CN101081184A

CN101081184A - Self-help dining machine

Info

Publication number: CN101081184A
Application number: CN 200710018151
Authority: CN
Inventors: 葛文杰; 孙万; 赵加清; 张桥; 应高明; 刘旭海
Original assignee: Northwestern Polytechnical University
Current assignee: Northwestern Polytechnical University
Priority date: 2007-06-29
Filing date: 2007-06-29
Publication date: 2007-12-05
Anticipated expiration: 2027-06-29
Also published as: CN100560041C

Abstract

The present invention discloses one kind of artificial feeding machine, which includes one pedestal, one upright mounted on the pedestal, one upper arm hinged to the upright, one lower arm, one wrist joint for holding tableware, one right foot pedal and one left foot pedal on the pedestal, and one knee controlling mechanism on the upright. By means of the right foot pedal, the left foot pedal and the knee controlling mechanism, the user can regulate the upper arm, the lower arm and the wrist joint to eat properly. The present invention has the upright, rather than the user, to support the weight of the machine, and is one mechanical unit with high reliability, low cost and high flexibility.

Description

Self-help dining machine

Technical field

The present invention relates to a kind of class machinery of helping the disabled.

Background technology

The series products market of helping the disabled both at home and abroad according to investigations, the product at upper extremity prosthesis mainly contains intelligent upper extremity prosthesis and myoelectric limb at present.The intelligence upper extremity prosthesis is held the object contact portion with quilt to load onto sliding feeling sensor on doing evil through another person, export corresponding signal in the time of can between object and hand contact surface, producing relative slip, and accept to send instruction by microcomputer, make the drive motors action of doing evil through another person, have that body is adaptive does evil through another person, at present also in exploration.Myoelectric limb claims myoelectricity to control artificial artificial limb again, the signal of telecommunication that the person's that utilizes the deformed limb stump muscle itself is produced, feeding back to brain and can adjust the action of doing evil through another person again by being contained in the signal of telecommunication that pick off produced on doing evil through another person, is a kind of man-machine system who utilizes BIOLOGICAL CONTROL.The upper extremity prosthesis series products of Chu Xianing can't use for most of people with disability in the market, and selling at exorbitant prices is a main cause.Secondly, also not mature enough technically, particularly homemade prosthetic product, having maximum problem is that construction weight is too big, and it is very heavy that the people with disability wears the back burden, and life-time service can be very painful.

Summary of the invention

In order to overcome prior art price height, deficiency that weight is big, the invention provides a kind of self-help dining machine, adopt pure machinery, both feet control by the upper limb disability person, after the user skilled operation, the dining machine machine can be fused to the part of health, motility is strong.

The technical solution adopted for the present invention to solve the technical problems is: comprise space orientation mechanism and actuator two parts.

Described space orientation mechanism comprises forearm 1, wrist joint 2, big arm 4, knee controlling organization 5, right steps 6, left foot pedal 7, column 8 and chassis 32, and actuator is a tableware 3.Wherein right steps 6 comprises rotation pedal 26 and total pitching pedal 27, and they are positioned at the right side on chassis 32; Left foot pedal 7 comprises pulling pedal 29, wrist pitching pedal 30 and wrist swing pedal 28, and they are positioned at the left side on chassis 32.Knee controlling organization 5 comprises slide rail 23, slide block 22, knee control loop 21, liner ring 19 and column sleeve 18.

