifunctional wheelchair (1) is provided with an automatic table top device I (14), and the automatic table top device I (14) ) comprises an electric push rod (141) arranged on the base frame (111), the telescopic end of the electric push rod (141) is fixedly provided with a rotary motor (142), and the output shaft of the rotary motor (142) is provided with a rotary support plate (143).

4. A home service robot according to claim 1, characterized in that: the positioning sensor adopts a GPS module, the obstacle avoidance sensor adopts an infrared obstacle avoidance sensor, and the multifunctional wheelchair (1) further comprises a Bluetooth The communication module, the Bluetooth communication module is connected with the main control chip.

5. A home service robot according to claim 1, characterized in that: the multifunctional bed (3) further comprises an automatic table top device II (34), and the automatic table top device II (34) comprises a The electric push rod on the frame (311), the telescopic end of the electric push rod is fixedly provided with a rotary motor, and the output shaft of the rotary motor is provided with a rotary support plate (143).

6. A home service robot according to claim 1, wherein the bedpan moving device (33) comprises a bedpan (331), a bedpan cover (332) and a linear push rod (333), and the bedpan (331) ) is slidably connected with the bed frame (311), one end of the toilet hole cover (332) is hinged with the bed frame (311), the toilet hole cover (332) is fixedly provided with a rotating handle (334), and one end of the linear push rod (333) is connected to the bed frame (311). The bed frame (311) is hinged, and the other end is hinged with the turning handle (334). A connecting rod is arranged between the toilet hole cover (332) and the bedpan (331), and both ends of the connecting rod are respectively connected with the toilet hole cover (332) and the bedpan (331). 331) Hinged.

7. A home service robot according to claim 2, characterized in that: the mechanical claw (43) is rotatably connected to the mechanical arm (42), and a rotating motor is provided between the mechanical claw (43) and the mechanical arm (42). , the mechanical claw (43) adopts a four-bar mechanism, and the grasping action of the mechanical claw (43) is driven by a worm gear mechanism.

8 . The home service robot according to claim 2 , wherein a drive motor is provided at the rotating joint ( 421 ), and the three pitch joints ( 422 ) are respectively: a first joint ( 424 ), a first joint ( 424 ), a The second joint (425) and the third joint (426), the first joint (424) is provided with a linear push rod, which is driven by the linear push rod to realize the pitching motion, the second joint (425) and the third joint (426) are both A drive motor is provided.