CN110815242A - Anthropomorphic walking-assisting robot - Google Patents
Anthropomorphic walking-assisting robot Download PDFInfo
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- CN110815242A CN110815242A CN201911107668.5A CN201911107668A CN110815242A CN 110815242 A CN110815242 A CN 110815242A CN 201911107668 A CN201911107668 A CN 201911107668A CN 110815242 A CN110815242 A CN 110815242A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/009—Nursing, e.g. carrying sick persons, pushing wheelchairs, distributing drugs
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/04—Wheeled walking aids for patients or disabled persons
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
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Abstract
The invention discloses a personification old walking assisting robot, which comprises: the device comprises an upper half body frame, a mechanical armrest, a seat integrated device, a lower half body frame, a half body lifting device, a wheel base increasing device, a displacement power device and a control system; the mechanical armrest arms are arranged in two groups, and the two groups of mechanical armrest arms can be rotatably connected to the left side and the right side of the upper half body frame; the seat integration device is connected to the bottom of the upper body frame; the bottom of the upper body frame is connected with the lower body frame through a body lifting device, and the upper body frame can lift under the action of the body lifting device; the wheel base increasing device is used for increasing the stability of the old walking assisting robot; the displacement power device realizes the movement of the old walking assisting robot; the control system realizes the automatic control of the old walking assisting robot. The invention has the characteristics of high safety, capability of assisting walking, flexible movement and the like, and solves the difficulty of the old in daily life.
Description
Technical Field
The invention relates to a service robot, in particular to a personified walking-aid robot for helping old people to solve the increasingly serious problem of helping old people to walk and recover from the aspects of assisting walking and the like.
Background
According to statistics, as of 2013, the number of 60-year-old people and over-age-old people in China reaches 2 hundred million people, the number of the 60-year-old people is 14.9% of the general population, the number of the 65-year-old people and over-age-old people accounts for 9.7% of the general population, and obviously, China already enters an aging society. By the increasing speed, the elderly population in China reaches 2.43 hundred million in 2020, and breaks through 4.3 million in 2050, at the same time, China becomes the country with the highest aging degree in the world.
The Leifeng network chapter invokes the data display of a charitable organization in England: half of the elderly over age 75 are in solitary conditions, and over 100 thousands of these elderly are in solitary weekdays. Further, over 36% of the elderly cannot communicate with others every day, and 11% of the elderly may not see anyone for more than 5 days per month. Therefore, the population base of the old people in China is getting bigger and bigger, but the daily life of the old people is facing a lot of difficulties due to the problems that children and children are not enough to care the old people, the supporting facilities for the old people are lack and the like.
In 2012, China shows that to promote the development of the service robot industry, the service robot is mainly developed to assist the elderly and disabled people, and the robot development is brought into the aging social background. Undoubtedly, the old service robot is developed vigorously, and the robot is used for assisting the old to take care of, monitor and exchange in daily life, so that an effective way for solving the problem of old care is provided.
Aiming at the psychological and physical problems of the old, a plurality of old service robots appear at home and abroad, and three representative robots are selected as follows:
the robots have respective advantages, but have single function, cannot meet all requirements of the old, and have a plurality of technical bottlenecks in the aspects of environment modeling, autonomous control, human-computer interaction, safety and the like, especially in the application of a modern network and the research of multi-dimensional old service robot arm control. Therefore, how to meet the requirements of the old people as much as possible under the condition of reducing the cost is the problem to be solved next by the people and the final aim of the people.
Disclosure of Invention
The invention aims to solve the difficulty of the old in daily life and provides an anthropomorphic walk-assisting robot which has the characteristics of high safety, capability of assisting in walking, flexible movement and the like.
