CN101647745B - Walking robot with seat - Google Patents

Abstract

The invention relates to a walking-aid robot with a seat, belonging to the technical field of mechanical engineering. The walking-aid robot with the seat comprises a walking-aid stand, an elevating mechanism, a transmission mechanism and a walking drive mechanism, wherein the elevating mechanism and the transmission mechanism are respectively fixed on the stand; and the walking drive mechanism is fixed at the lower end of the walking-aid stand. The walking drive mechanism comprises back supporting legs, a walking drive motor, a first bevel gear, a second bevel gear, a first synchronous pulley, synchronous belts, a second synchronous pulley, a bearing seat, a gear box, steering wheels and driving wheels. The invention has compact structure, high driving efficiency and convenient use.

Description

Walking robot with seat

technical field

The invention relates to a device in the technical field of mechanical engineering, in particular to a walking aid robot with a seat.

Background technique

The walker robot is mainly aimed at the elderly, the elderly with declining physical fitness and vision loss but still have certain mobility, and those who are recovering from leg and foot injuries. This group needs a machine that has the functions of assisting sitting, walking, anti-falling, and health monitoring.

In recent years, countries around the world have conducted a lot of research in the field of service robots and achieved great results. Among them, in the field of walking assistant robots, some research has also been carried out. In 1999, MIT in the United States developed a personal mobile and monitoring auxiliary system (PAMM) similar to a crutch. It has a CCD camera infrared sensor and has the function of autonomous navigation. It also features force control, voice control and health monitoring. In 2005, Korea polytechnic university in South Korea developed an auxiliary walking robot WAR, which not only has various functions of PAMM, but also made some improvements in the mechanical structure, using a ball screw lifting mechanism, so that the elderly can hold on The robot's lifting mechanism can help the elderly to stand up by leaning on the armrest or lying on the armrest, which is very friendly to the elderly who are inconvenient to sit and sit. In 2006, Japan's Waseda university developed a walking assist machine. It uses a hydraulic lifting mechanism. Its main feature is that it can sense the pressure of the human left and right hands on the robot, and make active balance adjustments.

After searching the existing technical literature, it is found that the Chinese patent No. 200810150388.8 introduces a welfare-friendly walking aid robot, which senses the dynamics of the elderly and whether they have a tendency to fall by using the sliding sense and pressure sensors at both ends of the handrail , the DSP controller is used to process various information and issue instructions to the drive system, and the drive system acts as an actuator to change the motion state of the robot to provide friendly assistance to the elderly. Its disadvantages are: the height of the above-mentioned system cannot be automatically adjusted, there is no power-assisted function, and the physique of the elderly is not considered, and the user has to consume a lot of physical energy, so it is not enough to meet the requirements of helping the elderly and the disabled.

Contents of the invention

The present invention aims at the above-mentioned deficiencies in the prior art, and provides a walking-assisting robot with a seat. When the user leans on the armrest, the robot can prop up the person, reducing the pressure on the legs and feet of the user when standing up; When the armrest leans back, it can just become a backrest, so that the user can rest comfortably when walking tired.

The present invention is achieved through the following technical solutions. The present invention includes: a walking aid frame, a lifting mechanism, a transmission mechanism and a walking drive mechanism, wherein: the lifting mechanism and the transmission mechanism are respectively fixed on the frame, and the walking driving mechanism is fixed on the walking aid lower end of the rack.

The lifting mechanism includes: a connecting rod, a ball screw and a screw drive motor, wherein: the ball screw is fixedly arranged on the walking aid frame, the connecting rod is movably connected to the ball screw, and the screw drive motor is connected to the ball screw It is fixedly connected and drives the ball screw to move up and down.

The transmission mechanism includes: a control armrest, a transmission frame, a seat and a worm gear motor, wherein the transmission frame is fixedly arranged on the walking aid frame, the control armrest is hinged to the transmission frame, and the seat and the worm gear motor are respectively fixed It is arranged on the walking aid frame, and the worm gear motor is connected with the transmission frame.

The transmission frame is a parallelogram structure.

The transmission mechanism is a parallelogram mechanism, which keeps the panel level at any time. When it needs to be changed, the transmission frame can be driven by the worm gear motor, and the structure is very simple. Two mechanical clamping positions are installed at the front and rear target positions, and limit switches are installed on the mechanical clamping positions. The role of the mechanical card is to bear the force, and the limit switch is used as the signal source for the motor to stop and move.

