CN206651934U

CN206651934U - One kind is helped the elderly disabled aiding robot

Info

Publication number: CN206651934U
Application number: CN201621407764.3U
Authority: CN
Inventors: 苏学满
Original assignee: Anhui Polytechnic University
Current assignee: Anhui Polytechnic University
Priority date: 2016-12-21
Filing date: 2016-12-21
Publication date: 2017-11-21
Anticipated expiration: 2026-12-21

Abstract

It the utility model is related to one kind to help the elderly disabled aiding robot, including car body, the drive device installed in lower car body, mobile device, drive device drive mobile device to operate.Auxiliary arm, solar panel charging device, manipulation device are also equipped with car body, manipulation device control auxiliary arm motion, paw is installed, solar panel charging device is connected with drive device, mobile device, auxiliary arm, manipulation device, paw by electric wire on auxiliary arm.The utility model low manufacture cost, simple in construction, operation difficulty is low, easy to maintenance, and reliable working performance, automaticity is higher, is easy to help old man and disabled person to improve self care ability.

Description

One kind is helped the elderly disabled aiding robot

Technical field

It the utility model is related to service robot technical field, specifically one kind is helped the elderly disabled aiding robot.

Background technology

Related data statistics display, the whole world elderly population of more than 60 years old have reached 600,000,000 or so, aging population into For worldwide Social Events.China 60 years old and its above elderly population account for country's total population up to 1.32 hundred million 10%, and with average annual 3.32% speed sustainable growth.Expect 2015, the population of more than 60 years old will account for total people more than 200,000,000 The 14% of mouth, wherein old patient, which there are about 50%, needs care.In addition, there be all kinds of disabled persons about 6,000 ten thousand in China, about Account for the 5% of China's total population.Therefore, the total population for needing to be nursed in China is about 100,000,000 people.The acceleration aging of population Medical treatment and Social Insurance System is set to face unprecedented pressure, aged self takes care of ability, mainly by family Nursing, nursing is costly, and labor intensity is big, and nursing condition is badly in need of improving.In 1,300,000,000 populations in China, family's number 3~400,000,000, Functional obstacle person or the family for needing caregiver, account for 1/10, i.e., 35,770,000 or so of the total amount of national family.Asked in face of these Topic, it is various help the elderly help the disabled facility also research and development and practical application among.

Nowadays the handicapped elderly and the disabled is most of all selects wheelchair as their walking-replacing tool, with The progress of society and various the perfect of facility of helping the disabled of helping the elderly, wheelchair are also gradually changed from initial ordinary construction to intellectuality, so And the equipment such as existing wheelchair can't realize that auxiliary old man and disabled person realize and taken care of oneself, automaticity is also relatively It is low.

The content of the invention

The defects of for above-mentioned technology, helped the elderly disabled aiding robot the utility model proposes one kind.

One kind is helped the elderly disabled aiding robot, including car body, the drive device installed in lower car body, mobile device, the drive Dynamic device drives mobile device to operate.Auxiliary arm, solar panel charging device, manipulation device are also equipped with the car body, The manipulation device control auxiliary arm is moved, and paw, solar panel charging device and driving are provided with the auxiliary arm Device, mobile device, auxiliary arm, manipulation device, paw are connected by electric wire.

The drive device includes the first motor being connected with solar panel charging device by electric wire and first and driven The connected decelerator of dynamic motor, the output shaft of the decelerator are connected with mobile device；

The mobile device include installed in vehicle bottom driving wheel, preceding auxiliary wheel, rear auxiliary wheel, the driving wheel with The output shaft of decelerator is connected；

The auxiliary arm include waist, the large arm on waist, the forearm in large arm, installed in forearm On wrist and the paw in wrist.

The first electric machine support that the waist includes being arranged on car body, the second driving electricity on electric machine support Machine.

The large arm include installed in the second motor output shaft on the second electric machine support, installed in the second motor The 3rd motor on support, the first drive bevel gear on the output shaft of the 3rd motor and first are actively First driven wheel of differential of bevel gear engagement.

The forearm include be connected with the first driven wheel of differential the 3rd electric machine support, on the 3rd electric machine support 4th motor, the second drive bevel gear on the 4th motor, engaged with the second drive bevel gear second Driven wheel of differential.

The wrist include be connected with the second driven wheel of differential the 4th electric machine support, on the 4th electric machine support 5th motor, the wrist adpting flange on the output shaft of the 5th motor.