The technical scheme adopted by the invention is as follows: an anthropomorphic walking aid robot comprising:
an upper body frame;
the mechanical armrest arms are arranged in two groups, and the two groups of mechanical armrest arms can be rotatably connected to the left side and the right side of the upper half body frame;
a seat integration device connected to a bottom of the upper body frame;
a lower body frame positioned below the upper body frame;
the bottom of the upper body frame is connected with the lower body frame through the half body lifting device, and the upper body frame can lift under the action of the half body lifting device;
the wheelbase increasing device is connected to the bottom of the lower body frame and is used for increasing the stability of the old walking assisting robot;
a displacement power device which is connected to the bottom surface of the lower body frame and realizes the movement of the walking-assisting robot; and the number of the first and second groups,
and the control system is connected with the mechanical arm supporting device, the half body lifting device, the wheel base increasing device and the displacement power device, so that the automatic control of the old-accompanying walking-assisting robot is realized.
Further, the upper body frame includes:
a top plate of the upper half body;
a lower half body panel; and the number of the first and second groups,
the upper body supporting polish rod is connected with the upper body top plate and the upper body bottom plate.
Furthermore, each group of mechanical arm support comprises two mechanical arm support single bodies, the two mechanical arm support single bodies of each group of mechanical arm support are fixedly connected to the same support rod, the upper end and the lower end of the support rod are respectively connected to the upper half body top plate and the upper half body bottom plate of the upper half body frame, and the two support rods are driven to rotate by an arm support steering motor, so that the mechanical arm support single bodies can rotate around the axis of the support rod; the armrest arm steering motor is connected with the control system and is controlled by the control system to operate.
Wherein, mechanical handrail arm monomer is including connecting gradually:
a mechanical arm starting section;
the mechanical arm starting section and the mechanical arm middle section are connected through a first modular worm and gear driving joint, so that the mechanical arm starting section can rotate relative to the mechanical arm middle section; and the number of the first and second groups,
the middle section of the mechanical arm is connected with the tail section of the mechanical arm through a second modular worm and gear driving joint, so that the middle section of the mechanical arm can rotate relative to the tail section of the mechanical arm, and the root of the tail section of the mechanical arm is fixedly connected to the support rod and can rotate along with the support rod under the action of the armrest steering motor; wherein,
the first modular worm gear driving joint and the second modular worm gear driving joint are connected with the control system, and the control system controls operation.
The utility model discloses a handrail arm steering motor, including the bracing piece, handrail arm steering motor, iron core rubber friction axle and handrail arm steering motor's output shaft is connected, iron core rubber friction axle sleeve is established the outside of bracing piece and with the surface of bracing piece contacts, through iron core rubber friction axle drives the bracing piece rotates.
Further, the seat integration apparatus includes:
a seat back plate fixedly connected to a front side of the upper body bottom plate of the upper body frame; and the number of the first and second groups,
the root of seat bedplate, the seat pivot with the seat backplate can be connected with rotating, through the seat pivot is realized receiving and releasing of seat bedplate.
Further, the half body lifting device includes:
a scissor lift, the top of the scissor lift is fixedly connected with the bottom surface of the upper body bottom plate of the upper body frame, and the bottom of the scissor lift is fixedly connected with the bottom surface of the lower body bottom plate of the lower body frame; the scissor type lifter is connected with the control system and is controlled by the control system to operate;
the bottom of the guide strut is fixedly connected to the lower body bottom plate of the lower body frame, the upper part of the guide strut penetrates through the upper body bottom plate of the upper body frame and extends into the upper body frame, and the upper body frame moves along the guide strut under the action of the scissor type lifter; and the number of the first and second groups,
and the limiting device is matched with the guide support and used for limiting the position of the upper body frame, so that the scissor type lifter is liberated when the upper body frame and the lower body frame do not need to move mutually.
Further, the wheel base increasing device includes:
the two wheelbase changing function rods are arranged on two sides of the lower body frame respectively;
the universal wheel is arranged at the front end part of the wheel base change function rod; and the number of the first and second groups,
the wheel base changing function rod is rotatably connected to two sides of the front end part of the lower body bottom plate of the lower body frame through the steering engine, and the wheel base changing function rod is retracted and extended through the steering engine; the steering engine is connected with the control system and is controlled by the control system to operate.