The mechanism of the pulling pedal 29 in the described left foot pedal 7, wrist swing pedal 28 is identical, lays respectively at the right side and the left side of wrist pitching pedal 30; Pulling pedal 29, wrist swing pedal 28 parallel placements and pedal end are away from the operator; Pulling pedal 29 and wrist swing pedal 28 are hinged on the chassis 32, and are connected with spring with chassis 32 respectively; Wrist pitching pedal 30 is positioned in the middle of pulling pedal 29 and the wrist swing pedal 28, and pedal end is near the operator, wrist pitching pedal 30 is by thin stainless-steel pipe and chassis 32 sockets and be connected with spring, wrist pitching pedal 30 lower surfaces and a thin stainless steel tube are hinged, and thin stainless steel tube and a dolly 31 are hinged; The lower end of column 8 is inserted and is welded in the spider 24 of right side central on the chassis 32, and can rotate around the axle of spider 24; Rotation pedal 26 is fixed on the band ear muff tube 25, and band ear muff tube 25 is enclosed within the outside of spider 24, can rotate around it, and affixed with column 8; Total pitching pedal 27 is hinged on the column 8 by an axle perpendicular to column 8, and simultaneously total pitching pedal 27 stretches out certain length; Big arm 4 is hinged with column 8 tops, the thin bar of the tail end of

big arm

4 and 1 33 is hinged, the lower end of thin bar 33 is hinged with the extension of total pitching pedal 27, on thin bar 33, the short cover 34 of aluminium alloy is arranged with the holding screw tightening, on short cover 34 and column 8, an aperture is arranged respectively, collude respectively on above-mentioned aperture at the two ends of an extension spring, gravity that can the big arm 4 of balance; The internal sleeve of big arm 4 is connected to a forearm 1 that sectional area is smaller; Wrist joint 2 connects forearm 1 and spoon 3, and wrist joint 2 is connected with the dolly 31 and the wrist swing pedal 28 of wrist pitching pedal 30 lower ends by steel wire rope; Spoon 3 is connected with pulling pedal 29 by steel wire rope; Column sleeve 18 and liner ring 19 are enclosed within on the column 8, liner ring 19 is positioned at the below of column sleeve 18, can be fixed on the column 8 and hold column sleeve 18 by holding screw, be connected with flat tube on the column sleeve 18, the flat tube below is fixed with slide rail 22, and slide block 22 is enclosed within on the slide rail 23, knee control loop 24 is fixed together with slide block 22, slide block 22 connects forearm 1 by steel wire rope, and steel wire rope is pulled when knee control loop 24 fiddles with, and forearm 1 just moves around in big arm 4.

Flat tube below on the described column sleeve 18 is fixed with two steel wire loops, 1 steel wire rope stretches out from steel wire loop, be connected on the slide block, in addition 1 steel wire rope also is connected on the slide block and a fixed pulley walking around the flat tube front end enters another steel wire loop, two steel wire loops pass from column 8 and arrive the below that column 8 tops are connected with arm greatly and be fixed in this, two steel wire ropes all are connected on the forearm 1, two steel wire ropes are pulled when the knee control loop fiddles with, and forearm 1 just moves around in big arm 4.

The universal coupling structures are adopted in wrist joint 2, but have Duoed controlling organization than common universal coupling.Wrist joint 2 is divided into joint leading portion 11, stage casing, joint 13 and joint back segment 17, and joint leading portion 11 is connected with spoon 3, and joint back segment 17 is affixed with forearm 1, and joint leading portion 11 is hinged by sheave and stage casing, joint 13, and hinged axle vertically; Stage casing, joint 13 is by sheave and hinged, the hinged axle horizontal of joint back segment 17.Be connected with steel wire rope 15 on the joint back segment 17, be wrapped on the sheave between stage casing, joint 13 and the joint back segment 17, the other end of steel wire rope connects wrist pitching pedal 30, connecting an extension spring between joint back segment 17 and the stage casing, joint 13, extension spring pulling stage casing, joint 13 rotates 90 degree during original state, when the operator steps on wrist pitching pedal 30, steel wire rope is pulled, at this moment spurring sheave rotates, stage casing, joint 13 is with respect to upwards swing of joint back segment 17, realize the pitching in wrist joint, then head restoring is hanged down with joint back segment 17 in stage casing, joint 13 under the effect of extension spring power when unclamping pedal.Be connected with steel wire rope on the stage casing, joint 13, be wrapped on the sheave between stage casing, joint 13 and the joint leading portion 11, the other end of steel wire rope connects wrist swing pedal 28, connecting an extension spring between joint leading portion 11 and the stage casing, joint 13, extension spring pulling makes stage casing, joint 13 and joint leading portion 11 conllinear during original state, when the operator steps on wrist swing pedal 28, steel wire rope is pulled, at this moment spurring sheave rotates, joint leading portion 11 is swung to operator's direction with respect to stage casing, joint 13, realize the swing in wrist joint, then joint leading portion 11 stretches under the spring force effect with stage casing, joint 13 when unclamping pedal.

