CN216229424U - Supplementary dining device based on TRIZ theory - Google Patents
Supplementary dining device based on TRIZ theory Download PDFInfo
- Publication number
- CN216229424U CN216229424U CN202122817842.4U CN202122817842U CN216229424U CN 216229424 U CN216229424 U CN 216229424U CN 202122817842 U CN202122817842 U CN 202122817842U CN 216229424 U CN216229424 U CN 216229424U
- Authority
- CN
- China
- Prior art keywords
- feeding
- stepping motor
- module
- degree
- arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Accommodation For Nursing Or Treatment Tables (AREA)
Abstract
An auxiliary dining device based on a TRIZ theory belongs to the technical field of nursing robots. The feeding device comprises a four-degree-of-freedom mechanical arm and a feeding module, wherein the feeding module is arranged at the top of the four-degree-of-freedom mechanical arm. The four-degree-of-freedom mechanical arm comprises a turntable, a large arm, a small arm, a feeding spoon and a meal containing structure body, wherein the turntable of the four-degree-of-freedom mechanical arm realizes rotation angle adjustment at the top of a base, pitching angle adjustment is realized between the large arm and the small arm, the tail end of the small arm drives the feeding module to realize rotation adjustment, the feeding module comprises a tray, a module stepping motor, a link mechanism, the feeding spoon and the meal containing structure body, and after the four-degree-of-freedom mechanical arm drives the feeding module to reach a feeding position in front of a mouth of a patient, the module stepping motor on the tray controls the feeding spoon to stretch through the link mechanism to realize feeding action.
Description
Technical Field
The utility model relates to an auxiliary dining device based on a TRIZ theory, and belongs to the technical field of nursing robots.
Background
The meal-assistant robot is used as one type of nursing service device, can help patients to finish food feeding independently, and relieves nursing staff from heavy and repeated physical labor to a certain extent. The type of the existing dining-assistant robot at home and abroad is comprehensively analyzed and can be roughly divided into two types, one type of robot is a humanoid mechanical arm, the spoon body is carried at the tail end of the robot, and the humanoid track type moving process of the spoon body from the dinner plate to the mouth of a patient is realized through the rotation motion of each joint so as to form the humanoid feeding operation. The other type is that the spoon body of the lifting mechanism is matched with a movable rotary dinner plate to realize the process of selecting and eating food.
The first type of dining assistant robot generally comprises a mechanical structure, a sensing system, a driving system, a control system and the like to realize a human-computer interaction process, and the human-like manner is respectively embodied in the structural form and the functional purpose. The existing meal-assistant robot realizes feeding through structural anthropomorphic simulation, namely, the mechanical arm moves to drive the tail end spoon body to rotate so as to form anthropomorphic feeding operation. Because the structural characteristics of the robot are limited, the number of degrees of freedom of the robot is increased, the degree of motion of the humanoid is increased, the flexibility is improved, the corresponding structure is more complex, the control and debugging difficulty is high, and the safety of the robot during interaction with a patient is difficult to guarantee.
The second type of dining assistant robot reduces the number of degrees of freedom of the whole machine by configuring a rotary dinner plate. The meal taking robot can take meals through the lifting of the arm rod and the rotation of the dinner plate, a control system is generally position-controlled, the relative intelligent degree is low, and the meal taking robot is only suitable for simple meal taking in a specific environment.
To sum up, the analysis dining-assistant robot structure should satisfy the motion flexibility in the space concurrently under the minimum degree of freedom configuration, can guarantee the convenience and the exquisite type of dining-assistant device simultaneously, experience degree when reaching the caregiver and using is best. It is particularly important to design a device that automatically performs the feeding function in response to this situation.
Therefore, a new meal assistance device is needed to solve the above technical problems.
