CN106726199B - Robot for helping old people and disabled people - Google Patents
Robot for helping old people and disabled people Download PDFInfo
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- CN106726199B CN106726199B CN201611190558.6A CN201611190558A CN106726199B CN 106726199 B CN106726199 B CN 106726199B CN 201611190558 A CN201611190558 A CN 201611190558A CN 106726199 B CN106726199 B CN 106726199B
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- thumb
- forefinger
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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
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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
- A61G5/10—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
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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
- A61G5/10—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
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- 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
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- 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
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- 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)
- Manipulator (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention relates to a robot for helping the old and the disabled, which comprises a vehicle body, a driving device and a moving device, wherein the driving device and the moving device are arranged at the lower part of the vehicle body, and the driving device drives the moving device to operate. The vehicle body is also provided with an auxiliary arm, a solar panel charging device and an operating device, the operating device controls the auxiliary arm to move, the auxiliary arm is provided with a paw, and the solar panel charging device is connected with the driving device, the moving device, the auxiliary arm, the operating device and the paw through electric wires. The invention has the advantages of low manufacturing cost, simple structure, low operation difficulty, convenient maintenance, reliable working performance, higher automation degree and convenient help of the old and the disabled to improve the self-care ability of life.
Description
Technical Field
The invention relates to the technical field of service robots, in particular to a robot for helping the old and the disabled.
Background
Relevant data statistics show that the aged population above 60 years old reaches about 6 hundred million all over the world, and the aging of the population becomes a great social problem worldwide. The population of the aged 60 years old and over in China reaches 1.32 hundred million, accounts for 10 percent of the total population in China, and continuously increases at a speed of 3.32 percent every year. It is expected that by 2015, people over 60 years of age will exceed 2 billion, accounting for 14% of the total population, with approximately 50% of elderly patients needing care services. In addition, about 6 million of various disabled people exist in China, and account for about 5% of the general population of China. Therefore, the total population in China who needs to be nursed is about 1 hundred million people. The accelerated aging of population causes unprecedented pressure on medical and social security systems, and the elderly have poor self-care capability, are mainly nursed by families, have high nursing cost and high labor intensity, and have urgent need of improving nursing conditions. In 13 hundred million people in China, the number of families is 3-4 hundred million, and the families with dysfunctions or people needing to be cared account for 1/10 of the total number of households in the country, namely about 3577 ten thousand. In the face of these problems, various old and disabled helping facilities are also under development and practical application.
At present, most of old people and disabled people with inconvenient actions select wheelchairs as walking tools of the old people and the disabled people, along with the progress of society and the improvement of various old and disabled assisting facilities, the wheelchairs are gradually changed from an initial common structure to intellectualization, however, the existing wheelchairs and other equipment cannot assist the old people and the disabled people to realize life self-care, and the automation degree is relatively low.
Disclosure of Invention
Aiming at the defects of the technology, the invention provides an old-helping and disabled-helping robot.
A robot for helping the old and the disabled comprises a vehicle body, a driving device and a moving device, wherein the driving device and the moving device are installed on the lower portion of the vehicle body, and the driving device drives the moving device to operate. Still install supplementary arm, solar panel charging device, controlling means on the automobile body, controlling means control supplementary arm motion, install the hand claw on the supplementary arm, solar panel charging device passes through the electric wire with drive arrangement, mobile device, supplementary arm, controlling means, hand claw and links to each other.
The driving device comprises a first driving motor connected with the solar panel charging device through a wire and a speed reducer connected with the first driving motor, and an output shaft of the speed reducer is connected with the moving device;
the moving device comprises a driving wheel, a front auxiliary wheel and a rear auxiliary wheel which are arranged at the bottom of the vehicle body, and the driving wheel is connected with an output shaft of the speed reducer;
the auxiliary arm comprises a waist, a large arm arranged on the waist, a small arm arranged on the large arm, a wrist arranged on the small arm and a paw arranged on the wrist.
The waist is including installing first motor support on the automobile body, installing the second driving motor on the motor support.
The big arm comprises a second motor support arranged on an output shaft of a second driving motor, a third driving motor arranged on the second motor support, a first driving bevel gear arranged on an output shaft of the third driving motor, and a first driven bevel gear meshed with the first driving bevel gear.
The small arm comprises a third motor support connected with the first driven bevel gear, a fourth driving motor arranged on the third motor support, a second driving bevel gear arranged on the fourth driving motor, and a second driven bevel gear meshed with the second driving bevel gear.
