CN101647745B - Walking-aid robot with seat - Google Patents

Walking-aid robot with seat Download PDF

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Publication number
CN101647745B
CN101647745B CN 200910307239 CN200910307239A CN101647745B CN 101647745 B CN101647745 B CN 101647745B CN 200910307239 CN200910307239 CN 200910307239 CN 200910307239 A CN200910307239 A CN 200910307239A CN 101647745 B CN101647745 B CN 101647745B
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walker
motor
drive
belt
mechanism
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CN 200910307239
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CN101647745A (en
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冷春涛
曹其新
谭宏冰
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上海交通大学
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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

带座椅的助行机器人 Robot with seating walker

技术领域 FIELD

[0001] 本发明涉及的是一种机械工程技术领域的装置,具体是一种带座椅的助行机器人。 [0001] The present invention relates to the technical field of apparatus mechanical engineering, in particular the walker robot with a seat belt.

背景技术 Background technique

[0002] 助行机器人主要针对于年老,体质下降,视力下降但还有一定行动能力的老年人以及腿脚受伤正在康复过程中的人。 [0002] walker robots aimed to old age, physical deterioration, vision loss but there are certain operational capacity of the elderly and legs are injured people in the process of rehabilitation. 这个群体需求一种具有辅助坐立,辅助行走,防摔倒, 健康监测功能的机器。 This group needs a kind of auxiliary sitting, walking aids, falling prevention, health monitoring machines.

[0003] 近年来,世界各国在服务机器人领域进行了大量的研究,并取得了较大的成绩。 [0003] In recent years, countries in the world in the field of service robots a lot of research, and has made great achievements. 而其中,在助行机器人领域,也已经进行了一些研究。 Which, in the field of robot walker, we have also been a number of studies. 1999年,美国MIT研制了一种外形类似拐杖的个人移动和监测辅助系统(PAMM),它带有一个CCD摄像头红外线传感器, 具有自主导航的功能。 In 1999, MIT developed a profile of personal and mobile monitoring system similar to auxiliary crutches (PAMM), a CCD camera with which the infrared sensor, having an autonomous navigation function. 它还具有力控制,语音控制及健康监测的功能。 It also has power control, voice control and health monitoring functions. 2005年,韩国的Koreapolytechnic university研制了以个辅助行走机器人WAR,不仅具备了PAMM的各种功能,而且在机械结构方面做了一些改进,采用了滚珠丝杆的升降机构,使得老年人可以扶着扶手或趴在扶手上,机器人的升降机构就可以帮助老人站起来,这对于起坐不便的老年人是非常友好的。 In 2005, South Korea's Koreapolytechnic university developed a walking robot with auxiliary WAR, not only with the various functions of the PAMM, but also in terms of the mechanical structure made some improvements, using a ball screw lifting mechanism, so that the elderly can hold the handrails or lying on the armrest, elevating mechanism robots can help the elderly to stand up for this inconvenience ups of older people are very friendly. 2006年,日本的Waseda university研制了一个walking assist machine.它采用了液压的升降机构。 In 2006, Japan's Waseda university developed a walking assist machine. It uses a hydraulic lifting mechanism. 它的主要特点在于能够感知人的左手和右手对机器人得人压力,并做出主动平衡的调整。 Its main feature is the ability to perceive people left and right hands of the robot have to pressure people, and make active balancing adjustments.

[0004] 通过对现有技术文献进行检索发现,专利号为200810150388. 8的中国专利介绍了一种福利友好的助行机器人,它以扶手杆两端的滑觉,压力传感器来感知老年人的动态及是否有摔跤倾向,以DSP控制器来处理各种信息及对驱动系统发出指令,驱动系统作为执行器来改变机器人的运动状态对老年人进行友好辅助。 [0004] By searching the prior art documents found Patent No. 200810150388.8 Chinese patent describes a walker welfare friendly robot, it grab bar ends and slip, a pressure sensor to sense dynamic elderly and whether there is a tendency wrestling, DSP to handle various types of information to the controller and instructs the drive system, the drive system as the actuator to change the motion state of the robot to assist elderly friendly. 其不足在于:上述系统高低不可自动调节,没有助力的功能,没有考虑到老年人的体质,使用者还得耗费大量的体能,所以不足以满足助老助残的要求。 Its shortcomings in that: said system can not automatically adjust the level, no boosting functions, without taking into account the Aged, users have to spend a lot of physical strength, it is insufficient to meet the requirements of the co-old disabled.