The walking drive mechanism includes: rear support leg, walking drive motor, first bevel gear, second bevel gear, first synchronous pulley, synchronous belt, second synchronous pulley, bearing seat, gearbox, steering wheel and Drive wheels, wherein: the walking driving motor is fixed on the gear box and is fixedly connected with the rear supporting leg, the rear supporting leg is fixedly arranged at the rear end of the walking aid frame, the output shaft of the walking driving motor is connected with the first bevel gear, and the second The bevel gear and the first synchronous pulley are coaxially fixed and meshed with the first bevel gear to transmit the motion of the motor to the first synchronous pulley. The pulleys are coaxially connected, and the first synchronous pulley drives the second synchronous pulley through the synchronous belt and outputs the power of the traveling drive motor to the driving wheel.

Both the steering wheel and the driving wheel are universal wheels, and the diameter of the driving wheel is 50mm-100mm larger than that of the steering wheel.

The active force of the ball screw in the prior art is relatively concentrated, which cannot meet the requirements of stable lifting of the vehicle body; the gear transmission is relatively small, and the pressure on the gear is too large, so it is difficult to support the weight of the user. The rod joint transmission method has a large transmission ratio of the screw rod and a fast transmission speed. At the same time, the connecting rod mechanism is used to evenly distribute the force transmitted from the screw rod to the four legs of the robot, so that smooth and fast lifting can be achieved. The seat is fixed directly to the body of the robot, while the backrest serves a double function. When the backrest is turned forward, it is used as a backrest. When the backrest is turned backward, it is used as an armrest for the control panel when walking.

Simultaneously, the present invention adopts the mode of two-wheel differential drive. In terms of drive wheel drive, it adopts bevel gear and belt pulley transmission. space taken up. The motor is fixed on the gear box, and then fixed on the rear support leg rod. The output shaft of the motor is connected with the bevel gear through a shaft coupling, and the bevel gear and the belt pulley are fixed on the same shaft. Two bevel gears mesh to transmit the motion of the motor to the pulley. The driving wheel and the belt pulley are fixed on the coaxial, and the transmission of the synchronous belt theory can transmit the motion of the motor to the driving wheel.

Description of drawings

Fig. 1 is a schematic diagram of the structure of the present invention.

Fig. 2 is a schematic diagram of working state 1 of the present invention.

Fig. 3 is a schematic diagram of working state 2 of the present invention.

Fig. 4 is a partially enlarged schematic diagram.

Detailed ways

The embodiments of the present invention are described in detail below. This embodiment is implemented on the premise of the technical solution of the present invention, and detailed implementation methods and specific operating procedures are provided, but the protection scope of the present invention is not limited to the following implementation example.

As shown in Figure 1, the present embodiment includes: a walking aid frame 1, a lifting mechanism 2, a handrail mechanism 3 and a walking drive mechanism 4, wherein: the lifting mechanism 2 and the handrail mechanism 3 are respectively fixed on the frame, and the walking driving mechanism 4 Be fixed on the lower end of walking aid frame 1.

The lifting mechanism 2 includes: a ball screw 5, a connecting rod 6 and a screw driving motor 7, wherein: the ball screw 5 is fixedly arranged on the walking aid frame 1, and the connecting rod 5 is movably connected with the ball screw 6, The screw driving motor 7 is fixedly connected with the ball screw 6 and drives the movement of the ball screw 6 .

Described armrest mechanism 3 comprises: control armrest 8, parallelogram transmission 9, seat 10 and worm gear motor 11, wherein: parallelogram transmission 9 is fixedly arranged on the walking aid frame 1, control armrest 8 and parallelogram transmission 9 is hinged, the seat 10 and the worm gear motor 11 are fixedly arranged on the walking aid frame 1 respectively, and the worm gear motor 11 is connected with the parallelogram transmission 9 .

Described handrail mechanism 3 is a parallelogram mechanism, keeps the level of panel at ordinary times. When conversion is needed, the worm gear reduction motor 11 can drive the parallelogram transmission 9, and the structure is very simple. Two mechanical clamping positions are installed at the front and rear target positions, and limit switches are installed on the mechanical clamping positions. The role of the mechanical card is to bear the force, and the limit switch is used as the signal source for the motor to stop and move.