Spoon 3 comprises kettleholder, hinge and two spoon lobes.Hinge is hinged to by stablizing the two parts that rotate flexibly each other, kettleholder and joint leading portion 11 are connected, and two spoon lobes are connected at two parts of root and hinge, and a part and the kettleholder of hinge are connected, another part connects extension spring and steel wire rope, and steel wire rope connects pulling pedal 29.When stepping on pulling pedal 29, steel wire rope spurs thin stainless steel, and extension spring simultaneously also is pulled the generation resistance, because thin stainless steel and 1 spoon lobe are connected on the hinge, this spoonful lobe opens, and just can pick up food with chopsticks, and when unclamping pedal, the spoon lobe is closed under the effect of extension spring.

The spoon lobe utilizes line cutting that the spoon body portion of soup ladle is cut in half by common soup ladle, will cut out the tooth of a V-arrangement at the head of spoon 3, and effect is firmly to clamp dish, and the soup ladle requirement is elongated, darker.

Before as long as user was sitting in dining machine when the present invention used, right lower limb knee is enclosed within the knee control loop 21, the right crus of diaphragm tiptoe is placed on total pitching pedal 27, heel is placed on the rotation pedal 26, the heel of left foot is placed on the wrist pitching pedal 30, tiptoe is temporary transient unsettled or put down gently on pulling pedal 29, during dining, at first utilize right crus of diaphragm to locate, step on rotation pedal 26 and total pitching pedal 27, far away as fruit and vegetable, stirring the knee control loop by right lower limb knee stretches out forearm, this is the top that spoon 3 can be moved on to dish, the left foot heel was gently lifted or was depressed this moment, make the wrist joint swing up and down the height of finely tuning spoon 3, when spoon 3 during near dish, step on pulling pedal 29 and open spoon 3, unclamp again, clamp dish by the extension spring pulling of being equipped with on the spoon, the tooth of spoon tip can make dish be difficult for landing, at this moment utilize right crus of diaphragm to step on rotation pedal 26 and total pitching pedal 27 again dish is moved on to the mouth, still far away as fruit and vegetable from mouth, the left foot tiptoe is moved to wrist swing pedal 28 (this delicacies of the season is still clamped), stepping on wrist swing pedal 28 makes the wrist joint to mouth deflection, just the dish in the spoon can be delivered to the mouth fully, with mouth dish be bitten away just and can have dish, eat dish once more and repeat aforesaid operations again and get final product.

The invention has the beneficial effects as follows: the present invention can control five degree of freedom realizing the spherical coordinate robot by the both feet of upper limb disabled person, realize an action of actuator simultaneously, adopt pure machinery, good reliability, price is low, after the user skilled operation, the dining machine machine can be fused to the part of health, motility is strong.The present invention does not need user to bear the weight of apparatus by upright supports.Through model experiment, the present invention can reach default range of movement, and controls self-help dining by both feet.The flexible scope of arm is that 542mm is to 960mm; Total angle of pitch scope is spent to 60 degree for-50; Arm is the anglec of rotation 0 ~ pi/2 more flexibly; Wrist elevation coverage-pi/2 ~ 0; Forearm 1 pendulum angle scope 0 ~ pi/2.

The present invention is further described below in conjunction with drawings and Examples.

