CN106726199A - One kind is helped the elderly disabled aiding robot - Google Patents
One kind is helped the elderly disabled aiding robot Download PDFInfo
- Publication number
- CN106726199A CN106726199A CN201611190558.6A CN201611190558A CN106726199A CN 106726199 A CN106726199 A CN 106726199A CN 201611190558 A CN201611190558 A CN 201611190558A CN 106726199 A CN106726199 A CN 106726199A
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- thumb
- motor
- forefinger
- joint
- middle finger
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
- A61G5/1005—Wheelchairs having brakes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
- A61G5/1005—Wheelchairs having brakes
- A61G5/1035—Wheelchairs having brakes manipulated by wheelchair user
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
Landscapes
- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
- Manipulator (AREA)
Abstract
Helped the elderly disabled aiding robot, including car body, the drive device installed in lower car body, mobile device the present invention relates to one kind, drive device orders about mobile device operating.Auxiliary arm, solar panel charging device, manipulation device are also equipped with car body, manipulation device control auxiliary arm motion, paw is installed, solar panel charging device is connected with drive device, mobile device, auxiliary arm, manipulation device, paw by electric wire on auxiliary arm.Low manufacture cost of the present invention, simple structure, operation difficulty is low, easy to maintenance, and reliable working performance, automaticity is higher, is easy to help old man and disabled person to improve self care ability.
Description
Technical field
The present invention relates to service robot technical field, specifically one kind is helped the elderly disabled aiding robot.
Background technology
Related data statistics display, the whole world elderly population of more than 60 years old have reached 600,000,000 or so, aging population into
It is worldwide Social Events.China 60 years old and its above elderly population account for country's total population up to 1.32 hundred million
10%, and with average annual 3.32% speed sustainable growth.Expect 2015, the population of more than 60 years old will account for total people more than 200,000,000
The 14% of mouth, wherein old patient there are about 50% and need care.Additionally, there be all kinds of disabled persons about 6,000 ten thousand in China, about
Account for the 5% of China's total population.Therefore, China adds up to the population that needs are nursed to be about 100,000,000 people.The acceleration aging of population
Medical treatment and Social Insurance System is set to face unprecedented pressure, self treatment ability of aged, mainly by family
Nursing, nurses costly, and labour intensity is big, and nursing condition is badly in need of improving.In 1,300,000,000 populations of China, family's number 3~400,000,000,
Functional obstacle person needs the family of caregiver, accounts for the 1/10 of the total amount of national family, i.e., 35,770,000 or so.Asked in face of these
Topic, various helping the elderly helps the disabled facility also in the middle of research and development and practical application.
Nowadays the most of all selection wheelchairs of the handicapped elderly and the disabled as their walking-replacing tool, with
The progress of society and various the perfect of facility of helping the disabled of helping the elderly, wheelchair are also gradually changed from initial ordinary construction to intellectuality, so
And the equipment such as existing wheelchair can't realize that auxiliary old man and disabled person realize taking care of oneself, automaticity is also relatively
It is low.
The content of the invention
For the defect of above-mentioned technology, the present invention proposes that one kind is helped the elderly disabled aiding robot.
One kind is helped the elderly disabled aiding robot, including car body, the drive device installed in lower car body, mobile device, the drive
Dynamic device orders about mobile device operating.Auxiliary arm, solar panel charging device, manipulation device are also equipped with the car body,
The manipulation device control auxiliary arm motion, is provided with paw, solar panel charging device and driving on the auxiliary arm
Device, mobile device, auxiliary arm, manipulation device, paw are connected by electric wire.
The drive device includes that the first motor being connected by electric wire with solar panel charging device and first is driven
The connected decelerator of dynamic motor, the output shaft of the decelerator is connected with mobile device；
The mobile device include installed in vehicle bottom driving wheel, preceding auxiliary wheel, rear auxiliary wheel, the driving wheel with
The output shaft of decelerator is connected；
The auxiliary arm include waist, the large arm on waist, the forearm in large arm, installed in forearm
On wrist and the paw in wrist.
The waist includes the first electric machine support on car body, the second driving electricity on electric machine support
Machine.
