CN212490686U

CN212490686U - Intelligent voice interaction multifunctional robot for helping old people to walk

Info

Publication number: CN212490686U
Application number: CN202020159796.6U
Authority: CN
Inventors: 周勇吉; 颜彦; 宿磊; 蔡子瑞
Original assignee: Jiangnan University
Current assignee: Jiangnan University
Priority date: 2020-02-10
Filing date: 2020-02-10
Publication date: 2021-02-09
Anticipated expiration: 2030-02-10

Abstract

The utility model relates to an intelligent voice interactive multifunctional robot for helping the aged and walking, which comprises two front side supporting cylindrical frames, wherein the two front side supporting cylindrical frames and the two rear side supporting cylindrical frames are respectively connected at the horizontal section of the top part to form a movable vehicle body structure; a pair of telescopic running-board that goes up and down is installed to two preceding collateral branch support cylinder framves middle part one side symmetry, and the slope of two back collateral branch support cylinder framves top inclines upwards to extend has the handrail, is equipped with the manual brake handle on it, is close to and installs the waist between the two back collateral branch support cylinder framves of handrail side and leans on, keep away from install between the two back collateral branch support cylinder framves of handrail side with the waist leans on corresponding, height-adjustable's back, leans on the back and installs the seat telescoping device between the two back collateral branch support cylinder framves of below. The utility model is suitable for a walking state and other various active state, support and supplementary under the quiescent condition, convenient to use, safety.

Description

Intelligent voice interaction multifunctional robot for helping old people to walk

Technical Field

The utility model belongs to the technical field of the supplementary walking robot technique and specifically relates to an intelligent voice interaction's multi-functional helping old person helps capable robot.

Background

At present, the frame type walking aid with stepped handrails is available in the market, and the walking aid still needs a user to have certain strength by both hands and still has difficulty in self-standing. But also the mobility aids that aim at old people on the market today are mostly by the simple steel frame construction who only has two handrails and constitute, only are applicable to the old man and are in the not enough condition of leg power under the walking state, when old people live alone, for example when carrying out activities such as washing one's face and rinsing one's mouth, culinary art, arrangement and accomodate, the both hands of will releasing are inevitable, rely on this kind of mobility aids this moment to lead to the occurence of failure that the slope fell down very likely. Therefore, it is very important to develop an intelligent walking-aid robot for old people to live alone.

SUMMERY OF THE UTILITY MODEL

The applicant aims at the defects in the prior art, provides an intelligent voice interaction old-people-assisting and walking-assisting robot which is reasonable in structure and integrates multiple functions, is suitable for supporting and assisting in a walking state and other various moving states, and is convenient and safe to use.

The utility model discloses the technical scheme who adopts as follows:

an intelligent voice interaction multifunctional old-people-assisting walking-aid robot comprises two front-side supporting cylindrical frames, wherein the two front-side supporting cylindrical frames and the two rear-side supporting cylindrical frames are respectively connected at the top horizontal sections to form a movable vehicle body structure; a pair of telescopic running-board that goes up and down is installed to two preceding collateral branch support cylinder framves middle part one side symmetry, and the slope of two back collateral branch support cylinder framves top inclines upwards to extend has the handrail, is equipped with the manual brake handle on it, is close to and installs the waist between the two back collateral branch support cylinder framves of handrail side and leans on, keep away from install between the two back collateral branch support cylinder framves of handrail side with the waist leans on corresponding, height-adjustable's back, leans on the back and installs the seat telescoping device between the two back collateral branch support cylinder framves of below.

As a further improvement of the above technical solution:

the seat telescoping device's structure does: the rear support beam is arranged between the two rear support cylindrical frames, a rear fixed cushion is arranged on the rear support beam, and a front movable cushion which is rotatably connected with the rear fixed cushion is arranged below the rear fixed cushion.

The fixed cushion level of rear end sets up, its one side with the rear side supporting beam is connected, and the opposite side is articulated with one side of front end activity cushion, and the bottom plate and the electric putter of front end activity cushion are connected, are rotated around the articulated shaft by the electric putter drive.

The back is installed above the rear side supporting beam through an aluminum alloy round pipe frame.

The mounting structure of running-board does: including through the installation with the step motor that the angle bar is fixed, its output is connected with ball, the last slip table that is connected with of ball, the running-board is connected with the slip table through the pivot, makes the running-board rotate to level or vertical position through the pivot.

