CN101647745A - Walking-aid robot with seat - Google Patents
Walking-aid robot with seat Download PDFInfo
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- CN101647745A CN101647745A CN200910307239A CN200910307239A CN101647745A CN 101647745 A CN101647745 A CN 101647745A CN 200910307239 A CN200910307239 A CN 200910307239A CN 200910307239 A CN200910307239 A CN 200910307239A CN 101647745 A CN101647745 A CN 101647745A
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Abstract
The invention relates to a walking-aid robot with a seat, belonging to the technical field of mechanical engineering. The walking-aid robot with the seat comprises a walking-aid stand, an elevating mechanism, a transmission mechanism and a walking drive mechanism, wherein the elevating mechanism and the transmission mechanism are respectively fixed on the stand; and the walking drive mechanism isfixed at the lower end of the walking-aid stand. The walking drive mechanism comprises back supporting legs, a walking drive motor, a first bevel gear, a second bevel gear, a first synchronous pulley,synchronous belts, a second synchronous pulley, a bearing seat, a gear box, steering wheels and driving wheels. The invention has compact structure, high driving efficiency and convenient use.
Description
Technical field
What the present invention relates to is a kind of device of mechanical engineering technical field, specifically is a kind of assistant robot of the chair of usheing to seat.
Background technology
Assistant robot is primarily aimed in old, and body constitution descends, visual deterioration but also have the old people and the injured just people in rehabilitation course of legs and feet of certain ability to act.This group need is a kind of to have auxiliary sitting, and auxiliary walking is anti-ly fallen down the machine of health monitoring function.
In recent years, a large amount of research has been carried out in the service robot field in countries in the world, and has obtained bigger achievement.And wherein,, also carried out some researchs in the assistant robot field.1999, the individual that U.S. MIT has developed the similar crutch of a kind of profile moved and monitors aid system (PAMM), and it has a CCD photographic head infrared ray sensor, has the function of independent navigation.It also has power control, the function of voice control and health monitoring.2005, the Koreapolytechnic university of Korea S has developed with individual secondary row robot walking WAR, the various functions that not only possessed PAMM, and some improvement aspect frame for movement, have been done, adopted the elevating mechanism of ball screw, make the old people can hold up handrail or lie prone on handrail that the elevating mechanism of robot just can help the old man to stand up, this is very friendly for working an old people who sits inconvenience.2006, the Waseda university of Japan has developed a walking assist machine., and it adopted hydraulic elevating mechanism.Its main feature be can the perception people the left hand and the right hand robot is got people's pressure, and make the adjustment of active balancing.
By the prior art document is retrieved discovery, the patent No. is the assistant robot that 200810150388.8 Chinese patent has been introduced a kind of welfare close friend, it is felt with the sliding of bar two ends, pressure transducer comes dynamically reaching of perception old people whether the wrestling tendency is arranged, handle various information and drive system is sent instruction with dsp controller, drive system changes robot as the executor kinestate carries out close friend to the old people and assists.Its deficiency is: the said system height can not be regulated automatically, does not have the function of power-assisted, does not consider old people's body constitution, and user must expend a large amount of physical abilitys, so be not enough to satisfy the requirement of helping the elderly and helping the disabled.
Summary of the invention
The present invention is directed to the prior art above shortcomings, a kind of assistant robot of the chair of usheing to seat is provided, when user volt was on handrail, described robot can prop up the people, reduced user and played immediately pressure to legs and feet; When the handrail leans back, just in time can become backrest, make the rest that user can be comfortable in tired after the walk.
The present invention is achieved by the following technical solutions, the present invention includes: walk help frame, elevating mechanism, drive mechanism and walking driving mechanism, wherein: elevating mechanism and drive mechanism are separately fixed on the frame, and the walking driving mechanism is fixed on the lower end of walk help frame.