The large arm is including the second electric machine support on the output shaft of the second motor, installed in the second motor
The 3rd motor on support, the first drive bevel gear on the output shaft of the 3rd motor and first are actively
First driven wheel of differential of bevel gear engagement.
The forearm include be connected with the first driven wheel of differential the 3rd electric machine support, on the 3rd electric machine support
4th motor, the second drive bevel gear on the 4th motor engaged with the second drive bevel gear second
Driven wheel of differential.
The wrist include be connected with the second driven wheel of differential the 4th electric machine support, on the 4th electric machine support
5th motor, the wrist adpting flange on the output shaft of the 5th motor.
The paw includes the palm, the thumb on palm, forefinger, the middle finger that are connected with wrist adpting flange.
The thumb includes thumb mounting bracket, double finger motor mounting brackets, thumb motor, big thumb
Refer to that finger tip, thumb refer to that middle joint, thumb refer to that root joint, thumb drive rope, the thumb mounting bracket, double fingers to drive
Motor mounting rack is fixed on palm, and the thumb motor is arranged in double finger motor mounting brackets, described
Thumb refers to that the one end in root joint is arranged in thumb mounting bracket, and the thumb refers to the other end and thumb in root joint
Joint is connected in finger, and thumb refers to that middle joint refers to that the one end in root joint is connected with thumb finger tip away from thumb, and thumb drives
On the output shaft of thumb motor, the other end of thumb driving rope sequentially passes through thumb and refers to for one end of running rope
Root joint, thumb are fixed on thumb finger tip after referring to middle joint.
The forefinger includes that forefinger mounting bracket, forefinger motor, index finger tip, forefinger refer to that middle joint, forefinger refer to root
Joint, forefinger drive rope, and the forefinger mounting bracket is fixed on palm, and the forefinger motor is arranged on double finger and drives electricity
In machine mounting bracket, the forefinger refers to that the one end in root joint is arranged in forefinger mounting bracket, and the forefinger refers to the another of root joint
One end refers to that middle joint is connected with forefinger, and the forefinger refers to one end and the index finger tip phase for referring to root joint on middle joint away from forefinger
Even, the forefinger drives one end of rope on the output shaft of forefinger motor, and the forefinger drives the other end one of rope
It is secondary to refer to that root joint, forefinger are fixed on index finger tip after referring to middle joint through forefinger.
The middle finger include middle finger mounting bracket, middle finger motor mounting bracket, middle finger motor, middle fingertip,
Middle finger refers to that middle joint, middle finger refer to that root joint, middle finger drive rope, and the middle finger mounting bracket, middle finger motor mounting bracket are consolidated
It is scheduled on palm, the middle finger motor is fixed in middle finger motor mounting bracket, and the middle finger refers to the one of root joint
End is connected with middle finger mounting bracket, and the middle finger refers to that the other end in root joint and middle finger refer to that middle joint is connected, during the middle finger refers to
The one end for referring to root joint away from middle finger on joint is connected with middle fingertip, and the middle finger drives one end of rope to be driven wound on middle finger
On the output shaft of motor, the other end of the middle finger driving rope sequentially passes through middle finger and refers to that root joint, middle finger are fixed after referring to middle joint
On middle fingertip.
The solar panel charging device includes being fixed on the solar panels on car body, the battery installed in lower car body,
The battery is connected with drive device, mobile device, auxiliary arm, manipulation device, paw by electric wire.
The manipulation device includes button, the control crank on car body, the button, control crank control auxiliary
Arm performs corresponding actions.
Brake is also equipped with the car body, the brake includes brake lever and brake lever on car body
The connecting rod being hinged, the brake article on connecting rod.
The rear auxiliary wheel includes wheel support, the auxiliary wheel on wheel support.
The car body includes seat, installs auxiliary arm mounting bracket on the seat, the sun installed in seat upper end
Can plate mounting bracket, the trammer handle installed in seat rear, the brake mounting bracket installed in seat bottom, installed in seat
The rear auxiliary wheel mounting bracket of bottom, the pedal mounting bracket installed in seat front and front-wheel mounting bracket, the pedal peace
Pedal is installed on dress support.
