CN107571267A - A kind of monomer multifunctional life self-care auxiliary robot - Google Patents
A kind of monomer multifunctional life self-care auxiliary robot Download PDFInfo
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- CN107571267A CN107571267A CN201710957397.7A CN201710957397A CN107571267A CN 107571267 A CN107571267 A CN 107571267A CN 201710957397 A CN201710957397 A CN 201710957397A CN 107571267 A CN107571267 A CN 107571267A
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- 239000000178 monomer Substances 0.000 title claims abstract description 15
- 230000000875 corresponding effect Effects 0.000 claims abstract description 4
- 239000000758 substrate Substances 0.000 claims description 27
- 230000009471 action Effects 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 5
- 230000006870 function Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 230000004048 modification Effects 0.000 description 4
- 238000012986 modification Methods 0.000 description 4
- 230000032683 aging Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 206010012289 Dementia Diseases 0.000 description 1
- 241001417527 Pempheridae Species 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 230000004069 differentiation Effects 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000007717 exclusion Effects 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003340 mental effect Effects 0.000 description 1
- 230000004630 mental health Effects 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000035882 stress Effects 0.000 description 1
- 238000012549 training Methods 0.000 description 1
- 238000005406 washing Methods 0.000 description 1
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Abstract
The invention discloses a kind of monomer multifunctional life self-care auxiliary robot, including mechanical structure, electric control system and operation terminal, mechanical structure includes the front handrail safety guard of U-shaped when omnirange moving structure, the portions of shape of a saddle shape, plug-type electrically cylinder, connecting rod lifting structure, backrest structure, top view；Electric control system be arranged on and mechanical structure in, electric control system is made up of control module, operation module, battery module and load cell, and operation module, battery module and load cell electrically connect with control module；Operate terminal and be used to regulate and control electric control system, driving mechanical structure completes corresponding action request.The present invention there is small volume, it is compact-sized, it is easy to operate the characteristics of, and it is available for the bad old man of legs and feet is mobile in narrow room to use, its portions, which are highly adjusted, to be realized with connecting rod lifting structure, old man can be aided in restfully to do the housework of height action, moreover it is possible to realize old man's auxiliary standing function.
Description
Technical field
The present invention relates to auxiliary robot technical field, exactly refers to a kind of monomer Mobyneb life of elderly person certainly
Manage auxiliary robot.
Background technology
With developing rapidly for social economy, living standards of the people improve constantly, and population life constantly extends, modern society
It is in the inevitable aging stage.Busy work and geographic factor, the children of old man are made to be difficult to often in old man's body
Old man is looked after on side, and solitary life old man is more and more more.Old man takes care of oneself, and suitably does a little housework and carrys out moving body, will be favourable
Promote longevity in keeping its physical and mental health.But old man is older, easily there is the bad phenomenon of legs and feet, this has a strong impact on
The activity of old man, the life to old man are made troubles.In addition, the old man that body movement amount is few, easily causes body increasingly
It is weak, finally develop into bedfast state.In order to prevent the physical and mental aging of old man, its brain activityization is promoted to prevent
Dementia, avoid causing stress to children, reduce burden on society, the auxiliary bad old man's of legs and feet takes care of oneself, there is provided life
Self-care auxiliary robot, it is the task of top priority.
At present, both at home and abroad as merchandise sales or auxiliary old man just under development device of taking care of oneself includes wheelchair, auxiliary
Standing chair, shifting is helped to multiply device etc..Body is mobile, moves that to multiply, sit down, standing up be necessary operation in people's life, therefore can be with
Say, above-mentioned auxiliary implement is the necessity for aiding in the bad old man of legs and feet to take care of oneself.But because old man living space has
Limit, while several auxiliary implements of taking care of oneself are imported, its living space can be made to become narrow, influence old man's walking, increase old man falls
Possibility.It is also the thing for being difficult for older old man in addition, grasping the application method of a variety of utensils.In order to
Solving this problem, the present inventor was proposed in 2010, and monomer Mobyneb is taken care of oneself the concept of auxiliary robot, i.e., and one
Platform robot, will be carried out wheelchair, standing assist chair, shifting multiply the multiple functions such as device, and such old man buys an auxiliary machinery
People, it is possible to take care of oneself.This monomer multifunctional life self-care auxiliary robot can not only save old man living space, just
Its application method is grasped in old man, the financial burden of old man can also be mitigated, easily popularization.
