CN105686576A - Meal assistance robot - Google Patents
Meal assistance robot Download PDFInfo
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- CN105686576A CN105686576A CN201410678906.9A CN201410678906A CN105686576A CN 105686576 A CN105686576 A CN 105686576A CN 201410678906 A CN201410678906 A CN 201410678906A CN 105686576 A CN105686576 A CN 105686576A
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- meal
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- spoon
- bowl
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Abstract
A meal assistance robot is controlled by a single-chip microcomputer and used to help a hand-disabled person have a meal. The structure of the robot comprises a table top rotation mechanism, a mechanical-hand rotation mechanism, a mechanical-hand lifting mechanism and a mechanical-hand meal fetching mechanism, wherein the table top rotation mechanism can be rotated under driving of a direct current speed-reduction motor; four bar-shaped meal bowls with cylindrical inner surfaces are placed symmetrically along two orthogonal diameters of a table top; the mechanical-hand rotation mechanism is composed of a direct current motor, a worm and gear reducer and a tray which are connected in succession; under driving of a lead screw transmission mechanism, the mechanical-hand lifting mechanism can be formed by an inner sleeve and an outer sleeve which can carry out relative sliding; and the mechanical-hand meal fetching mechanism is installed in the mechanical-hand lifting mechanism and at the tail end of the inner sleeve which is dragged by a lead screw and a nut, and rotation of a fork or a spoon can be directly driven by two direct current servo motors. During use, the disabled person sits at a dining table like a normal person and can have the meal according to preset programs by treading a power supply switch, a meal selection switch and a meal eating switch respectively.
Description
Technical field
A kind of dining assistant robot, by Single-chip Controlling, simulates the pick-up of human body, dining action, reaches the purpose helping hand deformed man to have meal。Belong to table ware field。
Background technology
It is reported, in state-owned 60,000,000 people with disabilitys, wherein physical disabilities 8,770,000 people；Additionally in recent years, apoplexy, cerebral infarction sequela, spinal cord injury, cerebral palsy and amyotrophic patient rise year by year, and wherein quite a few human hand is disabled, it is necessary to diet nursing。
Existing dining assistant robot relatively successfully mainly has the ElectricSelf-Feeder that the Handy1 of Britain, " MYSPOON " of SECOM company of Japan and SammonsPreston company of the U.S. produce。
Handy1 is current the most successful, a kind of dining assistant robot that application is wider in the world。It selects 5 degree of freedom, robotic arm with paw, and arm can pick-up from the dining pallet with 7 grid neatly。
Also have due to Handy1 wash one's face, brush teeth, shave, the function such as cosmetic causes it on the high side, Handy1 price exceedes tens thousand of yuans, and " MYSPOON " price exists, more than 750 yuan, ElectricSelf-Feeder is 3,5001-40,000 Hongkong dollar, away from wage-earners。Additionally, the mechanical arm of 5 degree of freedom, structure slightly complicated。
United States Patent (USP) " SELF-FEEDINGAPPLIANCE " (US4398857) discloses one and independently helps meal utensil, and service object is person with double disabled arms。One rotary desktop (turntable) carrying one or more service plate is arranged on one slide-plate (carriagepanel)。Described slide plate is arranged on one-server (serviceplatform), and can be upper movable at the table top (servicedeck) of information desk。One spoon (spoon) is arranged on described slide plate, and can reach the outside of information desk table top。Position and the height of information desk that spoon is overhanging are adjustable, in order to use on wheelchair, bedside or desk。After this helps meal utensil to be placed on mattress or table, rotatable described rotary desktop, make selected service plate alignment spoon。And pick-up utensil (scrapingutensil) is fixed on head hoop (headband)。Then, have meal and can complete voluntarily by the small movements on the disabled head, cervical region and trunk top。Assist without stranger or supervision。
Fairly obvious, when this utensil is disadvantageous in that dining, the head of the disabled is fettered by head hoop always, and needs the small movements on head, neck and trunk top to coordinate。
Summary of the invention
Dining assistant robot provided by the invention is according to Human Physiology theory and collaborative robot principle, by Single-chip Controlling, simulates the pick-up of human body, dining action, reaches the purpose helping hand deformed man to have meal。Its structure includes desktop rotating mechanism, mechanical hand rotating mechanism, manipulating hoist structure and mechanic fetching mechanism, and then three set mechanisms are sequentially connected on the column of desktop rotating mechanism by contilever platform。