发明内容 SUMMARY

[0005] 本发明针对现有技术存在的上述不足,提供一种带座椅的助行机器人,当使用者伏在扶手上时,所述机器人可以将人撑起,减少使用者起立时对腿脚的压力;当扶手往后靠时正好可以成为靠背,使得使用者在走累的时候能舒适的休息。 [0005] The present invention addresses the above shortcomings of the prior art, there is provided a seat belt walker robot volts when the user on the armrest, the robot can be propped up, reducing the user stands up on the legs pressure; lean back when the armrest can be just the backrest, so that the user can comfortably rest when the tired.

[0006] 本发明是通过以下技术方案实现的,本发明包括:助行机架、升降机构、传动机构和行走驱动机构,其中:升降机构和传动机构分别固定在机架上,行走驱动机构固定在助行机架的下端。 [0006] The present invention is achieved by the following technical solution, the present invention includes: the walker frame, lifting mechanism, the transmission mechanism and the travel driving mechanism, wherein: the lifting mechanism and the gear mechanism are respectively fixed to the frame, a drive mechanism secured travel at the lower end of the walker frame.

[0007] 所述的升降机构包括:连杆、滚珠丝杆和丝杆驱动电机,其中:滚珠丝杆固定设置于助行机架上,连杆与滚珠丝杆活动连接,丝杆驱动电机与滚珠丝杆固定连接并带动滚珠丝杆的上下运动。 Said lift mechanism [0007] comprising: a connecting rod, ball screw and screw drive motor, wherein: the ball screw fixed to the walker frame, and the ball screw rod movably connected with the spindle drive motor fixed connection and ball screw driven up and down movement of the ball screw.

[0008] 所述的传动机构包括:控制扶手、传动框、座椅和涡轮蜗杆减速电机,其中:传动框固定设置于助行机架上,控制扶手与传动框铰接,座椅和涡轮蜗杆减速电机分别固定设置在助行机架上,涡轮蜗杆减速电机与传动框连接。 [0008] The transmission mechanism comprises: a control arm, a transmission frame, a seat motor and worm gear, wherein: the gear box fixed to the walker frame, and the transmission control frame hinge armrest, a seat and a worm gear motor are respectively fixedly provided on the walker frame, drive motor and worm gear box is connected.

[0009] 所述的传动框为平行四边形结构。 [0009] The transmission frame is a parallelogram structure.

[0010] 所述的传动机构是一个平行四边行机构,随时保持面板的水平。 Transmission means [0010] according to a parallelogram mechanism, at any time to maintain the level of the panel. 需要变换时,涡轮蜗杆减速电机驱动传动框即可,结构非常简单。 When the need to change, worm gear box to the motor drive transmission, a very simple structure. 在前后两个目的位置安装有两个机械卡位, 机械卡位上安装限位开关。 Mounted in two positions before and after the object has two mechanical detent, mechanically latching limit switches. 机械卡位的作用是承受力,而限位开关则作为电机停止及动作的信号源。 The mechanical detent is subjected to a force, and the limit switch and the operation of the signal source as the motor stops.