In the research of the present inventor, the invalid aids of seat walking-function training is disclosed（Japanese Patent No.
No. 5626827, China authorizes public CN103108618B）.Because it is all-around mobile mode, it is possible to as comprehensive shifting
Wheelchair, the movement in narrow room for old man.But its portions are put down for the triangular shaped of front narrowed width
Face, and fallen forwards with tape member prevention user, if so old man sits on, long-time forward lean is done
Occur uncomfortable during housework, but also have the danger fallen forwards.Above-mentioned invalid aids in addition, although can carry out
Seat portion height fine adjusting function section, but it is to realize this fine adjustment by the length adjustment of portions pillar, if so old man is sitting in
In portions, when doing the housework of height action, if only adjusting its seat height with a pillar, it will be very unstable, there is danger
It is dangerous.Further, above-mentioned invalid aids, because rear wheel position is fixed, not mobile storage function, so trailing wheel will
Old man is moved to multiply and has obstruction, i.e., it is riding that above-mentioned invalid aids is not suitable for old man's shifting.Therefore, this seat walking-function instruction
The invalid aids practiced, although being suitable in narrow room mobile use, taken care of oneself auxiliary as monomer Mobyneb
Robot, the auxiliary bad old man's of legs and feet takes care of oneself, and is insufficient.
The content of the invention
It is an object of the invention to：In view of the shortcomings of the prior art, a kind of monomer multifunctional life self-care auxiliary is provided
Robot, the auxiliary robot are used to aid in taking care of oneself for old man, and it has small volume, compact-sized, easy to operate spy
Point.The auxiliary robot is all-around mobile mode, is available for the bad old man of legs and feet is mobile in narrow room to use, its portions are high
Degree regulation is realized with connecting rod lifting structure, old man can be aided in restfully to do the housework of height action, moreover it is possible to realize old man
Auxiliary standing function.The artificial four-wheel structure of the auxiliary machinery, portions are shape of a saddle shape, and there is handrail safety guard in front, can be with auxiliary
Helping the elderly, restfully forward lean does housework people, and the backrest of its rectangle frame-shaped can rotate towards the downward 180 degree in rear of user,
And trailing wheel has mobile storage function, it is riding to be suitable for old man's shifting.
To achieve the above object, the present invention adopts the following technical scheme that：
A kind of monomer multifunctional life self-care auxiliary robot, including mechanical structure, electric control system and operation terminal, it is described
Mechanical structure includes omnirange moving structure, the portions of shape of a saddle shape, plug-type electrically cylinder, connecting rod lifting structure, backrest knot
The front handrail safety guard of U-shaped when structure, top view；The electric control system is arranged on and addressed in mechanical structure, institute
Electric control system is stated to be made up of control module, operation module, battery module and load cell, it is the operation module, described
Battery module and the load cell electrically connect with the control module；The operation terminal is used to regulate and control the electric-controlled
System processed, the mechanical structure is driven to complete corresponding action request.