The waist is leaned on both ends and is passed through the detachable joint of semiannular fastener and two back side support cylinder framves respectively.

The bottom of two front side support cylindrical racks is respectively provided with a front universal wheel with a first foot brake pedal, the bottom of two rear side support cylindrical racks is respectively provided with a rear universal wheel with a second foot brake pedal, and the rear universal wheel is simultaneously provided with a movable plate component connected with a hand brake handle through a brake cable.

The front universal wheel and the rear universal wheel are respectively connected with the front side supporting cylindrical frame and the rear side supporting cylindrical frame through the wheel columns and the quick-release locking buckles.

An electric cabinet is also arranged between the two rear side supporting cylindrical frames which are positioned below the front end movable cushion.

The utility model has the advantages as follows:

the utility model has compact and reasonable structure and convenient operation, and meets the requirement of helping the old people with mobility inconvenience, especially the mobility inconvenience of legs and feet to live alone through a seat expansion device (an expansion pedal), a pedal lifting device, a waist rest, a back rest, a universal wheel, a hand brake and a foot brake mechanism;

the front and back side support cylinder frame constitutes the trailing type automobile body that supplies the people to walk in it, and structural design is reasonable, and the operation degree of difficulty is low, uses and maintains conveniently: when the user walks normally, the pedal plate rotates to a vertical position to be folded, the armrest side is positioned on the front side of the body, namely the waist rest is positioned on the front side of the chest, and the backrest is positioned on the back side; when the user sits on the chair, the pedal rotates to the horizontal position and extends out, so that the requirement that people with different heights bend knees when sitting on the chair is met; for the same purpose, the back is arranged on an aluminum alloy circular tube frame which is formed in a height-adjustable manner; meanwhile, through direction conversion, even if the backrest is positioned at the front side of the chest and the waist rest is positioned at the back side, the movement such as toileting can be facilitated; the state conversion of the seat telescopic device is combined to assist the old people with various heights and body states to independently walk, lean to rest, go to toilet, sit quietly, get on or off the bed and the like without the help of other people;

furthermore, the utility model discloses can combine intelligent design during the implementation, with man-machine pronunciation mutual, indoor environmental parameter and human sign parameter acquisition, urgent SOS and field situation transmission, the ultrasonic wave keeps away barrier pronunciation and reminds, user side data is visual, APP or believe intelligent system design as an organic whole such as little procedure interaction design, make help the old to help the robot when satisfying the functional requirement that the old person of help moved the life alone, more convenient, integrate, the intelligent demand such as the old person in daily life of satisfying, medical health detects, living environment monitoring, safety aspect.

Drawings

Fig. 1 is a schematic perspective view of the present invention.

Fig. 2 is another view of fig. 1.

Fig. 3 is another view of fig. 2.

Fig. 4 is an enlarged view of a portion a in fig. 2.

Fig. 5 is an enlarged view of a portion B in fig. 3.

Fig. 6 is a schematic structural view of the sitting and walking assisting status in the use process of the utility model.

Fig. 7 is a schematic structural view of the toilet assisting process in the use process of the utility model.

Fig. 8 is a schematic view of an intelligent control system adopted in the embodiment of the present invention.

Fig. 9 is a schematic diagram of the embodiment of the present invention, which adopts APP to perform a human-computer interaction process.

Fig. 10 is a schematic diagram of a control flow of the human-computer voice interaction module according to an embodiment of the present invention.

Wherein: 1. a waist support; 2. a hand brake handle; 3. the front side supports the cylindrical frame; 4. a stepping motor; 5. a foot pedal; 6. triangular iron for installation; 7. a lead screw; 8. a first service brake pedal; 9. a front universal wheel; 10. backing up; 11. a handrail; 12. the rear end is fixed with a cushion; 13. a front movable cushion; 14. an electric cabinet; 15. a quick-release locking buckle; 16. a wheel post; 17. a rear universal wheel; 18. a movable plate assembly; 19. a second service brake pedal; 20. an aluminum alloy round pipe frame; 21. a rear side support beam; 23. a sliding table; 25. an electric push rod; 27. a semi-annular fastener; 29. the rear side supports the cylindrical frame.

Detailed Description

The following describes embodiments of the present invention with reference to the drawings.