[0011] 所述的行走驱动机构包括:后支撑腿、行走驱动电机、第一锥齿轮、第二锥齿轮、第一同步带轮、同步带、第二同步带轮、轴承座、齿轮箱、转向轮和驱动轮,其中:行走驱动电机固定在齿轮箱上并与后支撑腿固定连接,后支撑腿固定设置于助行机架的后端,行走驱动电机的输出轴与第一锥齿轮相连,第二锥齿轮和第一同步带轮同轴固定并与第一锥齿轮相啮合将电机的运动传到第一同步带轮,转向轮活动设置于助行机架的前端下方,驱动轮与第二同步带轮同轴连接,第一同步带轮经同步带带动第二同步带轮并将行走驱动电机的动力输出至驱动轮。 Travel driving mechanism [0011] comprises: a rear support leg, running the driving motor, a first bevel gear, a second bevel gear, a first timing belt pulley, timing belt, a second belt wheel, bearing, gear box, the steering wheel and drive wheel, wherein: the travel drive motor fixed to the gear box and the rear support leg is fixedly connected to the rear end of the supporting legs fixed to the frame of the walker, connected to the output shaft of the driving motor travel and the first bevel gear , and a second bevel gear coaxially fixed to the first belt wheel and meshed with the first bevel gear motor motion transmitted to the first belt wheel, a steering wheel movably disposed below the front end of the walker frame, and a drive wheel a second belt wheel connected coaxially, a first belt wheel via the drive belt and the second belt travel driving wheel output power of the motor to the drive wheels.

[0012] 所述的转向轮和驱动轮均为万向轮,所述的驱动轮的直径比转向轮的直径大50mnTl00mmo [0012] The steering and drive wheels are caster wheels, the diameter of the driving wheel is larger in diameter than the steering wheel 50mnTl00mmo

[0013] 现有技术中滚珠丝杠作用力比较集中,不能达到车身升降平稳的要求;齿轮传动比较小,对齿轮压力过大,难以支撑起使用者的体重,因此本发明采用了这种丝杆与连杆联合传动的方式,丝杆传动比大,传动速度快,同时利用连杆机构,将丝杆上传动出来的力平均的分配到机器人的四条腿上,从而可以实现平稳且快速的升降。 [0013] The prior art concentrated screw force, the lifting body can not be achieved smoothly requirements; small gear, gear pressure, since it is difficult to support the user's weight, thus the present invention employs such a wire combined with the link lever drive mode, the drive screw, speed gear ratio, while using a link mechanism, the drive force will be evenly distributed on the screw out of the four legs of the robot, which can achieve a smooth and fast lift. 座椅直接固定在机器人的车身上,而靠背则有双重功能。 The seat is fixed directly robot vehicle body, while the back has a dual function. 当靠背往前翻时,作为靠背使用。 When the forward turning back, as the backrest. 当靠背往后翻时,则作为行走时的操控面板的扶手。 When the backrest next turn, the handrail is running as a control panel.

[0014] 同时,本发明采用双轮差速驱动的方式,在驱动轮驱动方面,采用锥齿轮和皮带轮传动,锥齿轮传动可以将电机转动的方向转过90°,有助于电机的安装,可以减少电机占用的空间。 [0014] Meanwhile, the present invention employs the differential wheel drive mode, driving the drive wheel, the use of bevel gears and drive pulleys, the bevel gear can be rotated through 90 ° in the direction of rotation of the motor, the motor facilitate installation, It can reduce the space occupied by the motor. 电机固定在齿轮箱上,再固定在后支撑腿杆上,电机输出轴通过连轴器与锥齿轮相连,而锥齿轮和皮带轮固定在同一根轴上。 A motor fixed to the gear box, and then fixed to the rear support leg lever, an output shaft connected to the motor shaft is connected through the bevel gear, the bevel gear and the pulley fixed on the same shaft. 两个锥齿轮啮合,将电机的运动传到皮带轮上。 Two bevel gears, the motion is transmitted on the motor pulley. 而驱动轮和皮带轮固定在同轴上,同步带论的传动则可将电机的运动传到了驱动轮上。 The drive wheel and pulley fixed coaxially on the belt drive motor sport will be spread on the drive wheels.

附图说明 BRIEF DESCRIPTION

[0015] 图1为本发明结构示意图。 [0015] Fig 1 a schematic view of the structure of the present invention.