The paw includes palm, the thumb on palm, forefinger, the middle finger being connected with wrist adpting flange.

The thumb includes thumb mounting bracket, double finger motor mounting brackets, thumb motor, big thumb Refer to finger tip, thumb refers to middle joint, thumb refers to root joint, thumb driving rope, the thumb mounting bracket, double finger drivings Motor mounting rack is fixed on palm, and the thumb motor is arranged in double finger motor mounting brackets, described One end that thumb refers to root joint is arranged in thumb mounting bracket, and the thumb refers to the other end and thumb in root joint Joint is connected in finger, and thumb refers to middle joint and refers to the one end in root joint away from thumb to be connected with thumb finger tip, and thumb drives On the output shaft of thumb motor, the other end of thumb driving rope sequentially passes through thumb and referred to for one end of running rope Root joint, thumb are fixed on thumb finger tip after referring to middle joint.

The forefinger includes forefinger mounting bracket, forefinger motor, index finger tip, forefinger refers to middle joint, forefinger refers to root Joint, forefinger driving rope, the forefinger mounting bracket are fixed on palm, and the forefinger motor is arranged on double finger driving electricity In machine mounting bracket, one end that the forefinger refers to root joint is arranged in forefinger mounting bracket, and the forefinger refers to the another of root joint One end refers to middle joint with forefinger and is connected, and the forefinger refers to one end and the index finger tip phase for referring to root joint on middle joint away from forefinger Even, one end of the forefinger driving rope is on the output shaft of forefinger motor, the other end one of the forefinger driving rope It is secondary refer to root joint through forefinger, forefinger is fixed on index finger tip after referring to middle joint.

The middle finger include middle finger mounting bracket, middle finger motor mounting bracket, middle finger motor, middle fingertip, Middle finger refers to middle joint, middle finger refers to root joint, middle finger driving rope, and the middle finger mounting bracket, middle finger motor mounting bracket are consolidated It is scheduled on palm, the middle finger motor is fixed in middle finger motor mounting bracket, and the middle finger refers to the one of root joint End is connected with middle finger mounting bracket, and the middle finger refers to the other end in root joint and middle finger refers to middle joint and is connected, during the middle finger refers to The one end for referring to root joint on joint away from middle finger is connected with middle fingertip, and one end of the middle finger driving rope drives wound on middle finger On the output shaft of motor, the other end of middle finger driving rope sequentially pass through middle finger refer to root joint, middle finger refer to it is fixed behind middle joint On middle fingertip.

The solar panel charging device includes being fixed on the solar panels on car body, the battery installed in lower car body, The battery is connected with drive device, mobile device, auxiliary arm, manipulation device, paw by electric wire.

The manipulation device includes button, the control crank being arranged on car body, the button, control crank control auxiliary Arm performs corresponding actions.

It is also equipped with braking on the car body, the brake includes the brake lever and brake lever being arranged on car body Be hinged connecting rod, the brake article on connecting rod.

Auxiliary wheel includes wheel support, the auxiliary wheel on wheel support after described.

The car body includes seat, the auxiliary arm mounting bracket of installation on the seat, the sun installed in seat upper end Can plate mounting bracket, the trammer handle installed in seat rear, the brake mounting bracket installed in seat bottom, installed in seat Rear auxiliary wheel mounting bracket, the pedal mounting bracket installed in seat front and the front-wheel mounting bracket of bottom, the pedal peace Pedal is installed on dress support.

The beneficial effects of the utility model are：The utility model low manufacture cost, simple in construction, operation difficulty is low, safeguards Conveniently, reliable working performance, automaticity are higher.It is easy to help old man and disabled person to improve self care ability.

Brief description of the drawings

The utility model is further illustrated with reference to the accompanying drawings and examples.

Fig. 1 is dimensional structure diagram of the present utility model；

Fig. 2 is the dimensional structure diagram of car body of the present utility model；

Fig. 3 is the dimensional structure diagram that auxiliary arm of the present utility model is connected with paw；

Fig. 4 is the dimensional structure diagram of manipulation device of the present utility model；

Fig. 5 is the dimensional structure diagram of drive device of the present utility model；

Fig. 6 is the dimensional structure diagram of paw of the present utility model；

Fig. 7 is the dimensional structure diagram of rear auxiliary wheel of the present utility model；

Fig. 8 is the dimensional structure diagram of brake of the present utility model.

Embodiment

In order that technological means, creation characteristic, reached purpose and effect that the utility model is realized are easy to understand, under It is expanded on further in face of the utility model.

