CN100425410C - Dining assistant robot - Google Patents
Dining assistant robot Download PDFInfo
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- CN100425410C CN100425410C CNB2006100104970A CN200610010497A CN100425410C CN 100425410 C CN100425410 C CN 100425410C CN B2006100104970 A CNB2006100104970 A CN B2006100104970A CN 200610010497 A CN200610010497 A CN 200610010497A CN 100425410 C CN100425410 C CN 100425410C
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- spoon
- mechanic
- dining
- desktop
- fork
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Abstract
The invention discloses a dinner-assisting robot controlled by single-chip for arm disabled person, which comprises the following parts: table rotary mechanism, mechanic hand rotary and elevating and fetching mechanism, wherein the table rotary mechanism can rotate anchored by DC declaration motor, two orthogonal diameters of bar-shaped dining bowl with column face as four inner surfaces are placed symmetrically, the mechanic hand rotary mechanism is connected by DC motor, worm gear worm retarder and tray sequently, the mechanic hand elevation mechanism is anchored by feed screw driving mechanism, which slides in the inner and outer cylinders correspondingly, the mechanic fetching mechanism is assembled in the mechanic hand elevating mechanism, which drags end of inner cylinder by feed lever and nut, two DC servo motors can drive fork or spoon to rotate directly.
Description
Technical field
A kind of dining assistant robot, by Single-chip Controlling, the simulation human body get meal, the action of having meal, reach the purpose that helps hand disability people dining.Belong to the table ware field.
Background technology
It is reported, in state-owned 6,000 ten thousand disabled persons, wherein physical disabilities 8,770,000 people; In addition in recent years, apoplexy, cerebral embolism sequela, spinal cord injury, cerebral paralysis and amyotrophic patient rose year by year, and wherein quite a few people's hand deformity needs diet nursing.
Existing dining assistant robot is the Handy1 that mainly contains Britain of success, " MYSPOON " and the Electric Self-Feeder of U.S. Sammons Preston company production of Japanese SECOM company.
Handy1 is the most successful in the world at present, the wider a kind of dining assistant robot of application.It is selected 5 frees degree for use, has the robotic arm of paw, and arm can be got meal neatly from the dining pallet that has 7 grid.
Since Handy1 also have wash one's face, brush teeth, shave, function such as cosmetic causes it on the high side, the Handy1 price surpasses tens thousand of yuans, " MY SPOON " price exists, more than 750 yuan, ElectricSelf-Feeder is 3,5001-40,000 Hongkong dollar is away from wage-earners.In addition, the mechanical arm of 5 frees degree, structure slightly complicated.
United States Patent (USP) " SELF-FEEDING APPLIANCE " (US 4398857) discloses a kind of meal utensil that independently helps, and the service object is the both arms disabled person.A rotary desktop (turntable) that carries one or more service plates is installed on the one slide-plate (carriage panel).Described slide plate is installed on the information desk (service platform), and can move before and after the table top (service deck) of information desk is gone up.A spoon (spoon) is installed on the described slide plate, and can reach the outside of information desk table top.The position that spoon is overhanging and the height of information desk are adjustable, so that use on wheelchair, bedside or desk.Be placed in after mattress or table go up when this helps the meal utensil, rotatable described rotary desktop makes selected service plate aim at spoon.And tableware tool (scraping utensil) is fixed on the head hoop (headband).So dining can be finished voluntarily by the small size motion on the disabled head, neck and trunk top.Need not the stranger assists or supervises.
Fairly obvious, when the weak point of this utensil was to have meal, the head of the disabled was fettered by head hoop always, and needed the small size motion on head, neck and trunk top to cooperate.
Summary of the invention
Dining assistant robot provided by the invention is theoretical and collaborative robot principle according to Human physiology, by Single-chip Controlling, the simulation human body get meal, the action of having meal, reach the purpose of help hand disability people dining.Its structure comprises desktop rotating mechanism, manipulator rotating mechanism, manipulating hoist structure and mechanic fetching mechanism, and then three cover mechanisms are connected on the column of desktop rotating mechanism successively by contilever platform.
The desktop rotating mechanism comprises base, column, DC speed-reducing, sleeve, rotating shaft, desktop and bar shaped meal bowl.Wherein column lower end and base are connected, and the upper end links to each other with sleeve by flange.DC speed-reducing is installed in column top, is connected and can drives the desktop rotation through be installed in rotating shaft and desktop in the sleeve by bearing.The inner surface of four bar shapeds meal bowl is the face of cylinder, and two side upright (promptly Wan cross section is rectangle) places along two quadrature diameter symmetry of desktop, and the length limit is parallel to diameter, so that use following spoon or fork dining.