Description of drawings

Fig. 1 is a machine scheme of erection of the present invention;

Fig. 2 is the front view of spoon 3;

Fig. 3 is the rearview of spoon 3;

Fig. 4 is that the A of spoon 3 is to cross sectional view;

Fig. 5 is the front view in hand joint 2;

Fig. 6 is the vertical view in hand joint 2;

Fig. 7 is the front view of big arm 4, forearm 1;

Fig. 8 is the left view of big arm 4, forearm 1;

Fig. 9 is the sketch map of knee control device 5;

Figure 10 is the front view of right steps 6;

Figure 11 is the vertical view of right steps 6;

Figure 12 is the front view of left foot pedal 7;

The vertical view of Figure 13 left foot pedal 7;

Figure 14 is the left view of wrist pitching pedal 30;

Figure 15 is the left view of pulling pedal 29;

Among the figure, 1-forearm, 2-wrist joint, 3-spoon, the big arm of 4-, 5-knee control device, 6-right steps, 7-left foot pedal, the 8-column, 9-bearing group, 10-pulley, 11-joint leading portion, the 12-sheave, stage casing, 13-joint, 14-steel wire loop, 15-steel wire rope, the 16-steel wire rope is pullover, 17-joint back segment, 18-column sleeve, 19-liner ring, the 20-holding screw, 21-knee control loop, 22-slide block, the 23-slide rail, 24-spider, 25-band ear muff tube, 26-rotates pedal, the total pitching pedal of 27-, 28-wrist swing pedal, 29-spurs pedal, 30-wrist pitching pedal, 31-dolly, the 32-chassis, the thin bar of 33-, the short cover of 34-.

The specific embodiment

Device embodiment: with reference to Fig. 1, the inventive system comprises space orientation mechanism and actuator two parts forms, adopt four-bar mechanism, double-slider mechanism, leverage etc., adopt the steel wire rope transmission, this machine is realized five degree of freedom of spherical coordinate robot by the control of upper limb disabled person both feet, realizes an action of actuator simultaneously.Wherein space orientation mechanism comprises forearm 1, wrist joint 2, big arm 4, knee controlling organization 5, right steps 6, left foot pedal 7, column 8 and chassis 32, and actuator is a tableware 3.Wherein right steps 6 comprises rotation pedal 26 and total pitching pedal 27, and they are positioned at the right side on chassis; Left foot pedal 7 comprises pulling pedal 29, wrist pitching pedal 30 and wrist swing pedal 28, and they are positioned at the left side on chassis.Be welded with band ear muff tube 25 on the rotation pedal 26, be welded with spider 24 on the chassis 32; Knee controlling organization 5 comprises slide rail 23, slide block 22, knee control loop 21, liner ring 19 and is welded with the column sleeve 18 of flat tube.Lower contact is equipped with at the top of column 8, on the big arm 4 top connection and bearing group 9 is housed.

The mechanism of the pulling pedal 29 in the left foot pedal 7, wrist swing pedal 28 is identical, lays respectively at the right side and the left side of wrist pitching pedal 30; The placement direction of pulling pedal 29, wrist swing pedal 28 is parallel with the width on chassis 32; Pulling pedal 29 and wrist swing pedal 28 are hinged on the chassis 32 by the bearing that is welded on the chassis 32, and are connected with spring respectively and between the chassis 32, and pulling pedal 29 and wrist swing pedal 28 can rotate by the axle in being inserted in bearing respectively; Wrist pitching pedal 30 is positioned in the middle of pulling pedal 29 and the wrist swing pedal 28 and near the operator, the lower surface vertical welding of wrist pitching pedal 30 is connected to 3 stainless pipes, these 3 stainless pipes are isosceles triangle and arrange, vertical welding is connected to 3 thicker stainless pipes on the