As shown in Figures 1 to 8, one kind is helped the elderly disabled aiding robot, including car body 1, the driving installed in the bottom of car body 1 fill Put, mobile device, the drive device drives mobile device to operate.Auxiliary arm, solar panels are also equipped with the car body 1 Charging device, manipulation device, are provided with paw on the auxiliary arm, solar panel charging device and drive device, mobile fill Put, auxiliary arm, manipulation device, paw are connected by electric wire, so as to for each device work electric energy is provided, it is environment friendly and pollution-free. Drive device is controlled using manipulation device, so as to realize free movement, and by means of the motion of auxiliary arm, so as to aid in old man Self care ability is improved with disabled person, intelligence degree is high.

The car body 1 includes seat 45, the auxiliary arm mounting bracket 46 on seat 45, on seat 45 The solar panels mounting bracket 47 at end, the trammer handle 48 installed in the rear portion of seat 45, the brake installed in the bottom of seat 45 are pacified Fill support 49, the rear auxiliary wheel mounting bracket 50 installed in the bottom of seat 45, installed in the anterior pedal mounting bracket of seat 45 51 and front-wheel mounting bracket 52, pedal 16 is installed on the pedal mounting bracket 51.

The drive device includes the first motor 63 and first being connected with solar panel charging device by electric wire The connected decelerator 64 of motor 63, the output shaft of the decelerator 64 are connected with mobile device.

The mobile device includes the driving wheel 7 of the bottom of seat 45 installed in car body 1, preceding auxiliary wheel 15, be arranged on after Rear auxiliary wheel 10 in auxiliary wheel mounting bracket 50, the driving wheel 7 are connected with the output shaft of decelerator 64.

The auxiliary arm is arranged in auxiliary arm mounting bracket 46, and the auxiliary arm includes waist, installed in waist Large arm in portion, the forearm in large arm, the wrist on forearm and the paw in wrist.Utilize auxiliary The multifreedom motion of arm, to simulate the motion of human hand, so as to facilitate old man and disabled person to be manipulated to drive article.

The first electric machine support 53 that the waist includes being arranged on car body 1, second on electric machine support 53 drive Dynamic motor 60.

The large arm include installed in the second motor 60 output shaft on the second electric machine support 54, installed in second The 3rd motor 59 on electric machine support 54, the first drive bevel gear on the output shaft of the 3rd motor 59 65th, the first driven wheel of differential 66 engaged with the first drive bevel gear 65.

The forearm include be connected with the first driven wheel of differential 66 the 3rd electric machine support 55, installed in the 3rd electric machine support The 4th motor 58 on 55, the second drive bevel gear 67 on the 4th motor 58 and the second active conical tooth Second driven wheel of differential 68 of the engagement of wheel 67.

The wrist include be connected with the second driven wheel of differential 68 the 4th electric machine support 56, installed in the 4th electric machine support The 5th motor 57, the wrist adpting flange 69 on the output shaft of the 5th motor 57 on 56.

The paw include be connected with wrist adpting flange 69 palm 19, the thumb on palm 19, forefinger, Middle finger, sufficiently to simulate hand exercise.

The thumb includes thumb mounting bracket 32, double finger motor mounting brackets 33, thumb motor 34th, thumb finger tip 28, thumb refer to middle joint 29, thumb refers to root joint 30, thumb driving rope 31, the thumb peace Dress support 32, double finger motor mounting brackets 33 are fixed on palm 19, and the thumb motor 34 is arranged on double refer to In motor mounting bracket 33, one end that the thumb refers to root joint 30 is arranged in thumb mounting bracket 32, described Thumb refers to the other end in root joint 30 and thumb refers to middle joint 29 and is connected, and thumb refers to middle joint 29 and refers to root away from thumb The one end in joint 30 is connected with thumb finger tip 28, and one end of thumb driving rope 31 is wound on the defeated of thumb motor 34 On shaft, the other end of thumb driving rope 31 sequentially pass through thumb refer to root joint 30, thumb refer to it is fixed behind middle joint 29 On thumb finger tip 28.Rotated by thumb motor 34, to wind thumb driving rope 31, so as to make thumb Finger tip 28, thumb refer to middle joint 29, thumb refers to root joint 30 and performs corresponding action.