SUMMERY OF THE UTILITY MODEL
The present invention has been developed in order to solve the problems associated with the minimum degree of freedom of configuration that satisfies both the flexibility of motion in space while ensuring convenience and sophistication of the eating aid, and a brief summary of the utility model is provided below in order to provide a basic understanding of some aspects of the utility model. It should be understood that this summary is not an exhaustive overview of the utility model. It is not intended to determine the key or critical elements of the present invention, nor is it intended to limit the scope of the present invention.
The technical scheme of the utility model is as follows:
an auxiliary dining device based on a TRIZ theory comprises a four-degree-of-freedom mechanical arm and a feeding module, wherein the top of the four-degree-of-freedom mechanical arm is provided with the feeding module.
Preferably: the four-degree-of-freedom mechanical arm comprises a base, a rotary table, a large arm, a small arm, a base stepping motor, a shoulder stepping motor, an elbow stepping motor and a tail end rotating motor, wherein the rotary table is rotatably connected with the base through the base stepping motor, the bottom of the large arm is rotatably connected with the top of the rotary table through the shoulder stepping motor, the bottom of the small arm is rotatably connected with the top of the large arm through the elbow stepping motor, and the small arm is rotatably connected with a feeding module through the tail end rotating motor.
In order to solve the problem that the feeding mechanism is automated without manual feeding, the utility model provides the technical scheme that:
preferably: the feeding module comprises a tray, a module stepping motor, a link mechanism, a feeding spoon and a meal containing structure body, the tray is fixedly connected with the top end of the four-degree-of-freedom mechanical arm, the module stepping motor and the meal containing structure body are installed at the top of the tray, one end of the link mechanism is connected with the output end of the module stepping motor, the other end of the link mechanism is connected with the feeding spoon, the meal containing structure body is of a utensil structure with an open top, a chute through hole is formed in the bottom of the meal containing structure body, the top of the chute through hole is communicated with the inner cavity of the meal containing structure body, and the feeding spoon is arranged in the chute through hole in a sliding mode.
Preferably: the base stepping motor, the shoulder stepping motor, the elbow stepping motor and the module stepping motor are all electrically connected with the control module.
Preferably: the inner wall of the rear side of the meal containing structure body is provided with a slope.
In order to solve the problem of falling and collecting food residues, the utility model adopts the technical scheme that:
preferably: the feeding module further comprises a detachable rest meal support box, and the detachable rest meal support box is clamped below the front side of the tray.
In order to solve the problems that the dual functions of feeding food and feeding water are realized, a machine has two functions, the workload of nursing staff is reduced, and the nursing cost is saved, the technical scheme is as follows:
preferably: the tray is also provided with a drink cup, and a hose is arranged in the drink cup.
The utility model has the following beneficial effects:
1. the utility model adopts an equivalent feeding module to replace a simple spoon body in the prior design to take food from a dinner plate, replaces a traditional dinner plate with a square inner slope type food containing structure body, and is assisted with a motor to drive a connecting rod to drive the reciprocating motion of the spoon body to realize the feeding function;
2. the feeding module has double functions of feeding food and water, multiple effects of the meal assisting device are achieved, the meal feeding and water feeding structural bodies in the feeding module are respectively arranged on the left side and the right side of the tray, the maximum space utilization rate is achieved, the meal feeding and water drinking can be guaranteed to be in the same plane, the meal taking is convenient, the use and experience of a patient are better, the workload of nursing staff is reduced, and the nursing cost is saved;
3. on one hand, the utility model greatly reduces the degree of freedom configuration required by the feeding part in a humanoid manner, and on the other hand, the device has the characteristics of miniaturization and flexibility; the device has the advantages of meeting the requirements of reasonable and compact structure, light weight, high flexibility, strong stability, low noise of a driving part and a transmission part, environmental protection and no harm on materials and meeting the requirement of freedom degree configuration at the lowest limit;
4. the degree of freedom configuration of the four-degree-of-freedom mechanical arm realizes the maximization of the working space under the low-degree-of-freedom configuration, has low requirements on the nursing environment of a patient, and is strong in universality of a nursing device.