The wrist comprises a fourth motor support connected with the second driven bevel gear, a fifth driving motor installed on the fourth motor support, and a wrist connecting flange installed on an output shaft of the fifth driving motor.
The paw comprises a palm connected with the wrist connecting flange, and a thumb, an index finger and a middle finger which are arranged on the palm.
The thumb comprises a thumb mounting bracket, a double-finger driving motor mounting bracket, a thumb driving motor, a thumb tip, a middle thumb joint, a thumb root joint and a thumb driving rope, wherein the thumb mounting bracket and the double-finger driving motor mounting bracket are fixed on a palm, the thumb driving motor is mounted on the double-finger driving motor mounting bracket, one end of the thumb root joint is mounted on the thumb mounting bracket, the other end of the thumb root joint is connected with the middle thumb joint, one end of the middle thumb joint, which is far away from the thumb root joint, is connected with the thumb tip, one end of the thumb driving rope is wound on an output shaft of the thumb driving motor, and the other end of the thumb driving rope sequentially penetrates through the thumb root joint and the middle thumb joint and then is fixed on the thumb tip.
The forefinger includes forefinger installing support, forefinger driving motor, forefinger fingertip, forefinger middle joint, forefinger root joint, forefinger driving rope, the forefinger installing support is fixed in the palm, forefinger driving motor installs on two finger driving motor installing supports, the one end of forefinger root joint is installed on forefinger installing support, the other end of forefinger root joint links to each other with forefinger middle joint, the one end of keeping away from forefinger root joint on the forefinger middle joint links to each other with the forefinger fingertip, the one end of forefinger driving rope is convoluteed on forefinger driving motor's output shaft, the other end of forefinger driving rope once passes forefinger root joint, forefinger middle joint after-fixing on the forefinger fingertip.
The middle finger comprises a middle finger mounting support, a middle finger driving motor, a middle finger tip, a middle finger middle joint, a middle finger root joint and a middle finger driving rope, the middle finger mounting support and the middle finger driving motor mounting support are fixed on the palm, the middle finger driving motor is fixed on the middle finger driving motor mounting support, one end of the middle finger root joint is connected with the middle finger mounting support, the other end of the middle finger root joint is connected with the middle finger middle joint, one end, far away from the middle finger root joint, of the middle finger middle joint is connected with the middle finger tip, one end of the middle finger driving rope is wound on an output shaft of the middle finger driving motor, and the other end of the middle finger driving rope sequentially penetrates through the middle finger root joint and the middle finger middle joint and then is fixed on the middle finger tip.
The solar panel charging device comprises a solar panel fixed on the vehicle body and a battery installed at the lower part of the vehicle body, wherein the battery is connected with the driving device, the moving device, the auxiliary arm, the operating device and the paw through electric wires.
The control device comprises a button and a control handle which are arranged on the vehicle body, and the button and the control handle control the auxiliary arm to execute corresponding actions.
Still install the brake on the automobile body, the brake is including installing brake lever on the automobile body, with brake lever articulated connecting rod, install the brake strip on the connecting rod.
The rear auxiliary wheel comprises a wheel bracket and an auxiliary wheel arranged on the wheel bracket.
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The invention has the beneficial effects that: the invention has low manufacturing cost, simple structure and low operation difficulty, convenient maintenance, reliable working performance and higher automation degree. Is convenient for helping the old and the disabled to improve the self-care ability of life.
Drawings
The invention is further illustrated with reference to the following figures and examples.
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a perspective view of the vehicle body of the present invention;
FIG. 3 is a schematic perspective view of the connection between the auxiliary arm and the gripper according to the present invention;
FIG. 4 is a schematic perspective view of the manipulator of the present invention;
FIG. 5 is a perspective view of the driving device of the present invention;
FIG. 6 is a schematic perspective view of a gripper according to the present invention;
FIG. 7 is a perspective view of the rear auxiliary wheel of the present invention;
fig. 8 is a schematic perspective view of the brake of the present invention.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further explained below.
As shown in fig. 1 to 8, the robot for helping old people and disabled people comprises a vehicle body 1, a driving device and a moving device, wherein the driving device is installed at the lower part of the vehicle body 1, and the driving device drives the moving device to operate. Still install supplementary arm, solar panel charging device, controlling means on the automobile body 1, install the hand claw on the supplementary arm, solar panel charging device passes through the electric wire with drive arrangement, mobile device, supplementary arm, controlling means, hand claw and links to each other to provide the electric energy for each device work, the environmental protection is pollution-free. The driving device is controlled by the control device, so that free movement is realized, and the old and the disabled are assisted to improve the self-care ability by means of the movement of the auxiliary arm, and the intelligent degree is high.