The manipulator rotating mechanism is made up of direct current generator, worm type of reduction gearing and pallet, is packed on the contilever platform of column middle and lower part.The output shaft coaxial line of pallet and worm type of reduction gearing is connected.So horizontally rotating of DC speed-reducing can be transformed into the rotation of pallet around vertical axis.
The manipulating hoist structure comprises DC speed-reducing, receiver, outer sleeve, inner sleeve, leading screw, transmission nut.Wherein, receiver by under the end flange with described pallet, go up with the outer sleeve coaxial line and be connected, the be connected inner sleeve of transmission nut of outer sleeve and lower end is slidingly matched, and screws in the leading screw of transmission nut and is packed in the interior DC speed-reducing output shaft fixed connection of receiver.So whole outer sleeve and intraware thereof can rotate around vertical axis in company with pallet, and inner sleeve can slide up and down in outer sleeve by leading screw and transmission nut.
Mechanic fetching mechanism comprises DC servo motor, horizontal arm, concavity head, spoon and fork.The other end that one end has a horizontal arm of concavity head is packed in the top of inner sleeve.Two DC servo motors are installed in the outside of concavity head by end face flange coaxial line ground level, be positioned at concavity head inboard one spoon and one the pommel of fork respectively with the output shaft fixed connection of DC servo motor, can be in level or vertical state alternately.Can all be taken out in order to ensure the food in the bar shaped meal bowl, require the movement locus of spoon point and prong consistent during design and installation, promptly require to overlap with the axis of bowl inner cylinder face getting the axis of putting two DC servo motors in the seats in a restaurant with bar shaped meal bowl inner circular camber line.
During use, before the disabled person had dinner as ordinary person and is sitting in dining table, foot-operated power supply master switch, choosing meal switch, dining switch got final product.When having dinner, press the power supply master switch earlier, each system of robot (being finished by software control) in place is in the preparation state.Press choosing meal switch, desktop rotates counterclockwise; Whenever press once, desktop revolves and turn 90 degrees.When the bar shaped meal bowl that selected food is housed turned to the outer sleeve side of manipulating hoist structure, (click, spoon was the work tableware to click the dining switch; Double-click, fork is the work tableware), the then DC speed-reducing of manipulating hoist structure rotation, make spoon drop to the edge of bar shaped meal bowl from bar shaped meal bowl top (zero initial position), afterwards, the DC servo motor of mechanical picking meal mechanism will drive the spoon rotation, get food in bar shaped meal bowl.When spoon produced bar shaped meal bowl, spoon just in time was in level, loses to prevent food.Afterwards, the DC speed-reducing reverse rotation of manipulating hoist structure drives fetching mechanism and rises.When spoon rose to height near mouth, the DC speed-reducing of manipulating hoist structure was stopped the rotation, the direct current generator work of manipulator rotating mechanism, the food in the spoon delivered to mouth before, the disabled person can have a dinner.Having a dinner finishes, and presses the power supply master switch, closing machine people's power supply.
After selecting for use fork to be dining set (double-clicking the dining switch), can drive dining mechanism by the DC speed-reducing of manipulating hoist structure and directly move down, fork can be pitched food, and all the other processes are identical when being dining set with spoon.
The present invention is used for congenital hand disability and the posteriority hand disability patient's that caused by cerebral embolism sequela, spinal cord injury, cerebral paralysis, muscular atrophy, contingency etc. diet nursing.
Description of drawings
Fig. 1 dining assistant robot structural representation
Fig. 2 dining assistant robot mechanic fetching mechanism schematic diagram (A-A is to analysing and observe)
Schematic diagram was put in people, seat in the plane when Fig. 3 dining assistant robot used
The specific embodiment
Provide preferred implementation of the present invention below, and be illustrated in conjunction with the accompanying drawings.
As shown in Figure 1, dining assistant robot comprises desktop rotating mechanism, manipulator rotating mechanism, manipulating hoist structure and mechanic fetching mechanism.Then three cover mechanisms are connected on the column of desktop rotating mechanism by contilever platform.Wherein, the desktop rotating mechanism comprises base 10, column 11, DC speed-reducing 12, sleeve 13, rotating shaft 14, desktop 15 and bar shaped meal bowl 16.Its central post 11 lower ends and base 10 are connected, and the upper end links to each other with sleeve 13 by flange.DC speed-reducing 12 is installed in column 11 tops, is connected with desktop 15 and can drives desktop 15 and rotate through be installed in rotating shafts 14 in the sleeve 13 by bearing.The inner surface of four bar shaped meal bowls 16 (referring to Fig. 3) is the face of cylinder, two side upright (cross section that is bar shaped meal bowl 16 is rectangle), two quadrature diameter symmetry along desktop 15 are placed, and long limit is parallel to diameter, so that with following spoon 40 or fork 43 dinings.
