CN110253600A - An elderly service robot - Google Patents

Abstract

The invention belongs to the technical field of robotics, and in particular relates to an elderly service robot, which comprises a main body, a mechanical arm is installed on the top of the main body, a mechanical arm is connected to the mechanical arm through joints, and a waist tray is installed at the upper part of the middle of the main body , a lifting mechanism is installed below the waist tray, a four-link mechanical arm is installed in the middle of the main body, one end of the four-link mechanical arm is installed on the main body, and the other end is installed with a leg tray, the legs There is a pressure sensor on the top tray, a chassis is installed at the bottom of the main body, a walking system is installed on the chassis, a power transmission system and a control system are installed inside the main body, and the power transmission system includes a drive mechanism and a deceleration system. mechanism. The six-degree-of-freedom robotic arm has great flexibility, and can move and rotate in the X-axis, Y-axis, and Z-axis directions. The present invention is used to assist the elderly to walk.

Description

An elderly service robot

technical field

The invention belongs to the technical field of robots, and in particular relates to an elderly service robot.

Background technique

Surveys show that many developed countries in the world are currently facing the problem of an aging population. With the aging of the social population, service machines for the elderly have gradually developed. From the observation of the walking posture of the elderly, it is known that due to the influence of their physical health, the elderly walk in different ways. In addition to walking slowly, some elderly people have difficulty walking with hunched backs, and some elderly people walk slowly due to the sequelae of the disease. . Therefore, the elderly need some auxiliary tools to help them walk normally.

SUMMARY OF THE INVENTION

In view of the above technical problems, the present invention provides an elderly service robot with high degree of freedom and strong stability.

In order to solve the above-mentioned technical problems, the technical scheme adopted in the present invention is:

An elderly service robot includes a main body, a mechanical arm is installed on the top of the main body, the mechanical arm is connected with a mechanical arm through joints, a waist tray is installed on the upper part of the middle part of the main body, and a waist tray is installed below the waist tray Lifting mechanism, two four-link mechanical arms on the same horizontal line are installed in the middle of the main body, one end of the four-link mechanical arm is installed on the main body, and the other end is installed with a leg tray, on the leg tray A pressure sensor is provided, a chassis is installed at the bottom of the main body, a walking system is installed on the chassis, a power transmission system and a control system are arranged inside the main body, and the power transmission system includes a driving mechanism and a deceleration mechanism.

The mechanical arm adopts a series mechanical arm, the driving mechanism of the mechanical arm adopts a servo motor, and the deceleration mechanism of the mechanical arm adopts a harmonic reducer.

The manipulator adopts a bionic three-finger manipulator, which is equipped with a pressure sensor.

The joints, the waist tray and the leg tray are all powered by motors, and the four-link mechanical arm is powered by a servo motor to generate driving torque.

The angle of the waist tray can be adjusted, and the angle adjustment mechanism of the waist tray adopts a double-axis steering gear.

The four-link mechanical arm is composed of four connecting rods connected end-to-end, the joints are fixed by bolts and nuts, the connecting rods can rotate around the joints, and the four-link mechanical arm is powered by a servo motor.

The walking system adopts a four-wheeled walking mode, and a steering gear is used to control the direction of the front wheel, the DC motor drives the two rear wheels, and there is a worm gear reduction mechanism.

The central controller in the control system adopts DSP, the chassis adopts single chip control, and the mechanical arm adopts PLC control.

The lifting mechanism of the waist tray adopts a twin-screw lifting mechanism.

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

The leg tray system of the invention supports the thighs of the elderly through the bionic elderly gait, has a compact structure, can assist the elderly to walk, and can also realize the folding function and save space. The serial robotic arm can provide different degrees of support and support for the elderly in different situations, and adopts a mode of supporting and advancing, which has both support and forward power support. The six-degree-of-freedom robotic arm has great flexibility, and can move and rotate in the X-axis, Y-axis, and Z-axis directions.