Further, the displacement power device includes:
the driving wheel is arranged on the bottom surface of the lower body bottom plate of the lower body frame; and the number of the first and second groups,
the chassis displacement motor is driven by the chassis displacement motor to move, and is fixedly connected to the bottom surface of the lower body bottom plate of the lower body frame through a chassis motor support; the chassis displacement motor is connected with the control system and is controlled by the control system to operate.
Further, the control system comprises a CPU and a display; the display, the armrest arm steering motor, the first modular worm gear driving joint and the second modular worm gear driving joint of the mechanical armrest arm, the scissor type lifter of the half body lifting device, the steering engine of the axle distance increasing device and the chassis displacement motor of the displacement power device are all connected with the CPU; the display is fixedly connected to the top surface of the upper body top plate of the upper body frame.
The invention has the beneficial effects that:
the mechanical arm is similar to the arm joint of a human body. The design of the arm is related to the design of a plurality of human-machine engineering aspects, and the main parameters of the mechanical arm support are determined through human-machine engineering and arm coverage modeling analysis.
The mechanical armrest unfolding mode is as follows: the armrest arm is divided into three sections which are sequentially inwards rotated by a certain angle for folding or are sequentially outwards rotated for opening, and finally a closed triangle is formed, so that the armrest arm is easy to control and cannot cause interference.
The half-body lifting device adopts a jack type connecting rod, so that the instability is small, the bearing capacity is strong, and the lifting is stable.
The driving joint transmission mode adopts a worm and gear structure: 1. the transmission of the spatial staggered shaft can be realized, so that the motor body can become a part of the arm length, and the structure is more compact. 2. The transmission ratio is large, and the driving torque at the joint can be effectively improved. 3. When the helix angle of the worm is smaller than the equivalent friction angle of the meshing surface, the worm transmission can realize self-locking, the original posture is maintained when the handrail arm is not electrified, and the safe moving range in the horizontal direction is limited for the old. 4. The transmission component is separated from the force transmission part, so that the movement precision is ensured, and meanwhile, the size of the transmission component can be reduced, and the cost is reduced.
Drawings
FIG. 1: the invention is a schematic view of the structure;
FIG. 2: the invention is a schematic side view structure;
FIG. 3: the invention is a schematic view of a top-down structure;
FIG. 4: the invention discloses a schematic view structure of a wheel base increasing device;
FIG. 5: the wheelbase increasing device of the invention is a schematic side view structure;
FIG. 6: the wheelbase increasing device of the invention is a schematic view of a overlooking structure;
FIG. 7: the mechanical armrest arm structure of the invention is schematic;
FIG. 8: the seat integration device is structurally schematic;
FIG. 9: the structure of the guide pillar is schematic;
FIG. 10: the invention is a schematic diagram of an initial anthropomorphic form;
FIG. 11: the invention is a wheelchair form sketch map;
FIG. 12: the walking aid of the invention is in a schematic form;
the attached drawings are marked as follows: 1-a display, 2-an upper half body top plate, 3-an upper half body supporting polished rod, 4-an iron core rubber friction shaft, 5-an upper half body bottom plate, 6-a steering motor support, 7-an armrest arm steering motor, 8-a guide support post, 9-a lower half body bottom plate, 10-a chassis motor support, 11-a driving wheel, 12-a chassis displacement motor, 13-a jacking limit bolt, 14-a seat plate, 15-a seat rotating shaft, 16-a seat back plate, 17-a scissor type lifter, 18-an axle distance changing function rod, 19-a universal wheel, 20-a steering engine, 21-an initial section of a mechanical arm, 22-a middle section of the mechanical arm, 23-a first modular worm gear driving joint and 24-a second modular worm gear driving joint, 25-tail section of mechanical arm, 26-bolt, 27-steering engine support.