As shown in fig. 1-4, the intelligent voice-interactive multifunctional assistant walking robot of the present embodiment includes two front-side supporting cylindrical frames 3, wherein the two front-side supporting cylindrical frames 3 and the two rear-side supporting cylindrical frames 29 are respectively connected at the top horizontal section to form a mobile vehicle body structure; a pair of telescopic running-board 5 that goes up and down is installed to 3 middle part one sides symmetries of two preceding collateral branch support cylinder framves, two back collateral branch support cylinder frame 29 top one side slopes upwards to extend has handrail 11, be equipped with manual brake handle 2 on it, be close to and install the waist between two back collateral branch support cylinder frame 29 of handrail 11 side and lean on 1, it corresponds with waist to lean on 1 to install between two back collateral branch support cylinder frame 29 of keeping away from handrail 11 side, height-adjustable leans against 10, lean against and install the seat telescoping device between two back collateral branch support cylinder frame 29 of 10 below.

The seat telescoping device has the structure that: comprises a rear side supporting beam 21 arranged between two rear side supporting cylindrical frames 29, a rear end fixed cushion 12 is arranged on the rear side supporting beam, and a front end movable cushion 13 which is rotatably connected with the rear end fixed cushion 12 is arranged below the rear end fixed cushion 12.

The fixed cushion 12 of rear end sets up horizontally, and its one side is connected with rear side supporting beam 21, and the opposite side is articulated with one side of front end activity cushion 13, and the bottom plate and the electric putter 25 of front end activity cushion 13 are connected, are rotated around the articulated shaft by the drive of electric putter 25.

The backrest 10 is arranged above the rear side supporting beam 21 through an aluminum alloy round pipe frame 20.

The mounting structure of the foot board 5 is: including through the installation with step motor 4 that angle iron 6 is fixed, its output is connected with ball 7, is connected with slip table 23 on the ball 7, and running-board 5 is connected with slip table 23 through the pivot, makes running-board 5 rotate to level or vertical position through the pivot.

The two ends of the waist rest 1 are detachably clamped with two rear side supporting cylindrical frames 29 through semi-annular clamping pieces 27 respectively.

As shown in fig. 1, 2 and 5, a front universal wheel 9 with a first foot brake pedal 8 is respectively mounted at the bottom of each of the two front-side supporting cylindrical frames 3, a rear universal wheel 17 with a second foot brake pedal 19 is respectively mounted at the bottom of each of the two rear-side supporting cylindrical frames 29, and a movable plate assembly 18 connected with the hand brake lever 2 through a brake cable is simultaneously mounted on the rear universal wheel 17.

The front universal wheel 9 and the rear universal wheel 17 are respectively connected with the front side supporting cylindrical frame 3 and the rear side supporting cylindrical frame 29 through the wheel column 16 and the quick-release locking buckle 15.

An electric cabinet 14 is also arranged between the two rear side supporting cylindrical frames 29 which are positioned below the front end movable cushion 13.

In the specific implementation process of the utility model, as shown in fig. 4, the waist rest 1 is mounted on the rear support column 29 at the rear side of the armrest 11 through the semi-ring-shaped fastener 27 at both ends, which is convenient for disassembly and assembly.

The electric cabinet 14 is used for installing single chip, controller, power supply and other electrical equipment.

As shown in fig. 6, the user can use the robot to realize the conversion of standing walking and resting, when the user walks, the fixed cushion 12 at the rear end and the movable cushion 13 at the front end are approximately L-shaped folded shape to be accommodated, and at the rear of the walking-aid robot, the movable cushion 13 at the front end is folded by using the electric push rod 25, so that the standing and sitting states of the user can be easily converted: the user leans the buttocks backwards on the rear end fixed cushion 12 by the gravity center, the control switch is started, the electric push rod 25 extends, the front end movable cushion 13 rises to support the thigh part of the user, and the user can naturally lift the feet to the turnable pedal plate 5 to be converted into a sitting state. The process from the resting state to the upright walking state is opposite.

The pedal lifting device is used for assisting daily sitting up, toileting and the like, the stepping motor 4 is connected with the ball screw 7 through a coupler to provide lifting power, the reversible pedal 5 is arranged on the sliding table 23, and the sliding table 23 is arranged on the ball screw 7 and can move up and down along a linear guide rail; when not in use, the pedal plates 5 are folded and are contained at the front side of the walking-aid robot, can be turned over after being unfolded, and are used for placing feet when sitting still and used for assisting the leg support when sitting up; the pedal 5 moves along with the ball screw 7 and is controlled to lift according to a program preset by the single chip microcomputer, and the functional requirement of supporting the auxiliary sitting-up of the thighs is met.