Described elevating mechanism comprises: connecting rod, ball screw and screw mandrel drive motors, wherein: ball screw is fixedly set on the walk help frame, connecting rod and ball screw flexibly connect, and the screw mandrel drive motors is fixedlyed connected with ball screw and driven moving up and down of ball screw.
Described drive mechanism comprises: control handrail, transmission frame, seat and turbine and worm reducing motor, wherein: the transmission frame is fixedly set on the walk help frame, control handrail and transmission frame are hinged, seat and turbine and worm reducing motor are fixedly installed on respectively on the walk help frame, and the turbine and worm reducing motor is connected with the transmission frame.
Described transmission frame is a parallelogram sturcutre.
Described drive mechanism is parallel four limit row mechanisms, keeps the level of panel at any time.When needing conversion, the turbine and worm reducing motor drives the transmission frame and gets final product, and structure is very simple.At former and later two destination locations two mechanical screens are installed, in the mechanical screens limit switch are installed.The effect of machinery screens is a holding capacity, the signal source that limit switch then stops and moving as motor.
Described walking driving mechanism comprises: the back supporting leg, travel driving motor, first bevel gear, second bevel gear, first synchronous pulley, be with synchronously, second synchronous pulley, bearing block, gear-box, deflecting roller and driving wheel, wherein: travel driving motor is fixed on the gear-box and with the back supporting leg fixedlys connected, back supporting leg is fixedly set in the rear end of walk help frame, the output shaft of travel driving motor links to each other with first bevel gear, second bevel gear and first synchronous pulley are coaxial fixing and be meshed with first bevel gear first synchronous pulley is passed in the motion of motor, deflecting roller is movably set in the front end below of walk help frame, driving wheel is connected with second synchronous pulley is coaxial, and first synchronous pulley drives second synchronous pulley and exports the power of travel driving motor to driving wheel through synchronous band.
Described deflecting roller and driving wheel are universal wheel, and the diameter of described driving wheel is than the big 50mm ~ 100mm of diameter of deflecting roller.
The ball-screw active force is more concentrated in the prior art, can not reach vehicle body lifting requirement stably; Gear drive is smaller, excessive to gear pressure, be difficult to support the body weight of user, therefore the present invention has adopted the mode of this screw mandrel and connecting rod associating transmission, the screw mandrel gear ratio is big, and transmission speed is fast, utilizes linkage simultaneously, on average four lower limbs that are assigned to robot of the power that transmission on the screw mandrel is come out, thereby can realize steadily and lifting fast.Seat directly is fixed on the vehicle body of robot, and backrest then has dual-use function.When backrest turns over forward, use as backrest.When backrest turns over backward, the handrail of the control panel during then as walking.
Simultaneously, the mode that the present invention adopts the two-wheel differential to drive aspect drive wheel, adopts bevel gear and belt pulley transmission, and Bevel Gear Transmission can turn over 90 ° with the direction that motor rotates, and helps the installation of motor, can reduce the motor occupation space.Motor is fixed on the gear-box, is fixed on the supporting leg bar of back again, and motor output shaft links to each other with bevel gear by shaft joint, and bevel gear and belt pulley are fixed on the same axis.Two bevel gear engagements are passed to the motion of motor on the belt pulley.And driving wheel and belt pulley be fixed on coaxial on, then the motion of motor can have been passed on the driving wheel with the transmission of opinion synchronously.
Description of drawings
Fig. 1 is a structural representation of the present invention.
Fig. 2 is duty 1 sketch map of the present invention.
Fig. 3 is duty 2 sketch maps of the present invention.
Fig. 4 is local enlarged diagram.
The specific embodiment
Below embodiments of the invention are elaborated, present embodiment is being to implement under the prerequisite with the technical solution of the present invention, provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
As shown in Figure 1, present embodiment comprises: walk help frame 1, elevating mechanism 2, armrest mechanism 3 and walking driving mechanism 4, and wherein: elevating mechanism 2 and armrest mechanism 3 are separately fixed on the frame, and walking driving mechanism 4 is fixed on the lower end of walk help frame 1.