chassis

32,3 stainless pipe correspondences on the wrist pitching pedal 30 are inserted on the chassis 32 in 3 the root stainless pipe, wrist pitching pedal 30 can move up and down on the vertical direction on 32 surfaces, chassis like this, wrist pitching pedal 30 lower surfaces and a thin stainless steel tube are hinged, thin stainless steel tube and a simple and easy dolly are hinged, are connected with spring between wrist pitching pedal 30 lower surfaces and the chassis 32; Lower contact is fastened by a bolt and column 8 and is connected together; Big arm 4 is fastened by two bolts and top connection and is connected together; Top connection and lower contact are hinged by axle; The lower end of column 8 is inserted and is welded in the spider 24 of right side central on the chassis 32, and can rotate around the axle of spider 24; Rotation pedal 26 is vertically welded on the band ear muff tube 25, and band ear muff tube 25 is enclosed within the outside of spider 24 and can rotates around it, and band ear muff tube 25 is fixedlyed connected with column 8; Total pitching pedal 27 is hinged on the column 8 by an axle perpendicular to column 8, and simultaneously total pitching pedal 27 stretches out certain length, and the articulated position on column 8 is higher than spider 24 about 3mm places in distance column 8 lower ends.The thin bar of big arm 4 afterbodys and one 33 is hinged, the lower end of thin bar 33 is hinged with the extension of total pitching pedal 27, short cover 34 is slightly less than the aluminum alloy round column casing of thin bar 33 diameters for internal diameter, short cover 34 is fixed on the thin bar 33 by holding screw, on short cover 34 and column 8, an aperture is arranged respectively, collude respectively on above-mentioned aperture at the two ends of an extension spring, gravity that can the big arm 4 of balance; The inside of big arm 4 is placed with the smaller forearm of sectional area 1, and forearm 1 is connected with big arm 4 by bearing group 9, and forearm 1 is at the flexible of realization forearm 1 that can slidably reciprocate in big arm 4 under the traction of steel wire rope; 2 rear portions, wrist joint are inserted forearm 1 and are linked together by a bolt; The front portion in the rear portion of spoon 3 and wrist joint 2 is fixed together; The column sleeve 18 and the liner ring 19 that are welded with flat tube are enclosed within on the column 8, liner ring 19 is positioned at the below of column sleeve 18, liner ring 19 is fixed on the column 8 by holding screw and holds column sleeve 18, flat tube below on the column sleeve 18 is fixed with slide rail and two steel wire loops, slide block set is on slide rail, knee control loop and slide block are fixed together, a finer wire stretches out from steel wire loop, be connected on the slide block, another root rope also is connected on the slide block and a fixed pulley walking around the flat tube front end enters another steel wire loop, two steel wire loops pass from column 8 and arrive the below that column 8 tops are connected with arm greatly and be fixed in this, two steel wire ropes are connected with forearm 1 end, two steel wire ropes are pulled when the knee control loop fiddles with, and forearm just moves around in big arm.