Drawings
Fig. 1 is a perspective view of an auxiliary dining device based on the TRIZ theory;
FIG. 2 is a state diagram of a patient in a conventional position;
FIG. 3 is a diagram illustrating the operational status of the auxiliary dining device based on the TRIZ theory;
FIG. 4 is a perspective view of the dining assistance device;
FIG. 5 is a state diagram of the use of the meal assist apparatus;
FIG. 6 is a state of use diagram of the feeding module;
fig. 7 is a diagram for establishing a position coordinate system of the four-degree-of-freedom robot arm 11 according to the D-H method;
FIG. 8 is a spatial coordinate system of the four-DOF robot arm end reach range of the present invention;
FIG. 9 is a motion trajectory of a four degree-of-freedom robotic arm in three-dimensional space;
FIG. 10 is a diagram of the motion changes of a four-DOF robot arm in each X/Y/Z plane;
FIG. 11 is a position, velocity and acceleration change for a four degree-of-freedom robotic arm;
FIG. 12 is an analysis diagram of a scheme for implementing a water feeding function by using a TRIZ theoretical causal chain in the background art;
in the figure, 1-meal assisting device, 2-image capturing device, 11-four-degree-of-freedom mechanical arm, 12-feeding module, 111-base, 112-turntable, 113-big arm, 114-small arm, 115-base stepping motor, 116-shoulder stepping motor, 117-elbow stepping motor, 118-tail end rotating motor, 121-tray, 122-module stepping motor, 123-link mechanism, 124-feeding spoon, 125-meal containing structure body, 126-detachable rest meal holding box, 127-drink cup, 128-hose and 1251-chute through hole.
Detailed Description
In order that the objects, aspects and advantages of the utility model will become more apparent, the utility model will be described by way of example only, and in connection with the accompanying drawings. It is to be understood that such description is merely illustrative and not intended to limit the scope of the present invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.
The connection mentioned in the utility model is divided into fixed connection and detachable connection, the fixed connection is non-detachable connection and includes but is not limited to folding edge connection, rivet connection, bonding connection, welding connection and other conventional fixed connection modes, the detachable connection includes but is not limited to threaded connection, snap connection, pin connection, hinge connection and other conventional detachment modes, when the specific connection mode is not clearly limited, at least one connection mode can be found in the existing connection modes by default to realize the function, and the skilled person can select according to the needs. For example: the fixed connection selects welding connection, and the detachable connection selects hinge connection.
The first embodiment is as follows: the embodiment is described with reference to fig. 1 to 12, and an auxiliary dining device based on the TRIZ theory of the embodiment is implemented based on the TRIZ theory, and the embodiment adopts an evolution rule for reducing human intervention in an eight-major-technology system evolution rule of the TRIZ theory to implement that a robot acts instead of manpower, and proposes a basic architecture of an auxiliary dining robot. On the basis of the analysis of the feeding and water feeding function requirements, the scheme design for realizing the water feeding function by utilizing the causal chain of the TRIZ theory is shown in figure 12.
The problems that exist are found by causal chain analysis: 111. 112, 211, 231, 311. Preliminary analysis shows that the problems 111 and 231 exist objectively, so that the technical scheme of the project is realized by solving other existing problems.
The first scheme is 112, namely, all-weather accompanying of professional nursing personnel is realized, but the method needs a lot of time and manpower, the realization cost is high, and particularly under the condition that the aging degree of the global population is increased, the method does not belong to a sustainable adoption preferred scheme;
the second scheme is 211, namely a new water feeding tool is developed, the phenomena of spilling and overflowing and the like cannot occur in the water feeding process, the soup spoon and the suction pipe are used as common water feeding tools for many years, and the realization is very difficult in a short period;
the third scheme is 22, namely the patient is accompanied by negative emotions such as sadness, anxiety and the like during postoperative or bedridden recuperation, so that on one hand, the patient needs to be guided and accompanied by relatives and friends, on the other hand, the patient needs to be guided by the patient himself or herself, and the patient needs time to take a long time to take care of the patient slowly;
the fourth scheme is 311, designs a device that can realize feeding the water function automatically promptly, reaches the target that supplementary patient accomplished drinking water, can guarantee the flexibility and the exquisite type of device simultaneously, does not have pressure when letting the patient use.