As shown in fig. 7, when the user walks upright to a destination such as a bedroom, a toilet, etc. by using the walking assist robot, supported by the armrest 11 and then turned to the other side, the footrest 7 is turned over to one side for leg support and ascends to the root of the user's thighs. Through the control of a preset program, the sitting action of a user is matched to slowly descend, a certain supporting force is provided for the user, the user is protected, and the comfort and the safety of the sitting process of the user with limb weakness are ensured. When standing up, sitting up when standing up on the stool like standing up after the lavatory end, can overturn running-board 5 and make it fall, press close to ground, the inside position of helping the capable robot is put into earlier to user's both legs, then running-board 5 removes to thigh department, through predetermined program control, the action of cooperation user's rising up slowly upwards rises, for the user provides the power of rising up, reduces its degree of difficulty of standing up like the lavatory, sitting up when on the stool. The two rotational positions of the foot pedal 5 are used for the pedaling state and the leg supporting state, respectively, and the behavior habit of the user is met.

The four-wheel design of automobile body, two back universal wheels 17 are last to have fly leaf subassembly 18 and the second service brake footboard 19 of connecting hand brake handle 2, can conveniently make firmly make the wheel be in the locking state, and the service brake uses with hand brake 2 combines, guarantees the safety and the stability of helping old robot.

The waist rest 1 can assist a user to keep the stability in an upright state, liberates two hands, and the semi-annular clamping piece 27 is arranged at the front end of the handrail 11 of the old-assisting and walking-assisting robot and is convenient to disassemble and assemble.

As shown in fig. 8, the utility model discloses the intelligent control system who adopts in the implementation process, the utility model relates to and adopt a man-machine voice interaction module who satisfies various life demands, indoor environment parameter and human sign parameter acquisition module, emergency call and on-the-spot situation transmission module, the ultrasonic wave keeps away barrier pronunciation and reminds the module, and the intelligent system as an organic whole is designed to the front end data is visual, APP or believe little program interaction a little. The method comprises the following steps that a single chip microcomputer such as a stm32 control panel and a development board are selected to be connected with various sensors, the various sensors automatically monitor indoor environment and human body sign parameters, the indoor environment parameters and the health condition of the old are accurately sensed, the acquired parameters are processed, analyzed and converted into medical data through the single chip microcomputer, the medical data are sent to a raspberry connected with the sensors and uploaded to a cloud for storage, and data acquired by a system are visualized;

as shown in fig. 9, the data is displayed to the user in a more intuitive way through APP or a wechat applet, and shares physical sign data, amount of exercise, frequent sleep, work and rest rules and the like of the human body in different states with medical staff, so that various body state changes of the old are sensed in time, and the data collected by body monitoring is used for managing the body motion state of the old.

Further, APP or believe that it is fit for functions such as suggestion, indoor outer temperature contrast and remote control that still have the inquiry outdoor weather function, wear clothing index in the applet still, still can be through being connected with intelligent house thing allies oneself with the system, according to the various parameters that gather, set up corresponding ventilation window switching, air conditioner temperature height, kitchen tobacco tar machine power etc. realize the automatically regulated to indoor environment, form an indoor environment automatically regulated system.

As shown in fig. 10, for the flow of the human-computer voice interaction module, the human-computer voice interaction module includes a speaker, a raspberry pi, a voice input module, a voice recognition module, an instruction processing module, and a voice output module; the voice input module is used for collecting voice of an operator and sending the voice to the voice recognition module, the voice recognition module is used for converting the voice into characters, if an instruction hits a pre-written functional program, corresponding functions are operated through the instruction processing module, if the instruction does not contain functions related to the program, the chatting robot open platform is called to enter a chatting mode, and voice interaction is carried out through the voice output module. Correspondingly, the man-machine voice interaction module and the emergency call-for-help and field condition transmission module form an emergency alarm system, the voice system can realize various instructions of the old, and simultaneously recognize the call-for-help voice of the old, and the voice is fed back to family members and medical care personnel through the emergency call-for-help and field condition transmission module. When the emergency help-seeking and on-site condition transmission module is used, the emergency help-seeking button is pressed, and a preset mobile phone number can be directly dialed through the SIM900A module; when the raspberry is powered on to work, the RaspberryPi camera can be opened under the control of software to transmit the content packaged in the acquisition stage to the cloud platform server, so that the state of a user of the old-helping and walking-assisting robot can be shot at any time, and information sharing can be carried out between the user and other people through the user side.

