Old-age service robot and system

Abstract

The invention relates to the technical field of robots and systems, and provides a pension service robot and system which can form active protection along with standing and walking old people on the basis of meeting basic accompanying and auxiliary carrying requirements, provide protection for the old people while improving pension convenience, and comprises a main body and two auxiliary bodies, two parallelogram assemblies are installed on the main body, the two auxiliary bodies are connected with the two parallelogram assemblies correspondingly, rotating bodies are rotationally connected to the two auxiliary bodies correspondingly, first servo motors are installed in the two auxiliary bodies correspondingly, and output shafts of the two first servo motors are connected with the two rotating bodies correspondingly. Second servo motors are installed at the left end and the right end of the main body, the two auxiliary bodies and the two rotating bodies, rotating leg frames are connected to output shafts of the six second servo motors, linkage leg frames are rotationally connected into the six rotating leg frames, and linkage shafts are fixedly connected to the left end and the right end of the main body, the two auxiliary bodies and the two rotating bodies. And linkage frames are rotationally connected to the six linkage shafts.

Description

Technical Field

[0001] The present invention relates to the technical field of robots and systems, and in particular to an elderly care service robot and system. Background Art

[0002] As we all know, with the aging of the population, the issue of elderly care has become increasingly prominent. How to provide for the elderly has become one of the challenges facing society. In order to better solve the problem of elderly care, we propose an elderly care service robot and system.

[0003] After searching, the invention patent with Chinese patent application number CN202111272174.X discloses a elderly care service robot with voice call, which is roughly described as including a main body, which is a elderly care service robot with a voice call function, and the main body includes: a push rod, the internal angle position of the push rod is an inclined structure, the front end of the push rod is a wedge-shaped structure, the push rod is installed inside the inner groove, and the front end of the push rod is inserted into the rectangular groove of the mounting plate. When in use, the mounting part can be pressed to make the mounting part move downward together with the moving rod, so that the moving rod can contact the front end of the push rod through the outer end of the push part, so that the push rod can be displaced by force, and then the downward pressure is converted into lateral pushing power, so that the call button can be quickly triggered, which solves the problem that it is difficult to press the voice button of the elderly care service robot, which is inconvenient to operate and requires the elderly to get up to press the voice button, which poses a safety hazard.

[0004] Although the above-mentioned existing technical solutions can facilitate the pressing operation of the voice button, combined with its overall design concept, it is more convenient for voice calls. With the development of AI intelligent technology, the method of directly waking up by voice instead of pressing the voice button has also been applied in many aspects such as smart phones and car navigation. It can be seen that the technology of voice wake-up is becoming mature, but the problem of elderly care is not only about voice wake-up. How to better provide convenience and safety for the elderly is the key to the problem. Summary of the invention

[0005] In view of the deficiencies in the prior art, the present invention provides an elderly care service robot and system, which, while satisfying the basic needs of companionship and auxiliary carrying, can follow standing and walking elderly people to provide active protection, thereby improving the convenience of elderly care and providing protection for the elderly.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a kind of elderly care service robot, comprising a main body and two sub-bodies, wherein two parallelogram components are installed on the main body, and the two sub-bodies are respectively connected to the two parallelogram components, and the two sub-bodies are rotatably connected with a swivel, and the two sub-bodies are respectively installed with a first servo motor, and the output shafts of the two first servo motors are respectively connected with the two swivels, and the left and right ends of the main body, the two sub-bodies and the two swivels are all installed with a second servo motor, and the output shafts of the six second servo motors are all connected with a rotating leg frame, and the six rotating leg frames are rotatably connected with a linkage leg frame, and the left and right ends of the main body and the two The sub-body and the two rotating bodies are fixedly connected with a linkage shaft, and the six linkage shafts are rotatably connected with a linkage frame, and the six linkage frames are rotatably connected with the six linkage leg frames respectively, and pressure sensors are installed in the six linkage frames. The front ends of the two sub-bodies are installed with front-view cameras, and the rear end of the main body is installed with a rotating frame, and the rear end of the rotating frame is installed with an adjustment vision camera. A third servo motor is installed in the main body, and the third servo motor is used for rotation adjustment of the rotating frame relative to the main body. Safety airbags are installed on the two parallelogram components and the two frontmost linkage leg frames, and the six pressure sensors jointly realize the excitation control of the safety airbags.