Through initial analysis, the design of the device capable of automatically realizing the water feeding function related to the scheme IV is a feasible measure for solving the problem of insufficient water supply of patients at present.
In summary, the auxiliary dining device based on the TRIZ theory according to the present embodiment includes the dining assistive device 1, the image capturing device 2, and the control module, wherein the patient sits up on the nursing bed, the image capturing device 2 is fixed to the front side of the head of the patient by the bracket, the dining assistive device 1 is placed on the table 5 at the front side of the patient, and both the dining assistive device 1 and the image capturing device 2 are electrically connected to the control module. The design meets the evolution rule of reducing manual intervention in the TRIZ theory, and is combined with the principles of segmentation, local quality, combination, universality and periodic action in the theory of the utility model to carry out auxiliary design, so that the complete machine configuration of the dining assisting device is finally formed. The image capturing device 2 is a camera, the device adopts a mounting mode of eyes outside the hand according to different mounting positions of the image capturing device 2, the device is insensitive to the movement error of a mechanism device, and the mechanical structure of the dining assisting device is designed according to the mounting mode of the image capturing device 2 of eyes outside the hand considering that a food and water feeding system is required to be arranged at the tail end of the device, and the space of the tail end of the device is less influenced when the image capturing device 2 is mounted. The evolutionary law that reduces manual intervention in the TRIZ theory is satisfied in the design to carry out analysis and explanation to the demand necessity of supplementary dining robot through the causal chain analytic method of TRIZ theory, combine the cutting apart in the utility model theory, local quality, merge, commonality and periodic motion principle to carry out the auxiliary design, finally form this supplementary dining robot complete machine configuration of money.
An auxiliary dining device based on the TRIZ theory considers the simulation of a human-simulated feeding mode to realize an autonomous feeding function. The separation principle in the principle of the TRIZ theory utility model is combined, the object is separated into independent parts and can be combined, the feeding and water feeding functions are separately analyzed, and the front end and the tail end of the actuating mechanism are respectively processed. The local quality principle and the merging principle are embodied in the design of a feeding module at the tail end of an actuating mechanism, so that each part of an object is in a condition which is most beneficial to the operation of the object, different parts realize different functions, the similar or adjacent objects in space are merged, and the universality principle is embodied in that the auxiliary dining robot can realize the feeding and water feeding functions at the same time so as to replace the heavy and repeated work of nursing staff.
The meal assisting device 1 comprises a four-degree-of-freedom mechanical arm 11 and a feeding module 12, wherein the feeding module 12 is mounted at the top of the four-degree-of-freedom mechanical arm 11.
The four-degree-of-freedom mechanical arm 11 comprises a base 111, a turntable 112, a large arm 113, a small arm 114, a base stepping motor 115, a shoulder stepping motor 116, an elbow stepping motor 117 and a tail end rotating motor 118, wherein the turntable 112 is rotatably connected with the base 111 through the base stepping motor 115, the bottom of the large arm 113 is rotatably connected with the top of the turntable 112 through the shoulder stepping motor 116, the bottom of the small arm 114 is rotatably connected with the top of the large arm 113 through the elbow stepping motor 117, and the small arm 114 is rotatably connected with the feeding module 12 through the tail end rotating motor 118. The four-degree-of-freedom mechanical arm 11 can meet the requirements of function realization, has enough moving range, relatively less degree of freedom and simple and convenient design, and meets the concept of designing with the lowest degree of freedom and realizing the required functions. When the feeding device works, the base stepping motor 115 drives the turntable 112 to rotate at the top of the base 111 to realize angle adjustment in the horizontal direction, the shoulder stepping motor 116 and the elbow stepping motor 117 can respectively drive the large arm 113 and the small arm 114 to realize pitching angle adjustment, and the output end of the tail end rotating motor 118 on the small arm 114 drives the feeding module 12 to rotate to realize angle adjustment.
