CN210551253U - Service robot for putting on and taking off shoes and socks - Google Patents
Service robot for putting on and taking off shoes and socks Download PDFInfo
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- CN210551253U CN210551253U CN201921068080.9U CN201921068080U CN210551253U CN 210551253 U CN210551253 U CN 210551253U CN 201921068080 U CN201921068080 U CN 201921068080U CN 210551253 U CN210551253 U CN 210551253U
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Abstract
The utility model discloses a footgear putting on and taking off service robot, which comprises a chassis, a footgear putting on/taking off module and a footgear putting on/taking off module, wherein the footgear putting on/taking off module and the footgear putting on/taking off module are respectively arranged at two sides of the upper end of the chassis; the shoe putting on/off module comprises two shoe discs for pedaling, and clamping mechanisms for clamping shoes are arranged around the upper ends of the shoe discs; one side of each of the two shoe plates is provided with a shoe supporting mechanism; the sock wearing/taking-off module comprises a sock sleeving device, a sock taking-off mechanism and two groups of transverse and longitudinal ball screws, the longitudinal ball screws are fixed, the transverse ball screws are fixed on movable parts of the longitudinal ball screws, and the sock sleeving device and the sock taking-off mechanism are detachably connected to the movable parts of the transverse ball screws; the utility model aims at providing a to put on and take off shoes socks of shoes socks integration and put on and take off service robot.
Description
Technical Field
The utility model belongs to the robot field, concretely relates to shoes socks are worn and are taken off service robot.
Background
In recent years, the aging level of the population of China is increasingly deepened, and the number of the elderly population is continuously increased. The published materials show that in 2020, China will reach 2.48 billion population over 60 years old; it will span 3 billion in 2030; by 2050, the population of the aged people in China will increase to 4.8 hundred million, which accounts for one fourth of the population of the aged people who have died. The old people have difficulty going down the waist or have inconvenience in legs and feet, and are very inconvenient to wear and take off the shoes and socks, so that the old people, pregnant women, patients and obese people are worried about the problem.
At present, most people in the society are worried by wearing shoes and socks, however, the current research on the shoes and socks wearing and taking-off service robot is only a few simple shoes and socks wearing assistors, and no machine integrating the shoes and socks wearing and taking-off is available
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a to put on and take off shoes socks of shoes socks integration and put on and take off service robot.
The utility model provides a technical scheme is: a footgear putting-on and taking-off service robot comprises a chassis, a shoe putting-on/taking-off module and a footgear putting-on/taking-off module, wherein the shoe putting-on/taking-off module and the footgear putting-on/taking-off module are respectively arranged at two sides of the upper end of the chassis;
the shoe putting on/off module comprises two shoe discs for pedaling, and clamping mechanisms for clamping shoes are arranged around the upper ends of the shoe discs; one side of each of the two shoe plates is provided with a shoe supporting mechanism;
the shoe stretcher comprises a shell, wherein a rotating shaft capable of freely rotating is transversely arranged on the inner side of the shell and penetrates through the shell; the rotating shaft is also provided with a front supporting cylinder and a rear supporting cylinder respectively, the bottom of the front supporting cylinder is hinged to the rotating shaft, the front supporting cylinder can rotate along the axial direction of the rotating shaft, the bottom of the rear supporting cylinder is fixed on the rotating shaft, two L-shaped through holes are formed in the upper end and the side end of the shell in a manner of being matched with the front supporting cylinder and the rear supporting cylinder in a movable manner, the L-shaped through holes in the front side limit the front supporting cylinder to move backwards, buffer springs are arranged in the holes of the L-shaped through holes in the axial direction of the rotating shaft, and meanwhile, the L-shaped through holes in the rear side limit the rear supporting cylinder to move forwards; a circle of gears are arranged on the rotating shaft, the rotating shaft is connected with an output shaft of a rotating motor through gear engagement, and the rotating motor can drive the rotating shaft to drive the front supporting cylinder and the rear supporting cylinder to rotate around the axis of the rotating shaft; a swing motor is further arranged in the shell, an output shaft of the swing motor is connected with a Y-shaped swing rod, the upper end of the Y-shaped swing rod is rotatably connected to the rotating shaft, and the swing direction of the Y-shaped swing rod swings along the axial direction of the rotating shaft;