[0007] Preferably, the two parallelogram components each include an outer connecting frame and an inner connecting frame, the two outer connecting frames are both rotatably connected to the main body, the two outer connecting frames are respectively rotatably connected to the two sub-bodies, the two inner connecting frames are both rotatably connected to the main body, the two inner connecting frames are respectively rotatably connected to the two sub-bodies, two installation cavities are provided at the bottom end of the main body, fourth servo motors are installed in the two installation cavities, and the two fourth servo motors are respectively used for rotationally driving the two inner connecting frames.

[0008] Preferably, the two inner connecting frames are fixedly connected with a driving shaft, the two driving shafts are rotatably connected to the main body, the two driving shafts are installed with a driven synchronous wheel, the two driving synchronous wheels are transmission-connected with a synchronous belt, the two synchronous belts are transmission-connected with a driving synchronous wheel, and the two driving synchronous wheels are respectively connected to the output shafts of two fourth servo motors.

[0009] Preferably, the two outer connecting frames and the two frontmost linkage leg frames are provided with through-strip cavities, and the four safety airbags are respectively installed in the four through-strip cavities.

[0010] Preferably, the six linkage frames each include an upper linkage rod and a lower linkage rod, the six upper linkage rods are respectively rotatably connected to the six linkage shafts, the six lower linkage rods are respectively fixedly connected with a transmission shaft, the six linkage leg frames are each provided with a slot, the six transmission shafts are respectively fixedly connected in the six slots, the six lower linkage rods are respectively fixedly connected with a sleeve, the six pressure sensors are respectively installed in the six sleeves, the six sleeves are respectively connected with an elastic spring, the six elastic springs are respectively fixedly connected to the six upper linkage rods, and the six sleeves are respectively slidably connected to the six upper linkage rods.

[0011] Preferably, each of the six sleeves is provided with a threading hole, and the six threading holes are used for passing the signal wires of the six pressure sensors respectively.

[0012] Preferably, the top ends of the two inner connecting frames are both provided with notches, and the two notches respectively provide sufficient space for the popping out of the two safety airbags installed in the two outer connecting frames.

[0013] Preferably, the six rotating leg frames are all fixedly connected with rotating links, and the left and right ends of the main body, the two auxiliary bodies and the two rotating bodies are all provided with ring-connecting grooves, and the six rotating links are respectively rotatably connected in the six ring-connecting grooves.

[0014] Preferably, a side rear view camera and a side front view camera are installed at both left and right ends of the main body, and the two side rear view cameras are respectively arranged in an upper and lower staggered manner with the two side front view cameras.

[0015] A robot system for elderly care services comprises a signal receiver, a central controller and a signal stimulator, wherein the signal receiver, the central controller and the signal stimulator are integrated on a circuit board, and the circuit board is installed in the main body. The signal receiver receives pressure signals from six pressure sensors, and the signal receiver is electrically connected to the central controller. The central controller converts and compares the pressure signal values ​​received by the signal receiver, and judges and inputs the control signal into the signal stimulator based on the processed information after conversion and comparison. The signal stimulator is used for the excitation control of the safety airbag, and the central controller has an internal and external interaction module and a plurality of open access ports.

[0016] Compared with the prior art, the present invention provides a elderly care service robot and system, which has the following beneficial effects:

[0017] (1) In the present invention, the main structure of the elderly care service robot is formed by the cooperation of the main body, the sub-body and the parallelogram assembly. The main structure can be adjusted to form a surrounding distribution for the standing elderly, thereby providing protection for the elderly.

[0018] (2) In the present invention, by cooperating with the rotating leg frame, the linkage leg frame, the linkage shaft, the linkage frame and the pressure sensor, a bracket and a moving part corresponding to the aforementioned main structure are formed, which can meet the travel requirements and detect the external pressure at the same time, so as to facilitate the detection and judgment of the posture of the main structure.