[0016] 图2为本发明工作状态1示意图。 [0016] FIG 1 is a schematic of the present invention operating state.

[0017] 图3为本发明工作状态2示意图。 [0017] FIG 2 is a schematic of the present invention operating state.

[0018] 图4为局部放大示意图。 [0018] FIG. 4 is a partial enlarged view.

具体实施方式 Detailed ways

[0019] 下面对本发明的实施例作详细说明,本实施例在以本发明技术方案为前提下进行实施,给出了详细的实施方式和具体的操作过程,但本发明的保护范围不限于下述的实施例。 [0019] Hereinafter, embodiments of the present invention will be described in detail, the present embodiments In order aspect of the present invention is a premise is given and the specific operation detailed embodiments, but the scope of the present invention is not limited to the Example embodiments described below.

[0020] 如图1所示,本实施例包括:助行机架1、升降机构2、扶手机构3和行走驱动机构4,其中:升降机构2和扶手机构3分别固定在机架上,行走驱动机构4固定在助行机架1的下端。 [0020] 1, the present embodiment includes: the walker frame 1, the lifting mechanism 2, the handrail drive mechanism travel mechanism 3 and 4, wherein: the lifting mechanism 2 and the armrests are fixed to the mechanism chassis 3, walking the drive mechanism 4 is fixed to the lower end of the walker frame 1.

[0021] 所述的升降机构2包括:滚珠丝杆5、连杆6和丝杆驱动电机7,其中:滚珠丝杆5 固定设置于助行机架1上,连杆5与滚珠丝杆6活动连接,丝杆驱动电机7与滚珠丝杆6固定连接并带动滚珠丝杆6的运动。 Said lift mechanism [0021] 2 comprising: a ball screw 5, the link driving motor 6 and the screw 7, wherein: the ball screw 5 is fixed on the walker frame 1, the ball screw rod 5 and 6 active connections, screw driving motor 76 is fixedly connected to the ball screw and the ball screw 6 is driven motion.

[0022] 所述的扶手机构3包括:控制扶手8、平行四边形传动9、座椅10和涡轮蜗杆减速电机11,其中:平行四边形传动9固定设置于助行机架1上,控制扶手8与平行四边形传动9铰接,座椅10和涡轮蜗杆减速电机11分别固定设置在助行机架1上,涡轮蜗杆减速电机11与平行四边形传动9连接。 [0022] The armrest mechanism 3 comprises: a control handrail 8, 9 parallelogram transmission, the seat 10 and the worm gear motors 11, wherein: the parallelogram gear 9 is fixed on the walker frame 1, and the control handrail 8 9 articulated parallelogram transmission, the seat 10 and the worm gear fixed to the motor 11 are provided on the walker frame 1, the motor 11 and the worm gear 9 is connected to the parallelogram drive.

[0023] 所述的扶手机构3是一个平行四边行机构,平时保持面板的水平。 [0023] The armrest mechanism 3 is a parallelogram mechanism, usually maintain a horizontal panel. 需要变换时,涡轮蜗杆减速电机11驱动平行四边形传动9即可,结构非常简单。 When the need to change, the motor 11 drives the worm gear 9 can drive a parallelogram, a very simple structure. 在前后两个目的位置安装有两个机械卡位,机械卡位上安装限位开关。 Mounted in two positions before and after the object has two mechanical detent, mechanically latching limit switches. 机械卡位的作用是承受力,而限位开关则作为电机停止及动作的信号源。 The mechanical detent is subjected to a force, and the limit switch and the operation of the signal source as the motor stops.