Detailed Description
In order to further understand the contents, features and effects of the present invention, the following embodiments are illustrated and described in detail with reference to the accompanying drawings:
as shown in attached figures 1 to 9, the anthropomorphic walking aid robot mainly achieves three main functions through mutual transformation of three forms. The main functional structure of the anthropomorphic walking-assisting robot comprises an upper half body frame, a mechanical arm support, a seat integration device, a lower half body frame, a half body lifting device, a wheel base increasing device, a displacement power device and a control system.
The personification old walking assisting robot is characterized in that mechanisms matched with respective projects are designed according to the projects mentioned in the requirement analysis, and after the principle design of each set of mechanisms is completed and a driving part, a transmission mechanism and an execution mechanism are selected, all the mechanisms are integrated in the robot design in a specific structural layout. The structural layout adopts a layered frame type arrangement, and conditions are created for the mutual transformation of the structure of the robot between different forms.
The anthropomorphic old walking assisting robot is divided into two layers which are overlapped in space, and the two layers of main bodies are an upper body frame and a lower body frame respectively. In order to meet the requirement of demand analysis, four mechanical armrest arm monomers are symmetrically arranged at two sides of the upper half body frame, and a seat integration device is arranged in front of the upper half body frame; two wheelbase increasing devices are symmetrically arranged on two sides of the lower half body frame, and a lifting device is arranged in the frame.
The upper body frame comprises an upper body top plate 2, an upper body bottom plate 5 and an upper body supporting polish rod 3, wherein the upper body supporting polish rod 3 is connected with the upper body top plate 2 and the upper body bottom plate 5. The lower body frame is positioned below the upper body frame and comprises a lower body bottom plate 9. The bottom of the upper body frame is connected with the lower body frame through the body lifting device, and the upper body frame can be lifted under the action of the body lifting device. The half body lifting device comprises a scissor type lifter 17, a guide strut 8 and a limiting device; the top of the scissor lift 17 is fixedly connected with the bottom surface of the upper body bottom plate 5 of the upper body frame, the bottom of the scissor lift 17 is fixedly connected with the bottom surface of the lower body bottom plate 9 of the lower body frame, and the scissor lift 17 is connected with the control system and is controlled by the control system to operate; the bottom of the guide strut 8 is fixedly connected to a lower body bottom plate 9 of the lower body frame, the upper part of the guide strut penetrates through an upper body bottom plate 5 of the upper body frame to extend into the upper body frame, the upper body frame moves along the guide strut 8 under the action of the scissor lift 17, and the upper body and the lower body are matched through the four guide struts 8, so that the mutual position relation is ensured during the relative movement; the limiting device is matched with the guide support post 8 and used for limiting the position of the upper body frame, so that the scissor type lifter 17 is liberated when the upper body frame and the lower body frame do not need to move mutually, and energy is saved.
The mechanical armrest arms are arranged in two groups, and the two groups of mechanical armrest arms can be rotatably connected to the left side and the right side of the upper body frame. Each group of mechanical arm support comprises two mechanical arm support single bodies, the two mechanical arm support single bodies of each group of mechanical arm support are fixedly connected to the same support rod, the upper end and the lower end of the support rod are respectively connected to the upper half body top plate 2 and the upper half body bottom plate 5 of the upper half body frame, and the two support rods are driven to rotate by an arm support steering motor 7, so that the mechanical arm support single bodies can rotate around the axis of the support rod; the arm supporting steering motor 7 is fixedly connected to the upper half body top plate 2 of the upper half body frame through a steering motor support 6, and the arm supporting steering motor 7 is connected with the control system and is controlled by the control system to operate. The mechanical armrest arm monomer comprises a mechanical arm starting section 21, a mechanical arm middle section 22 and a mechanical arm tail section 25 which are connected in sequence; the mechanical arm starting section 21 is connected with the mechanical arm middle section 22 through a first modular worm and gear driving joint 23, so that the mechanical arm starting section 21 can rotate relative to the mechanical arm middle section 22; the middle mechanical arm section 22 and the end mechanical arm section 25 are connected through a second modular worm and gear drive joint 24, so that the middle mechanical arm section 22 can rotate relative to the end mechanical arm section 25, and the root of the end mechanical arm section 25 is fixedly connected to the support rod and can rotate along with the support rod under the action of the armrest arm steering motor 7; the first modular worm gear driving joint 23 and the second modular worm gear driving joint 24 are connected with the control system, and the operation is controlled by the control system. In addition, the bracing piece with the junction of handrail arm steering motor 7 is provided with iron core rubber friction axle 4, iron core rubber friction axle 4 with the output shaft of handrail arm steering motor 7 is connected, iron core rubber friction axle 4 cover is established the outside of bracing piece and with the surface of bracing piece contacts, through iron core rubber friction axle 4 drives the bracing piece rotates.