Described walking driving mechanism 4 comprises: rear supporting leg 12, walking driving motor 13, first bevel gear 14, second bevel gear 15, first synchronous pulley 16, synchronous belt 17, second synchronous pulley 18, bearing Seat 19, gear box 20, steering wheel 21 and drive wheel 22, wherein: walking drive motor 13 is fixed on the gear box 20 and is fixedly connected with rear support leg 12, and rear support leg 12 is fixedly arranged on the back of walking aid frame 1 end, the output shaft of the walking drive motor 13 is connected with the first bevel gear 14, the second bevel gear 15 and the first synchronous pulley 16 are coaxially fixed and meshed with the first bevel gear 14 to transmit the motion of the motor to the first synchronous The pulley 16 and the steering pulley 21 are movably arranged under the front end of the walking aid frame 1, the drive pulley 22 is coaxially connected with the second synchronous pulley 18, and the first synchronous pulley 16 drives the second synchronous pulley 18 through the synchronous belt 17 And output the power of the traveling driving motor 13 to the driving wheel 22 .

The steering wheel 21 is a universal wheel, and the diameter of the driving wheel 22 is 50mm larger than the diameter of the steering wheel 21, which is 200mm and 150mm respectively.

As shown in Figure 2, the working state 1 of this embodiment includes the following steps: when the user is sitting on the sofa and needs to walk, the robot is controlled by voice, the robot measures the position of the person through the panoramic camera 1, and then backs to the user Front. Then the screw drive motor 7 reverses, the ball screw 6 descends, and simultaneously drives the link mechanism 5 to stretch forward and backward;

As shown in Figure 3, the working state 2 of this embodiment includes the following steps: when the user needs to be supported by the robot, press the down switch on the operation panel, and the armrest and the operation panel 8 will then drop to the level that can be reached by the user's hand. Comfortable reach position, when the user props up on the handrail 8, turn on the ascending switch, the screw mandrel drive motor 7 motors forward, the screw mandrel rises, and the handrail 8 rises thereupon, and the person then stands up thereupon. The user can then walk to the destination with the assistance of the robot. When the user needs to stop and have a rest, the legs of the robot get down again, and the worm gear reduction motor 11 of the parallelogram transmission 9 reverses simultaneously, and the parallelogram transmission 9 leans forward, runs into the travel switch, stops, and forms the chair back. People sit on the seat 10 and have a rest. When the person needs to get up, the robot's legs are propped up again, and the person stands up. In this way, the functions of the walking aid and the seat can be switched.

Claims (5)

1. A walking aid robot with a seat, comprising: a walking aid frame, a lifting mechanism, a transmission mechanism and a walking drive mechanism, wherein: the lifting mechanism and the transmission mechanism are respectively fixed on the walking aid frame, and the walking driving mechanism is fixed on The lower end of the walking aid frame is characterized in that: The walking drive mechanism includes: rear support leg, walking drive motor, first bevel gear, second bevel gear, first synchronous pulley, synchronous belt, second synchronous pulley, bearing seat, gearbox, steering wheel and Drive wheels, wherein: the walking driving motor is fixed on the gear box and is fixedly connected with the rear supporting leg, the rear supporting leg is fixedly arranged at the rear end of the walking aid frame, the output shaft of the walking driving motor is connected with the first bevel gear, and the second The bevel gear and the first synchronous pulley are coaxially fixed and meshed with the first bevel gear to transmit the motion of the motor to the first synchronous pulley. The pulleys are coaxially connected, and the first synchronous pulley drives the second synchronous pulley through the synchronous belt and outputs the power of the traveling drive motor to the drive wheel. 2. The walker robot with seat according to claim 1, characterized in that, the lifting mechanism comprises: a connecting rod, a ball screw and a screw drive motor, wherein: the ball screw is fixedly arranged on the walker On the frame, the connecting rod is movably connected with the ball screw, and the screw driving motor is fixedly connected with the ball screw and drives the ball screw to move up and down. 3. The walking-assisting robot with seat according to claim 1, characterized in that, the transmission mechanism comprises: a control armrest, a transmission frame, a seat and a worm gear motor, wherein: the transmission frame is fixedly arranged on the auxiliary On the walker frame, the control armrest is hinged with the transmission frame, the seat and the worm gear reducer motor are fixedly arranged on the walker frame respectively, and the worm gear reducer motor is connected with the drive frame. 4. The walking aid robot with a seat according to claim 3, wherein the transmission frame is a parallelogram structure. 5. The walker robot with a seat according to claim 1, wherein the steering wheel is a universal wheel, and the diameter of the driving wheel is 50 mm to 100 mm larger than that of the steering wheel.

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