the sock wearing/taking-off module comprises a sock sleeving device, a sock taking-off mechanism and two groups of transverse and longitudinal ball screws respectively, the longitudinal ball screws are fixed, the transverse ball screws are fixed on the movable parts of the longitudinal ball screws, the sock sleeving device and the sock taking-off mechanism are fixed on one side of an installation block, the installation block can be freely and rotatably arranged on the movable parts of the transverse ball screws, worm wheels are arranged on the outer sides of the installation block, and the worm wheels are in meshed connection with driving worms fixed on the movable parts of the transverse ball screws; the sock sleeving device and the sock taking-off mechanism control transverse and longitudinal displacement through the transverse and longitudinal ball screws, and the sock sleeving device and the sock taking-off mechanism control the fixed block to drive the sock sleeving device and the sock taking-off mechanism to rotate through the worm gear which is driven to be meshed by the driving worm to rotate
Preferably, the clamping mechanism comprises flexible baffles which are respectively arranged on the upper end surface of the shoe disc, front, back, left and right, the back ends of the flexible baffles are respectively connected through a sliding block, and the shoe disc is provided with a sliding groove in cooperation with the sliding block;
an output motor is fixed on the lower end face of the shoe disc, an output shaft of the output motor is connected with a gear, racks are symmetrically meshed on two sides of the gear, the back faces of the sliding blocks on the left side and the right side are respectively fixed at one end of one rack through a connecting rod, and the sliding blocks on the left side and the right side drive the connecting rod to move in the sliding chute through the gear and the rack; the front and rear ends of the sliding block are connected to the crank through the connecting rod respectively, the center of the crank is fixed to the gear, and the two ends of the connecting rod are connected with the crank and the sliding block in a rotating mode respectively.
Preferably, still include the shoe lifting mechanism, the shoe lifting mechanism includes the movable plate, be fixed with the shoe lifting motor on the movable plate, the output shaft of shoe lifting motor is connected with the crank connecting rod through bevel gear, the end-to-end rotation of crank connecting rod is connected with the flexible gyro wheel, the side bottom of shoes dish is provided with the decurrent spout of slope, flexible gyro wheel sliding connection be in the side bottom spout of shoes dish.
Preferably, the mobile device further comprises a moving mechanism, the moving mechanism comprises a moving screw rod, the moving screw rod is driven by a moving motor, a nut plate is further connected to the moving screw rod in a meshed mode, and the moving plate is fixed to the upper end of the nut plate.
Preferably, the shoe lifting mechanism further comprises a fixed seat, the fixed seat is mounted on the chassis, a lifting lead screw is mounted on the fixed seat, a moving block is meshed on the lifting lead screw, the moving block is connected with the bottom of the moving lead screw through a lifting connecting rod, and two ends of the lifting connecting rod are respectively rotatably connected with the moving block and the bottom of the moving lead screw; the front end of the fixed seat is also fixed with a scissor type lifting mechanism, and the lifting end of the scissor type lifting mechanism is connected with the bottom of the movable screw rod.
Preferably, the upper end of the chassis is further provided with two manipulators, the two manipulators are respectively arranged on two sides of the shoe wearing/taking-off module and the sock wearing/taking-off module, and the manipulators can inwards clamp shoes and outwards support the sock sleeving device.
Preferably, the upper ends of the shoe wearing/taking-off module and the sock wearing/taking-off module are respectively provided with a top cover.
Preferably, the sock taking-off mechanism comprises a guide rail connected to the connecting block, two symmetrical sock taking-off rods are connected to the guide rail through sliding rods, a rotating device is arranged at the upper end of the guide rail, an output shaft of the rotating device is connected to the tops of the sliding rods through arc-shaped connecting rods respectively, and the output shaft of the rotating device rotates to pull the two sliding rods to move in the opposite direction or move back to back.
Preferably, the moving plate is hinged with one end of a limiting spring, and the other end of the limiting spring is hinged with the front end of the shoe disc.