Description of drawings

Fig. 1 is the overall structure schematic diagram of the present invention;

Fig. 2 is the structural representation of the series manipulator of the present invention;

Fig. 3 is the unfolded view of the series manipulator of the present invention;

Fig. 4 is the structural representation of the waist tray of the present invention;

5 is a schematic structural diagram of the waist tray lifting mechanism of the present invention;

6 is a schematic structural diagram of a four-link mechanical arm of the present invention;

Fig. 7 is the structural representation of the chassis of the present invention;

Among them: 1 is the main body, 2 is the mechanical arm, 3 is the joint, 4 is the manipulator, 5 is the waist tray, 6 is the lifting mechanism, 7 is the four-link mechanical arm, 8 is the leg tray, 9 is the chassis, and 10 is the walking system.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

An elderly service robot includes a main body 1, a mechanical arm 2 is installed on the top of the main body 1, and a connecting rod in the middle of the mechanical arm 2 is designed as an arc structure, which is convenient for the elderly to grasp. Different seniors provide suitable hand support positions. The manipulator 2 is connected with the manipulator 4 through the joint 3, the waist tray 5 is installed at the upper part of the middle of the main body 1, the lifting mechanism 6 is installed under the waist tray 5, and the middle part of the main body 1 is installed with two four-connector on the same horizontal line. The rod manipulator 7, the four-link manipulator 7 has four rotation pairs, and is a four-degree-of-freedom manipulator. One end of the four-link manipulator 7 is mounted on the main body 1, and the other end is mounted with a leg tray 8. The upper tray 8 is provided with a pressure sensor, the leg tray 8 can be opened and closed to fit the human legs, and the axis position of the tray can be changed at any time. On the output torque of the motor, by adjusting the output torque and rotation speed of the servo motor and the opening and closing angle of the hinge, the elderly can walk naturally and comfortably in the process of walking. With the waist tray mechanism, it can provide thrust for the elderly to move forward. The tray can adjust the height of the waist tray 5 through the lifting mechanism 6 connected to the waist tray 5 platform according to the elderly with different heights, weights and physiques, providing more comfort for the elderly. Lumbar support position. A chassis 9 is installed on the bottom of the main body 1, a walking system 10 is installed on the chassis 9, a power transmission system and a control system are arranged inside the main body, and the power transmission system includes a driving mechanism and a deceleration mechanism.

Further, preferably, the manipulator 2 adopts a serial manipulator, and the degree of freedom of the serial manipulator is six degrees of freedom, which has great flexibility, and can move and rotate in the directions of the X axis, the Y axis, and the Z axis. 2. Support the old man's armpit or hand behind the old man. The drive mechanism of the robotic arm 2 adopts a servo motor, and the deceleration mechanism of the robotic arm 2 adopts a harmonic reducer.

Further, preferably, the manipulator 4 adopts a bionic three-finger manipulator, one mechanical finger has two degrees of freedom, and the other two mechanical fingers each have three degrees of freedom, a total of eight degrees of freedom, and a pressure sensor is installed on it, which can realize the accuracy of the object. Grab firmly.

Further, preferably, the joints 3, the waist tray 5 and the leg tray 8 are powered by motors, and their function is to generate driving torque.

Further, the angle of the waist tray 5 can be adjusted, and the angle adjustment mechanism of the waist tray 5 adopts a dual-axis steering gear.

Further, the four-link mechanical arm 7 is composed of four connecting rods connected end to end, the joints are fixed by bolts and nuts, the connecting rods can rotate around the joints, and the four-link mechanical arm 7 is powered by a servo motor.

Further, the walking system 10 adopts a four-wheeled walking mode, and uses a steering gear to control the direction of the front wheels, the DC motor drives the two rear wheels, and has a worm gear reduction mechanism, the driving force of the rear wheels is provided by the motor, and the output of the motor is provided. The shaft is connected with the input shaft of the worm gear reducer through the connecting flange, and the output shaft of the worm gear reducer meshes with the gear on the rear wheel shaft through the gear, thereby driving the rotation of the rear wheel shaft of the robot, thereby controlling the rear wheel of the robot. rotation of the wheel.