As shown in Figure 1, the manipulator rotating mechanism is made up of direct current generator 21, worm type of reduction gearing 22 and pallet 23, is packed on the contilever platform 20 of column middle and lower part.Pallet 23 is connected with the output shaft coaxial line of worm type of reduction gearing 22.So horizontally rotating of direct current generator 21 can be transformed into the rotation of pallet 23 around vertical axis.
As shown in Figure 1, the manipulating hoist structure comprises DC speed-reducing 33, receiver 30, outer sleeve 31, inner sleeve 32, leading screw 34, transmission nut 35.Wherein, receiver 30 by under the end flange with pallet 23, go up and outer sleeve 31 coaxial lines are connected, the be connected inner sleeve 32 of transmission nut 35 of outer sleeve 31 and lower end is slidingly matched, and screws in the leading screw 34 and the output shaft fixed connection that is packed in the DC speed-reducing 33 in the receiver 30 of transmission nut 35.So whole outer sleeve 32 and intraware thereof can rotate around vertical axis in company with pallet 23, and inner sleeve 32 can slide up and down in outer sleeve 31 by leading screw 34 and transmission nut 35.
As shown in Figure 1, 2, 3, mechanic fetching mechanism comprises DC servo motor 42, horizontal arm 44, concavity head 41, spoon 40 and fork 43.The other end that one end has a horizontal arm 44 of concavity head 41 is packed in the top of inner sleeve 32.Two DC servo motors 42 are installed in the outside of concavity head 41 by end face flange coaxial line ground level, be positioned at concavity head 41 inboards one spoon 40 and one the pommel of fork 43 respectively with the output shaft fixed connection of two DC servo motors 42, can be in level or vertical state alternately.Can all be taken out in order to ensure the food in the meal bowl, require the movement locus of spoon point and prong consistent during design and installation with bar shaped meal bowl 16 inner circular camber lines, promptly require to overlap getting the axis of putting two DC servo motors 42 in the seats in a restaurant axis, and the width of spoon 40 and fork 43 is slightly less than the insied width of bar shaped meal bowls 16 with the bowl inner cylinder face.
During use, before disabled person 0 had dinner as ordinary person and is sitting in dining table, the position as shown in Figure 3.The foot-operated respectively power supply master switch of the people that has a dinner, choosing meal switch, dining switch can be had meal.Press the power supply master switch earlier, each system of robot (being finished by software control) in place is in readiness for operation.Press choosing meal switch, desktop 15 rotates counterclockwise; Whenever press once, desktop 15 revolves and turn 90 degrees.When the bar shaped meal bowl 16 that selected food is housed forwarded outer sleeve 31 sides that turn to the manipulating hoist structure to, (click, spoon was the work tableware to click the dining switch; Double-click, fork is the work tableware), then DC speed-reducing 33 rotations, spoon 40 just drops to the edge of bar shaped meal bowl 16 from bar shaped meal bowl 16 tops (zero initial position), and DC servo motor 42 will drive spoon 40 rotations afterwards, get food in bar shaped meal bowl 16.Got food when spoon 40, rotated bar shaped meal bowl at 16 o'clock, spoon 40 is level (prevent food from losing) just in time.Afterwards, DC speed-reducing 33 reverse rotations drive fetching mechanism and rise.When spoon 40 rose to height near mouth, DC speed-reducing 33 was stopped the rotation, and direct current generator 21 work, the food in the spoon 40 is transported to mouth before, the disabled person can have a dinner.Having a dinner finishes, and presses the power supply master switch, closing machine people's power supply.
After selecting for use fork 43 for dining set (double-clicking the dining switch), can directly drive dining mechanism by DC speed-reducing 33 and move down, fork 43 can be pitched food, and all the other processes are identical when being the dining tableware with spoon.
The present invention is used for congenital hand disability and the posteriority hand disability patient's that caused by cerebral embolism sequela, spinal cord injury, cerebral paralysis, muscular atrophy, contingency etc. diet nursing.