Desktop rotating mechanism includes base, column, DC speed-reducing, sleeve, rotating shaft, desktop and bar shaped meal bowl。Wherein column lower end is connected with base, and upper end is connected with sleeve by flange。DC speed-reducing is arranged on column top, is connected with desktop through being arranged on the rotating shaft in sleeve by bearing and desktop can be driven to rotate。The inner surface of four bar shaped meal bowls is the face of cylinder, two side upright (namely the cross section of bowl is rectangle), symmetrically placed along two orthogonal diameters in desktop ground, and long limit is parallel to diameter, in order to use following spoon or fork to have meal。
Mechanical hand 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。Pallet is connected with the output shaft coaxial line of worm type of reduction gearing。Then, DC speed-reducing horizontally rotate the rotation that can be transformed into pallet around vertical axis。
Manipulating hoist structure includes DC speed-reducing, receiver, outer sleeve, inner sleeve, leading screw, transmission nut。Wherein, receiver by under end flange with described pallet, upper be connected with outer sleeve coaxial line, the be connected inner sleeve of transmission nut of outer sleeve and lower end is slidably matched, the leading screw of screw-in transmission nut and the DC speed-reducing output shaft fixed connection being packed in receiver。Then, 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 includes DC servo motor, horizontal arm, concavity head, spoon and fork。One end is packed in the top of inner sleeve with the other end of the horizontal arm of concavity head。Two DC servo motors are coaxially horizontally arranged at the outside of concavity head by end flanges, be positioned at the pommel of a spoon inside concavity head and a fork respectively with the output shaft fixed connection of DC servo motor, level or vertical state can be in alternately。The food eaten in bowl in order to ensure bar shaped can all be taken out, require during design and installation that spoon point is consistent with bar shaped meal bowl inner circular camber line with the movement locus of prong, namely require to overlap with the axis of bowl inner cylinder face at the axis of two DC servo motors in pick-up position。
During use, people with disability has dinner as ordinary person before being equally sitting in dining table, and foot-operated power supply main switch, choosing meal switch, having meal switchs。When having dinner, first press power supply main switch, each system in place of robot (having been controlled by software), it is in preparation state。Pressing choosing meal switch, desktop rotates counterclockwise；Often press once, desktop 90-degree rotation。When the outer sleeve that the bar shaped meal bowl equipped with selected food turns to manipulating hoist structure is other, (clicking, spoon is work tableware to click dining switch；Double-click, fork is work tableware), then the DC speed-reducing of manipulating hoist structure rotates, make spoon from bar shaped eat (zero initial position) above bowl drop to the edge of bar shaped meal bowl, afterwards, the DC servo motor of machinery picking meal mechanism will drive spoon to rotate, and eating in bowl to bar shaped takes food。When spoon produces bar shaped meal bowl, spoon is exactly in level, to prevent food from losing。Afterwards, the DC speed-reducing of manipulating hoist structure reversely rotates, and drives fetching mechanism to rise。When spoon rises towards the height of mouth, the DC speed-reducing of manipulating hoist structure is stopped the rotation, and the direct current generator work of mechanical hand rotating mechanism, before the food in spoon is delivered to mouth, people with disability can have dinner。Have dinner complete, press power supply main switch, the power supply of closing machine people。
After selecting fork to be dining set (double-clicking switch of having meal), dining mechanism can being driven directly to move down by the DC speed-reducing of manipulating hoist structure, fork can pitch food, and all the other processes are identical when being dining set with spoon。
The present invention is for congenital hand disability and the diet nursing of posteriority hand disability patient that caused by cerebral infarction sequela, spinal cord injury, cerebral palsy, amyotrophy, contingency etc.。
Accompanying drawing explanation
Fig. 1 dining assistant robot structural representation
Fig. 2 dining assistant robot mechanic fetching mechanism schematic diagram (A-A to section view)
People, machine position view when Fig. 3 dining assistant robot uses。
Detailed description of the invention
The preferred embodiment of the present invention is given below, and is illustrated in conjunction with accompanying drawing。