When the distance measured by the two ultrasonic sensors exceeds the preset distance, voice alarm is carried out to remind the old people to avoid obstacles. The accuracy of detecting the barrier is improved by adopting double ultrasonic waves, and the safety of a user is fully ensured by combining the configuration of other safety precaution measures.

The above description is for the purpose of explanation and not limitation of the invention, which is defined in the claims, and any modifications may be made within the scope of the invention.

Claims

1. The utility model provides an intelligent voice interaction's multi-functional helping old person helps capable robot which characterized in that: the device comprises two front side supporting cylindrical frames (3), wherein the two front side supporting cylindrical frames (3) and two rear side supporting cylindrical frames (29) are respectively connected at the horizontal section of the top part to form a movable vehicle body structure; a pair of telescopic running-board (5) of going up and down is installed to two front side support cylinder frame (3) middle part one side symmetries, and the slope of two back side support cylinder frame (29) top inclines upwards to extend has handrail (11), is equipped with manual brake handle (2) on it, installs waist between two back side support cylinder frame (29) that are close to handrail (11) side and leans on (1), keep away from between two back side support cylinder frame (29) of handrail (11) side install with waist leans on (1) correspond, height-adjustable leans on (10), installs the seat telescoping device between two back side support cylinder frame (29) of leaning on (10) below.

2. The intelligent voice-interactive multifunctional elderly-assisting walking robot according to claim 1, wherein: the seat telescoping device's structure does: the rear support device comprises a rear support beam (21) arranged between two rear support cylindrical frames (29), a rear fixed cushion (12) is arranged on the rear support beam, and a front movable cushion (13) which is rotatably connected with the rear fixed cushion (12) is arranged below the rear fixed cushion (12).

3. The intelligent voice-interactive multifunctional elderly-assisting walking robot according to claim 2, wherein: the fixed cushion (12) level of rear end sets up, its one side with rear side supporting beam (21) are connected, and the opposite side is articulated with one side of front end activity cushion (13), and the bottom plate and the electric putter (25) of front end activity cushion (13) are connected, are rotated around the articulated shaft by electric putter (25) drive.

4. The intelligent voice-interactive multifunctional elderly-assisting walking robot according to claim 2, wherein: the backrest (10) is arranged above the rear side supporting beam (21) through an aluminum alloy round pipe frame (20).

5. The intelligent voice-interactive multifunctional elderly-assisting walking robot according to claim 1, wherein: the mounting structure of the pedal (5) is as follows: including through step motor (4) that the installation was fixed with angle iron (6), its output is connected with ball (7), is connected with slip table (23) on ball (7), running-board (5) are connected with slip table (23) through the pivot, make running-board (5) rotate to level or vertical position through the pivot.

6. The intelligent voice-interactive multifunctional elderly-assisting walking robot according to claim 1, wherein: the two ends of the waist rest (1) are detachably clamped with the two rear side supporting cylindrical frames (29) through semi-annular clamping pieces (27).

7. The intelligent voice-interactive multifunctional elderly-assisting walking robot according to claim 1, wherein: the bottom of two front side support cylindrical frames (3) is respectively provided with a front universal wheel (9) with a first foot brake pedal (8), the bottom of two rear side support cylindrical frames (29) is respectively provided with a rear universal wheel (17) with a second foot brake pedal (19), and the rear universal wheel (17) is simultaneously provided with a movable plate component (18) connected with a hand brake handle (2) through a brake cable.

8. The intelligent voice-interactive multifunctional elderly-assisting walking robot according to claim 7, wherein: the front universal wheel (9) and the rear universal wheel (17) are respectively connected with the front side supporting cylindrical frame (3) and the rear side supporting cylindrical frame (29) through a wheel column (16) and a quick-release locking buckle (15).

9. The intelligent voice-interactive multifunctional elderly-assisting walking robot according to claim 1, wherein: an electric cabinet (14) is also arranged between the two rear side supporting cylindrical frames (29) which are positioned below the front end movable cushion (13).