The beneficial effects of the invention are as follows：Low manufacture cost of the present invention, simple structure, operation difficulty is low, easy to maintenance, work
Dependable performance, automaticity is higher.It is easy to help old man and disabled person to improve self care ability.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is dimensional structure diagram of the invention；
Fig. 2 is the dimensional structure diagram of car body of the invention；
Fig. 3 is the dimensional structure diagram that auxiliary arm of the invention is connected with paw；
Fig. 4 is the dimensional structure diagram of manipulation device of the invention；
Fig. 5 is the dimensional structure diagram of inventive drive means；
Fig. 6 is the dimensional structure diagram of paw of the invention；
Fig. 7 is the dimensional structure diagram of rear auxiliary wheel of the invention；
Fig. 8 is the dimensional structure diagram of brake of the invention.
Specific embodiment
In order that the technological means realized of the present invention, creation characteristic, reached purpose and effect are easy to understand, below it is right
The present invention is expanded on further.
As shown in Figures 1 to 8, one kind is helped the elderly disabled aiding robot, including car body 1, the driving installed in the bottom of car body 1 are filled
Put, mobile device, the drive device order about mobile device operating.Auxiliary arm, solar panels are also equipped with the car body 1
Charging device, manipulation device, are provided with paw, solar panel charging device and drive device, mobile dress on the auxiliary arm
Put, auxiliary arm, manipulation device, paw are connected by electric wire, so that for the work of each device provides electric energy, it is environment friendly and pollution-free.
Drive device is controlled using manipulation device, so as to realize free movement, and by means of the motion of auxiliary arm, so as to aid in old man
Self care ability is improved with disabled person, intelligence degree is high.
The car body 1 is including seat 45, the auxiliary arm mounting bracket 46 on seat 45, on seat 45
The solar panels mounting bracket 47 at end, the trammer handle 48 installed in the rear portion of seat 45, the brake installed in the bottom of seat 45 are pacified
Dress support 49, rear auxiliary wheel mounting bracket 50, the pedal mounting bracket installed in the front portion of seat 45 installed in the bottom of seat 45
51 and front-wheel mounting bracket 52, pedal 16 is installed on the pedal mounting bracket 51.
The drive device includes the first motor 63 and first being connected by electric wire with solar panel charging device
The connected decelerator 64 of motor 63, the output shaft of the decelerator 64 is connected with mobile device.
After the mobile device is including being arranged on the driving wheel 7 of the bottom of seat 45 of car body 1, preceding auxiliary wheel 15, being arranged on
Rear auxiliary wheel 10 in auxiliary wheel mounting bracket 50, the driving wheel 7 is connected with the output shaft of decelerator 64.
The auxiliary arm is arranged in auxiliary arm mounting bracket 46, and the auxiliary arm is including waist, installed in waist
Large arm in portion, the forearm in large arm, the wrist on forearm and the paw in wrist.Using auxiliary
The multifreedom motion of arm, to simulate the motion of human hand, so as to facilitate old man and disabled person to be manipulated to drive article.
The waist includes the first electric machine support 53 on car body 1, the second drive on electric machine support 53
Dynamic motor 60.
The large arm is including the second electric machine support 54 on the output shaft of the second motor 60, installed in second
The 3rd motor 59 on electric machine support 54, the first drive bevel gear on the output shaft of the 3rd motor 59
65 the first driven wheels of differential 66 engaged with the first drive bevel gear 65.
The forearm include be connected with the first driven wheel of differential 66 the 3rd electric machine support 55, installed in the 3rd electric machine support
The 4th motor 58 on 55, the second drive bevel gear 67 on the 4th motor 58 and the second active conical tooth
Second driven wheel of differential 68 of the engagement of wheel 67.
The wrist include be connected with the second driven wheel of differential 68 the 4th electric machine support 56, installed in the 4th electric machine support
The 5th motor 57 on 56, the wrist adpting flange 69 on the output shaft of the 5th motor 57.
The paw include be connected with wrist adpting flange 69 palm 19, the thumb on palm 19, forefinger,
Middle finger, sufficiently to simulate hand exercise.