Has the advantages that:
the utility model divides the shoe wearing/taking off action and the sock wearing/taking off action into two areas by arranging the shoe wearing/taking off module and the sock wearing/taking off module on the chassis; meanwhile, in the shoe putting on/off module, a clamping mechanism is arranged on the shoe disc to clamp the shoes, and a shoe opening mechanism is arranged on one side of the shoe disc to enable the shoes to be clamped and then opened, so that the shoe putting on action is facilitated; the sock wearing/taking-off module realizes the positioning of sock wearing and taking-off by using a transverse and longitudinal transmission mode of two groups of ball screws and worm gears.
The utility model also controls the change of the angle of the shoe plate by arranging the shoe lifting mechanism and driving the crank connecting rod by the shoe lifting motor, thereby finishing the action of lifting or taking off the shoes; meanwhile, a moving mechanism is arranged to control the shoe disc to move back and forth on the moving screw rod, so that shoes can be put on or taken off conveniently.
The utility model is also provided with a shoe lifting mechanism, which can lift the shoe plate to a certain position or rotate a certain angle to reach the best position for wearing shoes aiming at different heights of the bed and the most accustomed angle for individual wearing shoes; the shoe lifting mechanism comprises a lifting screw rod, a screw rod connecting rod lifting mechanism consisting of lifting connecting rods and a shear type lifting mechanism arranged at the front end of the fixing seat, and the two lifting mechanisms can independently move and can simultaneously move so as to adjust the height and the angle.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic structural view of a shoe putting on/off module of the present invention;
FIG. 3 is a side view of the present invention shoe donning/doffing module;
FIG. 4 is a schematic structural view of the sock wearing/taking-off module of the present invention;
fig. 5 is a front view of the clamping mechanism of the present invention;
fig. 6 is a rear view of the clamping mechanism of the present invention;
FIG. 7 is a schematic structural view of the sock taking-off mechanism of the present invention;
FIG. 8 is a schematic structural view of the shoe supporting mechanism of the present invention;
fig. 9 is a schematic view of the internal structure of the shoe supporting mechanism of the present invention.
In the figure: 1-chassis, 2-shoe plate, 3-clamping mechanism, 301-flexible baffle, 302-slider, 303-connecting rod, 304-gear, 305-rack, 306-crank, 4-shoe supporting mechanism, 401-shell, 402-rotating shaft, 403-front supporting cylinder, 404-rear supporting cylinder, 405-L-shaped through hole, 406-buffer spring, 407-rotating motor, 408-swinging motor, 409-Y-shaped swinging rod, 5-sock sleeving device, 6-sock taking-off mechanism, 601-guide rail, 602-sliding rod, 603-sock taking-off rod, 604-rotating device, 605-arc connecting rod, 7-ball screw, 8-shoe lifting motor, 9-shoe lifting motor, 10-crank connecting rod, 11-flexible roller, 12-a sliding groove, 13-a moving screw rod, 14-a moving motor, 15-a nut plate, 16-a fixed seat, 17-a lifting screw rod, 18-a moving block, 19-a lifting connecting rod, 20-a scissor type lifting mechanism, 21-a manipulator, 22-a top cover, 23-a limiting spring, 24-a mounting block, 25-a worm wheel and 26-a driving worm.
Detailed Description
The embodiments of the present invention will be further explained with reference to the drawings.