Chassis 32 is formed by covering on the framework of the rustless steel flat tube of a welding by the thin corrosion resistant plate structure of one deck, stainless steel frame is welded by the rustless steel flat tube of 12 certain sizes, framework is rectangular, and 4 right angles place's gluing of chassis 32 following tables has the rubber disk of 4 equal thickness to play a supportive role; Pulling pedal 29 is identical with the mechanism of wrist swing pedal 28, principle is a leverage, with pulling pedal 29 is example, it forms triangular structure by the rustless steel square tube that three root beads are connected together, a drift angle of while orthogonal stainless steel substrates core and triangular structure is hinged, jointed shaft is perpendicular to triangle projective planum, this orthogonal stainless steel substrates is used for placing operator's tiptoe, summit of triangular structure is with to be welded on chassis 32 upper brackets hinged, last place, summit of triangular structure connects the part of the hinge of spoon by seizing wire, seizing wire is pulled when stepping on orthogonal stainless steel substrates, the pulling spoon opens spoon, and the driving principle of wrist swing pedal 28 is identical with pulling pedal 29.Wrist pitching pedal 30, simple and easy dolly and the thin stainless steel tube that links to each other with the two are formed double-slider mechanism, the rear portion of simple and easy dolly connects stage casing, joint 13 by seizing wire, when operator's heel is stepped on wrist pitching pedal 30, seizing wire is pulled and drives the wrist joint and produces pitching, spring when heel lift under the pedal makes the pedal rising reset, and pedal is the corrosion resistant plate of trapezoidal and chamfering.Rotation pedal 26 is the crescent shaped pedal, and the pedal material is the rustless steel square tube, and pedal tread is recessed, is convenient to place operator's heel.Band ear muff tube 25 is fixedly connected on the column 8 by two ears for having the steel pipe of two identical ears, and the operator stirs pedal by heel and makes column 8 rotations, and the below of pedal has two plastic wheels to be used for bearing the weight of operator's foot.Total pitching pedal 27 is 2 parallel isometric rustless steel square tubes, part between 2 pipes is welded with stainless sheet steel, thin sheet surface is a recessed curved surface, be convenient to place operator's right crus of diaphragm point, 2 pipe clamps firmly are with ear muff tube 25, and hinged with it, utilize four-bar mechanism to realize the pitching of big arm 4 and forearm 1, four-bar mechanism is made up of total pitching pedal 27, thin bar 33, column 8, big arm 4 afterbodys four parts.Slide rail 23 is two isometric stainless pipes placed side by side, slide block 22 is a linear bearing, knee control loop 24 is for there to be certain elastic steel disc to be used for clamping the knee of user, and column sleeve 18 is a steel pipe, and liner ring 19 is the steel pipe that a step is arranged and be drilled with screwed hole.Big arm 4 is positioned at the top of column 8 and hinged with column, its structure is the rustless steel square tube of fluting, the inside of arm 4 is with forearm 1 greatly; forearm 1 can be pulled in to slidably reciprocate in the big arm 4 by two seizing wires that pass from big arm below realizes the flexible of forearm 1; forearm 1 is a square tube that the cross section is smaller, and afterbody is equipped with the bearing group of being made up of 4 bearings 9 to be reduced and the friction of arm greatly.Wrist joint 2 comes down to the universal coupling that can control, realize the swing of wrist in level and vertical plane by wrist swing pedal and wrist pitching pedal, on the axle of hinge disk plate with slots is housed, the part in disk plate with slots and joint is affixed, realize relatively rotating of joint by the steel wire rope that pulling is wrapped on the disk, realize resetting of joint by the spring that is positioned at joint one side.The spoon 3 that actuator promptly can be picked up food with chopsticks, soup ladle commonly used is cut into two halves and hinged at the spoon root, wherein the tip of spoon will cut out a little tooth so that clamp dish, this spoon 3 integrates chopsticks and ordinary spoon subfunction, by realizing opening with closed of spoon from the pulling of the steel wire rope that spurs pedal 29 and the recovery of spoon handle place spring, this action is controlled by the pulling pedal on the domain 32 29.