[0019] (3) In the present invention, the airbag is equipped with a pressure sensor and an adjustable visual camera to identify the status of the elderly who are standing or walking, so as to provide active protection for the elderly. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of a partially cutaway three-dimensional structure of the present invention;

[0021] Figure 2 For the present invention Figure 1 A schematic diagram of the local enlarged structure at point A in the middle;

[0022] Figure 3 It is a schematic diagram of the overall three-dimensional structure of the present invention;

[0023] Figure 4 It is a partially cutaway three-dimensional structural schematic diagram of the main body, auxiliary body and rotating body of the present invention;

[0024] Figure 5 For the present invention Figure 4 A schematic diagram of the local enlarged structure at B in the middle;

[0025] Figure 6 It is a partially cutaway three-dimensional structural schematic diagram of the body, the rotating body and the first servo motor of the present invention;

[0026] Figure 7 It is a schematic diagram of the overall three-dimensional structure of the present invention when viewed from above;

[0027] Figure 8 It is a schematic diagram of the three-dimensional structure of the present invention from another angle;

[0028] Fig. 9 It is a cross-sectional three-dimensional structural schematic diagram of the cooperation of the rotating leg frame, the linkage leg frame and the transmission shaft of the present invention;

[0029] Fig.10 For the present invention Fig. 9 A schematic diagram of the local enlarged structure at C in the middle;

[0030] Fig.11 It is a schematic diagram of the three-dimensional structure of the overall surrounding bracket type of the present invention;

[0031] Fig.12 It is a schematic diagram of the framework of signal interaction of the elderly care service robot system of the present invention.

[0032] In the figure: 1, main body; 2, sub-body; 3, swivel; 4, first servo motor; 5, second servo motor; 6, rotating leg frame; 7, linkage leg frame; 8, linkage shaft; 9, pressure sensor; 10, front view camera; 11, rotating frame; 12, adjusting visual camera; 13, third servo motor; 14, airbag; 15, outer connecting frame; 16, inner connecting frame; 17, fourth servo motor; 18, driving shaft; 19, driving synchronous wheel; 20, synchronous belt; 21, driven synchronous wheel; 22, through-bar cavity; 23, upper linkage rod; 24, lower linkage rod; 25, transmission shaft; 26, slot; 27, sleeve; 28, elastic spring; 29, threading hole; 30, notch; 31, rotating link; 32, ring connecting groove; 33, side rear view camera; 34, side front view camera. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0034] Example

[0035] See also Figure 1-Figure 12 A nursing service robot includes a main body 1 and two sub-bodies 2. Two parallelogram components are installed on the main body 1. The two sub-bodies 2 are respectively connected to the two parallelogram components. The two sub-bodies 2 are rotatably connected with a swivel 3. The two sub-bodies 2 are both installed with a first servo motor 4. The output shafts of the two first servo motors 4 are respectively connected to the two swivels 3. The two parallelogram components include an outer connecting frame 15 and an inner connecting frame 16. The two outer connecting frames 15 are rotatably connected to the main body 1. The two outer connecting frames 15 are respectively rotatably connected to the two sub-bodies 2. The two inner connecting frames 16 are rotatably connected to the main body 1. The two inner connecting frames 16 are respectively rotatably connected to the two sub-bodies 2. The bottom end of the main body 1 is provided with two installation cavities. The two installation cavities are provided with a plurality of mounting cavities. A fourth servo motor 17 is installed on each of the two inner connecting frames 16, a driving shaft 18 is fixedly connected to each of the two inner connecting frames 16, and the two driving shafts 18 are rotatably connected to the main body 1. A driven synchronous wheel 21 is installed on each of the two driving shafts 18, and the two driving synchronous wheels 19 are both transmission-connected to a synchronous belt 20, and the two synchronous belts 20 are both transmission-connected to a driving synchronous wheel 19. The two driving synchronous wheels 19 are respectively connected to the output shafts of the two fourth servo motors 17, and the two fourth servo motors 17 are respectively used for the rotational drive of the two inner connecting frames 16. The main structure of the elderly care service robot is formed through the cooperation of the main body 1, the sub-body 2 and the parallelogram assembly, and the main structure can be adjusted to form a surrounding distribution for a standing elderly person, so as to provide protection for the elderly.