As shown in fig. 1 to 7, the footwear putting on and taking off service robot in this embodiment includes a chassis 1, and further includes a putting on/taking off module and a putting on/taking off module, which are respectively installed at both sides of an upper end of the chassis 1; the shoe putting on/off module comprises two shoe trays 2 for pedaling, and clamping mechanisms 3 for clamping shoes are arranged around the upper ends of the shoe trays 2; one side of each of the two shoe plates 2 is provided with a shoe stretching mechanism 4; the shoe stretching mechanism 4 comprises a shell 401, a rotating shaft 402 capable of freely rotating is transversely arranged on the inner side of the shell 401, and the rotating shaft 402 penetrates through the shell 401; the rotating shaft 402 is further provided with a front supporting cylinder 403 and a rear supporting cylinder 404, the bottom of the front supporting cylinder 403 is hinged to the rotating shaft 402, the front supporting cylinder 403 can rotate along the axial direction of the rotating shaft 402, the bottom of the rear supporting cylinder 404 is fixed to the rotating shaft 402, two L-shaped through holes 405 are formed in the upper end and the side end of the shell 401 in a manner of being matched with the front supporting cylinder 403 and the rear supporting cylinder 404 in a movable manner, the L-shaped through holes 405 on the front side limit the front supporting cylinder 403 to move backwards, buffer springs 406 are arranged in the holes of the L-shaped through holes 405 along the axial direction of the rotating shaft 402, and meanwhile, the L-shaped through holes 405 on the rear side limit the rear supporting cylinder 404 to move forwards; a circle of gears are arranged on the rotating shaft 402, the rotating shaft 402 is connected with an output shaft of a rotating motor 407 through gear engagement, and the rotating motor 407 can drive the rotating shaft 402 to drive the front supporting cylinder 403 and the rear supporting cylinder 404 to rotate around the axis of the rotating shaft 402; a swing motor 408 is further arranged in the housing 401, an output shaft of the swing motor 408 is connected with a Y-shaped swing rod 409, the upper end of the Y-shaped swing rod 409 is rotatably connected to the rotating shaft 402, and the swing direction of the Y-shaped swing rod 409 swings along the axial direction of the rotating shaft 402;
the sock wearing/taking-off module comprises a sock sleeving device 5, a sock taking-off mechanism 6 and two groups of transverse and longitudinal ball screws 7 respectively, the longitudinal ball screws 7 are fixed, the transverse ball screws 7 are fixed on movable parts of the longitudinal ball screws 7, the sock sleeving device 5 and the sock taking-off mechanism 6 are fixed on one side of a mounting block 24, the mounting block 24 is freely and rotatably arranged on the movable parts of the transverse ball screws 7, worm wheels 25 are arranged on the outer sides of the mounting block 24, and the worm wheels 25 are in meshing connection with driving worms 26 fixed on the movable parts of the transverse ball screws 7; the sock sleeving device 5 and the sock taking-off mechanism 6 control transverse and longitudinal displacement through the transverse and longitudinal ball screw 7, the sock sleeving device 5 and the sock taking-off mechanism 6 control the fixed block to drive the sock sleeving device 5 and the sock taking-off mechanism 6 to rotate through the driving worm 26 driving the meshed worm wheel 25, and meanwhile, the self-locking effect can be achieved through worm and gear transmission.
In this embodiment, the clamping mechanism 3 includes flexible baffles 301 respectively disposed at front, rear, left, and right of the upper end surface of the shoe disc 2, rear ends of the flexible baffles 301 are respectively connected by a slider 302, and the shoe disc 2 is provided with a sliding slot in cooperation with the slider 302; an output motor is fixed on the lower end face of the shoe disc 2, an output shaft of the output motor is connected with a gear 304, racks 305 are symmetrically engaged on two sides of the gear 304, the back faces of the sliders 302 on the left side and the right side are respectively fixed at one end of one rack 305 through a connecting rod 303, for example, the slider 302 on the left side is fixed at one end of one rack through a connecting rod 303, and the slider 302 on the right side is fixed at the other end of the other rack 305 through a connecting rod 303, so that when the gear 304 rotates, the gear 304 drives the symmetrical racks 305 to move in opposite directions, and the two connecting rods 303 fixed on different racks 305 drive the sliders 302 to move in opposite directions to play a clamping role or move in opposite directions to play a loosening role; the sliding blocks 302 at the front end and the rear end are respectively connected to a crank 306 through connecting rods, the center of the crank 306 is fixed on the gear 304, and the two ends of the connecting rod 307 are respectively connected with the crank 306 and the sliding blocks 302 in a rotating manner; when the gear 304 rotates, the cranks 306 at both ends can fold or unfold the sliding blocks 302 toward the center of the shoe disc 2 by the driving of the gear 304.