The forefinger includes forefinger mounting bracket 27, forefinger motor 36, index finger tip 24, forefinger refer to middle joint 25, Forefinger refers to root joint 26, forefinger driving rope 35, and the forefinger mounting bracket 27 is fixed on palm 19, the forefinger motor 36 are arranged in double finger motor mounting brackets 33, and one end that the forefinger refers to root joint 26 is arranged on forefinger mounting bracket 27 On, the forefinger refers to the other end in root joint 26 and forefinger refers to middle joint 25 and is connected, and the forefinger refers on middle joint 25 away from food The one end for referring to root joint 26 is connected with index finger tip 24, and one end of the forefinger driving rope 35 is wound on forefinger motor 36 Output shaft on, the other end of forefinger driving rope 35 once refers to root joint 26 through forefinger, forefinger is consolidated after referring to middle joint 25 It is scheduled on index finger tip 24.Rotated by forefinger motor 36, to wind forefinger driving rope 35, so as to make index finger tip 24th, forefinger refers to middle joint 25, forefinger refers to root joint 26 and performs corresponding action.

The middle finger includes middle finger mounting bracket 20, middle finger motor mounting bracket 38, middle finger motor 37, middle finger Finger tip 23, middle finger refer to middle joint 22, middle finger refers to root joint 21, middle finger driving rope 39, the middle finger mounting bracket 20, middle finger driving Motor mounting rack 38 is fixed on palm 19, and the middle finger motor 37 is fixed on middle finger motor mounting bracket 38 On, one end that the middle finger refers to root joint 21 is connected with middle finger mounting bracket 20, the middle finger refer to the other end in root joint 21 with Middle finger refers to middle joint 22 and is connected, and the middle finger refers to one end and the phase of middle fingertip 23 for referring to root joint 21 on middle joint 22 away from middle finger Even, on the output shaft of middle finger motor 37, the middle finger drives the another of rope 39 for one end of the middle finger driving rope 39 One end sequentially passes through that middle finger refers to root joint 21, middle finger is fixed on middle fingertip 23 after referring to middle joint 22.Electricity is driven by middle finger Machine 37 rotates, and to wind middle finger driving rope 39, so as to make, middle fingertip 23, middle finger refer to middle joint 22, middle finger refers to root joint 21 Perform corresponding action.

The solar panel charging device include being fixed on solar panels 5 in the solar panels mounting bracket 47 of car body 1, Battery 6 installed in the bottom of car body 1, the motor 63 of battery 6 and first, the second motor 60, the 3rd motor 59th, the 4th motor 58, the 5th motor 57, manipulation device, thumb motor 34, forefinger motor 36, in Refer to motor 37 by electric wire to be connected.

The manipulation device includes button 61, the control crank 62 being arranged on car body 1, the button 61, control crank 62 control auxiliary arms perform corresponding actions.

Brake mounting bracket 49 on the car body 1 is also equipped with brake 13, and the brake 13 includes being arranged on brake peace The brake lever 42 on support 49, the connecting rod 43 be hinged with brake lever 42, the brake article 44 on connecting rod 43 are filled, is utilized Brake article 44 coordinates with driving wheel 7 realizes brake.

Auxiliary wheel 10 includes wheel support 40, the auxiliary wheel 41 on wheel support 40 after described.

In use, old man and disabled person are sitting on seat 45, by manipulating button 61, control crank 62, to realize car body 1 Movement.When in outdoor, it can convert solar energy into electrical energy and be stored in battery 6 by means of solar panels 5, for Whole equipment electricity consumption.When needing to pick and place article, by manipulating button 61, control crank 62, so that auxiliary arm and paw Work, realize the function of picking and placeing article.

The advantages of general principle of the present utility model, principal character and the utility model has been shown and described above.One's own profession The technical staff of industry is it should be appreciated that the utility model is not restricted to the described embodiments, described in above-described embodiment and specification Simply principle of the present utility model, on the premise of the spirit and scope of the utility model is not departed from, the utility model also has Various changes and modifications, these changes and improvements are both fallen within claimed the utility model.The requires of the utility model is protected Scope is by appended claims and its equivalent thereof.

Claims

1. A robot for helping the elderly and the disabled, comprising a car body (1), a driving device installed on the bottom of the car body (1), and a mobile device, and the driving device drives the mobile device to run; it is characterized in that:

An auxiliary arm, a solar panel charging device, and a manipulation device are also installed on the vehicle body (1). The device, the auxiliary arm, the manipulator, and the gripper are connected by wires.

2. A robot for helping the elderly and the disabled according to claim 1, characterized in that: the auxiliary arm includes a waist, a big arm mounted on the waist, a small arm mounted on the large arm, a small arm mounted on the small arm Wrist and wrist-mounted grippers.