The thumb includes thumb mounting bracket 32, double finger motor mounting brackets 33, thumb motor
34th, thumb finger tip 28, thumb refers to that middle joint 29, thumb refers to that root joint 30, thumb drives rope 31, the thumb peace
Dress support 32, double finger motor mounting brackets 33 are fixed on palm 19, and the thumb motor 34 is arranged on double fingers
In motor mounting bracket 33, the thumb refers to that the one end in root joint 30 is arranged in thumb mounting bracket 32, described
Thumb refers to that the other end in root joint 30 and thumb refer to that middle joint 29 is connected, and thumb refers to that middle joint 29 refers to root away from thumb
The one end in joint 30 is connected with thumb finger tip 28, and thumb drives one end of rope 31 wound on the defeated of thumb motor 34
On shaft, the other end of thumb driving rope 31 sequentially passes through thumb and refers to that root joint 30, thumb is fixed after referring to middle joint 29
On thumb finger tip 28.Rotated by thumb motor 34, rope 31 is driven to wind thumb, so as to thumb can be made
Finger tip 28, thumb refers to that middle joint 29, thumb refers to that root joint 30 performs corresponding action.
The forefinger include forefinger mounting bracket 27, forefinger motor 36, index finger tip 24, forefinger refer to middle joint 25,
Forefinger refers to that root joint 26, forefinger drives rope 35, and the forefinger mounting bracket 27 is fixed on palm 19, the forefinger motor
36 are arranged in double finger motor mounting brackets 33, and the forefinger refers to that the one end in root joint 26 is arranged on forefinger mounting bracket 27
On, the forefinger refers to that the other end in root joint 26 and forefinger refer to that middle joint 25 is connected, and the forefinger refers on middle joint 25 away from food
Refer to that the one end in root joint 26 is connected with index finger tip 24, the forefinger drives one end of rope 35 wound on forefinger motor 36
Output shaft on, it is solid behind middle joint 25 that the forefinger drives the other end of rope 35 once to refer to that root joint 26, forefinger refers to through forefinger
It is scheduled on index finger tip 24.Rotated by forefinger motor 36, rope 35 is driven to wind forefinger, so as to index finger tip can be made
24th, forefinger refers to that middle joint 25, forefinger refers to that root joint 26 performs corresponding action.
The middle finger includes middle finger mounting bracket 20, middle finger motor mounting bracket 38, middle finger motor 37, middle finger
Finger tip 23, middle finger refers to that middle joint 22, middle finger refers to that root joint 21, middle finger drives rope 39, and the middle finger mounting bracket 20, middle finger drives
Motor mounting rack 38 is fixed on palm 19, and the middle finger motor 37 is fixed on middle finger motor mounting bracket 38
On, the middle finger refers to that the one end in root joint 21 is connected with middle finger mounting bracket 20, the middle finger refer to the other end in root joint 21 with
Middle finger refers to that middle joint 22 is connected, and the middle finger refers to one end and the phase of middle fingertip 23 for referring to root joint 21 on middle joint 22 away from middle finger
Even, the middle finger drives one end of rope 39 on the output shaft of middle finger motor 37, and the middle finger drives the another of rope 39
One end sequentially passes through middle finger and refers to that root joint 21, middle finger is fixed on middle fingertip 23 after referring to middle joint 22.Electricity is driven by middle finger
Machine 37 is rotated, and rope 39 is driven to wind middle finger, so as to middle fingertip 23, middle finger can be made to refer to that middle joint 22, middle finger refers to root joint 21
Perform corresponding action.
The solar panel charging device include being fixed on solar panels 5 in the solar panels mounting bracket 47 of car body 1,
Installed in the battery 6 of the bottom of car body 1, the motor 63 of the battery 6 and first, the second motor 60, the 3rd motor
59th, the 4th motor 58, the 5th motor 57, manipulation device, thumb motor 34, forefinger motor 36, in
Refer to that motor 37 is connected by electric wire.
The manipulation device includes button 61, the control crank 62 on car body 1, the button 61, control crank
62 control auxiliary arms perform corresponding actions.