The feeding module 12 comprises a tray 121, a module stepping motor 122, a link mechanism 123, a feeding spoon 124 and a meal containing structure body 125, the tray 121 is fixedly connected with the top end of the four-degree-of-freedom mechanical arm 11, the module stepping motor 122 and the meal containing structure body 125 are installed at the top of the tray 121, one end of the link mechanism 123 is connected with the output end of the module stepping motor 122, the other end of the link mechanism 123 is connected with the feeding spoon 124, the meal containing structure body 125 is of a utensil structure with an open top, a chute through hole 1251 is formed in the bottom of the meal containing structure body 125, the top of the chute through hole 1251 is communicated with the inner cavity of the meal containing structure body 125, and the feeding spoon 124 is slidably arranged in the chute through hole 1251. The link mechanism 123 is two driving rods and two driven rods which are connected end to end, the driving rods are connected with the output end of the module stepping motor 122, the tail end of each driven rod is hinged to the feeding spoon 124, the module stepping motor 122 drives the feeding spoon 124 to perform reciprocating repeated telescopic movement through the link mechanism 123, and the meal inside the meal containing structure body 125 is limited to be solid. The feeding module is placed at the end of the forearm 114 and interacts with the patient's mouth to simulate the fixed rotary spoon and pitching water feeding process in a humanoid feeding motion. The robot completely simulates the action process and needs to be provided with more freedom degrees to realize the function of a human hand, and the control of the tail end operator becomes complicated, so that the feeding module is designed in an equivalent function replacement mode. Feeding is accomplished in an intermittent cycle by the cooperation of the modular stepper motor 122, linkage 123, feeding spoon 124 and meal carrier structure 125. As shown in fig. 6, if vegetables and rice can be eaten, the vegetables and rice are proportionally placed in the position of the meal containing structure body 125, the module stepping motor 122 drives the connecting rod mechanism 123 to drive the feeding spoon 124 to perform telescopic reciprocating motion for feeding, and the part adopts the periodic action principle in the TRIZ theory and replaces continuous action with periodic action. The working process of the feeding module 12 respectively represents the initial stage of the feeding module, namely the reset stage, the intermediate stage of the movement process of the spoon body of the feeding spoon 124, and the extending stage of the spoon body of the feeding spoon 124, namely the feeding state, and the periodic action principle in the TRIZ theory is adopted in the feeding module, and the continuous action is replaced by the periodic action.
The feeding module 12 further comprises a detachable food receiving tray box 126, and the detachable food receiving tray box 126 is clamped below the front side of the tray 121. The rest meals are spilled in the feeding process, and the rest meals directly fall into the detachable rest meal holding box 126 to prevent the spilled rest meals from falling outside.
The tray 121 is further provided with a drink cup 127, and a hose 128 is arranged in the drink cup 127. The end of the hose 128 and the end of the feeding spoon 124 are at the same horizontal plane, and when a person with postoperative or physical weakness needs to eat liquid food or semi-liquid food, a corresponding food carrying cup can be directly placed in the drink cup 127 to suck the food through the hose 128.
The base stepper motor 115, the shoulder stepper motor 116, the elbow stepper motor 117 and the module stepper motor 122 are electrically connected to the control module.
The inner wall of the back side of the meal containing structure body 125 is provided with a slope.