Claims (2)
1. a dining assistant robot comprises the desktop rotating mechanism; It is characterized in that: this dining assistant robot also comprises the manipulator rotating mechanism, manipulating hoist structure and mechanic fetching mechanism; Wherein, the manipulator rotating mechanism is packed on the contilever platform (20) of column (11) middle and lower part of desktop rotating mechanism, the power shaft of direct current generator (21) and worm type of reduction gearing (22) coaxial line in the horizontal direction is connected, and pallet (23) is connected with output shaft coaxial line on vertical of worm type of reduction gearing (22); The manipulating hoist structure comprises DC speed-reducing (33), receiver (30), outer sleeve (31), inner sleeve (32), leading screw (34), transmission nut (35); Wherein, receiver (30) by under the end flange with pallet (23), go up and outer sleeve (31) coaxial line is connected; The be connected inner sleeve (32) of transmission nut (35) of outer sleeve (31) and lower end is slidingly matched; Screw in the leading screw (34) and the output shaft fixed connection that is packed in the DC speed-reducing (33) in the receiver (30) of transmission nut (35); And inner sleeve (32) can slide up and down in outer sleeve (31) by leading screw (34) and transmission nut (35); Mechanic fetching mechanism comprises DC servo motor (42), horizontal arm (44), concavity head (41), spoon (40) and fork (43); Wherein, the other end that one end has a horizontal arm (44) of concavity head (41) is packed in the top of inner sleeve (32), two DC servo motors (42) are installed in the outside of concavity head (41) by end face flange coaxial line ground level, be positioned at concavity head (41) inboard one spoon (40) and one the pommel of fork (43) respectively with the output shaft fixed connection of two DC servo motors (42), can be in level or vertical state alternately.
2. dining assistant robot as claimed in claim 1, it is characterized in that: the inner surface of four bar shaped meal bowls (16) is the face of cylinder, and the two side is upright, and promptly Wan cross section is rectangle, two quadrature diameter symmetry along desktop (15) are placed, and long limit is parallel to diameter; Put getting the seats in a restaurant, the axis of two DC servo motors (42) overlaps with the axis of bowl inner cylinder face, and the width of spoon (40) and fork (43) is slightly less than the eat insied width of bowl (16) of bar shaped.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006100104970A CN100425410C (en) | 2006-09-06 | 2006-09-06 | Dining assistant robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006100104970A CN100425410C (en) | 2006-09-06 | 2006-09-06 | Dining assistant robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1919544A CN1919544A (en) | 2007-02-28 |
| CN100425410C true CN100425410C (en) | 2008-10-15 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2006100104970A Expired - Fee Related CN100425410C (en) | 2006-09-06 | 2006-09-06 | Dining assistant robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN100425410C (en) |
Families Citing this family (30)
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|---|---|---|---|---|
| CN102266192A (en) * | 2010-06-03 | 2011-12-07 | 董杨 | Machine for assisting person with both disabled upper limbs to have meal |
| CN102462627A (en) * | 2010-11-10 | 2012-05-23 | 沈晨欢 | Water-drinking device for persons with double disabled upper limbs |
| CN102631124A (en) * | 2011-02-11 | 2012-08-15 | 陈志强 | Device for single-hand and double-hand disabled people to dress and undress |
| CN103083191A (en) * | 2011-11-02 | 2013-05-08 | 朱云龙 | Diet device with mechanical arm for helping the disabled |
| CN102445946A (en) * | 2011-12-02 | 2012-05-09 | 天津工业大学 | Service robot for cafeteria |
| CN102699918B (en) * | 2012-06-20 | 2015-02-25 | 昆山市工业技术研究院有限责任公司 | Dining assistant robot control system |
| CN102990669A (en) * | 2012-12-07 | 2013-03-27 | 哈尔滨理工大学 | Meal-assistance robot capable of suppressing tremor of hands and tremor-suppressing control method |
| CN103099513B (en) * | 2013-03-01 | 2014-08-27 | 上海海事大学 | Auxiliary device for self-help diet |