Described elevating mechanism 2 comprises: ball screw 5, connecting rod 6 and screw mandrel drive motors 7, wherein: ball screw 5 is fixedly set on the walk help frame 1, connecting rod 5 flexibly connects with ball screw 6, and screw mandrel drive motors 7 is fixedlyed connected with ball screw 6 and driven the motion of ball screw 6.
Described armrest mechanism 3 comprises: control handrail 8, parallelogram transmission 9, seat 10 and turbine and worm reducing motor 11, wherein: parallelogram transmission 9 is fixedly set on the walk help frame 1, control handrail 8 is hinged with parallelogram transmission 9, seat 10 and turbine and worm reducing motor 11 are fixedly installed on respectively on the walk help frame 1, and turbine and worm reducing motor 11 is connected with parallelogram transmission 9.
Described armrest mechanism 3 is parallel four limit row mechanisms, keeps the level of panel at ordinary times.When needing conversion, turbine and worm reducing motor 11 drives parallelogram transmission 9 and gets final product, and structure is very simple.At former and later two destination locations two mechanical screens are installed, in the mechanical screens limit switch are installed.The effect of machinery screens is a holding capacity, the signal source that limit switch then stops and moving as motor.
Described walking driving mechanism 4 comprises: back supporting leg 12, travel driving motor 13, first bevel gear 14, second bevel gear 15, first synchronous pulley 16, be with 17 synchronously, second synchronous pulley 18, bearing block 19, gear-box 20, deflecting roller 21 and driving wheel 22, wherein: travel driving motor 13 is fixed on the gear-box 20 and with back supporting leg 12 fixedlys connected, back supporting leg 12 is fixedly set in the rear end of walk help frame 1, the output shaft of travel driving motor 13 links to each other with first bevel gear 14, second bevel gear 15 and first synchronous pulley 16 are coaxial fixing and be meshed with first bevel gear 14 first synchronous pulley 16 is passed in the motion of motor, deflecting roller 21 is movably set in the front end below of walk help frame 1, driving wheel 22 and 18 coaxial connections of second synchronous pulley, first synchronous pulley 16 is through driving second synchronous pulleys 18 and export the power of travel driving motor 13 to driving wheel 22 with 17 synchronously.
Described deflecting roller 21 is a universal wheel, and the diameter of described driving wheel 22 is respectively 200mm and 150mm than the big 50mm of diameter of deflecting roller 21.
As shown in Figure 2, present embodiment duty 1 may further comprise the steps: when user is sitting on the sofa, when needs were walked, by the speech control robot, robot recorded people's position by panoramic shooting head 1, then retreats into the user front.Screw mandrel drive motors 7 counter-rotatings then, ball screw 6 descends, and drive link mechanism 5 struts forwards, backwards simultaneously;
As shown in Figure 3, present embodiment duty 2 may further comprise the steps: when user needs that robot is auxiliary to be propped up, press the decline switch on the guidance panel, handrail and control panel 8 also just drop to the position that reaches that the user hands can be comfortable thereupon, when user supports on the handrail 8, open the rising switch, screw mandrel drive motors 7 motor main storys, screw mandrel rises, and handrail 8 rises thereupon, and the people has then stood thereupon.User can be down auxiliary in robot subsequently, the destination of walking.When user need stop rest, the lower limb of robot was fallen once more, turbine and worm reducing motor 11 counter-rotatings of parallelogram transmission 9 simultaneously, and parallelogram transmission 9 is leaned on forward, runs into travel switch, stops, and forms back.The people is sitting on the seat 10 and has a rest.When the people need stand up, the lower limb of robot was propped up once more, and the people has then stood.So, then can realize the switching of the function of walk help and seat.