The second embodiment is as follows: the present embodiment is described with reference to fig. 1 to 11, and based on a first embodiment, a dining assistance method of the present embodiment:
the conventional postures of the patient in the conventional environment are divided into sitting type and horizontal type, and are divided into three types of sitting type, side sitting type and prone type according to different body position transformation amplitudes, as shown in fig. 2;
the basic position and posture of the patient are taken as an example of a sitting posture, and the relative position of the dining assistance device and the patient can be divided into a facing position and a side position according to the configuration and the motion characteristics of the dining assistance device. According to the daily eating habits of people, the patient is more suitable for the opposite position when the patient is in the sitting posture, namely the position in front of the patient in fig. 3. When the posture of the patient is in a side sitting type or an supine type, the position which is rightly deviated towards the left direction or the right direction from the front position of the patient can be selected, but the deviation angle is generally preferably not more than 90 degrees, namely the maximum deviation position in the figure 3 is preferably the position which does not exceed the left direction or the right direction of the patient, and the specific selected position can be freely determined according to the feeding habit and the spatial position of the nursing device;
and 5, after the control module controls the four-degree-of-freedom mechanical arm 11 to reach a feeding position in front of the mouth of the patient, the module stepping motor 122 controls the feeding spoon 124 to stretch and retract through the link mechanism 123, so that feeding action is realized.
In step 5, when the module stepping motor 122 controls the link mechanism 123 to retract, the spoon end of the feeding spoon 124 is placed in the chute through hole 1251, the food flows into the spoon end of the feeding spoon 124, when the module stepping motor 122 controls the link mechanism 123 to extend, the spoon end of the feeding spoon 124 is conveyed to the mouth of the patient, and the spoon handle of the feeding spoon 124 is placed in the chute through hole 1251, so that the food is prevented from spilling over.
When a feeding task is implemented, the pose change of the tail end feeding module is realized through the four-degree-of-freedom mechanical arm 11, the moving range of the tail end feeding module 12 is an important index for measuring the working capacity of the tail end feeding module, and the motion characteristic of the meal assisting device, namely the kinematics analysis, is mainly analyzed from the geometric angle.
TABLE 1D-H PARAMETERS
When studying the kinematics of the eating aide, the end feeding module 12 is considered a bar attached to the forearm 114. Since the rotation of the end rotary joint has no influence on the end reachable range, the end rotary motor 118 is ignored during the analysis of the working space, and the four-degree-of-freedom robot arm 11 in the original structure can be equivalent to a three-degree-of-freedom robot arm. Fig. 7 shows a position coordinate system of the four-degree-of-freedom robot arm 11 established according to the D-H method, and table 1 shows the D-H parameters for determining the links. The homogeneous transformation matrix between two adjacent coordinate systems is expressed as follows,
substituting the determined D-H parameters to obtain a homogeneous transformation matrix 0T from the base to the tail end of the mechanical arm3，
nx＝c1c2c3-c1s2s3
ny＝s1c2c3-s1s2s3
nz＝s2c3+c2s3Formula (3)
ox＝-c1c2s3-c1s2c3
oy＝-s1c2s3-s1s2c3
oz＝c2s3-s2s3Formula (4)
ax＝s1
ay＝-c1
az0 formula (5)
In the above formula si＝sinθi，ci＝cosθi. The pose of the terminal feeding module relative to the reference coordinate system is obtained through the geometric parameters and the joint variables of the dining robot body, and the motion equation is established. Adopt robot toolbox in Matlab to help meal device actual workThe space is solved and analyzed to compare the terminal reachable range, as shown in fig. 8.
Considering that the meal assisting device completes a specific meal work task, as shown in fig. 1, the motion track and the work space of the meal assisting device are concentrated near the upper part of the body of a patient, and the reachable position which accords with the motion of the meal assisting device in the space range is obtained through comparative analysis, and the pattern distribution of the space position has no obvious holes, so that the work area of the meal assisting device can be clearly embodied.
The motion analysis is carried out on the dining assistant device by adopting joint space trajectory planning, namely, the joint change quantity of the four-freedom-degree mechanical arm 11 is changed into the relation with time, and the angular velocity and the angular acceleration of the four-freedom-degree mechanical arm are restrained. And solving according to the given initial and final positions, the speed, the acceleration and the motion track time by applying a fifth-order polynomial interpolation method.