The seat integrated device is connected to the bottom of the upper body frame. The seat integration device comprises a seat back plate 16 and a seat plate 14, wherein the seat back plate 16 is fixedly connected to the front side of the upper half body bottom plate 5 of the upper half body frame; the root of the seat plate 14 is rotatably connected with the seat back plate 16 through a seat rotating shaft 15, and the seat plate 14 is folded and unfolded through the seat rotating shaft 15.
The wheel base increasing device is connected to the bottom of the lower body frame and used for increasing the stability of the walking assisting robot for the old. The wheel base increasing device comprises two wheel base changing functional rods 18, universal wheels 19 and a steering engine 20, wherein the two wheel base changing functional rods 18 are respectively arranged at two sides of the lower body frame; the universal wheel 19 is arranged at the front end part of the wheel base changing function rod 18, and the universal wheel 19 is connected with the wheel base changing function rod 18 through a bolt 26; the wheel base changing function rod 18 is rotatably connected to two sides of the front end part of the lower body bottom plate 9 of the lower body frame through the steering engine 20, and the wheel base changing function rod 18 is retracted through the steering engine 20; the steering engine 20 is fixedly connected to the lower body bottom plate 9 of the lower body frame through a steering engine support 27, and the steering engine 20 is connected with the control system and is controlled by the control system to operate.
The displacement power device is connected to the bottom surface of the lower body frame, so that the walking assisting robot can move along with the old. The displacement power device comprises a driving wheel 11 and a chassis displacement motor 12; the driving wheel 11 is arranged on the bottom surface of the lower body bottom plate 9 of the lower body frame; the driving wheel 11 is driven by the chassis displacement motor 12 to move, and the chassis displacement motor 12 is fixedly connected to the bottom surface of the lower body bottom plate 9 of the lower body frame through a chassis motor support 10; the chassis displacement motor 12 is connected with the control system, and the operation is controlled by the control system.
The control system realizes the automatic control of the old walking assisting robot. The control system comprises a CPU and a display 1; the display 1, the armrest arm steering motor 7, the first modular worm gear driving joint 23 and the second modular worm gear driving joint 24 of the mechanical armrest arm, the scissor type lifter 17 of the half body lifting device, the steering engine 20 of the axle distance increasing device and the chassis displacement motor 12 of the displacement power device are all connected with the CPU; the display 1 is fixedly connected to the top surface of the upper body top plate 2 of the upper body frame.
The shape changing function of the anthropomorphic walking-assisting robot is realized by the coordinated movement of devices such as an upper body frame, a lower body frame, a seat integrating device, a mechanical arm support, a wheel base increasing device, a body lifting device and a displacement power device in the structure.
The three forms include: (1) initial anthropomorphic form (2) wheelchair form (3) walker form
(1) Initial anthropomorphic shape
As shown in fig. 10, the structure collapses to a shape resembling a human figure that occupies minimal space. The purpose is to accompany the elderly. The first function implementation process is as follows: the robot does not need to adjust the form, only needs to be connected with an external network, and communicates with the old people by using a preset algorithm.
