CN112536803B - Intelligent robot for helping old people - Google Patents
Intelligent robot for helping old people Download PDFInfo
- Publication number
- CN112536803B CN112536803B CN202011122029.9A CN202011122029A CN112536803B CN 112536803 B CN112536803 B CN 112536803B CN 202011122029 A CN202011122029 A CN 202011122029A CN 112536803 B CN112536803 B CN 112536803B
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- China
- Prior art keywords
- hand grip
- motor
- spline shaft
- bearing
- opening size
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/087—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices for sensing other physical parameters, e.g. electrical or chemical properties
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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
- B25J15/08—Gripping heads and other end effectors having finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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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
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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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
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
Abstract
The invention relates to an intelligent old-person-assisting robot, which comprises: the supporting device comprises a shell, the shell is connected with a chassis through a mounting plate, a bearing plate is arranged above the mounting plate, and wheels are arranged on two sides of the chassis to enable the supporting device to move; the transmission device comprises a first motor and a second motor which are arranged on the bearing plate, the first motor is connected with a lead screw, the lead screw is connected with a guide plate through a lead screw nut, a guide rail in the horizontal direction is arranged on the side wall of the guide plate, a gripper is arranged at the other end of the guide rail, an opening in the top of the guide plate is connected with an inner tube of the spline shaft, the uppermost end of the optical axis of the inner tube of the spline shaft is fixed on a crank connecting rod, and the outer tube of the spline shaft is connected with the second motor. The nested structure of the spline shaft improves the utilization rate of space, the purposes of stable structure and flexible adjustment during working are met, the structure is simple and easy to realize, and the robot can conveniently and quickly take and deliver objects.
Description
Technical Field
The invention relates to the technical field of home service robots, in particular to an intelligent old-age-assisting robot.
Background
At present, the aged population increases year by year, but medical institution service personnel matched with the aged population is in short supply, and due to the problems of uneven quality of care personnel, miniaturization and vacant nesting of living conditions of the aged and the like, the intelligent life which is the basis of the aged is imperative today when the aging problem is severe. However, the smart products on the market still face the problems of few intelligent devices, few application places and few users.
At present, because intelligent old-adapted equipment is still few, most of the intelligent old-adapted equipment only appears in high-end old-care projects, or the current intelligent equipment is mostly oriented to the situations of solitary old people and no old people with publicized services, and common old people are often overlooked due to high price and concern about follow-up services. The robot which can particularly help the old people who are disabled to move to fetch and deliver daily articles is particularly urgent.
In conclusion, there is still no product available in the prior art that is inexpensive and capable of delivering articles.
Disclosure of Invention
Therefore, the invention provides an intelligent old-fashioned robot which is used for overcoming the problem that an old-fashioned product which is low in price and can fetch and deliver articles is lacked in the prior art.
In order to achieve the above object, the present invention provides an intelligent old-person assisting robot, comprising:
the supporting device comprises a shell, the shell is connected with a chassis through a mounting plate, a bearing plate is arranged above the mounting plate, and wheels are arranged on two sides of the chassis to enable the supporting device to move;
the transmission device comprises a motor arranged on the bearing plate, the motor comprises a first motor and a second motor, the first motor is connected with a lead screw, the lead screw is connected with a guide plate through a lead screw nut, a guide rail in the horizontal direction is arranged on the side wall of the guide plate, a gripper is arranged at the other end of the guide rail, the first motor can rotate to drive the lead screw to move, so that the gripper on the guide rail moves in the vertical direction, an opening in the top of the guide plate is connected with an inner tube of a spline shaft, the uppermost end of the optical axis of the inner tube of the spline shaft is fixed on a crank connecting rod, the crank connecting rod is connected with the guide rail, the outer tube of the spline shaft is connected with the second motor, and the second motor can rotate to drive the outer tube of the spline shaft to move, so that the gripper on the crank connecting rod connected with the inner tube of the spline shaft moves in the horizontal direction;
the visual scanning module is arranged on the shell, the shape of an object to be grabbed by the hand is scanned, the grabbing mode of the hand is judged, when the object is grabbed by the hand, the maximum opening size of the hand is preset to be C0, the length and the height of the object are scanned by the visual scanning module, the shape of the object is determined to be (A0 and B0), the grabbing mode of the hand is determined by comparing the shape of the object with the maximum opening size of the hand, and the opening size and the grabbing position of the hand are determined according to the shape of the hand;
when the grabbing mode of the hand grip is determined, when B0 is in the size range of C0 and/or when A0 is in the size range of C0, the grabbing mode of the hand grip is determined as grabbing, and when B0 is not in the size range of C0 and A0 is not in the size range of C0, the grabbing mode of the hand grip is determined as picking;
when the grabbing position of the hand grip is determined, when B0 is in the size range of C0, the grabbing position of the hand grip is determined to be the middle position of the length of the object, when B0 is not in the size range of C0, the length size A0 of the object is compared with C0, when A0 is in the size range of C0, the grabbing position of the hand grip is determined to be the middle position of the height of the object, when A0 is not in the size range of C0 and B0 is in the size range of C0, the grabbing mode of the hand grip is determined to be the mode of grabbing, and the grabbing position is the middle position of the height and the length of the object.