As it is shown in figure 1, dining assistant robot includes desktop rotating mechanism, mechanical hand rotating mechanism, manipulating hoist structure and mechanic fetching mechanism。Then three set mechanisms are connected on the column of desktop rotating mechanism by contilever platform。Wherein, desktop rotating mechanism includes 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 end is connected with base 10, and upper end is connected with sleeve 13 by flange。DC speed-reducing 12 is arranged on column 11 top, is connected through being arranged on the rotating shaft 14 in sleeve 13 by bearing with desktop 15 and desktop 15 can be driven to rotate。The inner surface of four bar shapeds meal bowl 16 (referring to Fig. 3) is the face of cylinder, two side upright (namely the cross section of bar shaped meal bowl 16 is rectangle), symmetrically placed along two orthogonal diameters of desktop 15, and long limit is parallel to diameter, in order to have meal with following spoon 40 or fork 43。
As it is shown in figure 1, mechanical hand rotating mechanism is made up of direct current generator 21, worm type of reduction gearing 22 and pallet 23, it 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。Then, direct current generator 21 horizontally rotate the rotation that can be transformed into pallet 23 around vertical axis。
As it is shown in figure 1, manipulating hoist structure includes DC speed-reducing 33, receiver 30, outer sleeve 31, inner sleeve 32, leading screw 34, transmission nut 35。Wherein, receiver 30 by under end flange with pallet 23, upper connected with outer sleeve 31 coaxial line, the inner sleeve 32 of the connected transmission nut 35 of outer sleeve 31 and lower end is slidably matched, and screws in the leading screw 34 of transmission nut 35 and the output shaft fixed connection of the DC speed-reducing 33 being packed in receiver 30。Then, 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 includes DC servo motor 42, horizontal arm 44, concavity head 41, spoon 40 and fork 43。One end is packed in the top of inner sleeve 32 with the other end of the horizontal arm 44 of concavity head 41。Two DC servo motors 42 are coaxially horizontally arranged at the outside of concavity head 41 by end flanges, be positioned at the pommel of the spoon 40 inside concavity head 41 and a fork 43 respectively with the output shaft fixed connection of two DC servo motors 42, level or vertical state can be in alternately。Can all be taken out in order to ensure the food in meal bowl, require during design and installation that spoon point is consistent with bar shaped meal bowl 16 inner circular camber line with the movement locus of prong, namely require to overlap with the axis of bowl inner cylinder face at the axis of two DC servo motors 42 in pick-up position, and the width of spoon 40 and fork 43 is slightly less than the insied width of bar shaped meal bowl 16。
During use, people with disability 0 has dinner as ordinary person before being equally sitting in dining table, and position is as shown in Figure 3。Dining people foot-operated power supply main switch respectively, choosing meal switch, dining switch can be had meal。First press power supply main switch, each system in place of robot (having been controlled by software), it is in readiness for operation。Pressing choosing meal switch, desktop 15 rotates counterclockwise；Often press once, desktop 15 90-degree rotation。When the bar shaped meal bowl 16 equipped with selected food forwards outer sleeve 31 side turning to manipulating hoist structure to, (clicking, spoon is work tableware to click dining switch；Double-click, fork is work tableware), then DC speed-reducing 33 rotates, spoon 40 just from bar shaped eat (zero initial position) above bowl 16 drop to the edge of bar shaped meal bowl 16, drive spoon 40 is rotated by DC servo motor 42 afterwards, takes food in eating bowl 16 to bar shaped。When spoon 40 takes food, when rotating bar shaped meal bowl 16, spoon 40 just level (prevents food from losing)。Afterwards, DC speed-reducing 33 reversely rotates, and drives fetching mechanism to rise。When spoon 40 rises towards the height of mouth, DC speed-reducing 33 is stopped the rotation, and direct current generator 21 works, and before the food in spoon 40 is transported to mouth, people with disability can have dinner。Have dinner complete, press power supply main switch, the power supply of closing machine people。
After selecting fork 43 to be dining set (double-clicking switch of having meal), can directly being driven dining mechanism to move down by DC speed-reducing 33, fork 43 can pitch food, and all the other processes are identical when being dining tableware with spoon。
The present invention is for congenital hand disability and the diet nursing of posteriority hand disability patient that caused by cerebral infarction sequela, spinal cord injury, cerebral palsy, amyotrophy, contingency etc.。
Claims (2)
1. a dining assistant robot, including desktop rotating mechanism；It is characterized in that: this dining assistant robot also includes mechanical hand rotating mechanism, manipulating hoist structure and mechanic fetching mechanism；Wherein, mechanical hand rotating mechanism is packed on the contilever platform (20) of column (11) middle and lower part of desktop rotating mechanism, direct current generator (21) is connected with the power shaft coaxial line in the horizontal direction of worm type of reduction gearing (22), and pallet (23) is connected with the output shaft of worm type of reduction gearing (22) coaxial line in vertical；Manipulating hoist structure includes DC speed-reducing (33), receiver (30), outer sleeve (31), inner sleeve (32), leading screw (34), transmission nut (35)；Wherein, receiver (30) by under end flange with pallet (23), upper connected with outer sleeve (31) coaxial line；The inner sleeve (32) of the connected transmission nut (35) of outer sleeve (31) and lower end is slidably matched；Screw in the leading screw (34) of transmission nut (35) and the output shaft fixed connection of the DC speed-reducing (33) being packed in receiver (30)；And inner sleeve (32) can slide up and down in outer sleeve (31) by leading screw (34) and transmission nut (35)；Mechanic fetching mechanism includes DC servo motor (42), horizontal arm (44), concavity head (41), spoon (40) and fork (43)；Wherein, one end is packed in the top of inner sleeve (32) with the other end of the horizontal arm (44) of concavity head (41), two DC servo motors (42) are coaxially horizontally arranged at the outside of concavity head (41) by end flanges, be positioned at concavity head (41) inner side a spoon (40) and a fork (43) pommel respectively with the output shaft fixed connection of two DC servo motors (42), level or vertical state can be in alternately。
2. dining assistant robot as claimed in claim 1, it is characterized in that: the inner surface of four bar shapeds meal bowl (16) is the face of cylinder, two side is upright, and namely the cross section of bowl is rectangle, symmetrically placed along two orthogonal diameters of desktop (15), and long limit is parallel to diameter；In pick-up position, 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 insied width of bar shaped meal bowl (16)。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410678906.9A CN105686576A (en) | 2014-11-24 | 2014-11-24 | Meal assistance robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410678906.9A CN105686576A (en) | 2014-11-24 | 2014-11-24 | Meal assistance robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105686576A true CN105686576A (en) | 2016-06-22 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410678906.9A Pending CN105686576A (en) | 2014-11-24 | 2014-11-24 | Meal assistance robot |
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| CN (1) | CN105686576A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107087897A (en) * | 2017-04-07 | 2017-08-25 | 上海交通大学 | The self-service feeding dining table of disabled person |
| CN107212711A (en) * | 2017-07-17 | 2017-09-29 | 宁波职业技术学院 | One kind helps meal instrument |
| 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 |
| CN108669977A (en) * | 2018-05-22 | 2018-10-19 | 钟培淋 | A kind of sick and wounded people's feeding equipment of medical operating |
| CN108705541A (en) * | 2018-05-04 | 2018-10-26 | 迈博知识产权代理秦皇岛有限公司 | A kind of automatic rice feeder device people |
| CN109198964A (en) * | 2018-07-19 | 2019-01-15 | 浙江机电职业技术学院 | The automatic food delivery method of strong persistence |
| CN113146650A (en) * | 2021-03-25 | 2021-07-23 | 哈尔滨工程大学 | Meal-assisting robot based on image processing and meal taking method thereof |
-
2014
- 2014-11-24 CN CN201410678906.9A patent/CN105686576A/en active Pending
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107087897A (en) * | 2017-04-07 | 2017-08-25 | 上海交通大学 | The self-service feeding dining table of disabled person |
| CN107212711A (en) * | 2017-07-17 | 2017-09-29 | 宁波职业技术学院 | One kind helps meal instrument |
| CN107212711B (en) * | 2017-07-17 | 2019-12-13 | 宁波职业技术学院 | Meal assisting instrument |
| 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 |
| CN108705541A (en) * | 2018-05-04 | 2018-10-26 | 迈博知识产权代理秦皇岛有限公司 | A kind of automatic rice feeder device people |
| CN108669977A (en) * | 2018-05-22 | 2018-10-19 | 钟培淋 | A kind of sick and wounded people's feeding equipment of medical operating |
| CN108669977B (en) * | 2018-05-22 | 2020-03-17 | 吉林大学 | Medical hand injury patient rice feeding equipment |
| CN109198964A (en) * | 2018-07-19 | 2019-01-15 | 浙江机电职业技术学院 | The automatic food delivery method of strong persistence |
| CN113146650A (en) * | 2021-03-25 | 2021-07-23 | 哈尔滨工程大学 | Meal-assisting robot based on image processing and meal taking method thereof |
| 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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Legal Events
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| C06 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20160622 |
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| WD01 | Invention patent application deemed withdrawn after publication |