As a modification of the present invention, the connecting rod lifting structure is by being fixed on pushing away on bottom bracket by lock pin
Pull-type electrically cylinder as driving force, by the push pull maneuver of piston rod, makes to be connected to piston rod by nut screw bearing and leading screw
Lifting linking member on lock pin moves up and down, and so as to drive the portions of shape of a saddle shape to lift, adjusts its seat height；It is described to lean on
The support bar of rectangle frame-shaped when back structure includes front-and rear-view, the support bar are used to support user's back part, its height
When being that user is sitting in portions, the top of support bar is the waist location close to user, and the left and right of support bar, which has, bows
Mobile and when doing housework as the safety guard of arc shape when regarding observation, support bar direction is upward 90 degree with portions angle, shifting multiply or
After person's use, support bar is rotated with fulcrum shaft towards the downward 180 degree in rear of user, makes the rotary-top of support bar fast to lower section
Press close to trailing wheel reception position；The omnirange moving structure includes two front-wheels and two trailing wheels of omnirange moving parts,
It is mobile and do housework in use, two front-wheels and two trailing wheels are to be in walking position, shifting multiply or use after, two trailing wheels are received
Receive onto the inner side reception position of robot bottom.
As a modification of the present invention, the control module includes CPU main substrates, single shaft positioner SCON, SUB
Substrate and position control module ESCON, the CPU main substrates control front-wheel, the CPU master by single shaft positioner SCON
Substrate controls trailing wheel by position control module ESCON, and the CPU main substrates are connected with SUB substrates, and the SUB substrates are with bearing
Set sensor is connected with operation terminal, and the battery module supplies as robot power supply, with CPU main substrates and SUB substrate phases
Even.
As a modification of the present invention, the operation terminal includes main operation panel and secondary guidance panel, the main behaviour
Panel is provided with mode selector switch, shutdown switch, direction switch and control stick, the secondary guidance panel is provided with power supply and opened
Pass, serial connector interface and charging connector interface.
The beneficial effects of the present invention are：To make old man be sitting in the portions of the auxiliary robot, height can have safely been done
The housework of low action, the present invention do not support the design method of strut lengths on its seat height adjustment using regulation portions,
But moved up and down by connecting rod lifting structure, drive its portions to lift, realize the regulation of seat height.The portions of the present invention
It is not the triangular shaped plane of front narrowed width, but shape of a saddle shape, and U-shaped when there is top view in front
Handrail safety guard, so old man can be seated comfortably in forward lean in the portions of the robot and done housework with stable.The present invention's
Rear wheel position is not fixed, but can be moved on the inner side reception position of bottom, the rectangle frame-shaped support bar of backrest, can
To be rotated towards the downward 180 degree in the rear of user, lower section can be rotated at the top of its support bar close to trailing wheel reception position, thus
The backrest and bottom trailing wheel of robot upper part multiply to shifting not to be hindered, so the robot of the present invention is well suited for old man's shifting and multiplied
With.
Brief description of the drawings
Accompanying drawing described herein is used for providing a further understanding of the present invention, forms the part of the present invention, this hair
Bright exemplary embodiment and its illustrate to be used to explain the present invention, do not form inappropriate limitation of the present invention.In the accompanying drawings：
Fig. 1 is the structural representation of the present invention；
Fig. 2 be the present invention from the top of portions downwards from when top view；
Fig. 3 is structural representation when seat of the present invention raises；
Fig. 4 is that the structure in the present invention after the downward 180 degree rotation in back rest supports column and when trailing wheel is moved to bottom inside storage is shown
It is intended to；Fig. 5 is the lower flat figure of the present invention；
Fig. 6 is the electrical system pie graph of the present invention；
Fig. 7 is the structural representation of main operation panel in the present invention；
Fig. 8 is the structural representation of secondary guidance panel in the present invention；
Fig. 9 (a) and 9 (b) are schematic diagram of the present invention auxiliary old man in narrow space movement；
Figure 10 (a), 10 (b), 10 (c), 10 (d), 10 (e) and 10 (f) are schematic diagram when present invention auxiliary old man does housework；
Figure 11 (a), 11 (b) and 11 (c) are that present invention auxiliary old man moves the schematic diagram taken the opportunity；
Figure 12 is schematic diagram when present invention auxiliary old man stands.
Embodiment
Some vocabulary has such as been used to censure specific components among specification and claim.Those skilled in the art should
It is understood that hardware manufacturer may call same component with different nouns.This specification and claims are not with name
The difference of title is used as the mode for distinguishing component, but is used as the criterion of differentiation with the difference of component functionally.Such as logical
The "comprising" of piece specification and claim mentioned in is an open language, therefore should be construed to " include but do not limit
In "." substantially " refer in acceptable error range, those skilled in the art can be described within a certain error range solution
Technical problem, basically reach the technique effect.