(2) Wheelchair morphology
As shown in fig. 11, the upper and lower bodies are pushed by the self-lifting device to be separated, the wheelbase increasing device is put down to keep the body stable, and the mechanical arm is unfolded to envelop the user to ensure the safety of the user. Aims to become a travel tool for the old when the old is inconvenient to move. The second function is realized by the following steps: firstly, the wheel base increasing device shown in fig. 4 to 6 is opened to increase the stability of the old walking-assisting robot; next, the upper half body is adjusted to a proper position by the half body lifting device shown in fig. 1, and is lifted and fixed by the guide support 8 shown in fig. 9, and the seat shown in fig. 8 and the arm support shown in fig. 7 are opened; and finally, the old sits on the seat, holds up the mechanical arm and controls the robot to move.
(3) Walking aid shape
As shown in fig. 12, the upper and lower bodies are pushed by the body raising device and separated from each other, and the other device positions are the same as the wheelchair. Aims to be used only by assisting when the old needs rehabilitation training. The third function is realized by the following steps: first, the wheel base increasing means shown in fig. 4 to 6 is opened to increase stability; secondly, the half body lifting device adjusts the upper half body to a proper position and uses a guide support column 8 shown in fig. 9 for lifting and fixing, opens a mechanical arm support shown in fig. 7 and retracts the chair shown in fig. 8; and finally, the old people support the mechanical arm to perform rehabilitation training.
Although the preferred embodiments of the present invention have been described above with reference to the accompanying drawings, the present invention is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and those skilled in the art can make many modifications without departing from the spirit and scope of the present invention as defined in the appended claims.
Claims (10)
1. An anthropomorphic walking aid robot, characterized by comprising:
an upper body frame;
the mechanical armrest arms are arranged in two groups, and the two groups of mechanical armrest arms can be rotatably connected to the left side and the right side of the upper half body frame;
a seat integration device connected to a bottom of the upper body frame;
a lower body frame positioned below the upper body frame;
the bottom of the upper body frame is connected with the lower body frame through the half body lifting device, and the upper body frame can lift under the action of the half body lifting device;
the wheelbase increasing device is connected to the bottom of the lower body frame and is used for increasing the stability of the old walking assisting robot;
a displacement power device which is connected to the bottom surface of the lower body frame and realizes the movement of the walking-assisting robot; and the number of the first and second groups,
and the control system is connected with the mechanical arm supporting device, the half body lifting device, the wheel base increasing device and the displacement power device, so that the automatic control of the old-accompanying walking-assisting robot is realized.
2. The anthropomorphic walking aid robot according to claim 1, wherein the upper body frame comprises:
an upper half body top plate (2);
an upper body bottom plate (5); and the number of the first and second groups,
the upper body supporting polish rod (3) is connected with the upper body top plate (2) and the upper body bottom plate (5).
3. The personifying old walking assistant robot as claimed in claim 1, wherein each set of robotic arms comprises two robotic arm units, the two robotic arm units of each set of robotic arms are fixedly connected to a same support rod, the upper and lower ends of the support rod are respectively connected to the upper half body top plate (2) and the upper half body bottom plate (5) of the upper half body frame, and the two support rods are driven to rotate by a handrail arm steering motor (7), so that the robotic arm units can rotate around the axes of the support rods; the armrest arm steering motor (7) is connected with the control system and is controlled by the control system to operate.
4. The anthropomorphic walking aid robot as set forth in claim 3, wherein the mechanical arm unit comprises, connected in sequence:
a mechanical arm starting section (21);
the mechanical arm middle section (22), the mechanical arm starting section (21) and the mechanical arm middle section (22) are connected through a first modularized worm and gear driving joint (23), so that the mechanical arm starting section (21) can rotate relative to the mechanical arm middle section (22); and the number of the first and second groups,
the middle mechanical arm section (22) is connected with the end mechanical arm section (25) through a second modular worm and gear driving joint (24), so that the middle mechanical arm section (22) can rotate relative to the end mechanical arm section (25), and the root of the end mechanical arm section (25) is fixedly connected to the support rod and can rotate along with the support rod under the action of the armrest arm steering motor (7); wherein,
the first modular worm and gear driving joint (23) and the second modular worm and gear driving joint (24) are connected with the control system, and the operation is controlled by the control system.
5. The anthropomorphic walking aid robot as claimed in claim 3, wherein an iron core rubber friction shaft (4) is arranged at the joint of the support rod and the armrest arm steering motor (7), the iron core rubber friction shaft (4) is connected with an output shaft of the armrest arm steering motor (7), the iron core rubber friction shaft (4) is sleeved outside the support rod and is in contact with the outer surface of the support rod, and the support rod is driven to rotate by the iron core rubber friction shaft (4).
6. The anthropomorphic walking aid robot according to claim 1, wherein the seat integrating device comprises:
a seat back plate (16), wherein the seat back plate (16) is fixedly connected with the front side of the upper body bottom plate (5) of the upper body frame; and the number of the first and second groups,
the seat back plate is characterized by comprising a seat base plate (14), wherein the root of the seat base plate (14) is rotatably connected with a seat back plate (16) through a seat rotating shaft (15), and the seat base plate (14) is retracted and extended through the seat rotating shaft (15).
7. The anthropomorphic walking aid robot according to claim 1, wherein the half-body lifting device comprises:
a scissor lift (17), wherein the top of the scissor lift (17) is fixedly connected with the bottom surface of the upper body bottom plate (5) of the upper body frame, and the bottom of the scissor lift (17) is fixedly connected with the bottom surface of the lower body bottom plate (9) of the lower body frame; the scissor type lifter (17) is connected with the control system and is controlled by the control system to operate;
the bottom of the guide strut (8) is fixedly connected to a lower body bottom plate (9) of the lower body frame, the upper part of the guide strut penetrates through an upper body bottom plate (5) of the upper body frame to extend into the upper body frame, and the upper body frame moves along the guide strut (8) under the action of the scissor type lifter (17); and the number of the first and second groups,
a stop device cooperating with the guide strut (8) for limiting the position of the upper body frame, thereby freeing the scissor lift (17) when the upper body frame and the lower body frame do not need to move relative to each other.
8. The anthropomorphic walking aid robot according to claim 1, wherein the wheelbase increasing means comprises:
the wheel base changing function rods (18) are arranged, two wheel base changing function rods (18) are arranged, and the two wheel base changing function rods (18) are respectively arranged on two sides of the lower body frame;
a universal wheel (19), wherein the universal wheel (19) is arranged at the front end part of the wheel base change function rod (18); and the number of the first and second groups,
the wheel base changing function rod (18) is rotatably connected to the two sides of the front end part of the lower body bottom plate (9) of the lower body frame through the steering engine (20), and the wheel base changing function rod (18) is retracted through the steering engine (20); the steering engine (20) is connected with the control system and is controlled by the control system to operate.
9. The anthropomorphic walking aid robot according to claim 1, wherein the displacement power device comprises:
the driving wheel (11), the said driving wheel (11) is set up in the bottom surface of the lower half body bottom plate (9) of the said lower half body frame; and the number of the first and second groups,
the chassis displacement motor (12), the said driving wheel (11) is driven by the displacement motor (12) of said chassis to move, the said chassis displacement motor (12) is fixedly connected to the bottom surface of the lower half body bottom plate (9) of the said lower half body frame through the chassis motor support (10); the chassis displacement motor (12) is connected with the control system and is controlled by the control system to operate.
10. A personified walking aid robot according to claim 1, wherein said control system comprises a CPU and a display (1); the display (1), the armrest arm steering motor (7), the first modularized worm gear driving joint (23) and the second modularized worm gear driving joint (24) of the mechanical armrest arm, the scissor type lifter (17) of the half body lifting device, the steering engine (20) of the axle distance increasing device and the chassis displacement motor (12) of the displacement power device are all connected with the CPU; the display (1) is fixedly connected with the top surface of the upper body top plate (2) of the upper body frame.
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| CN201911107668.5A CN110815242A (en) | 2019-11-13 | 2019-11-13 | Anthropomorphic walking-assisting robot |
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| CN201911107668.5A CN110815242A (en) | 2019-11-13 | 2019-11-13 | Anthropomorphic walking-assisting robot |
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