The automobile body 1 includes seat 45, installs supplementary arm installing support 46 on seat 45, installs solar panel installing support 47 in seat 45 upper end, installs shallow handle 48 at seat 45 rear portion, installs brake installing support 49 in seat 45 lower part, installs the rear auxiliary wheel installing support 50 in seat 45 bottom, installs pedal installing support 51 and the front wheel installing support 52 in seat 45 front portion, install footboard 16 on the pedal installing support 51.
The driving device comprises a first driving motor 63 connected with the solar panel charging device through a wire and a speed reducer 64 connected with the first driving motor 63, wherein an output shaft of the speed reducer 64 is connected with the moving device.
The moving device comprises a driving wheel 7 arranged at the bottom of a seat 45 of the vehicle body 1, a front auxiliary wheel 15, a rear auxiliary wheel 10 arranged on a rear auxiliary wheel mounting bracket 50, the drive wheel 7 is connected to an output shaft of a speed reducer 64.
The auxiliary arm is mounted on an auxiliary arm mounting bracket 46, the auxiliary arm including a waist, a large arm mounted on the waist, a small arm mounted on the large arm, a wrist mounted on the small arm, and a paw mounted on the wrist. The movement of the hands of the person is simulated by using the multi-degree-of-freedom movement of the auxiliary arms, so that the old and the disabled can conveniently control and drive the articles.
The waist portion includes a first motor bracket 53 mounted on the vehicle body 1, and a second drive motor 60 mounted on the motor bracket 53.
The large arm includes a second motor bracket 54 mounted on an output shaft of the second driving motor 60, a third driving motor 59 mounted on the second motor bracket 54, a first driving bevel gear 65 mounted on an output shaft of the third driving motor 59, and a first driven bevel gear 66 engaged with the first driving bevel gear 65.
The arm includes a third motor support 55 connected to a first driven bevel gear 66, a fourth driving motor 58 mounted on the third motor support 55, a second driving bevel gear 67 mounted on the fourth driving motor 58, and a second driven bevel gear 68 engaged with the second driving bevel gear 67.
The wrist comprises a fourth motor bracket 56 connected with a second driven bevel gear 68, a fifth driving motor 57 mounted on the fourth motor bracket 56, and a wrist attachment flange 69 mounted on an output shaft of the fifth driving motor 57.
The hand claws include a palm 19 connected to a wrist attachment flange 69, and a thumb, index finger and middle finger mounted on the palm 19 to substantially simulate hand movements.
The thumb comprises a thumb mounting bracket 32, a double-finger driving motor mounting bracket 33, a thumb driving motor 34, a thumb tip 28, a middle thumb joint 29, a thumb root joint 30 and a thumb driving rope 31, wherein the thumb mounting bracket 32 and the double-finger driving motor mounting bracket 33 are fixed on the palm 19, the thumb driving motor 34 is mounted on the double-finger driving motor mounting bracket 33, one end of the thumb root joint 30 is mounted on the thumb mounting bracket 32, the other end of the thumb root joint 30 is connected with the middle thumb joint 29, one end of the middle thumb joint 29, which is far away from the thumb root joint 30, is connected with the thumb tip 28, one end of the thumb driving rope 31 is wound on an output shaft of the thumb driving motor 34, and the other end of the thumb driving rope 31 sequentially penetrates through the thumb root joint 30 and the middle thumb joint 29 and is fixed on the thumb tip 28. The thumb drive motor 34 rotates to wind the thumb drive rope 31, so that the thumb tip 28, the middle joint 29 of the thumb and the root joint 30 of the thumb can perform corresponding actions.
The forefinger includes forefinger installing support 27, forefinger driving motor 36, forefinger fingertip 24, forefinger middle joint 25, forefinger root joint 26, forefinger driving rope 35, forefinger installing support 27 is fixed on palm 19, forefinger driving motor 36 is installed on two finger driving motor installing support 33, the one end of forefinger root joint 26 is installed on forefinger installing support 27, the other end of forefinger root joint 26 links to each other with forefinger middle joint 25, the one end of keeping away from forefinger root joint 26 on the forefinger middle joint 25 links to each other with forefinger fingertip 24, the one end of forefinger driving rope 35 is convoluteed on forefinger driving motor 36's output shaft, the other end of forefinger driving rope 35 once passes forefinger root joint 26, the forefinger middle joint 25 after-fixing on forefinger fingertip 24. The index finger driving motor 36 is rotated to wind the index finger driving rope 35, so that the index finger tip 24, the middle joint 25 of the index finger and the base joint 26 of the index finger can perform corresponding actions.