Brake mounting bracket 49 on the car body 1 is also equipped with brake 13, and the brake 13 includes that being arranged on brake pacifies
Connecting rod 43, the brake article 44 on connecting rod 43 that brake lever 42 and brake lever 42 on dress support 49 are hinged, utilize
Brake article 44 coordinates with driving wheel 7 realizes brake.
The rear auxiliary wheel 10 includes wheel support 40, the auxiliary wheel 41 on wheel support 40.
When using, old man and disabled person are sitting on seat 45, by manipulating button 61, control crank 62, to realize car body 1
Movement.When in outdoor, can convert solar energy into electrical energy and store in battery 6 by means of solar panels 5, for
Whole equipment electricity consumption.When needing to pick and place article, by manipulating button 61, control crank 62, so that auxiliary arm and paw
Work, realization picks and places the function of article.
General principle of the invention, principal character and advantages of the present invention has been shown and described above.The technology of the industry
Personnel it should be appreciated that the present invention is not limited to the above embodiments, the simply present invention described in above-described embodiment and specification
Principle, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, these change and
Improvement is both fallen within claimed invention.The claimed scope of the invention is by appending claims and its equivalent circle.
It is fixed.
Claims (9)
1. one kind is helped the elderly disabled aiding robot, including car body (1), drive device, mobile device installed in car body (1) bottom, institute
State drive device and order about mobile device operating；It is characterized in that：
Auxiliary arm, solar panel charging device, manipulation device, the manipulation device control are also equipped with the car body (1)
Auxiliary arm is moved, and is provided with paw on the auxiliary arm, solar panel charging device and drive device, mobile device, auxiliary
Assistant's arm, manipulation device, paw are connected by electric wire.
2. one kind according to claim 1 is helped the elderly disabled aiding robot, it is characterised in that：The auxiliary arm include waist,
Large arm on waist, the forearm in large arm, the wrist on forearm and the paw in wrist.
3. one kind according to claim 2 is helped the elderly disabled aiding robot, it is characterised in that：The waist includes being arranged on car body
(1) the first electric machine support (53) on, the second motor (60) on electric machine support (53)；
The large arm is including the second electric machine support (54) on the output shaft of the second motor (60), installed in second
The 3rd motor (59) on electric machine support (54), the first initiative taper on the output shaft of the 3rd motor (59)
The first driven wheel of differential (66) that gear (65) is engaged with the first drive bevel gear (65)；
The forearm include be connected with the first driven wheel of differential (66) the 3rd electric machine support (55), installed in the 3rd electric machine support
(55) the 4th motor (58) on, the second drive bevel gear (67) and second on the 4th motor (58)
Second driven wheel of differential (68) of drive bevel gear (67) engagement；
The wrist include be connected with the second driven wheel of differential (68) the 4th electric machine support (56), installed in the 4th electric machine support
(56) the 5th motor (57) on, the wrist adpting flange (69) on the output shaft of the 5th motor (57).
4. one kind according to claim 2 is helped the elderly disabled aiding robot, it is characterised in that：The paw includes being connected with wrist
Palm (19), thumb, forefinger, middle finger on palm (19).
5. one kind according to claim 4 is helped the elderly disabled aiding robot, it is characterised in that：The thumb is pacified including thumb
Dress support (32), double fingers motor mounting bracket (33), thumb motor (34), thumb finger tip (28), thumb
Joint (29), thumb refer to that root joint (30), thumb drive rope (31), the thumb mounting bracket (32), double fingers in finger
Motor mounting bracket (33) is fixed on palm (19), and the thumb motor (34) is installed in double finger motors
In mounting bracket (33), the thumb refers to that the one end in root joint (30) is arranged in thumb mounting bracket (32), described big
Thumb refers to that the other end in root joint (30) and thumb refer to that middle joint (29) is connected, and thumb refers to middle joint (29) away from thumb
Refer to that one end of root joint (30) is connected with thumb finger tip (28), thumb drives one end of rope (31) to be driven wound on thumb
On the output shaft of motor (34), the other end of thumb driving rope (31) sequentially passes through thumb and refers to root joint (30), thumb
It is fixed on thumb finger tip (28) after joint (29) in finger.