[0036] It should be further explained that the left and right ends of the main body 1, the two sub-bodies 2 and the two swivels 3 are all equipped with second servo motors 5, the output shafts of the six second servo motors 5 are connected to rotating leg frames 6, and the six rotating leg frames 6 are rotatably connected with linkage leg frames 7, the left and right ends of the main body 1, the two sub-bodies 2 and the two swivels 3 are all fixedly connected with linkage shafts 8, the six linkage shafts 8 are rotatably connected with linkage frames, the six linkage frames are respectively rotatably connected with the six linkage leg frames 7, and pressure sensors 9 are installed in the six linkage frames. The six linkage frames include upper linkage rods 23 and lower linkage rods 24, the six upper linkage rods 23 are respectively rotatably connected with the six linkage shafts 8, the six lower linkage rods 24 are fixedly connected with transmission shafts 25, the six linkage leg frames 7 are provided with slots 26, the six transmission shafts 25 are respectively fixedly connected in the six slots 26, and the six lower linkage rods 24 are fixedly connected with sleeves 27 , six pressure sensors 9 are respectively installed in six sleeves 27, and elastic springs 28 are connected in the six sleeves 27. The six elastic springs 28 are respectively fixedly connected to the six upper linkage rods 23, and the six sleeves 27 are respectively slidably connected to the six upper linkage rods 23. Through the cooperation of the rotating leg frame 6, the linkage leg frame 7, the linkage shaft 8, the linkage frame and the pressure sensor 9, a bracket and a moving part corresponding to the aforementioned main structure are formed, which can meet the travel needs while being able to detect the external pressure to facilitate the detection and judgment of the posture of the main structure. Threading holes 29 are opened on the six sleeves 27, and the six threading holes 29 are respectively used for the passage of signal lines of the six pressure sensors 9. The six rotating leg frames 6 are fixedly connected with rotating links 31. The left and right ends of the main body 1, the two sub-bodies 2 and the two swivels 3 are all provided with ring-connecting grooves 32, and the six rotating links 31 are respectively rotatably connected in the six ring-connecting grooves 32.

[0037] It should be further explained that the front ends of the two sub-bodies 2 are both equipped with a forward-looking camera 10, the rear end of the main body 1 is equipped with a rotating frame 11, the rear end of the rotating frame 11 is equipped with an adjustable visual camera 12, a third servo motor 13 is installed in the main body 1, and the third servo motor 13 is used for the rotation adjustment of the rotating frame 11 relative to the main body 1, and the two parallelogram components and the two frontmost linkage leg frames 7 are both equipped with airbags 14, and the two outer connecting frames 15 and the two frontmost linkage leg frames 7 are both provided with through-strip cavities 22, and the four airbags 14 are respectively installed in the four through-strip cavities 22, and the six pressure sensors 9 jointly realize the excitation control of the airbags 14 By equipping the airbag 14, the pressure sensor 9 and the adjustable visual camera 12 can be used to identify the status of the standing and walking elderly, so as to provide active protection for the elderly. The tops of the two inner connecting frames 16 are provided with notches 30, and the two notches 30 provide sufficient space for the pop-up of the two airbags 14 installed in the two outer connecting frames 15. The left and right ends of the main body 1 are installed with side rear-view cameras 33 and side front-view cameras 34. The two side rear-view cameras 33 are respectively arranged in an upper and lower staggered manner with the two side front-view cameras 34, so as to realize the image data collection of the two side areas of the elderly care service robot, so as to facilitate the judgment of the environment on both sides of the elderly care service robot.

[0038] A robot system for elderly care services includes a signal receiver, a central controller and a signal stimulator. The signal receiver, the central controller and the signal stimulator are integrated on a circuit board. The circuit board is installed in a main body 1. The signal receiver receives pressure signals of six pressure sensors 9. The signal receiver is electrically connected to the central controller. The central controller converts and compares the pressure signal values ​​received by the signal receiver, and judges and inputs the control signal into the signal stimulator based on the processed information after conversion and comparison. The signal stimulator is used for the excitation control of the airbag 14. The central controller has an internal and external interaction module and multiple open access ports.

[0039] The signal receiver, central controller, signal stimulator, circuit board, internal and external interaction module, open access port, first servo motor 4, second servo motor 5, front view camera 10, adjustment vision camera 12, pressure sensor 9, airbag 14, third servo motor 13, fourth servo motor 17, side rear view camera 33 and side front view camera 34 in this embodiment are all conventional equipment purchased on the market and well known to those skilled in the art. In the present invention, we only use them and do not improve their structure and function. For those skilled in the art, their setting method, installation method and electrical connection method only need to be debugged according to the requirements of their instruction manual and will not be described in detail here.