The middle finger comprises a middle finger mounting bracket 20, a middle finger driving motor mounting bracket 38, a middle finger driving motor 37, a middle finger tip 23, a middle finger middle joint 22, a middle finger root joint 21 and a middle finger driving rope 39, the middle finger mounting bracket 20 and the middle finger driving motor mounting bracket 38 are fixed on the palm 19, the middle finger driving motor 37 is fixed on the middle finger driving motor mounting bracket 38, one end of the middle finger root joint 21 is connected with the middle finger mounting bracket 20, the other end of the middle finger root joint 21 is connected with the middle finger middle joint 22, one end of the middle finger middle joint 22, which is far away from the middle finger root joint 21, is connected with the middle finger tip 23, one end of the middle finger driving rope 39 is wound on an output shaft of the middle finger driving motor 37, and the other end of the middle finger driving rope 39 sequentially penetrates through the middle finger root joint 21 and the middle finger middle joint 22 and then is fixed on the middle finger tip 23. The middle finger driving motor 37 rotates to wind the middle finger driving rope 39, so that the middle finger tip 23, the middle finger middle joint 22 and the middle finger root joint 21 can perform corresponding actions.
The solar panel charging device comprises a solar panel 5 fixed on a solar panel mounting bracket 47 of the vehicle body 1 and a battery 6 mounted at the lower part of the vehicle body 1, wherein the battery 6 is connected with a first driving motor 63, a second driving motor 60, a third driving motor 59, a fourth driving motor 58, a fifth driving motor 57, an operating device, a thumb driving motor 34, a forefinger driving motor 36 and a middle finger driving motor 37 through electric wires.
The operating device comprises a button 61 and an operating handle 62 which are arranged on the vehicle body 1, and the button 61 and the operating handle 62 control the auxiliary arm to execute corresponding actions.
The brake mounting bracket 49 on the vehicle body 1 is also provided with a brake 13, the brake 13 comprises a brake handle 42 arranged on a brake mounting bracket 49, a connecting rod 43 hinged with the brake handle 42 and a brake strip 44 arranged on the connecting rod 43, and the brake is realized by matching the brake strip 44 with the driving wheel 7.
The rear auxiliary wheel 10 includes a wheel bracket 40, and an auxiliary wheel 41 mounted on the wheel bracket 40.
When the vehicle is used, the old and the disabled sit on the seat 45, and move the vehicle body 1 through the operation button 61 and the operation handle 62. When outdoors, solar energy can be converted to electrical energy by means of the solar panel 5 and stored in the battery 6, for the whole equipment to use electricity. When articles need to be taken and placed, the auxiliary arm and the paw work through the operation button 61 and the operation handle 62, and the functions of taking and placing the articles are achieved.
The foregoing shows and describes the general principles of the present invention the main features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (5)
1. A robot for helping the old and the disabled comprises a vehicle body (1), a driving device and a moving device, wherein the driving device is installed at the lower part of the vehicle body (1), and the driving device drives the moving device to operate; the method is characterized in that:
the solar charging device is connected with the driving device, the moving device, the auxiliary arm, the operating device and the paw through electric wires; the auxiliary arm comprises a waist part, a large arm arranged on the waist part, a small arm arranged on the large arm, a wrist arranged on the small arm and a paw arranged on the wrist; the waist part comprises a first motor bracket (53) arranged on the vehicle body (1) and a second driving motor (60) arranged on the motor bracket (53);
the big arm comprises a second motor bracket (54) arranged on an output shaft of a second driving motor (60), a third driving motor (59) arranged on the second motor bracket (54), a first driving bevel gear (65) arranged on an output shaft of the third driving motor (59), and a first driven bevel gear (66) meshed with the first driving bevel gear (65);
the small arm comprises a third motor bracket (55) connected with a first driven bevel gear (66), a fourth driving motor (58) arranged on the third motor bracket (55), a second driving bevel gear (67) arranged on the fourth driving motor (58) and a second driven bevel gear (68) meshed with the second driving bevel gear (67);
the wrist comprises a fourth motor bracket (56) connected with a second driven bevel gear (68), a fifth driving motor (57) arranged on the fourth motor bracket (56), and a wrist connecting flange (69) arranged on an output shaft of the fifth driving motor (57);
the paw comprises a palm (19) connected with the wrist, and a thumb, an index finger and a middle finger which are arranged on the palm (19);
the thumb comprises a thumb mounting support (32), a double-finger driving motor mounting support (33), a thumb driving motor (34), a thumb fingertip (28), a thumb middle joint (29), a thumb root joint (30) and a thumb driving rope (31), wherein the thumb mounting support (32) and the double-finger driving motor mounting support (33) are fixed on a palm (19), the thumb driving motor (34) is mounted on the double-finger driving motor mounting support (33), one end of the thumb root joint (30) is mounted on the thumb mounting support (32), the other end of the thumb root joint (30) is connected with the thumb middle joint (29), one end, far away from the thumb root joint (30), of the thumb middle joint (29) is connected with the thumb root joint (28), one end of the thumb driving rope (31) is wound on an output shaft of the thumb driving motor (34), and the other end of the thumb driving rope (31) sequentially penetrates through the thumb root joint (30) and the thumb middle joint (29) and is fixed on the thumb fingertip (28).