Further, an object length size matrix A, an object height size matrix B and a gripper opening size matrix D are preset in the visual scanning module, and for the object length size matrix A (A1, A2 and A3 \8230an), A1 represents a preset first length size, A2 represents a preset second length size, A3 represents a preset third length size, and An represents a preset nth length size; for an object height dimension matrix B (B1, B2, B3 \8230; bn), where B1 represents a preset first height dimension, B2 represents a preset second height dimension, B3 represents a preset third height dimension, and Bn represents a preset nth height dimension; for a grip opening size matrix D (D1, D2 and D3 \8230; dn), wherein D1 represents a preset first opening size, D2 represents a preset second opening size, D3 represents a preset third opening size, and Dn represents a preset nth opening size;
when the gripping mode of the hand grip is determined to be gripping, the opening size of the hand grip is determined according to the comparison between the size of the gripping position of the hand grip and the size of a preset object; when the grabbing position of the hand grab is determined to be the length middle position of the object, B0 is compared with Bi in the height size matrix of the object,
when B0 is less than or equal to B1, determining the opening size of the hand grip to be D1;
when B1 is not less than B0 and less than B2, determining the opening size of the hand grip to be D2;
when B2 is larger than or equal to B0 and smaller than B3, determining the opening size of the hand grip to be D3;
when B3 is larger than or equal to B0 and is smaller than Bn, determining the opening size of the hand grip to be Dn;
when the grabbing position of the hand grab is determined to be the height middle position of the object, comparing A0 with Ai in the length size matrix of the object,
when A0 is not more than A1, determining the opening size of the hand grip to be D1;
when A1 is not less than A0 and is less than A2, determining the opening size of the hand grip as D2;
when A2 is more than or equal to A0 and less than A3, determining the opening size of the hand grip to be D3;
when A3 is not less than A0 and is less than An, determining the opening size of the hand grip to be Dn;
and when the gripping mode of the hand grip is determined to be a supporting mode, determining the opening size of the hand grip to be D1.
Further, the loading board includes first loading board and second loading board, be provided with first fixing base and second fixing base on the first loading board, it is provided with third fixing base and fourth fixing base to correspond on the second loading board, be provided with first bearing in the first fixing base, be provided with the third bearing in the third fixing base, the stiff end and the first bearing of lead screw are connected, the support end and the third bearing of lead screw are connected, the one end and the second bearing of integral key shaft outer tube are connected, the other end and the fourth bearing of integral key shaft outer tube are connected.
Furthermore, the first motor is arranged on the first bearing plate, an output shaft of the first motor is connected with the first belt wheel through a set screw, a shaft neck of the lead screw is connected with the second belt wheel through the set screw, and the first belt wheel is connected with the second belt wheel through a belt;
the screw nut is fixedly connected with the platform through a flange plate, and the platform is connected with the bottom of the guide plate.
Further, the second motor is arranged on the first bearing plate, an output shaft of the second motor is connected with a third belt pulley through a set screw, the lower end of the outer tube of the spline shaft is connected with a fourth belt pulley through the set screw, and the third belt pulley is connected with the fourth belt pulley through a belt.
Further, a threaded hole is formed in the side wall of the arc-shaped end of the crank connecting rod, the uppermost end of the optical axis of the inner tube of the spline shaft is sleeved in the threaded hole of the crank connecting rod, and the inner tube of the spline shaft is fixed on the crank connecting rod through a set screw.