Setting the initial joint angle and the terminal joint angle to (0pi/2-pi/2) and (pi/4pi/3-pi/4), respectively; the motion track of the tail end in the three-dimensional space is shown in fig. 9, namely, the motion track is smooth in the specified travel range.
As can be seen from fig. 10 and 11, the motion curve of the eating assisting device is smooth in the specified travel range. From the analysis of fig. 12, the angular position changes, angular velocity changes and angular acceleration changes of the turntable 112, the large arm 113 and the small arm 114 of the meal-assistant device along with time can be observed, and the operation forms of the large arm 113 and the small arm 114 are consistent in the operation process.
The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
In the description of the present invention, it is to be understood that the orientation or positional relationship indicated by the orientation words such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc. are usually based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and in the case of not making a reverse description, these orientation words do not indicate and imply that the device or element being referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore, should not be considered as limiting the scope of the present invention; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.
Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein.
It should be noted that, in the above embodiments, as long as the technical solutions can be aligned and combined without contradiction, those skilled in the art can exhaust all possibilities according to the mathematical knowledge of the alignment and combination, and therefore, the present invention does not describe the technical solutions after alignment and combination one by one, but it should be understood that the technical solutions after alignment and combination have been disclosed by the present invention.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by 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 (6)
1. The utility model provides an auxiliary dining device based on TRIZ theory which characterized in that: the feeding device comprises a four-degree-of-freedom mechanical arm (11) and a feeding module (12), wherein the feeding module (12) is installed at the top of the four-degree-of-freedom mechanical arm (11);
the four-degree-of-freedom mechanical arm (11) comprises a base (111), a turntable (112), a large arm (113), a small arm (114), a base stepping motor (115), a shoulder stepping motor (116), an elbow stepping motor (117) and a tail end rotating motor (118), wherein the turntable (112) is rotatably connected with the base (111) through the base stepping motor (115), the bottom of the large arm (113) is rotatably connected with the top of the turntable (112) through the shoulder stepping motor (116), the bottom of the small arm (114) is rotatably connected with the top of the large arm (113) through the elbow stepping motor (117), and the small arm (114) is rotatably connected with a feeding module (12) through the tail end rotating motor (118).
2. The auxiliary dining device based on the TRIZ theory as claimed in claim 1, wherein: the feeding module (12) comprises a tray (121), a module stepping motor (122), a link mechanism (123), a feeding spoon (124) and a meal containing structure body (125), the tray (121) is fixedly connected with the top end of a four-degree-of-freedom mechanical arm (11), the module stepping motor (122) and the meal containing structure body (125) are installed at the top of the tray (121), one end of the link mechanism (123) is connected with the output end of the module stepping motor (122), the other end of the link mechanism (123) is connected with the feeding spoon (124), the meal containing structure body (125) is a utensil structure with an opening at the top, a chute through hole (1251) is formed in the bottom of the meal containing structure body (125), the top of the chute through hole (1251) is communicated with an inner cavity of the meal containing structure body (125), and the feeding spoon (124) is arranged in the chute through hole (1251) in a sliding mode.
3. The auxiliary dining device based on the TRIZ theory as claimed in claim 2, wherein: the feeding module (12) further comprises a detachable food rest box (126), and the detachable food rest box (126) is clamped below the front side of the tray (121).
4. The auxiliary dining device based on the TRIZ theory as claimed in claim 3, wherein: the tray (121) is also provided with a drink cup (127), and a hose (128) is arranged in the drink cup (127).
5. The auxiliary dining device based on the TRIZ theory as claimed in claim 4, wherein: and the base stepping motor (115), the shoulder stepping motor (116), the elbow stepping motor (117) and the module stepping motor (122) are electrically connected with the control module.