| CN103239017A (en) * | 2013-05-21 | 2013-08-14 | 姬志刚 | Platform for automatic food taking in buffet |
| CN103239105A (en) * | 2013-05-22 | 2013-08-14 | 姬志刚 | Single-rail single-groove platform for automatic food taking machine |
| CN103239018A (en) * | 2013-05-24 | 2013-08-14 | 姬志刚 | Dining table with double slide tracks and double wheel grooves and used for automatic meal taking machinery |
| CN103251216A (en) * | 2013-05-24 | 2013-08-21 | 姬志刚 | Double-track single-groove dining table for automatic food-taking machine |
| CN103239019A (en) * | 2013-05-24 | 2013-08-14 | 姬志刚 | Dining table with multiple tracks and multiple wheel grooves |
| CN103817690A (en) * | 2014-02-21 | 2014-05-28 | 北京蓝巨人智能科技有限公司 | Unidirection lifting type mechanical arm mechanism |
| CN104950732A (en) * | 2015-07-19 | 2015-09-30 | 王路瑶 | Patient dining system with ventilation device |
| CN105559983B (en) * | 2015-12-28 | 2018-05-11 | 深圳市尚荣医用工程有限公司 | A kind of intelligence looks after wheelchair and its control system |
| CN105563498B (en) * | 2016-03-09 | 2017-05-31 | 山东理工大学 | A kind of multi-functional autonomous feeding goes to toilet robot |
| CN105538323B (en) * | 2016-03-09 | 2017-07-18 | 山东理工大学 | A kind of autonomous feeding robot |
| CN105522582A (en) * | 2016-03-09 | 2016-04-27 | 山东理工大学 | Feeding mechanism for automatic feeding robots |
| CN105668171B (en) * | 2016-03-31 | 2018-02-16 | 广东科技学院 | Pass ordering system |
| CN105905371B (en) * | 2016-06-12 | 2018-11-23 | 武汉理工大学 | Plate-like fragile article packing machine |
| CN107087897B (en) * | 2017-04-07 | 2020-11-17 | 上海交通大学 | Self-service feeding dining table for disabled people |
| CN106976094B (en) * | 2017-05-18 | 2019-04-05 | 山东科技大学 | Assist the arm-and-hand system and its working method of upper limb disability people's food and drink |
| CN107445110A (en) * | 2017-07-26 | 2017-12-08 | 昆明理工大学 | A kind of robot lifting mechanism |
| CN107496113A (en) * | 2017-09-15 | 2017-12-22 | 孙永 | A kind of medical diet nursing device |
| CN107928922A (en) * | 2017-12-20 | 2018-04-20 | 佛山市顺德区亿卡尔医疗设备有限公司 | intelligent dining assistor |
| CN108189013B (en) * | 2018-03-30 | 2021-09-24 | 佛山市恒学科技服务有限公司 | Lifting mechanism for robot |
| CN109531590A (en) * | 2018-11-28 | 2019-03-29 | 台州学院 | A kind of dining assistant robot |
| CN112720108A (en) * | 2020-12-29 | 2021-04-30 | 李成福 | Inside supplementary grinding device of T type nodular cast iron pipe fitting |
| CN113146650B (en) * | 2021-03-25 | 2023-03-17 | 哈尔滨工程大学 | Meal-assisting robot based on image processing and meal taking method thereof |
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| US4398857A (en) * | 1981-11-23 | 1983-08-16 | Layman Sr Frank D | Self-feeding appliance |
| US5037261A (en) * | 1989-12-08 | 1991-08-06 | Winsford Products, Inc. | Spoon support mechanism in a self-feeding device for handicapped persons |
| JPH11164857A (en) * | 1997-12-02 | 1999-06-22 | Ryuji Ishikawa | Device for helping person who cannot use either hand to eat/drink by himself/herself |
| US6705815B1 (en) * | 2000-11-02 | 2004-03-16 | Lenjoy Engineering, Inc. | Self-feeder for the handicapped |
| JP2004081567A (en) * | 2002-08-27 | 2004-03-18 | Secom Co Ltd | Meal support device |
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2006
- 2006-09-06 CN CNB2006100104970A patent/CN100425410C/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4398857A (en) * | 1981-11-23 | 1983-08-16 | Layman Sr Frank D | Self-feeding appliance |
| US5037261A (en) * | 1989-12-08 | 1991-08-06 | Winsford Products, Inc. | Spoon support mechanism in a self-feeding device for handicapped persons |
| JPH11164857A (en) * | 1997-12-02 | 1999-06-22 | Ryuji Ishikawa | Device for helping person who cannot use either hand to eat/drink by himself/herself |
| US6705815B1 (en) * | 2000-11-02 | 2004-03-16 | Lenjoy Engineering, Inc. | Self-feeder for the handicapped |
| JP2004081567A (en) * | 2002-08-27 | 2004-03-18 | Secom Co Ltd | Meal support device |
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| Publication number | Publication date |
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| CN1919544A (en) | 2007-02-28 |
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Granted publication date: 20081015 Termination date: 20110906 |