6. one kind according to claim 5 is helped the elderly disabled aiding robot, it is characterised in that：The forefinger includes that forefinger installs branch
Frame (27), forefinger motor (36), index finger tip (24), forefinger refer to that middle joint (25), forefinger refer to that root joint (26), forefinger are driven
Running rope (35), the forefinger mounting bracket (27) is fixed on palm (19), and the forefinger motor (36) is installed in double fingers
In motor mounting bracket (33), the forefinger refers to that the one end in root joint (26) is arranged in forefinger mounting bracket (27), institute
State forefinger and refer to that the other end in root joint (26) and forefinger refer to that middle joint (25) is connected, the forefinger refers on middle joint (25) away from food
Refer to that the one end in root joint (26) is connected with index finger tip (24), the forefinger drives one end of rope (35) to be driven wound on forefinger
On the output shaft of motor (36), the forefinger drives the other end of rope (35) once to refer to that root joint (26), forefinger refer to through forefinger
It is fixed on index finger tip (24) after middle joint (25).
7. one kind according to claim 4 is helped the elderly disabled aiding robot, it is characterised in that：The middle finger includes that middle finger installs branch
Frame (20), middle finger motor mounting bracket (38), middle finger motor (37), middle fingertip (23), middle finger refer to middle joint
(22), middle finger refers to that root joint (21), middle finger drive rope (39), the middle finger mounting bracket (20), middle finger motor to install branch
Frame (38) is fixed on palm (19), and the middle finger motor (37) is fixed on middle finger motor mounting bracket (38),
The middle finger refers to that the one end in root joint (21) is connected with middle finger mounting bracket (20), and the middle finger refers to the other end of root joint (21)
Refer to that middle joint (22) is connected with middle finger, the middle finger refers to one end and the middle finger for referring to root joint (21) on middle joint (22) away from middle finger
Finger tip (23) is connected, and the middle finger drives one end of rope (39) on the output shaft of middle finger motor (37), it is described in
Refer to that driving the other end of rope (39) to sequentially pass through middle finger refers to that root joint (21), middle finger are fixed on middle fingertip after referring to middle joint (22)
(23) on.
8. one kind according to claim 1 is helped the elderly disabled aiding robot, it is characterised in that：The solar panel charging device bag
Solar panels (5), the battery (6) installed in car body (1) bottom being fixed on car body (1) are included, the battery (6) fills with driving
Put, auxiliary arm, manipulation device, paw are connected by electric wire.
9. one kind according to claim 1 is helped the elderly disabled aiding robot, it is characterised in that：The manipulation device includes being arranged on
Button 61, control crank 62 on car body 1, the button 61, the control auxiliary arm of control crank 62 perform corresponding actions.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611190558.6A CN106726199B (en) | 2016-12-21 | 2016-12-21 | Robot for helping old people and disabled people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611190558.6A CN106726199B (en) | 2016-12-21 | 2016-12-21 | Robot for helping old people and disabled people |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106726199A true CN106726199A (en) | 2017-05-31 |
| CN106726199B CN106726199B (en) | 2023-04-14 |
Family
ID=58896864
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611190558.6A Active CN106726199B (en) | 2016-12-21 | 2016-12-21 | Robot for helping old people and disabled people |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106726199B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108515525A (en) * | 2018-05-25 | 2018-09-11 | 闫成山 | A kind of mechanical hand, nursing robot's system and its care method |
| CN109262632A (en) * | 2018-12-05 | 2019-01-25 | 济南大学 | A kind of multi-joint lightweight wheelchair mechanical arm |
| CN110151413A (en) * | 2019-05-28 | 2019-08-23 | 上海电力学院 | A kind of solar energy mechanical arm type intelligent wheel chair |
| CN110434866A (en) * | 2019-08-02 | 2019-11-12 | 吕梁学院 | A kind of intelligent nursing device and its control method |
| CN110508572A (en) * | 2019-08-26 | 2019-11-29 | 安徽工程大学 | A kind of more support wheel type wriggle pipeline cleanings robot |
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