6. The auxiliary dining device based on the TRIZ theory as claimed in claim 5, wherein: the inner wall of the rear side of the meal containing structure body (125) is provided with a slope.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122817842.4U CN216229424U (en) | 2021-11-17 | 2021-11-17 | Supplementary dining device based on TRIZ theory |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122817842.4U CN216229424U (en) | 2021-11-17 | 2021-11-17 | Supplementary dining device based on TRIZ theory |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216229424U true CN216229424U (en) | 2022-04-08 |
Family
ID=80945006
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122817842.4U Active CN216229424U (en) | 2021-11-17 | 2021-11-17 | Supplementary dining device based on TRIZ theory |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216229424U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113927610A (en) * | 2021-11-17 | 2022-01-14 | 黑龙江农业工程职业学院 | Supplementary dining device based on TRIZ theory |
| CN114947485A (en) * | 2022-05-10 | 2022-08-30 | 深兰科技（上海）有限公司 | Sound control visual drinking cup and intelligent drinking method based on sound control visual drinking cup |
| CN116872232A (en) * | 2023-09-01 | 2023-10-13 | 江西唐炬科技有限公司 | Novel feeding robot |
-
2021
- 2021-11-17 CN CN202122817842.4U patent/CN216229424U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113927610A (en) * | 2021-11-17 | 2022-01-14 | 黑龙江农业工程职业学院 | Supplementary dining device based on TRIZ theory |
| CN113927610B (en) * | 2021-11-17 | 2024-09-13 | 黑龙江农业工程职业学院 | Auxiliary dining device based on TRIZ theory |
| CN114947485A (en) * | 2022-05-10 | 2022-08-30 | 深兰科技（上海）有限公司 | Sound control visual drinking cup and intelligent drinking method based on sound control visual drinking cup |
| CN116872232A (en) * | 2023-09-01 | 2023-10-13 | 江西唐炬科技有限公司 | Novel feeding robot |
| CN116872232B (en) * | 2023-09-01 | 2023-11-17 | 江西唐炬科技有限公司 | Novel feeding robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN216229424U (en) | Supplementary dining device based on TRIZ theory | |
| Crooks et al. | Fin ray® effect inspired soft robotic gripper: From the robosoft grand challenge toward optimization | |
| Romilly et al. | A functional task analysis and motion simulation for the development of a powered upper-limb orthosis | |
| US8240967B2 (en) | Self-feeding apparatus | |
| US8442669B2 (en) | Self-feeding device for an individual | |
| WO2018100760A1 (en) | Upper limb motion assisting device and upper limb motion assisting system | |
| CN205668634U (en) | A kind of mechanical hand backpack underwater robot | |
| Song et al. | Novel assistive robot for self-feeding | |
| CN113927610A (en) | Supplementary dining device based on TRIZ theory | |
| CN109202938B (en) | Feeding mechanical arm and feeding method thereof | |
| CA3114020C (en) | Manipulator apparatus for operating on articles | |
| Wu et al. | Development of smartphone-based human-robot interfaces for individuals with disabilities | |
| CN108724213A (en) | A kind of Yi Cheng robots | |
| CN111331575A (en) | Medicine taking and delivering dispatching robot and control system | |
| Jiang et al. | Research progress and prospect of nursing robot | |
| US20210369478A1 (en) | Movement assistance apparatus, e.g., for feeding, writing | |
| CN203592488U (en) | Assistant feeding machine for people | |
| CN108161942B (en) | Food-feeding auxiliary robot | |
| Gandarias et al. | Enhancing flexibility and adaptability in conjoined human-robot industrial tasks with a minimalist physical interface | |
| Latif et al. | Design and development of muscle and flex sensor controlled robotic hand for disabled persons | |
| US20190300212A1 (en) | Robot and method of operating the same | |
| TW200503663A (en) | Lift and transfer chair | |
| Edwards et al. | Design, construction and testing of a wheelchair-mounted robotic arm | |
| CN115476379A (en) | Flexible robot and control method thereof | |
| Chang et al. | On wearable, lightweight, low-cost human machine interfaces for the intuitive collection of robot grasping and manipulation data |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |