CN106726199B - A robot for helping the elderly and the disabled - Google Patents

Abstract

The invention relates to a robot for helping the old and the disabled, which comprises a vehicle body, a driving device and a moving device, wherein the driving device and the moving device are arranged at the lower part of the vehicle body, and the driving device drives the moving device to operate. The vehicle body is also provided with an auxiliary arm, a solar panel charging device and an operating device, the operating device controls the auxiliary arm to move, the auxiliary arm is provided with a paw, and the solar panel charging device is connected with the driving device, the moving device, the auxiliary arm, the operating device and the paw through electric wires. The invention has the advantages of low manufacturing cost, simple structure, low operation difficulty, convenient maintenance, reliable working performance, higher automation degree and convenient help of the old and the disabled to improve the self-care ability of life.

Description

A robot for helping the elderly and the disabled

technical field

The invention relates to the technical field of service robots, in particular to a robot for helping the elderly and the disabled.

Background technique

Relevant statistics show that the world's elderly population over 60 years old has reached about 600 million, and population aging has become a major social problem worldwide. my country's elderly population aged 60 and above has reached 132 million, accounting for 10% of the total population of the country, and continues to grow at an average annual rate of 3.32%. It is estimated that by 2015, the population over the age of 60 will exceed 200 million, accounting for 14% of the total population, and about 50% of elderly patients need nursing services. In addition, there are about 60 million people with various disabilities in my country, accounting for about 5% of the total population of our country. Therefore, the total number of people who need nursing care in my country is about 100 million. The accelerated aging of the population has brought unprecedented pressure on the medical and social insurance systems. The elderly have poor self-care ability and are mainly cared for by families. Nursing costs are high, labor intensity is high, and nursing conditions need to be improved urgently. Among the 1.3 billion population in my country, there are 300-400 million families, and families with dysfunctional persons or caregivers account for 1/10 of the total number of families in the country, that is, about 35.77 million. In the face of these problems, various facilities for the elderly and the disabled are also being developed and put into practical use.

Nowadays, most of the elderly and disabled people with disabilities choose wheelchairs as their means of transportation. With the progress of society and the improvement of various facilities for helping the elderly and the disabled, wheelchairs have gradually changed from the original ordinary structure to intelligent ones. However, now Some wheelchairs and other equipment cannot assist the elderly and the disabled to take care of themselves, and the degree of automation is relatively low.

Contents of the invention

Aiming at the defects of the above-mentioned technologies, the present invention proposes a robot for helping the elderly and the disabled.

A robot for helping the elderly and the disabled includes a car body, a driving device installed at the lower part of the car body, and a moving device. The driving device drives the moving device to run. An auxiliary arm, a solar panel charging device, and an operating device are also installed on the vehicle body, and the operating device controls the movement of the auxiliary arm. The auxiliary arm is equipped with claws, a solar panel charging device, a driving device, a moving device, and an auxiliary arm. The arm, manipulator, and gripper are connected by wires.

The driving device includes a first driving motor connected to the solar panel charging device through wires, a speed reducer connected to the first driving motor, and an output shaft of the speed reducer is connected to the moving device;

The moving device includes a driving wheel installed at the bottom of the car body, a front auxiliary wheel, and a rear auxiliary wheel, and the driving wheel is connected with the output shaft of the speed reducer;

The auxiliary arm includes a waist, a large arm mounted on the waist, a small arm mounted on the large arm, a wrist mounted on the small arm and a claw mounted on the wrist.

The waist includes a first motor bracket installed on the vehicle body, and a second drive motor installed on the motor bracket.

The boom includes a second motor support mounted on the output shaft of the second drive motor, a third drive motor mounted on the second motor support, a first driving bevel gear mounted on the output shaft of the third drive motor , the first driven bevel gear meshed with the first driving bevel gear.

The small arm includes a third motor bracket connected to the first driven bevel gear, a fourth driving motor installed on the third motor bracket, a second driving bevel gear installed on the fourth driving motor, and a second driving The second driven bevel gear meshes with the bevel gear.

The wrist includes a fourth motor bracket connected with the second driven bevel gear, a fifth drive motor installed on the fourth motor bracket, and a wrist connection flange installed on the output shaft of the fifth drive motor.

Described claw comprises the palm that links to each other with wrist connection flange, the thumb, index finger, middle finger that are installed on the palm.

The thumb includes a thumb mounting bracket, a two-finger driving motor mounting bracket, a thumb driving motor, a thumb fingertip, a thumb joint, a thumb root joint, and a thumb driving rope. The thumb mounting bracket 1. The two-finger driving motor mounting bracket is fixed on the palm, the thumb driving motor is installed on the two-finger driving motor mounting bracket, one end of the thumb root joint is installed on the thumb mounting bracket, and the thumb finger The other end of the root joint is connected with the middle phalanx joint of the thumb, the end of the middle phalanx joint of the thumb away from the root joint of the thumb is connected with the fingertip of the thumb, and one end of the thumb drive rope is wound on the output shaft of the thumb drive motor , the other end of the thumb driving rope passes through the thumb root joint and the thumb middle joint in turn and is fixed on the thumb fingertip.

The index finger includes a mounting bracket for the index finger, a driving motor for the index finger, a fingertip of the index finger, a middle joint of the index finger, a root joint of the index finger, and a driving rope for the index finger. The mounting bracket for the index finger is fixed on the palm, and the driving motor for the index finger is installed on the double finger drive On the motor mounting bracket, one end of the base joint of the index finger is installed on the mounting bracket of the index finger, the other end of the base joint of the index finger is connected with the middle joint of the index finger, and the end of the middle joint of the index finger is far away from the base joint of the index finger Connected with the fingertip of the index finger, one end of the driving rope of the index finger is wound on the output shaft of the driving motor of the index finger, and the other end of the driving rope of the index finger passes through the base joint of the index finger and the middle joint of the index finger and is fixed on the fingertip of the index finger superior.

The middle finger includes a middle finger mounting bracket, a middle finger driving motor mounting bracket, a middle finger driving motor, a middle finger tip, a middle finger joint, a middle finger root joint, and a middle finger driving rope, and the middle finger mounting bracket and the middle finger driving motor mounting bracket are fixed on the hand. On the palm, the drive motor of the middle finger is fixed on the drive motor mounting bracket of the middle finger, one end of the base joint of the middle finger is connected with the mounting bracket of the middle finger, the other end of the base joint of the middle finger is connected with the middle joint of the middle finger, and the knuckle of the middle finger One end of the middle joint away from the base joint of the middle finger is connected to the fingertip of the middle finger, one end of the drive rope of the middle finger is wound on the output shaft of the drive motor of the middle finger, and the other end of the drive rope of the middle finger passes through the base joint of the middle finger, The middle finger joint of the middle finger is fixed on the fingertip of the middle finger.

The solar panel charging device includes a solar panel fixed on the vehicle body and a battery installed at the bottom of the vehicle body, and the battery is connected with the driving device, the moving device, the auxiliary arm, the manipulating device, and the claw through electric wires.

The operating device includes a button and a joystick installed on the vehicle body, and the buttons and the joystick control the auxiliary arm to perform corresponding actions.

The car body is also equipped with a brake, and the brake includes a brake handle installed on the car body, a connecting rod hinged with the brake handle, and a brake bar installed on the connecting rod.

Described rear auxiliary wheel comprises wheel bracket, the auxiliary wheel that is installed on the wheel bracket.

The car body includes a seat, an auxiliary arm mounting bracket installed on the seat, a solar panel mounting bracket installed on the upper end of the seat, a cart handle installed at the rear of the seat, and a brake mounting bracket installed at the lower part of the seat 1. A rear auxiliary wheel mounting bracket installed at the bottom of the seat, a pedal mounting bracket and a front wheel mounting bracket installed at the front of the seat, pedals are installed on the pedal mounting bracket.

The beneficial effects of the invention are: the invention has low production cost, simple structure, low operation difficulty, convenient maintenance, reliable working performance and high degree of automation. It is convenient to help the elderly and the disabled to improve their self-care ability.

Description of drawings

The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

Fig. 1 is the three-dimensional structure schematic diagram of the present invention;

Fig. 2 is the three-dimensional structure schematic diagram of car body of the present invention;

Fig. 3 is a three-dimensional structural schematic diagram of the connection between the auxiliary arm and the claw of the present invention;

Fig. 4 is a three-dimensional schematic diagram of the manipulating device of the present invention;

Fig. 5 is a schematic perspective view of the drive device of the present invention;

Fig. 6 is a schematic diagram of the three-dimensional structure of the gripper of the present invention;

Fig. 7 is a three-dimensional schematic diagram of the rear auxiliary wheel of the present invention;

Fig. 8 is a three-dimensional structural schematic diagram of the brake of the present invention.

Detailed ways

In order to make the technical means, creative features, goals and effects achieved by the present invention easy to understand, the present invention will be further elaborated below.

As shown in Figures 1 to 8, a robot for helping the elderly and the disabled includes a car body 1, a driving device installed at the lower part of the car body 1, and a moving device, and the driving device drives the moving device to run. An auxiliary arm, a solar panel charging device, and a manipulation device are also installed on the vehicle body 1, and a hand claw is installed on the said auxiliary arm. The wires are connected to provide electric energy for the work of each device, which is environmentally friendly and pollution-free. The driving device is controlled by the manipulating device, so as to realize free movement, and assist the elderly and the disabled to improve the self-care ability of life by means of the movement of the auxiliary arm, and has a high degree of intelligence.

Described vehicle body 1 comprises seat 45, the auxiliary arm mounting bracket 46 that is installed on the seat 45, the solar panel mounting bracket 47 that is installed on the seat 45 upper end, is installed in the cart handle 48 of seat 45 rear parts, installs The brake mounting bracket 49 at the bottom of the seat 45, the rear auxiliary wheel mounting bracket 50 installed at the bottom of the seat 45, the pedal mounting bracket 51 and the front wheel mounting bracket 52 installed at the front of the seat 45, the pedal mounting bracket 51 Pedal 16 is installed on it.

The driving device includes a first driving motor 63 connected to the solar panel charging device through wires, and a speed reducer 64 connected to the first driving motor 63, and the output shaft of the speed reducer 64 is connected to the moving device.

Described moving device comprises the driving wheel 7 that is installed on the seat 45 bottom of car body 1, front auxiliary wheel 15, is installed on the rear auxiliary wheel 10 on the rear auxiliary wheel mounting bracket 50, described driving wheel 7 and speed reducer 64 connected to the output shaft.

Described auxiliary arm is installed on the auxiliary arm mounting bracket 46, and described auxiliary arm comprises waist, the big arm that is installed on the waist, the forearm that is installed on the big arm, the wrist that is installed on the forearm and the arm that is installed on the wrist. claws. Using the multi-degree-of-freedom movement of the auxiliary arm to simulate the movement of the human hand, it is convenient for the elderly and the disabled to manipulate and drive objects.

The waist part includes a first motor bracket 53 installed on the vehicle body 1 and a second drive motor 60 installed on the motor bracket 53 .

Described big arm comprises the second motor bracket 54 that is installed on the output shaft of the second drive motor 60, the 3rd drive motor 59 that is installed on the second motor bracket 54, is installed on the output shaft of the 3rd drive motor 59. The first driving bevel gear 65 and the first driven bevel gear 66 meshed with the first driving bevel gear 65 .

Described small arm comprises the 3rd motor support 55 that links to each other with the first driven bevel gear 66, the 4th drive motor 58 that is installed on the 3rd motor support 55, the 2nd driving bevel gear that is installed on the 4th drive motor 58 67. The second driven bevel gear 68 meshing with the second driving bevel gear 67.

Described wrist comprises the 4th motor bracket 56 that links to each other with the 2nd driven bevel gear 68, the 5th driving motor 57 that is installed on the 4th motor bracket 56, the wrist connection method that is installed on the output shaft of the 5th driving motor 57 Lan69.

Described gripper comprises the palm 19 that links to each other with wrist connection flange 69, the thumb, forefinger, middle finger that are installed on the palm 19, to fully simulate hand motion.

The thumb includes a thumb mounting bracket 32, a two-finger drive motor mounting bracket 33, a thumb drive motor 34, a thumb fingertip 28, a thumb middle joint 29, a thumb root joint 30, and a thumb drive rope 31 , the thumb mounting bracket 32 and the two-finger drive motor mounting bracket 33 are fixed on the palm 19, the thumb drive motor 34 is installed on the two-finger drive motor mounting bracket 33, one end of the thumb base joint 30 Installed on the thumb mounting bracket 32, the other end of the thumb root joint 30 is connected to the thumb middle finger joint 29, and the end of the thumb middle finger joint 29 away from the thumb root joint 30 is connected to the thumb fingertip 28 Connected, one end of the thumb driving rope 31 is wound on the output shaft of the thumb driving motor 34, and the other end of the thumb driving rope 31 passes through the thumb root joint 30 and the thumb middle joint 29 successively and is fixed on the big 28 on the tip of the thumb. The thumb driving motor 34 is rotated to wind the thumb driving rope 31, so that the thumb fingertip 28, the thumb middle joint 29, and the thumb base joint 30 perform corresponding actions.

Described index finger comprises index finger installation bracket 27, index finger driving motor 36, index finger fingertip 24, index finger middle joint 25, index finger root joint 26, index finger driving rope 35, and described index finger installation bracket 27 is fixed on the palm 19, and described The index finger driving motor 36 is installed on the two-finger driving motor mounting bracket 33, one end of the index finger base joint 26 is installed on the index finger mounting bracket 27, and the other end of the index finger base joint 26 is connected with the index finger middle joint 25, One end of the middle finger joint 25 of the index finger away from the root joint 26 of the index finger is connected with the fingertip 24 of the index finger, and one end of the driving rope 35 of the index finger is wound on the output shaft of the driving motor 36 of the index finger, and the driving rope 35 of the index finger The other end passes through the base joint 26 of the index finger and the middle joint 25 of the index finger once and is fixed on the fingertip 24 of the index finger. The index finger drive motor 36 is rotated to wind the index finger drive rope 35, so that the index finger tip 24, the index finger middle joint 25, and the index finger base joint 26 perform corresponding actions.

Described middle finger comprises middle finger mounting bracket 20, middle finger driving motor mounting bracket 38, middle finger driving motor 37, middle finger fingertip 23, middle finger joint 22, middle finger root joint 21, middle finger driving rope 39, described middle finger mounting bracket 20, The middle finger driving motor mounting bracket 38 is fixed on the palm 19, the middle finger driving motor 37 is fixed on the middle finger driving motor mounting bracket 38, one end of the middle finger root joint 21 is connected with the middle finger mounting bracket 20, and the middle finger root joint The other end of 21 is connected with the middle finger joint 22 of the middle finger, the end of the middle finger joint 22 away from the base joint 21 of the middle finger is connected with the fingertip 23 of the middle finger, and one end of the driving rope 39 of the middle finger is wound around the driving motor 37 of the middle finger. On the output shaft of the middle finger, the other end of the driving rope 39 of the middle finger passes through the base joint 21 of the middle finger and the middle joint 22 of the middle finger successively and is fixed on the fingertip 23 of the middle finger. The driving motor 37 of the middle finger is rotated to wind the driving rope 39 of the middle finger, so that the fingertip 23 of the middle finger, the middle joint 22 of the middle finger and the base joint 21 of the middle finger can perform corresponding actions.

The solar panel charging device includes a solar panel 5 fixed on the solar panel mounting bracket 47 of the vehicle body 1, a battery 6 installed on the bottom of the vehicle body 1, and the battery 6 is connected to the first drive motor 63 and the second drive motor 60. , the third driving motor 59, the fourth driving motor 58, the fifth driving motor 57, the manipulator, the thumb driving motor 34, the index finger driving motor 36, and the middle finger driving motor 37 are connected by wires.

The manipulation device includes a button 61 and a joystick 62 installed on the vehicle body 1, and the buttons 61 and joystick 62 control the auxiliary arm to perform corresponding actions.

The brake mounting bracket 49 on the car body 1 is also equipped with a brake 13, and the brake 13 includes a brake handle 42 mounted on the brake mounting bracket 49, a connecting rod 43 hinged with the brake handle 42, and a connecting rod 43 mounted on the connecting rod 43. The brake bar 44 utilizes the brake bar 44 to cooperate with the driving wheel 7 to realize braking.

The rear auxiliary wheel 10 includes a wheel bracket 40 and an auxiliary wheel 41 mounted on the wheel bracket 40 .

During use, the elderly and the disabled sit on the seat 45, and the movement of the vehicle body 1 is realized by manipulating the button 61 and the manipulating handle 62. When it is outdoors, the solar energy can be converted into electrical energy by means of the solar panel 5 and stored in the battery 6 to provide electricity for the entire device. When it is necessary to pick and place the article, the auxiliary arm and the claw are operated by operating the button 61 and the handle 62 to realize the function of picking and placing the article.

The basic principles, main features and advantages of the present invention have been shown and described above. Those skilled in the art should understand that the present invention is not limited by the above-mentioned embodiments, and what are described in the above-mentioned embodiments and description are only the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention also has various Variations and improvements all fall within the claimed invention. The protection scope of the present invention is defined by the appended claims and their equivalents.

Claims (5)

1. A robot for helping the old and the disabled comprises a vehicle body (1), a driving device and a moving device, wherein the driving device is installed at the lower part of the vehicle body (1), and the driving device drives the moving device to operate; the method is characterized in that:

the solar charging device is connected with the driving device, the moving device, the auxiliary arm, the operating device and the paw through electric wires; the auxiliary arm comprises a waist part, a large arm arranged on the waist part, a small arm arranged on the large arm, a wrist arranged on the small arm and a paw arranged on the wrist; the waist part comprises a first motor bracket (53) arranged on the vehicle body (1) and a second driving motor (60) arranged on the motor bracket (53);

the big arm comprises a second motor bracket (54) arranged on an output shaft of a second driving motor (60), a third driving motor (59) arranged on the second motor bracket (54), a first driving bevel gear (65) arranged on an output shaft of the third driving motor (59), and a first driven bevel gear (66) meshed with the first driving bevel gear (65);

the small arm comprises a third motor bracket (55) connected with a first driven bevel gear (66), a fourth driving motor (58) arranged on the third motor bracket (55), a second driving bevel gear (67) arranged on the fourth driving motor (58) and a second driven bevel gear (68) meshed with the second driving bevel gear (67);

the wrist comprises a fourth motor bracket (56) connected with a second driven bevel gear (68), a fifth driving motor (57) arranged on the fourth motor bracket (56), and a wrist connecting flange (69) arranged on an output shaft of the fifth driving motor (57);

the paw comprises a palm (19) connected with the wrist, and a thumb, an index finger and a middle finger which are arranged on the palm (19);

the thumb comprises a thumb mounting support (32), a double-finger driving motor mounting support (33), a thumb driving motor (34), a thumb fingertip (28), a thumb middle joint (29), a thumb root joint (30) and a thumb driving rope (31), wherein the thumb mounting support (32) and the double-finger driving motor mounting support (33) are fixed on a palm (19), the thumb driving motor (34) is mounted on the double-finger driving motor mounting support (33), one end of the thumb root joint (30) is mounted on the thumb mounting support (32), the other end of the thumb root joint (30) is connected with the thumb middle joint (29), one end, far away from the thumb root joint (30), of the thumb middle joint (29) is connected with the thumb root joint (28), one end of the thumb driving rope (31) is wound on an output shaft of the thumb driving motor (34), and the other end of the thumb driving rope (31) sequentially penetrates through the thumb root joint (30) and the thumb middle joint (29) and is fixed on the thumb fingertip (28).

2. The robot as claimed in claim 1, wherein: the forefinger includes forefinger installing support (27), forefinger driving motor (36), forefinger fingertip (24), forefinger middle joint (25), forefinger root joint (26), forefinger driving rope (35), forefinger installing support (27) are fixed on palm (19), forefinger driving motor (36) are installed on two finger driving motor installing support (33), the one end of forefinger root joint (26) is installed on forefinger installing support (27), the other end of forefinger root joint (26) links to each other with forefinger middle joint (25), the one end of keeping away from forefinger root joint (26) on the forefinger middle joint (25) links to each other with forefinger fingertip (24), the one end of forefinger driving rope (35) is convoluteed on the output shaft of forefinger driving motor (36), the other end of forefinger driving rope (35) is fixed on forefinger fingertip (24) once through forefinger root joint (26), forefinger middle joint (25) after passing forefinger middle joint (25).

3. The robot as claimed in claim 1, wherein: the middle finger comprises a middle finger mounting support (20), a middle finger driving motor mounting support (38), a middle finger driving motor (37), a middle finger tip (23), a middle finger middle joint (22), a middle finger root joint (21) and a middle finger driving rope (39), wherein the middle finger mounting support (20) and the middle finger driving motor mounting support (38) are fixed on a palm (19), the middle finger driving motor (37) is fixed on the middle finger driving motor mounting support (38), one end of the middle finger root joint (21) is connected with the middle finger mounting support (20), the other end of the middle finger root joint (21) is connected with the middle finger middle joint (22), one end, far away from the middle finger root joint (21), of the middle finger middle joint (22) is connected with the middle finger tip (23), one end of the middle finger driving rope (39) is wound on an output shaft of the middle finger driving motor (37), and the other end of the middle finger driving rope (39) sequentially penetrates through the middle finger root joint (21) and the middle finger tip (22) and then is fixed on the middle finger tip (23).

4. The robot of claim 1, wherein: the solar panel charging device comprises a solar panel (5) fixed on the vehicle body (1) and a battery (6) installed on the lower portion of the vehicle body (1), wherein the battery (6) is connected with the driving device, the auxiliary arm, the operating device and the paw through wires.

5. The robot as claimed in claim 1, wherein: the operating device comprises a button (61) and an operating handle (62) which are arranged on the vehicle body (1), wherein the button (61) and the operating handle (62) control the auxiliary arm to execute corresponding actions.

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