The shoe lifting mechanism comprises a moving plate 8, a shoe lifting motor 9 is fixed on the moving plate 8, an output shaft of the shoe lifting motor 9 is connected with a crank connecting rod 10 through a bevel gear, the tail end of the crank connecting rod 10 is rotatably connected with a flexible roller 11, a chute 12 which inclines downwards is arranged at the bottom of the side of the shoe disc 2, and the flexible roller 11 is slidably connected in the chute 12 at the bottom of the side of the shoe disc 2; through the drive of shoe lifting motor 9, bevel gear drive crank connecting rod 10 rotates to the terminal of crank connecting rod acts on drive shoe dish 2 through flexible gyro wheel 11 in spout 12 and changes the angle.
The movable screw rod 13 is driven by a movable motor 14, a nut plate 15 is further connected to the movable screw rod 13 in a meshed mode, the movable plate 8 is fixed to the upper end of the nut plate 15, and the movable screw rod 13 is driven to rotate by the movable motor 14, so that the nut plate 15 moves back and forth on the movable screw rod 13.
The shoe lifting mechanism comprises a fixed seat 16, the fixed seat 16 is mounted on the chassis 1, a lifting lead screw 17 is mounted on the fixed seat 16, a moving block 18 is meshed on the lifting lead screw 17, the moving block 18 is connected with the bottom of the moving lead screw 13 through a lifting connecting rod 19, and two ends of the lifting connecting rod 19 are rotatably connected with the moving block 18 and the bottom of the moving lead screw 13 respectively; a scissor type lifting mechanism 20 is further fixed at the front end of the fixed seat 16, and the lifting end of the scissor type lifting mechanism 20 is connected with the bottom of the movable screw rod 13; the lifting screw rod 13 is driven by a driving device to rotate, so that a moving block 18 on the lifting screw rod 13 moves, and the height is controlled by pulling a lifting connecting rod 19; meanwhile, the front scissor type lifting mechanism 20 can also control the height, and the two lifting mechanisms can move independently and simultaneously, so that the height and the angle can be adjusted.
The upper end of chassis 1 still is provided with two manipulators 21, two manipulator 21 sets up respectively wear/take off the shoes module and wear/take off the both sides of socks module, the shoes are got to manipulator 21 can inwards clamp, outwards props and gets cover socks ware 5, and manipulator 21 chooses for use current technique, has four claws to press from both sides and has the control of parallel four-bar linkage on every manipulator 21, guarantees to press from both sides the angle of getting, and the soft antiskid of application rubber material guarantees the high efficiency of work, two manipulator 21 sets up respectively wear/take off the shoes module and wear/take off the both sides of socks module.
The upper ends of the shoe wearing/taking off module and the sock wearing/taking off module are also respectively provided with a top cover 22.
The sock taking-off mechanism 6 comprises a guide rail 601 connected to the connecting block, two symmetrical sock taking-off rods 603 are connected to the guide rail 601 in a sliding mode through a sliding rod 602, a rotating device 604 is arranged at the upper end of the guide rail 601, output shafts of the rotating device 604 are connected to the tops of the sliding rods 602 through arc-shaped connecting rods 605 respectively, and the output shafts of the rotating device 604 rotate to pull the two sliding rods 602 to move in the opposite direction or move in the opposite direction.
The last one end that articulates of movable plate 8 has spacing spring 23, the other end of spacing spring 23 articulates the front end of shoe disc 2, when the work of shoe lifting mechanism, spacing spring 23 can play limiting displacement to shoe disc 2 when shoe disc 2 changes the angle, prevents that the shoe disc from to removing lead screw 13 and bumping.
For convenience of description, the descriptions of directions such as "up", "down", "left", "right", "front", "back", etc. referred to herein are consistent with the left-right direction of the drawings, but do not limit the structure of the present invention; the above detailed description of the embodiments of the present invention is only for exemplary purposes, and the present invention is not limited to the above detailed description. Any equivalent modifications and substitutions to those skilled in the art are also within the scope of the present invention. Accordingly, variations and modifications in equivalents may be made without departing from the spirit and scope of the invention, which is intended to be covered by the following claims.