Claims

1, self-help dining machine, comprise space orientation mechanism and actuator, it is characterized in that: described space orientation mechanism comprises forearm (1), wrist joint (2), big arm (4), knee controlling organization (5), right steps (6), left foot pedal (7), column (8) and chassis (32), and actuator is tableware (3); Wherein right steps (6) comprises rotation pedal (26) and total pitching pedal (27), and they are positioned at the right side of chassis (32); Left foot pedal (7) comprises pulling pedal (29), wrist pitching pedal (30) and wrist swing pedal (28), and they are positioned at the left side of chassis (32); Knee controlling organization (5) comprises slide rail (23), slide block (22), knee control loop (21), liner ring (19) and column sleeve (18); The mechanism of the pulling pedal 29 in the described left foot pedal (7), wrist swing pedal (28) is identical, lays respectively at the right side and the left side of wrist pitching pedal (30); Pulling pedal (29), the wrist swing parallel placement of pedal (28) and pedal end are away from the operator; Pulling pedal (29) and wrist swing pedal (28) are hinged on the chassis (32), and are connected with spring with chassis (32) respectively; Wrist pitching pedal (30) is positioned in the middle of pulling pedal (29) and the wrist swing pedal (28), and pedal end is near the operator, wrist pitching pedal (30) is by steel pipe and chassis (32) socket and be connected with spring, wrist pitching pedal (30) lower surface and a thin stainless steel tube are hinged, and a thin stainless steel tube and a dolly (31) are hinged; The lower end insertion of column (8) is welded on chassis (32) and goes up in the spider (24) of right side central, and can rotate around the axle of spider (24); Rotation pedal (26) is fixed on the band ear muff tube (25), and band ear muff tube (25) is enclosed within the outside of spider (24), can rotate around it, and affixed with column (8); Total pitching pedal (27) is hinged on the column (8) by an axle perpendicular to column (8), and simultaneously total pitching pedal (27) stretches out certain length; Big arm (4) is hinged with column (8) top, tail end and 1 thin bar (33) of big arm (4) are hinged, the lower end of thin bar (33) is hinged with the extension of total pitching pedal (27), upward with the holding screw tightening short cover (34) is arranged at thin bar (33), collude respectively on short cover (34) and column (8) at the two ends of an extension spring; The internal sleeve of big arm (4) is connected to a forearm (1) that sectional area is smaller; Wrist joint (2) connects forearm (1) and spoon (3), and wrist joint (2) are connected with the dolly (31) and the wrist swing pedal (28) of wrist pitching pedal (30) lower end by steel wire rope; Spoon (3) is connected with pulling pedal (29) by steel wire rope; Column sleeve (18) and liner ring (19) are enclosed within on the column (8), liner ring (19) is positioned at the below of column sleeve (18), be fixed on column (8) by holding screw and go up and hold column sleeve (18), the column sleeve is connected with flat tube on (18), the flat tube below is fixed with slide rail (22), slide block (22) is enclosed within on the slide rail (23), and knee control loop (24) is fixed together with slide block 22, and slide block (22) connects forearm (1) by steel wire rope.

2, self-help dining machine according to claim 1, it is characterized in that: the flat tube below on the described column sleeve (18) is fixed with two steel wire loops, 1 steel wire rope stretches out from steel wire loop, be connected on the slide block, in addition 1 steel wire rope also is connected on the slide block and a fixed pulley walking around the flat tube front end enters another steel wire loop, two steel wire loops pass from column (8) and arrive the below that column (8) top is connected with arm greatly and be fixed in this, and two steel wire ropes all are connected on the forearm (1).

3, self-help dining machine according to claim 1, it is characterized in that: described wrist joint (2) is divided into joint leading portion (11), stage casing, joint (13) and joint back segment (17), joint leading portion (11) is connected with spoon (3), joint back segment (17) is affixed with forearm (1), joint leading portion (11) is hinged by sheave and stage casing, joint (13), and hinged axle vertically; Stage casing, joint (13) is by sheave and hinged, the hinged axle horizontal of joint back segment (17); Be connected with steel wire rope (15) on the joint back segment (17), be wrapped on the sheave between stage casing, joint (13) and the joint back segment (17), the other end of steel wire rope connects wrist pitching pedal (30), is connecting an extension spring between joint back segment (17) and stage casing, joint (13); The stage casing, joint is connected with steel wire rope on (13), is wrapped on the sheave between stage casing, joint (13) and the joint leading portion (11), and the other end of steel wire rope connects wrist swing pedal (28), is connecting an extension spring between joint leading portion (11) and stage casing, joint (13).

4, self-help dining machine according to claim 1 is characterized in that: described spoon (3) comprises kettleholder, stablizes hinge and two spoon lobes.Stablizing hinge is hinged to by stablizing the two parts that rotate flexibly each other, kettleholder and joint leading portion (11) are connected, two spoon lobes are connected at two parts of root and stable hinge, a part and the kettleholder of stablizing hinge are connected, another part connects extension spring and steel wire rope, and steel wire rope connects pulling pedal (29).

5, self-help dining machine according to claim 1 is characterized in that: described spoon lobe utilizes the line cutting that the spoon body portion of soup ladle is cut in half by common soup ladle, cuts out the tooth of a V-arrangement at the head of spoon (3).