Further, the spline shaft inner tube optical axis is provided with the bearing, through the lower extreme of bearing inner race and outer lane carries out axial positioning to the spline, the optical axis preset position of spline shaft inner tube sets up the ring channel and packs into the jump ring and carries out axial positioning to the bearing.
Furthermore, the wheels of the chassis are Mecanum wheels, the chassis is a box body, a bent steel plate with a through hole is arranged at the edge of the box body, and the bent steel plate with the through hole is connected with the mounting plate to adjust the position of the mounting plate.
Furthermore, a sliding block is arranged on the guide rail and connected with the hand grab, protective strips are arranged on two sides of the hand grab, and hot melt adhesive is arranged inside the hand grab.
Furthermore, the first bearing plate and the second bearing plate are made of steel plate bending pieces, the mounting plate is connected with the first bearing plate through bolts, and the first bearing plate is a mounting base body of the second bearing plate.
Compared with the prior art, the intelligent old-age assistant robot has the beneficial effects that the intelligent old-age assistant robot comprises a supporting device and a transmission device, and firstly, the intelligent old-age assistant robot is fixedly connected with a chassis through a shell, and wheels are arranged on the chassis, so that the robot can achieve the movable purpose; secondly, the first motor is connected with the lead screw, the lead screw nut is connected with the guide rod, and the guide rod is connected with the guide rail, so that the movement of the gripper on the guide rail in the vertical direction is realized; and finally, through the connection of the second motor and the spline shaft, the inner tube of the spline shaft is connected with a crank connecting rod, and the crank connecting rod is connected with the guide rail, so that the movement of the gripper on the guide rail in the horizontal direction is realized. The lifting device realizes accurate control of height through the movement of the lead screw nut, simultaneously improves the space utilization rate through the nested structure of the spline shaft, the inner tube can extend out by a corresponding length when in work, and can retract when not in work, thereby not only meeting the aims of stable structure and flexible adjustment when in work, but also having simple and easy structure and being convenient for the robot to realize the aim of rapidly taking and delivering articles.
Particularly, the invention judges the gripping mode of the hand grip by arranging a visual scanning module and scanning the shape of an object to be gripped by the hand grip, when the hand grip grasps the object, the maximum opening size of the hand grip is preset to be C0, the visual scanning module scans the length and height of the object, determines the shape of the object to be (A0, B0), compares the shape of the object with the maximum opening size of the hand grip to determine the gripping mode of the hand grip, determines the gripping position of the hand grip according to the mode of the hand grip, thereby determining the opening size of the hand grip according to the gripping position of the hand grip, determines the working mode of the hand grip layer by layer, avoids the problem that when the shape of the object to be gripped is larger, the maximum opening size of the hand grip is not enough to grasp, adjusts the gripping mode of the hand grip, and determines the gripping position and size of the hand grip when the gripping mode is the gripping mode, thereby accurately adjusting the opening size of the hand grip, reducing the waiting time, determining the stability and safety of the object and ensuring the requirement of safe movement.
Furthermore, the transmission device provided by the invention adopts a simple structure and is decoupled, the movement of the hand grip can be only movement in a vertical direction, can also be only movement in a horizontal direction, and can also be movement in both the horizontal direction and the vertical direction, and the rotary movement is converted into linear movement, so that the movement control is conveniently carried out through a motor, and the robot can conveniently realize the object taking and delivering capabilities of different heights and different distances.
Particularly, power is transmitted to the spline shaft and the screw rod through the motor, the screw rod nut drives the platform through the operation of the screw rod nut on the screw rod, the platform drives the guide plate to move up and down and simultaneously drives the guide rail connected with the guide plate to move, the up-and-down movement of the inner pipeline of the spline shaft does not influence the rotating movement of the inner pipe of the spline shaft, the rotating movement of the inner pipe of the spline shaft drives the crank connecting rod connected with the inner pipe of the spline shaft to drive the sliding block on the guide rail to move, the sliding block drives the gripper to move, the omnibearing gripping function of the gripper is realized by combining the rotation of the wheels, and the requirement of the old for taking and placing articles at omnibearing angles is facilitated.
Furthermore, the first bearing plate and the second bearing plate are made of steel plate bending pieces, the robot is simple in structure and low in price, and can be carried on the mobile platform, so that articles can be taken and placed quickly and accurately, and the danger of the old people at home in the taking and placing process due to the fact that the articles are placed too high is avoided. The intelligent robot software control system is developed autonomously, so that the intelligent robot software control system is powerful in function and simple and convenient to operate, the robot can track or walk according to a planned route, the fetching and delivering functions can be started and realized by one key, and the convenience of the robot in fetching and delivering articles is further improved.
Furthermore, the robot can be provided with passive calling and active reminding functions, so that the robot not only can meet the subjective requirements of the old, but also can remind people to take medicines and regularly send water, the coordination of family life is realized, and people pay attention to more careful and healthy daily life. The intelligent old-age assistant robot has strong function expansibility, can combine other functions such as gas leakage alarm, fire smoke alarm, video monitoring and the like in the robot, can be connected with a mobile phone through a built-in Bluetooth module of the robot, enables a guardian to know the life state of the old at any time, and plays a certain role in protecting the life safety of the old.
Drawings
Fig. 1 is a schematic structural diagram of an intelligent aging-assisting robot according to the embodiment of the present invention;
fig. 2 is a schematic structural diagram of another view of the intelligent aging-assisting robot according to the embodiment of the present invention.
Detailed Description
In order that the objects and advantages of the invention will be more clearly understood, the invention is further described in conjunction with the following examples; it should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only for explaining the technical principle of the present invention, and do not limit the scope of the present invention.
It should be noted that in the description of the present invention, the terms of direction or positional relationship indicated by the terms "upper", "lower", "left", "right", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, which are only for convenience of description, and do not indicate or imply that the device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
Furthermore, it should be noted that, in the description of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Referring to fig. 1-2, the present invention provides an intelligent robot for helping the aged, comprising:
the supporting device comprises a shell 1, the shell 1 is connected with a chassis through a mounting plate 6, a bearing plate is arranged above the mounting plate 6, and wheels are arranged on two sides of the chassis to enable the supporting device to move;
transmission, it is including setting up motor 5 on the loading board, motor 5 includes first motor and second motor, first motor is connected with lead screw 2, lead screw 2 is connected with baffle 7 through screw-nut 3, the lateral wall of baffle 7 is provided with the guide rail 8 of horizontal direction, the other end of guide rail 8 sets up tongs 9, can make thereby first motor rotates the motion that drives lead screw 2 and makes the motion of tongs 9 vertical direction on the guide rail, the trompil of baffle 7 top and the inner tube connection of integral key shaft 12, the inner tube optical axis top of integral key shaft 12 is fixed on crank connecting rod 11, crank connecting rod 11 with guide rail 8 connects, the outer tube and the second motor of integral key shaft 12 are connected, thereby can make the motion of the rotation of second motor drive integral key shaft 12's outer tube make with the motion of tongs 9 horizontal direction on the crank connecting rod of the inner tube connection of integral key shaft.
A visual scanning module (not shown in the figure) which is arranged on the housing 1, and is used for scanning the shape of an object to be grabbed by the gripper 9 and judging the grabbing mode of the gripper 9, when the gripper 9 grabs the object, the maximum opening size of the gripper 9 is preset to be C0, the visual scanning module is used for scanning the length and height of the object to determine the shape of the object to be (A0, B0), comparing the shape of the object with the maximum opening size of the gripper 9 to determine the grabbing mode of the gripper 9, and then determining the opening size and grabbing position of the gripper 9 according to the mode of the gripper 9;
when determining the gripping mode of the hand grip 9, when B0 is in the size range of C0 and/or when A0 is in the size range of C0, determining the gripping mode of the hand grip 9 as gripping, and when B0 is not in the size range of C0 and A0 is not in the size range of C0, determining the gripping mode of the hand grip as picking;
when the grabbing position of the hand grab 9 is determined, when B0 is in the size range of C0, the grabbing position of the hand grab 9 is determined to be the middle position of the length of the object, when B0 is not in the size range of C0, the length size A0 of the object is compared with C0, when A0 is in the size range of C0, the grabbing position of the hand grab 9 is determined to be the middle position of the height of the object, when A0 is not in the size range of C0 and B0 is in the size range of C0, the grabbing mode of the hand grab 9 is determined to be the mode of grabbing, and the grabbing position is the middle position of the height and the length of the object.
An object length size matrix A, an object height size matrix B and a gripper opening size matrix D are preset in the visual scanning module, and for the object length size matrix A (A1, A2 and A3 \8230an), A1 represents a preset first length size, A2 represents a preset second length size, A3 represents a preset third length size, and An represents a preset nth length size; for an object height dimension matrix B (B1, B2, B3 \8230;. Bn), where B1 represents a predetermined first height dimension, B2 represents a predetermined second height dimension, B3 represents a predetermined third height dimension, and Bn represents a predetermined nth height dimension; for a grip opening size matrix D (D1, D2 and D3 \8230; dn), wherein D1 represents a preset first opening size, D2 represents a preset second opening size, D3 represents a preset third opening size, and Dn represents a preset nth opening size;
when the grasping mode of the hand grip 9 is determined to be grasping, the opening size of the hand grip is determined according to the comparison between the size of the grasping position of the hand grip 9 and the preset object size, when the grasping position of the hand grip 9 is determined to be the length middle position of the object, B0 is compared with Bi in the height size matrix of the object,
when B0 is less than or equal to B1, determining the opening size of the hand grip as D1;
when B1 is not less than B0 and less than B2, determining the opening size of the hand grip to be D2;
when B2 is larger than or equal to B0 and smaller than B3, determining the opening size of the hand grip to be D3;
when B3 is larger than or equal to B0 and is smaller than Bn, determining the opening size Dn of the hand grip;
when the grasping position of the grasping hand 9 is determined as the height middle position of the object, A0 is compared with Ai in the length size matrix of the object,
when A0 is less than or equal to A1, determining the opening size of the hand grip as D1;
when A1 is not less than A0 and is less than A2, determining the opening size of the hand grip as D2;
when A2 is more than or equal to A0 and less than A3, determining the opening size of the hand grip as D3;
when A3 is not less than A0 and is less than An, determining the opening size of the hand grip to be Dn;
and when the grasping mode of the hand grip 9 is determined to be a supporting mode, determining the opening size of the hand grip to be D1.
Specifically, in the embodiment of the invention, the chassis and the wheels in the supporting device form the shape of a trolley, the wheels of the chassis are Mecanum wheels, the chassis is a box body, and the supporting device has the function of the trolley through the connection of the wheels on the chassis, so that the movement of the supporting device is met. The edge of the box body is provided with a bent steel plate with a through hole, and the relative position of the mounting plate 6 and the chassis is adjusted by connecting different through holes of the bent steel plate in the mounting bag, so that the requirements of different use occasions on different heights can be met. Meanwhile, the wheels on the chassis are arranged on two opposite sides of the chassis in the embodiment of the invention, and two wheels are arranged on two opposite sides respectively.
Specifically, in the embodiment of the present invention, the mounting plate 6 is connected to the bearing plates through bolts, the bearing plates include a first bearing plate and a second bearing plate, the first bearing plate is provided with a first fixing seat and a second fixing seat, the second bearing plate is correspondingly provided with a third fixing seat and a fourth fixing seat, the first fixing seat is provided with a first bearing, the third fixing seat is provided with a third bearing, a fixing end of the lead screw 2 is connected to the first bearing, and a support end of the lead screw 2 is connected to the third bearing. The screw may be a ball screw, but the invention is not limited to the specific type of screw, and all embodiments are subject to the invention.
Specifically, in the embodiment of the present invention, the first bearing plate and the second bearing plate are made of bent steel plates, the mounting plate 6 is connected to the first bearing plate through a bolt, and the first bearing plate is a mounting base of the second bearing plate. The second carrier plate guides the movement of the guide plate 7. The belt wheel 13 is installed on the output shafts of the first motor and the second motor, and the through holes of the installation positions of the first motor, the second motor and the first bearing plate are strip-shaped holes, so that the transmission center distance of the belt wheel 13 can be conveniently adjusted.
Specifically, in the embodiment of the present invention, the first motor is disposed on the first bearing plate, an output shaft of the first motor is connected to the first pulley through a set screw, a journal at a lower portion of the lead screw 2 is connected to the second pulley through a set screw, and the first pulley and the second pulley are connected through a belt. The screw rod 2 can be driven by the first motor to rotate through the arrangement of the first bearing and the third bearing. The lead screw nut 3 is fixedly connected with the platform 4 through a flange plate, the platform 4 is fixedly connected with the bottom of the guide plate 7 through a screw, a bearing is placed in an opening in the top of the guide plate 7 to enable the inner tube of the spline shaft 12 to rotate, the inner tube of the spline shaft 12 can move in the vertical direction under the driving of the guide plate 7, the head is raised, the side of the top of the guide plate 7 is fixedly supported by the guide rail 8, and the hand grip 9 is connected with the guide rail 8 to enable the first motor to rotate to drive the lead screw nut 3 on the lead screw 2 to vertically move to drive the guide plate 7 to vertically move, so that the hand grip 9 on the guide rail 8 can move in the vertical direction.
Specifically, in the embodiment of the present invention, the second motor is disposed on the first carrier plate, an output shaft of the second motor is connected to a third pulley through a set screw, a lower end of the outer tube of the spline shaft 12 is connected to a fourth pulley through a set screw, and the third pulley and the fourth pulley are connected through a belt. One end and the second bearing of integral key shaft 12 outer tube are connected, the other end and the fourth bearing of integral key shaft 12 outer tube are connected. The second motor and the outer tube of the spline shaft 12 form a rotating pair, the rotation of the second motor drives the outer tube of the spline shaft 12 to move, and the movement of the outer tube of the spline shaft 12 enables the inner tube of the spline shaft 12 to move.
Specifically, in the embodiment of the present invention, a threaded hole is formed in a side wall of an arc-shaped end of the crank connecting rod 11, an uppermost end of an optical axis of an inner tube of the spline shaft 12 is sleeved in the threaded hole of the crank connecting rod 11, and a set screw is screwed in to press a terminal of the set screw against an outer wall of the inner tube, so that the crank connecting rod 11 is fixedly connected with the inner tube of the spline shaft 12, and a relative position between the inner tube of the spline shaft 12 and the crank connecting rod 11 is fixed by a position of the threaded hole of the crank connecting rod 11, so that the movement of the outer tube of the spline shaft 12 under the rotation of the second motor drives the movement of the inner tube of the spline shaft 12, the movement of the inner tube of the spline shaft 12 drives the movement of the crank connecting rod 11 fixedly connected therewith, and the gripper 9 connected with the crank connecting rod 11 realizes the movement in the horizontal direction. The length of the crank in the crank connecting rod 11 in the embodiment of the invention is 90mm, and the length of the connecting rod is 255mm. The present invention is not limited to the specific size of the crank connecting rod 11, and all that is required is to be embodied.
Specifically, in the embodiment of the invention, the optical axis of the inner tube of the spline shaft 12 is provided with the bearing, the spline is axially positioned through the lower ends of the inner ring and the outer ring of the bearing, the preset position of the optical axis of the inner tube of the spline shaft 12 is provided with the annular groove, and the clamp spring is arranged in the annular groove to axially position the bearing.
Specifically, in the embodiment of the invention, a deep groove ball bearing is arranged at the beginning of the optical axis of the inner tube of the spline shaft 12, the lower ends of the inner ring and the outer ring of the bearing are axially positioned by a spline, an annular groove is arranged in an appropriate position of the optical axis of the inner tube, and a snap spring is arranged at the upper end of the annular groove to axially position the bearing.
Specifically, in the embodiment of the invention, the guide rail 8 is provided with the slider 10, the crank connecting rod 11 is connected with the guide rail 8 through the slider 10, the slider 10 is arranged on the guide rail 8, the slider 10 is connected with the gripper 9 through a screw, a threaded hole is formed in the rear part of the gripper 9, the cushion block is connected with the slider 10 through the screw, and the two sides of the gripper 9 are provided with the protective strips, so that the utilization area of the gripper 9 is increased, and the stable shoveling can be realized and the scratch of the article by the sharp points formed on the two side edges of the gripper 9 can also be avoided. Simultaneously the inside of tongs 9 is provided with the hot melt adhesive, can increase frictional force while the soft material has also improved the security of taking article.
Specifically, in the embodiment of the present invention, the gripper 9, the mounting plate 6, the first bearing plate, the second bearing plate, the guide plate 7, and the platform 4 are all customized and modified products.
Specifically, in the embodiment of the invention, the inner tube of the spline shaft 12 can rotate by opening a bearing at the top of the guide plate 7, and the inner tube of the spline shaft 12 moves simultaneously when the guide plate 7 moves up and down. Meanwhile, the guide plate 7 is nested with the inner tube and the outer tube of the spline shaft 12, the guide plate 7 is connected with the lead screw 2 through the lead screw nut 3, so that the lead screw nut 3 can move to realize accurate control of height, the nested structure of the spline shaft 12 realizes accurate control in the horizontal direction, and the wheels realize movement of a trolley, so that the robot can realize tracking or walk according to a planned route, and the fetching and delivering functions can be started and realized by one key.
Specifically, in the embodiment of the present invention, the present invention is further provided with a sensor (not shown in the figure) and a control main board (not shown in the figure) for planning the moving route of the supporting device.
The working process of the invention is as follows: when the robot receives a signal of taking and delivering an article sent by a user, a trolley with wheels can automatically reach a working place, the first motor is controlled to rotate to drive the lead screw nut 3 to move in the vertical direction, the lead screw nut 3 moves to drive the guide rod to move, so that the hand grip 9 on the guide rail 8 moves in the vertical direction, the robot can move in the vertical direction, the second motor is controlled to rotate to drive the outer tube of the spline shaft 12 to move to drive the inner tube to move, the inner tube moves to drive the crank connecting rod 11 to move, so that the hand grip 9 on the slider 10 moves in the horizontal direction, the position of the article to be taken and delivered is prepared to be positioned, the relative position and the distance between the hand grip 9 and the article are adjusted to carry out grabbing or picking, the article is automatically delivered to the user when the user takes the article, and the hand grip 9 can automatically retract after the user takes the article.
So far, the technical solutions of the present invention have been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of the present invention is obviously not limited to these specific embodiments. Equivalent changes or substitutions of related technical features can be made by those skilled in the art without departing from the principle of the invention, and the technical scheme after the changes or substitutions can be within the protection scope of the invention.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention; various modifications and alterations to this invention will become apparent to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. An intelligent elderly-assistant robot, comprising:
the supporting device comprises a shell, the shell is connected with a chassis through a mounting plate, a bearing plate is arranged above the mounting plate, and wheels are arranged on two sides of the chassis and used for enabling the supporting device to move;
the transmission device comprises a motor arranged on the bearing plate, the motor comprises a first motor and a second motor, the first motor is connected with a lead screw, the lead screw is connected with a guide plate through a lead screw nut, a guide rail in the horizontal direction is arranged on the side wall of the guide plate, a gripper is arranged at the other end of the guide rail, the first motor can rotate to drive the lead screw to move, so that the gripper on the guide rail moves in the vertical direction, an opening in the top of the guide plate is connected with an inner tube of a spline shaft, the uppermost end of an optical axis of the inner tube of the spline shaft is fixed on a crank connecting rod, the crank connecting rod is connected with the guide rail, the outer tube of the spline shaft is connected with the second motor, and the second motor can rotate to drive the outer tube of the spline shaft to move, so that the gripper on the crank connecting rod connected with the inner tube of the spline shaft moves in the horizontal direction;
the visual scanning module is arranged on the shell, the shape of an object needing to be grabbed by the hand is scanned, the grabbing mode of the hand is judged, when the object is grabbed by the hand, the maximum opening size of the hand is preset to be C0, the length and the height of the object are scanned by the visual scanning module, the shape of the object is determined to be (A0 and B0), the grabbing mode of the hand is determined by comparing the shape of the object with the maximum opening size of the hand, and the opening size and the grabbing position of the hand are determined according to the mode of the hand;
when the grasping mode of the hand grip is determined, when B0 is in the size range of C0 and/or when A0 is in the size range of C0, determining the grasping mode of the hand grip as grasping, and when B0 is not in the size range of C0 and A0 is not in the size range of C0, determining the grasping mode of the hand grip as picking;
when the grabbing position of the hand grip is determined, when B0 is in the size range of C0, the grabbing position of the hand grip is determined to be the middle position of the length of the object, when B0 is not in the size range of C0, the length size A0 of the object is compared with C0, when A0 is in the size range of C0, the grabbing position of the hand grip is determined to be the middle position of the height of the object, when A0 is not in the size range of C0 and B0 is in the size range of C0, the grabbing mode of the hand grip is determined to be the mode of grabbing, and the grabbing position is the middle position of the height and the length of the object.
2. The intelligent aging-assisting robot according to claim 1, wherein An object length dimension matrix a, an object height dimension matrix B and a gripper opening dimension matrix D are preset in the visual scanning module, and for the object length dimension matrix a (A1, A2, A3 \8230an), wherein A1 represents a preset first length dimension, A2 represents a preset second length dimension, A3 represents a preset third length dimension, and An represents a preset nth length dimension; for an object height dimension matrix B (B1, B2, B3 \8230;. Bn), where B1 represents a predetermined first height dimension, B2 represents a predetermined second height dimension, B3 represents a predetermined third height dimension, and Bn represents a predetermined nth height dimension; for a gripper opening size matrix D (D1, D2 and D3 \8230Dn), wherein D1 represents a preset first opening size, D2 represents a preset second opening size, D3 represents a preset third opening size, and Dn represents a preset nth opening size;
when the grasping mode of the hand grip is determined to be grasping, the opening size of the hand grip is determined according to the comparison between the size of the grasping position of the hand grip and the size of a preset object, when the grasping position of the hand grip is determined to be the length middle position of the object, B0 is compared with Bi in the height size matrix of the object,
when B0 is less than or equal to B1, determining the opening size of the hand grip to be D1;
when B1 is more than or equal to B0 and less than B2, determining the opening size of the hand grip as D2;
when B2 is more than or equal to B0 and less than B3, determining the opening size of the hand grip as D3;
when B3 is larger than or equal to B0 and is smaller than Bn, determining the opening size of the hand grip to be Dn;
when the grabbing position of the hand grab is determined to be the height middle position of the object, comparing A0 with Ai in the length size matrix of the object,
when A0 is less than or equal to A1, determining the opening size of the hand grip as D1;
when A1 is not less than A0 and is less than A2, determining the opening size of the hand grip as D2;
when A2 is more than or equal to A0 and less than A3, determining the opening size of the hand grip as D3;
when A3 is not less than A0 and is less than An, determining the opening size of the hand grip to be Dn;
and when the grabbing mode of the hand grip is determined to be a supporting mode, determining the opening size of the hand grip to be D1.
3. The intelligent old-people assisting robot according to claim 1, wherein the bearing plate comprises a first bearing plate and a second bearing plate, a first fixing seat and a second fixing seat are arranged on the first bearing plate, a third fixing seat and a fourth fixing seat are correspondingly arranged on the second bearing plate, a first bearing is arranged in the first fixing seat, a third bearing is arranged in the third fixing seat, a fixing end of the lead screw is connected with the first bearing, a supporting end of the lead screw is connected with the third bearing, one end of the spline shaft outer tube is connected with the second bearing, and the other end of the spline shaft outer tube is connected with the fourth bearing.
4. The intelligent old-fashioned robot assistant according to claim 3, wherein the first motor is arranged on the first bearing plate, an output shaft of the first motor is connected with the first belt pulley through a set screw, a shaft neck of the lead screw is connected with the second belt pulley through a set screw, and the first belt pulley and the second belt pulley are connected through a belt;
the screw nut is fixedly connected with the platform through a flange plate, and the platform is connected with the bottom of the guide plate.
5. The intelligent old-fashioned robot as claimed in claim 3, wherein the second motor is disposed on the first bearing plate, an output shaft of the second motor is connected with a third belt wheel through a set screw, a lower end of the outer tube of the spline shaft is connected with a fourth belt wheel through a set screw, and the third belt wheel and the fourth belt wheel are connected through a belt.
6. The intelligent old-age assisting robot is characterized in that a threaded hole is formed in the side wall of the arc-shaped end of the crank connecting rod, the uppermost end of the optical axis of the inner tube of the spline shaft is sleeved in the threaded hole of the crank connecting rod, and the inner tube of the spline shaft is fixed on the crank connecting rod through a set screw.
7. The intelligent old-fashioned robot as claimed in claim 6, wherein the optical axis of the spline shaft inner tube is provided with a bearing, the spline is axially positioned by the lower ends of the inner ring and the outer ring of the bearing, the optical axis of the spline shaft inner tube is provided with an annular groove at a preset position, and a snap spring is arranged in the annular groove to axially position the bearing.
8. The intelligent old-people assisting robot as claimed in claim 1, wherein the wheels of the chassis are mecanum wheels, the chassis is a box body, a bent steel plate with through holes is arranged at the edge of the box body, and the position of the mounting plate is adjusted by connecting the bent steel plate with through holes and the mounting plate.
9. The intelligent robot as claimed in claim 1, wherein the guide rail is provided with a slider, the slider is connected with the hand grip, two sides of the hand grip are provided with protective strips, and a hot melt adhesive is arranged inside the hand grip.
10. The intelligent robot as claimed in claim 3, wherein the first and second plates are made of bent steel plates, the mounting plate is connected to the first plate via bolts, and the first plate is a mounting base of the second plate.
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