Claims (9)
1. A footgear putting on and taking off service robot, includes chassis (1), its characterized in that:
the shoe wearing/taking-off module and the sock wearing/taking-off module are respectively arranged at two sides of the upper end of the chassis (1);
the shoe putting on/off module comprises two shoe trays (2) for pedaling, and clamping mechanisms (3) for clamping shoes are arranged around the upper ends of the shoe trays (2); one side of each of the two shoe plates (2) is provided with a shoe supporting mechanism (4);
the shoe supporting mechanism (4) comprises a shell (401), a rotating shaft (402) capable of freely rotating is transversely arranged on the inner side of the shell (401), and the rotating shaft (402) penetrates through the shell (401); the rotating shaft (402) is further provided with a front supporting cylinder (403) and a rear supporting cylinder (404), the bottom of the front supporting cylinder (403) is hinged to the rotating shaft (402), the front supporting cylinder (403) can rotate along the axial direction of the rotating shaft (402), the bottom of the rear supporting cylinder (404) is fixed to the rotating shaft (402), the upper end and the side end of the shell (401) are matched with the front supporting cylinder (403) and the rear supporting cylinder (404) to movably provide two L-shaped through holes (405), the L-shaped through holes (405) on the front side limit the front supporting cylinder (403) to move backwards, the L-shaped through holes (405) on the front side are provided with buffer springs (406) in holes along the axial direction of the rotating shaft (402), and meanwhile, the L-shaped through holes (405) on the rear side limit the rear supporting cylinder (404) to move forwards; a circle of gears are arranged on the rotating shaft (402), the rotating shaft (402) is connected with an output shaft of a rotating motor (407) through gear engagement, and the rotating motor (407) can drive the rotating shaft (402) to drive the front supporting cylinder (403) and the rear supporting cylinder (404) to rotate around the axis of the rotating shaft (402); a swing motor (408) is further arranged in the shell (401), an output shaft of the swing motor (408) is connected with a Y-shaped swing rod (409), the upper end of the Y-shaped swing rod (409) is rotatably connected to the rotating shaft (402), and the swing direction of the Y-shaped swing rod (409) swings along the axial direction of the rotating shaft (402);
the sock wearing/taking-off module comprises a sock sleeving device (5), a sock taking-off mechanism (6) and two groups of transverse and longitudinal ball screws (7), the longitudinal ball screws (7) are fixed, the transverse ball screws (7) are fixed on movable parts of the longitudinal ball screws (7), the sock sleeving device (5) and the sock taking-off mechanism (6) are fixed on one side of a mounting block (24), the mounting block (24) can be freely and rotatably arranged on the movable parts of the transverse ball screws (7), a worm wheel (25) is arranged on the outer side of the mounting block (24), and the worm wheel (25) is in meshing connection with a driving worm (26) fixed on the movable parts of the transverse ball screws (7); the sock sleeving device (5) and the sock taking-off mechanism (6) are controlled to move transversely and longitudinally through the transverse and longitudinal ball screws (7), and the sock sleeving device (5) and the sock taking-off mechanism (6) are controlled to rotate through the worm gear (25) which is driven by the driving worm (26) to be meshed so as to control the fixed block to drive the sock sleeving device (5) and the sock taking-off mechanism (6) to rotate.
2. The footwear putting-on and taking-off service robot according to claim 1, wherein:
the clamping mechanism (3) comprises flexible baffles (301) which are arranged on the upper end surface of the shoe disc (2) in a front-back and left-right mode respectively, the rear ends of the flexible baffles (301) are connected through sliding blocks (302) respectively, and sliding grooves are formed in the shoe disc (2) in a matching mode with the sliding blocks (302);
an output motor is fixed on the lower end face of the shoe disc (2), an output shaft of the output motor is connected with a gear (304), racks (305) are symmetrically meshed on two sides of the gear (304), the back faces of the sliding blocks (302) on the left side and the right side are respectively fixed at one end of one rack (305) through a connecting rod (303), and the sliding blocks (302) on the left side and the right side drive the connecting rod (303) to move in the sliding groove through the gear (304) and the racks (305); the sliding blocks (302) at the front end and the rear end are respectively connected to a crank (306) through a connecting rod, the center of the crank (306) is fixed to the gear (304), and the two ends of the connecting rod (307) are respectively connected with the crank (306) and the sliding blocks (302) in a rotating mode.