Further, preferably, the central controller in the control system adopts DSP, the chassis adopts single chip control, and the mechanical arm adopts PLC control.

The working process of the present invention is as follows: a connecting rod in the middle of the mechanical arm is designed as an arc structure, which is convenient for the grasping of the hands of the elderly, and by adjusting the position of the mechanical arm, suitable hand support positions are provided for different elderly people, and the leg tray can be opened and closed. Fit the human leg, change the axis position of the tray at any time, always be parallel to the leg of the elderly, and feed back to the output torque of the servo motor in real time through the pressure sensor inside the mechanism, and adjust the output torque and speed of the servo motor. The opening and closing angles of the pages enable the elderly to walk naturally and comfortably during the process of walking, and with the lumbar tray mechanism, it can provide thrust for the elderly to move forward. The walking system provides power for the elderly, and cooperates with the steering gear, motor and worm gear reduction mechanism to realize the steering, forward and deceleration of the robot.

Only the preferred embodiments of the present invention have been described in detail above, but the present invention is not limited to the above-mentioned embodiments, and within the scope of knowledge possessed by those of ordinary skill in the art, various aspects can also be made without departing from the purpose of the present invention. Various changes should be included within the protection scope of the present invention.

Claims (9)

1. a kind of old service humanoid robot, it is characterised in that: including main body (1), be equipped with machinery at the top of the main body (1) Arm (2), the mechanical arm (2) are connected with manipulator (4) by joint (3), and main body (1) middle part place on the upper side is equipped with waist Pallet (5) is equipped with elevating mechanism (6) below the waist pallet (5), the middle part installation of the main body (1) there are two One end of the double leval jib mechanical arm (7) of same horizontal line, the double leval jib mechanical arm (7) is mounted on main body (1), other end peace Equipped with leg pallet (8), the leg pallet (8) is equipped with pressure sensor, and the bottom of the main body (1) is equipped with chassis (9), it being equipped with running gear (10) on the chassis (9), the inside of the main body is equipped with power drive system and control system, The power drive system includes driving mechanism and deceleration mechanism.

2. a kind of old service humanoid robot according to claim 1, it is characterised in that: the mechanical arm (2) is using string Join mechanical arm, the driving mechanism of the mechanical arm (2) uses servo motor, and the deceleration mechanism of the mechanical arm (2) uses harmonic wave Retarder.

3. a kind of old service humanoid robot according to claim 1, it is characterised in that: the manipulator (4) is using imitative Raw three refer to manipulator, are equipped with pressure sensor.

4. a kind of old service humanoid robot according to claim 1, it is characterised in that；The joint (3), waist pallet (5) it is all made of motor with leg pallet (8) and power generation driving torque is provided.

5. a kind of old service humanoid robot according to claim 1, it is characterised in that: the waist pallet (5) can be with It adjusts the angle, the angle-adjusting mechanism of the waist pallet (5) uses twin shaft steering engine.

6. a kind of old service humanoid robot according to claim 1, it is characterised in that: the double leval jib mechanical arm (7) It is formed by four connecting rods are end to end, junction is fixed by screw bolt and nut, and connecting rod can be rotated around junction, and described four connect Bar mechanical arm (7) provides power using servo motor.

7. a kind of old service humanoid robot according to claim 1, it is characterised in that: the running gear (10) uses Four-wheel running on wheels mode, and front-wheel direction is controlled using steering engine, direct current generator drives two rear-wheels, and has a worm and gear Deceleration mechanism.

8. a kind of old service humanoid robot according to claim 1, it is characterised in that: the center in the control system Controller uses DSP, and chassis is controlled using single-chip microcontroller, and mechanical arm is controlled using PLC.

9. a kind of old service humanoid robot according to claim 1, it is characterised in that: the liter of the waist pallet (5) Descending mechanism (6) uses double-screw lifting mechanism.