Claims (5)
1. the assistant robot of the chair of usheing to seat, comprise: walk help frame, elevating mechanism, drive mechanism and walking driving mechanism, wherein: elevating mechanism and drive mechanism are separately fixed on the frame, and the walking driving mechanism is fixed on the lower end of walk help frame, it is characterized in that:
Described walking driving mechanism comprises: the back supporting leg, travel driving motor, first bevel gear, second bevel gear, first synchronous pulley, be with synchronously, second synchronous pulley, bearing block, gear-box, deflecting roller and driving wheel, wherein: travel driving motor is fixed on the gear-box and with the back supporting leg fixedlys connected, back supporting leg is fixedly set in the rear end of walk help frame, the output shaft of travel driving motor links to each other with first bevel gear, second bevel gear and first synchronous pulley are coaxial fixing and be meshed with first bevel gear first synchronous pulley is passed in the motion of motor, deflecting roller is movably set in the front end below of walk help frame, driving wheel is connected with second synchronous pulley is coaxial, and first synchronous pulley drives second synchronous pulley and exports the power of travel driving motor to driving wheel through synchronous band.
2. the assistant robot of the chair of usheing to seat according to claim 1, it is characterized in that, described elevating mechanism comprises: connecting rod, ball screw and screw mandrel drive motors, wherein: ball screw is fixedly set on the walk help frame, connecting rod and ball screw flexibly connect, and the screw mandrel drive motors is fixedlyed connected with ball screw and driven moving up and down of ball screw.
3. the assistant robot of the chair of usheing to seat according to claim 1, it is characterized in that, described drive mechanism comprises: control handrail, transmission frame, seat and turbine and worm reducing motor, wherein: the transmission frame is fixedly set on the walk help frame, control handrail and transmission frame are hinged, seat and turbine and worm reducing motor are fixedly installed on respectively on the walk help frame, and the turbine and worm reducing motor is connected with the transmission frame.
4. the assistant robot of the chair of usheing to seat according to claim 3 is characterized in that, described transmission frame is a parallelogram sturcutre.
5. the assistant robot of the chair of usheing to seat according to claim 1 is characterized in that, described deflecting roller and driving wheel are universal wheel, and the diameter of described driving wheel is than the big 50mm ~ 100mm of diameter of deflecting roller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009103072392A CN101647745B (en) | 2009-09-18 | 2009-09-18 | Walking-aid robot with seat |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009103072392A CN101647745B (en) | 2009-09-18 | 2009-09-18 | Walking-aid robot with seat |
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| CN101647745A true CN101647745A (en) | 2010-02-17 |
| CN101647745B CN101647745B (en) | 2011-01-19 |
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| CN2009103072392A Expired - Fee Related CN101647745B (en) | 2009-09-18 | 2009-09-18 | Walking-aid robot with seat |
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| AUPM988794A0 (en) * | 1994-12-06 | 1995-01-05 | Air Lift Pty. Ltd. | Improved walking frame |
| US20050268397A1 (en) * | 2004-06-03 | 2005-12-08 | Avinoam Nativ | Apparatus for assisting a person to stand and walk |
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| CN102125495A (en) * | 2010-12-21 | 2011-07-20 | 西安交通大学苏州研究院 | Multifunctional robot with slippage sensor for helping aged people to walk |
| CN102551994A (en) * | 2011-12-20 | 2012-07-11 | 华中科技大学 | Recovery walking aiding robot |
| CN103271811A (en) * | 2013-04-30 | 2013-09-04 | 孔庆莹 | Intelligent recovery walking aid |
| CN103231900A (en) * | 2013-05-17 | 2013-08-07 | 济南安信农业科技有限公司 | Track car used for seedling culturing greenhouse |
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| CN103481956A (en) * | 2013-09-29 | 2014-01-01 | 中国地质大学（武汉） | Walking mechanism of sampling robot |
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| CN110339027A (en) * | 2019-08-15 | 2019-10-18 | 重庆工业职业技术学院 | A kind of deformity the elderly's assisted walk device |
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| CN101647745B (en) | 2011-01-19 |
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