[0024] 所述的行走驱动机构4包括:后支撑腿12、行走驱动电机13、第一锥齿轮14、第二锥齿轮15、第一同步带轮16、同步带17、第二同步带轮18、轴承座19、齿轮箱20、转向轮21 和驱动轮22,其中:行走驱动电机13固定在齿轮箱20上并与后支撑腿12固定连接,后支撑腿12固定设置于助行机架1的后端,行走驱动电机13的输出轴与第一锥齿轮14相连, 第二锥齿轮15和第一同步带轮16同轴固定并与第一锥齿轮14相啮合将电机的运动传到第一同步带轮16,转向轮21活动设置于助行机架1的前端下方,驱动轮22与第二同步带轮18同轴连接,第一同步带轮16经同步带17带动第二同步带轮18并将行走驱动电机13的动力输出至驱动轮22。 [0024] The travel of the drive mechanism 4 comprising: a rear support legs 12, travel drive motor 13, a first bevel gear 14, second bevel gear 15, a first synchronous pulley 16, timing belt 17, second belt round 18, bearing 19, gearbox 20, the drive wheel 22 and the steering wheel 21, wherein: the travel drive motor 13 is fixed to the rear support legs 12 and is fixedly connected to the rear supporting leg 12 fixed to the frame of the walker on the gearbox 20 1 the rear end of the travel drive is connected to the motor output shaft 13 and the first bevel gear 14, second bevel gear 15 and coaxially fixed to the first belt wheel 16 and meshes with the first bevel gear 14 is transmitted to the movement of the motor a first belt wheel 16, the steering wheel 21 movably disposed below the front end of the walker frame 1, the drive wheel 18 coaxially connected to wheel 22 and the second timing belt, a first belt wheel 16 via a timing belt 17 driven by a second synchronized travel drive pulley 18 and the motor 13 power output to the drive wheels 22.

[0025] 所述的转向轮21为万向轮,所述的驱动轮22的直径比转向轮21的直径大50mm, 分别为200mm和150mm。 [0025] The steering wheel caster 21, the diameter of the drive wheel 22 than the steering wheel 21 of a large diameter 50mm, 200mm and 150mm respectively to.

[0026] 如图2所示,本实施例工作状态1包括以下步骤:当使用者坐在沙发上,当需要行走时,通过语音操控机器人,机器人通过全景摄像头1测得人的位置,接着后退到使用者前面。 [0026] 2, comprising the steps of Example 1 of the present embodiment operating state: when the user sits on the couch, when required walking robot by voice control, the robot 1 determined by the head position in the panoramic image pickup person and then retracted to the front of the user. 然后丝杆驱动电机7反转,滚珠丝杆6下降,同时驱动连杆机构5向前后撑开; Spindle drive motor 7 is then reversed, the ball screw 6 is lowered, the link mechanism 5 are driven simultaneously stretched forward and backward;

[0027] 如图3所示,本实施例工作状态2包括以下步骤:当使用者需要机器人辅助撑起时,按动操作面板上的下降开关,扶手及操控面板8也就随之下降到使用者手能舒适的够着的位置,当使用者撑到扶手8上时,打开上升开关,丝杆驱动电机7电机正传,丝杆上升, 随之扶手8上升,人则随之站立了起来。 [0027] 3, comprising the steps of Example 2 of the present embodiment operating state: when a user needs to prop up the auxiliary robot, pressing down switch on the operation panel, armrest and control panel 8 has fallen to use 's hand can comfortably be the position when the user stays on the handrail 8, opening up switch, the motor spindle drive motor 7 Story, screw rises handrail 8 will increase, others will stand up . 随后使用者可以在机器人辅助下,行走到目的地。 The user can then assist in the robot, to travel to the destination. 当使用者需要停下休息时,机器人的腿再次趴下,同时平行四边形传动9的涡轮蜗杆减速电机11反转,平行四边形传动9往前靠,碰到行程开关,停止,形成椅子靠背。 When the user needs to stop and rest, the robot's legs get down again, while the worm gear 9 parallelogram geared motor 11 is reversed by a parallelogram gear 9 forward, hit limit switch, to stop, the chair back is formed. 人坐在座椅10上歇息。 Person sitting on the seat 10 rest. 当人需要起身时,机器人的腿再次撑起,人则站立了起来。 When the need arose, the robot leg propped up again, people are standing up. 如此,则可以实现助行与座椅的功能的切换了。 Thus, the switching function of the walker and the seat can be achieved.

Claims (5)

  1. 一种带座椅的助行机器人,包括:助行机架、升降机构、传动机构和行走驱动机构,其中:升降机构和传动机构分别固定在助行机架上,行走驱动机构固定在助行机架的下端,其特征在于:所述的行走驱动机构包括:后支撑腿、行走驱动电机、第一锥齿轮、第二锥齿轮、第一同步带轮、同步带、第二同步带轮、轴承座、齿轮箱、转向轮和驱动轮,其中:行走驱动电机固定在齿轮箱上并与后支撑腿固定连接,后支撑腿固定设置于助行机架的后端,行走驱动电机的输出轴与第一锥齿轮相连,第二锥齿轮和第一同步带轮同轴固定并与第一锥齿轮相啮合将电机的运动传到第一同步带轮,转向轮活动设置于助行机架的前端下方,驱动轮与第二同步带轮同轴连接,第一同步带轮经同步带带动第二同步带轮并将行走驱动电机的动力输出至驱动轮。 A tape robot walker chair, comprising: a walker frame, lifting mechanism, the transmission mechanism and the travel driving mechanism, wherein: the lifting mechanism and the transmission mechanism are fixed on the walker frame, a drive mechanism secured to travel walker the lower end of the rack, wherein: said travel driving mechanism comprising: a rear support leg, running the driving motor, a first bevel gear, a second bevel gear, a first timing belt pulley, timing belt, a second belt round, bearing, gear box, a steering wheel and a driving wheel, wherein: the travel drive motor fixed to the gear box and the rear support leg is fixedly connected to the rear end of the supporting legs fixed to the frame of the walker, walking drive output shaft of the motor coupled with the first bevel gear, and a second bevel gear coaxially fixed to the first belt wheel and meshed with the first bevel gear motor motion transmitted to the first timing belt pulleys, disposed on the steering wheel of the walker active racks the front end of the lower drive wheel and the second timing pulleys coaxial connector, a first belt wheel via the drive belt and the second belt travel driving wheel output power of the motor to the drive wheels.
  2. 2.根据权利要求1所述的带座椅的助行机器人,其特征是,所述的升降机构包括:连杆、滚珠丝杆和丝杆驱动电机,其中:滚珠丝杆固定设置于助行机架上,连杆与滚珠丝杆活动连接,丝杆驱动电机与滚珠丝杆固定连接并带动滚珠丝杆的上下运动。 The seat belt walker robot according to claim 1, characterized in that said lifting mechanism comprising: a connecting rod, ball screw and screw drive motor, wherein: the ball screw is fixed to the walker on the rack, the connecting rod is movably connected with the ball screw, and a ball screw spindle drive is fixedly connected to the motor and a ball screw driven vertical movement.
  3. 3.根据权利要求1所述的带座椅的助行机器人,其特征是,所述的传动机构包括:控制扶手、传动框、座椅和涡轮蜗杆减速电机,其中:传动框固定设置于助行机架上,控制扶手与传动框铰接,座椅和涡轮蜗杆减速电机分别固定设置在助行机架上,涡轮蜗杆减速电机与传动框连接。 The seat belt walker robot according to claim 1, wherein said transmission mechanism comprises: a control arm, a transmission frame, a seat motor and worm gear, wherein: the transmission frame fixed to the promoter the row of racks, and the transmission control frame hinge armrest, a seat and a worm gear fixed to the motor are provided on the walker frame, drive motor and worm gear box is connected.
  4. 4.根据权利要求3所述的带座椅的助行机器人,其特征是,所述的传动框为平行四边形结构。 The seat belt walker robot according to claim 3, wherein said transmission frame is a parallelogram structure.
  5. 5.根据权利要求1所述的带座椅的助行机器人,其特征是,所述的转向轮为万向轮,所述的驱动轮的直径比转向轮的直径大50mm〜100mm。 The seat belt walker robot according to claim 1, wherein said steering wheel casters and drive wheels of a diameter larger than the diameter of the steering wheel 50mm~100mm.
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