3. A footwear putting on and taking off service robot according to claim 2, wherein:
still include the shoe lifting mechanism, the shoe lifting mechanism includes movable plate (8), be fixed with shoe lifting motor (9) on movable plate (8), the output shaft of shoe lifting motor (9) is connected with crank connecting rod (10) through bevel gear, the end of crank connecting rod (10) rotates and is connected with gentle gyro wheel (11), the side bottom of shoe dish (2) is provided with slope decurrent spout (12), gentle gyro wheel sliding connection be in the side bottom spout of shoe dish.
4. A footwear putting on and taking off service robot according to claim 3, wherein:
the movable screw rod mechanism is characterized by further comprising a moving mechanism, the moving mechanism comprises a moving screw rod (13), the moving screw rod (13) is driven by a moving motor (14), a nut plate (15) is further connected to the moving screw rod (13) in a meshed mode, and the moving plate (8) is fixed to the upper end of the nut plate (15).
5. The footwear putting-on and taking-off service robot according to claim 4, wherein:
the shoe lifting mechanism comprises a fixed seat (16), the fixed seat (16) is mounted on the chassis (1), a lifting lead screw (17) is mounted on the fixed seat (16), a moving block (18) is meshed on the lifting lead screw (17), the moving block (18) is connected with the bottom of the moving lead screw (13) through a lifting connecting rod (19), and two ends of the lifting connecting rod (19) are rotatably connected to the moving block (18) and the bottom of the moving lead screw (13) respectively; the front end of the fixed seat (16) is also fixed with a scissor type lifting mechanism (20), and the lifting end of the scissor type lifting mechanism (20) is connected with the bottom of the movable screw rod (13).
6. The footwear putting-on and taking-off service robot according to claim 1, wherein:
the upper end of the chassis (1) is further provided with two manipulators (21), the two manipulators (21) are respectively arranged on two sides of the shoe wearing/taking-off module and the sock wearing/taking-off module, and the manipulators (21) can inwards clamp shoes and outwards support the sock taking device (5).
7. The footwear putting-on and taking-off service robot according to claim 1, wherein:
the upper ends of the shoe wearing/taking-off module and the sock wearing/taking-off module are also respectively provided with a top cover (22).
8. The footwear putting-on and taking-off service robot according to claim 1, wherein:
the sock taking-off mechanism (6) comprises a guide rail (601) connected to the connecting block, two symmetrical sock taking-off rods (603) are connected to the guide rail (601) in a sliding mode through sliding rods (602), a rotating device (604) is arranged at the upper end of the guide rail (601), an output shaft of the rotating device (604) is connected to the tops of the sliding rods (602) through arc-shaped connecting rods (605), and the output shaft of the rotating device (604) rotates to pull the two sliding rods (602) to move towards each other or move back to back.
9. A footwear putting on and taking off service robot according to claim 3, wherein:
one end of a limiting spring (23) is hinged to the moving plate (8), and the other end of the limiting spring (23) is hinged to the front end of the shoe disc (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921068080.9U CN210551253U (en) | 2019-07-09 | 2019-07-09 | Service robot for putting on and taking off shoes and socks |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921068080.9U CN210551253U (en) | 2019-07-09 | 2019-07-09 | Service robot for putting on and taking off shoes and socks |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210551253U true CN210551253U (en) | 2020-05-19 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921068080.9U Active CN210551253U (en) | 2019-07-09 | 2019-07-09 | Service robot for putting on and taking off shoes and socks |
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| Country | Link |
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| CN (1) | CN210551253U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110228076A (en) * | 2019-07-09 | 2019-09-13 | 萍乡学院 | Footgear wears off service robot |
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2019
- 2019-07-09 CN CN201921068080.9U patent/CN210551253U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110228076A (en) * | 2019-07-09 | 2019-09-13 | 萍乡学院 | Footgear wears off service robot |
| CN110228076B (en) * | 2019-07-09 | 2024-04-02 | 萍乡学院 | Footwear putting on and taking off service robot |
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