3. A robot for helping the elderly and the disabled according to claim 2, characterized in that: the waist comprises a first motor bracket (53) installed on the vehicle body (1), a first motor bracket (53) installed on the motor bracket (53). The second drive motor (60);

The boom includes a second motor support (54) mounted on the output shaft of the second drive motor (60), a third drive motor (59) mounted on the second motor support (54), a third drive motor (59) mounted on the third The first driving bevel gear (65) on the output shaft of the drive motor (59), 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), is installed in the 4th drive motor The second driving bevel gear (67) on (58), the second driven bevel gear (68) meshed with the second driving bevel gear (67);

Described wrist comprises the 4th motor support (56) that links to each other with the 2nd driven bevel gear (68), the 5th drive motor (57) that is installed on the 4th motor support (56), is installed in the 5th drive motor (56). 57) on the output shaft of the wrist connection flange (69).

4. A robot for helping the elderly and the disabled according to claim 2, characterized in that: the claws include a palm (19) connected to the wrist, a thumb, index finger, and middle finger mounted on the palm (19).

5. A robot for helping the elderly and the disabled according to claim 4, characterized in that: the thumb includes a thumb mounting bracket (32), a two-finger drive motor mounting bracket (33), a thumb drive motor (34) , thumb fingertip (28), thumb middle joint (29), thumb root joint (30), thumb drive rope (31), described thumb installation bracket (32), two-finger drive motor installation Support (33) is fixed on the palm (19), and described thumb driving motor (34) is installed on the two-finger driving motor mounting bracket (33), and one end of described thumb root joint (30) is installed on the thumb On the mounting bracket (32), the other end of the thumb root joint (30) is connected to the thumb middle finger joint (29), and the thumb middle finger joint (29) is away from one end of the thumb root joint (30) Connect with the thumb fingertip (28), 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 successively. The root joint (30) and the thumb joint (29) are fixed on the thumb fingertip (28).

6. A robot for helping the elderly and the disabled according to claim 5, characterized in that: the index finger includes an index finger mounting bracket (27), an index finger drive motor (36), a fingertip of the index finger (24), a middle joint of the index finger ( 25), index finger joint (26), index finger driving rope (35), the index finger mounting bracket (27) is fixed on the palm (19), and the index finger driving motor (36) is installed on the two-finger driving motor mounting bracket (33), one end of the base joint of the index finger (26) is installed on the mounting bracket (27) of the index finger, and the other end of the base joint of the index finger (26) is connected with the middle joint of the index finger (25), the One end of the middle finger joint (25) of the index finger away from the root joint (26) of the index finger is connected to the fingertip (24) of the index finger, and one end of the drive rope (35) of the index finger is wound on the output shaft of the drive motor (36) of the index finger , the other end of the index finger driving rope (35) passes through the base joint of the index finger (26) and the middle joint of the index finger (25) once and is fixed on the fingertip of the index finger (24).

7. A robot for helping the elderly and the disabled according to claim 4, characterized in that: the middle finger includes a middle finger mounting bracket (20), a middle finger driving motor mounting bracket (38), a middle finger driving motor (37), a middle finger fingertip (23), middle finger middle finger joint (22), middle finger root joint (21), middle finger driving rope (39), described middle finger mounting bracket (20), middle finger driving motor mounting bracket (38) are fixed on the palm (19) Above, the middle finger drive motor (37) is fixed on the middle finger drive 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 (21 ) is connected to the middle finger joint (22) of the middle finger, and the end of the middle finger joint (22) away from the base joint of the middle finger (21) is connected to the fingertip of the middle finger (23), and the driving rope of the middle finger (39 ) is wound on the output shaft of the middle finger driving motor (37), and the other end of the middle finger driving rope (39) passes through the middle finger root joint (21) and the middle finger joint (22) successively and is fixed on the middle finger fingertip (23).

8. A robot for helping the elderly and the disabled according to claim 1, characterized in that: the solar panel charging device includes a solar panel (5) fixed on the vehicle body (1), installed on the lower part of the vehicle body (1) A battery (6), the battery (6) is connected to the driving device, the auxiliary arm, the manipulation device, and the claws through electric wires.

9. A robot for helping the elderly and the disabled according to claim 1, characterized in that: the manipulating device includes a button (61) installed on the vehicle body (1), a joystick (62), and the button (61 ), the joystick (62) controls the auxiliary arm to perform corresponding actions.