In the description of the invention, it is to be understood that term " on ", " under ", "front", "rear", "left", "right", level "
Orientation or position relationship Deng instruction be based on orientation shown in the drawings or position relationship, be for only for ease of the description present invention and
Simplify description, rather than the device or element of instruction or hint meaning there must be specific orientation, with specific azimuth configuration
And operation, therefore be not considered as limiting the invention.
In the present invention, unless otherwise clearly defined and limited, term " installation ", " connected ", " connection ", " fixation " etc.
Term should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected, or be integrally connected；Can be
Mechanically connect or electrically connect；Can be joined directly together, can also be indirectly connected by intermediary, can be two
The connection of element internal.For the ordinary skill in the art, above-mentioned term can be understood at this as the case may be
Concrete meaning in invention.
The present invention is described in further detail below in conjunction with accompanying drawing, but it is not as a limitation of the invention.
As shown in figures 1-8, a kind of monomer multifunctional life self-care auxiliary robot, including mechanical structure, electrical control system
System and operation terminal 4, mechanical structure include omnirange moving structure, the portions 1 of shape of a saddle shape, plug-type electrically cylinder 5-1, even
The front handrail safety guard 8 of U-shaped when bar lifting structure 5, backrest structure, top view；Electric control system is arranged on and machine
In tool structure, electric control system 6 is by control module 6-1, operation module 6-2, battery module 6-3 and load cell 6-4 groups
Into operation module 6-2, battery module 6-3 and load cell 6-4 electrically connect with control module 6-1；Operation terminal 4 is used for
Regulate and control electric control system 6, driving mechanical structure completes corresponding action request.
Preferably, connecting rod lifting structure 5 is plug-type electric on bottom bracket 5-4 by being fixed on by lock pin 5-1-1
Cylinder 5-1, by piston rod 5-1-2 push pull maneuver, makes to be connected to as driving force by nut screw bearing 5-3 and leading screw 5-5
Lifting linking member on piston rod lock pin 5-1-3 moves up and down, and so as to drive the portions 1 of shape of a saddle shape to lift, adjusts its seat
Position height, the state that Fig. 3 present invention auxiliary old men aloft do housework.
Preferably, the support bar 7 of rectangle frame-shaped when backrest structure includes front-and rear-view, support bar 7, which is used to support, to be used
Person's back part, when its height is that user is sitting in portions 1, the top of support bar 7 is the waist location close to user, support
Be the safety guard 7-1 of arc shape when the left and right on column 7 has a top view, it is mobile and when doing housework, the direction of support bar 7 upward with
The angle of portions 1 is 90 degree, shifting multiply or use after, support bar 7 is rotated with the downward 180 degree in the rear of fulcrum shaft 7-2 towards user,
The rotary-top of support bar 7 is set soon to press close to trailing wheel reception position to lower section.
Preferably, omnirange moving structure includes the two front-wheel 3-1 and two trailing wheel 3-2 of omnirange moving parts, moves
It is dynamic and do housework in use, two front-wheel 3-1 and two trailing wheel 3-2 are to be in walking position, shifting multiply or use after, such as Fig. 5
Shown, two trailing wheel 3-2 are received on the inner side reception position of robot bottom.
Preferably, control module 6-1 includes CPU main substrates 6-1-1, single shaft positioner SCON6-1-2, SUB substrate
Before 6-1-3 and position control module ESCON6-1-4, CPU main substrate 6-1-1 is controlled by single shaft positioner SCON6-1-2
3-1 is taken turns, CPU main substrates 6-1-1 controls trailing wheel 3-2, CPU main substrate 6-1-1 and SUB by position control module ESCON6-1-4
Substrate 6-1-3 is connected, and SUB substrates 6-1-3 is connected with load cell 6-4 and operation terminal 4, and battery module 6-3 is as machine
People's power supply supplies, and is connected with CPU main substrate 6-1-1 and SUB substrates 6-1-3.
Preferably, operation terminal 4 includes main operation panel 4-1 and secondary guidance panel 4-2, and main operation panel 4-1 is provided with
Mode selector switch 4-1-1, shutdown switch 4-1-2, direction switch 4-1-3 and control stick 4-1-4, secondary guidance panel 4-2 settings
There are power switch 4-2-1, serial connector interface 4-2-2 and charging connector interface 4-2-3.Mode selector switch 4-1-1
Robot of the present invention can be made to switch to such as control stick mode, computer mode, 3 kinds of patterns of microcomputer mode, control stick 4-1-4 can
With operate out front direction is mobile, rear to movement, left direction is mobile, right direction is mobile, left front direction is mobile, right front is to shifting
Dynamic, left back direction is mobile, right back acts to 10 kinds of movement, the ゜ of left direction 360 rotations and the ゜ of right direction 360 rotations.
As shown in Fig. 9 (a), old man, which is sitting on auxiliary robot of taking care of oneself, to be walked in narrow hallways, such as Fig. 9
(b) shown in, when having the barriers such as flowerpot and book around auxiliary robot of taking care of oneself, due to the machine artificially comprehensive shifting
Flowing mode, i.e., not only forward, it can be moved freely to all directions, so the robot is easy to one side avoidant disorder
Thing, while being walked to the target to be gone.
Because portions of the present invention are shape of a saddle shapes, there is handrail safety guard in front, so as shown in Figure 10 (a), Lao Renke
Washed one's face with forward lean in the stable seat portion for being seated comfortably in the robot, as shown in Figure 10 (b), old man can be comfortable for a long time
Ground is sitting on auxiliary robot of taking care of oneself and cooked, and is that old man is sitting on auxiliary robot of taking care of oneself and pacified as shown in Figure 10 (c)
Quietly forward lean is toward putting clothes in washing machine and get the clothes back, as shown in Figure 10 (d), be old man can be seated comfortably in life oneself
Worked for a long time before desk on reason auxiliary robot.The artificial all-around mobile mode of the machine, can be certainly to all directions
By moving, as shown in Figure 10 (e), old man is restfully sitting on auxiliary robot of the present invention, easily can be swept with sweeper very much
The dirt for removing all directions is dirty.The present invention is by the seat height adjustment of connecting rod lifting structure 5, and as shown in Figure 10 (f), old man sits
Safely the book of eminence position on bookshelf can be taken off on auxiliary robot of the present invention.
Because the trailing wheel of robot is moved on bottom inside reception position, the rectangle frame-shaped support bar of backrest is also downward
180 degree rotates lower section close to trailing wheel reception position, so as shown in Figure 11 (a), the shifting of old man from the bed is taken the opportunity, such as Figure 11 (b)
Shown, old man takes the opportunity from the shifting of closet, and as shown in Figure 11 (c), old man takes the opportunity from the shifting on sofa, the backrest of the robot upper part
Shifting is multiplied with bottom trailing wheel 3-2 and not hindered, i.e., the robot is suitable for aiding in old man's shifting riding.
Figure 12 is schematic diagram when monomer multifunctional life self-care auxiliary robot of the present invention aids in old man's standing.
Some preferred embodiments of the present invention have shown and described in described above, but as previously described, it should be understood that this hair
It is bright to be not limited to form disclosed herein, the exclusion to other embodiment is not to be taken as, and available for various other
Combination, modification and environment, and can in the scope of the invention is set forth herein, by the technology of above-mentioned teaching or association area or
Knowledge is modified., then all should be and the change and change that those skilled in the art are carried out do not depart from the spirit and scope of the present invention
In the protection domain of appended claims of the present invention.
Claims (4)
- A kind of 1. monomer multifunctional life self-care auxiliary robot, it is characterised in that：Including mechanical structure, electric control system and Operate terminal,The mechanical structure includes omnirange moving structure, the portions of shape of a saddle shape, plug-type electrically cylinder, connecting rod lifting knot The front handrail safety guard of U-shaped when structure, backrest structure, top view；The electric control system is arranged on and addressed in mechanical structure, and the electric control system is by control module, operation mould Block, battery module and load cell composition, the operation module, the battery module and the load cell with it is described Control module electrically connects；The operation terminal is used to regulate and control the electric control system, drives the mechanical structure to complete corresponding action request.
- 2. monomer multifunctional life self-care auxiliary robot according to claim 1, it is characterised in that：The connecting rod lifting Structure is to be used as driving force by the plug-type electrically cylinder being fixed on by lock pin on bottom bracket, by the push pull maneuver of piston rod, The lifting linking member for making to be connected on piston rod lock pin by nut screw bearing and leading screw moves up and down, so as to drive the shape of a saddle The portions lifting of shape, adjusts its seat height；The support bar of rectangle frame-shaped when the backrest structure includes front-and rear-view, the support bar are used to support user's back Portion, when its height is that user is sitting in portions, the top of support bar is the waist location close to user, a left side for support bar and It is the safety guard of arc shape when the right side has a top view, when moving and doing housework, support bar direction is upward 90 with portions angle Degree, shifting multiply or use after, support bar is rotated with fulcrum shaft towards the downward 180 degree in rear of user, revolves the top of support bar Go to lower section and soon press close to trailing wheel reception position,The omnirange moving structure includes two front-wheels and two trailing wheels of omnirange moving parts, the mobile and use that does housework When, two front-wheels and two trailing wheels are to be in walking position, shifting multiply or use after, two trailing wheels are received into robot bottom On the reception position of inner side.
- 3. monomer multifunctional life self-care auxiliary robot according to claim 2, it is characterised in that：The control module Pass through including CPU main substrates, single shaft positioner SCON, SUB substrate and position control module ESCON, the CPU main substrates Single shaft positioner SCON controls front-wheel, and the CPU main substrates control trailing wheel, the CPU by position control module ESCON Main substrate is connected with SUB substrates, and the SUB substrates are connected with load cell and operation terminal, and the battery module is as machine Device people power supply supplies, and is connected with CPU main substrates and SUB substrates.
- 4. monomer multifunctional life self-care auxiliary robot according to claim 1, it is characterised in that：The operation terminal Including main operation panel and secondary guidance panel, the main operation panel is provided with mode selector switch, shutdown switch, direction switch And control stick, the secondary guidance panel are provided with power switch, serial connector interface and charging connector interface.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710957397.7A CN107571267A (en) | 2017-10-16 | 2017-10-16 | A kind of monomer multifunctional life self-care auxiliary robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710957397.7A CN107571267A (en) | 2017-10-16 | 2017-10-16 | A kind of monomer multifunctional life self-care auxiliary robot |
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| CN107571267A true CN107571267A (en) | 2018-01-12 |
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| CN201710957397.7A Pending CN107571267A (en) | 2017-10-16 | 2017-10-16 | A kind of monomer multifunctional life self-care auxiliary robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111012091A (en) * | 2019-12-26 | 2020-04-17 | 安庆师范大学 | Seat assisting in sitting and standing |
| CN114454194A (en) * | 2022-03-21 | 2022-05-10 | 深圳市普渡科技有限公司 | Service robot, robot gripper control method, system and storage medium |
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| CN111012091A (en) * | 2019-12-26 | 2020-04-17 | 安庆师范大学 | Seat assisting in sitting and standing |
| CN114454194A (en) * | 2022-03-21 | 2022-05-10 | 深圳市普渡科技有限公司 | Service robot, robot gripper control method, system and storage medium |
| CN114454194B (en) * | 2022-03-21 | 2024-01-12 | 深圳市普渡科技有限公司 | Service robot, robot paw control method, system and storage medium |
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Application publication date: 20180112 |