2. The robot as claimed in claim 1, wherein: the forefinger includes forefinger installing support (27), forefinger driving motor (36), forefinger fingertip (24), forefinger middle joint (25), forefinger root joint (26), forefinger driving rope (35), forefinger installing support (27) are fixed on palm (19), forefinger driving motor (36) are installed on two finger driving motor installing support (33), the one end of forefinger root joint (26) is installed on forefinger installing support (27), the other end of forefinger root joint (26) links to each other with forefinger middle joint (25), the one end of keeping away from forefinger root joint (26) on the forefinger middle joint (25) links to each other with forefinger fingertip (24), the one end of forefinger driving rope (35) is convoluteed on the output shaft of forefinger driving motor (36), the other end of forefinger driving rope (35) is fixed on forefinger fingertip (24) once through forefinger root joint (26), forefinger middle joint (25) after passing forefinger middle joint (25).
3. The robot as claimed in claim 1, wherein: the middle finger comprises a middle finger mounting support (20), a middle finger driving motor mounting support (38), a middle finger driving motor (37), a middle finger tip (23), a middle finger middle joint (22), a middle finger root joint (21) and a middle finger driving rope (39), wherein the middle finger mounting support (20) and the middle finger driving motor mounting support (38) are fixed on a palm (19), the middle finger driving motor (37) is fixed on the middle finger driving motor mounting support (38), one end of the middle finger root joint (21) is connected with the middle finger mounting support (20), the other end of the middle finger root joint (21) is connected with the middle finger middle joint (22), one end, far away from the middle finger root joint (21), of the middle finger middle joint (22) is connected with the middle finger tip (23), one end of the middle finger driving rope (39) is wound on an output shaft of the middle finger driving motor (37), and the other end of the middle finger driving rope (39) sequentially penetrates through the middle finger root joint (21) and the middle finger tip (22) and then is fixed on the middle finger tip (23).
4. The robot of claim 1, wherein: the solar panel charging device comprises a solar panel (5) fixed on the vehicle body (1) and a battery (6) installed on the lower portion of the vehicle body (1), wherein the battery (6) is connected with the driving device, the auxiliary arm, the operating device and the paw through wires.
5. The robot as claimed in claim 1, wherein: the operating device comprises a button (61) and an operating handle (62) which are arranged on the vehicle body (1), wherein the button (61) and the operating handle (62) control the auxiliary arm to execute 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 |
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| Publication Number | Publication Date |
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| CN106726199A CN106726199A (en) | 2017-05-31 |
| CN106726199B true CN106726199B (en) | 2023-04-14 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201611190558.6A Active CN106726199B (en) | 2016-12-21 | 2016-12-21 | Robot for helping old people and disabled people |
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Families Citing this family (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 |
| CN109262632B (en) * | 2018-12-05 | 2023-09-12 | 济南大学 | Multi-joint light 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 |
| CN110434866B (en) * | 2019-08-02 | 2023-06-23 | 吕梁学院 | Intelligent nursing device and control method thereof |
| CN110508572B (en) * | 2019-08-26 | 2024-07-09 | 安徽工程大学 | Multi-support wheel type peristaltic pipeline cleaning robot |
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