[0040] In summary, the working principle of the elderly care service robot and system is that when in use, the elderly care service robot is firstly electrically equipped and debugged. During the electrical installation process, the first servo motor 4, the second servo motor 5, the front view camera 10, the adjustment visual camera 12, the pressure sensor 9, the airbag 14, the fourth servo motor 17, the side rear view camera 33 and the side front view camera 34 are equipped with open access ports to form an electrical installation, so as to facilitate the central controller to control the front view camera 10, the adjustment visual camera 12, the pressure sensor 9, the side rear view camera 33 and the side front view camera 34. The data is read and called, and it is also convenient for the central controller to control the power-on operation of the first servo motor 4, the second servo motor 5, the third servo motor 13 and the fourth servo motor 17. The elderly care service robot is equipped with an adapter battery to form the overall power supply of the elderly care service robot. During actual operation, the six second servo motors 5 respectively realize the rotation drive of the six rotating leg frames 6. When the rotating leg frames 6 rotate relatively, they are subject to the transmission effect of the linkage frame and the linkage shaft 8. When the rotating leg frames 6 rotate and rise relative to the ground, the linkage leg frames 7 will form a linkage rotation relative to the corresponding rotating leg frames 6 connected to them, that is, the relative angle between the rotating leg frames 6 and the linkage leg frames 7 connected to each other is reduced. When the rotating leg frames 6 are rotated and lifted, the linkage leg frames 7 will also be lifted relative to the ground. The linkage leg frames 7 at the diagonal positions are alternately lifted and lowered to realize the overall movement and walking of the elderly care service robot. By opening the access port to install an external touch display screen and installing AI voice software, the voice command and information interaction of the elderly care service robot can be realized. According to the voice prompt, the elderly care service robot can execute the corresponding command. When materials need to be moved, the materials only need to be placed on the structure formed by the main body 1, the auxiliary body 2, the outer connecting frame 15 and the inner connecting frame 16. According to the size and shape of the moving materials, the two fourth servo motors 17 can be used to respectively realize the rotation drive of the two driving synchronous wheels 19. Under the sequential transmission action of the synchronous belt 20, the driven synchronous wheel 21 and the driving shaft 18, the position adjustment of the auxiliary body 2 relative to the main body 1 can be realized, and the inner connecting frame 16 and the outer connecting frame 15 also form a follow-up adjustment, so as to facilitate the adjustment of the support storage area according to the corresponding moving materials.

[0041] Furthermore, for the elderly with weaker physiques, the robot can form follow-up protection to match the elderly's standing and walking. After entering the standing follow-up protection mode, the third servo motor 13 is powered on and first adjusts the visual camera 12 to rotate to an obliquely upward front state to facilitate the recognition of the state of the standing elderly, and the two fourth servo motors 17 are used to adjust the two sub-bodies 2 to move away from each other. Then, the six second servo motors 5 are coordinated and operated to adjust the relative position of the elderly care service robot relative to the elderly, so that the elderly enter the area surrounded by the main body 1, the sub-body 2, the outer connecting frame 15 and the inner connecting frame 16. If necessary, the first servo motor 4 is powered on and controls the swivel body 3 to rotate relative to the sub-body 2. After that, the overall state of the elderly care service robot enters the state as shown in the attached figure. Fig.11 In the state shown, the elderly care service robot can form an overall surrounding protection relative to the standing elderly, and if the elderly walks, the visual camera 12 will be recognized, so that the elderly care service robot can actively follow the walking elderly. During the walking process, the elderly can grasp the elderly care service robot in a suitable position according to their personal preferences, and can sit on the elderly care service robot for a temporary rest when they are tired of walking. During this process, the six pressure sensors 9 monitor the pressure values ​​at all times. When the detection values ​​of the diagonal positions of the six pressure sensors 9 increase and decrease alternately, it means that the elderly care service robot is in a walking state. When the detection values ​​of the six pressure sensors 9 are all the same, it means that the elderly care service robot is in a walking state. When the two pressure sensors 9 are large and equal, it means that the elderly care service robot is in a static state, and when the detection values ​​of the six pressure sensors 9 show that one side is large and the other side is smaller, and the pressure sensors 9 between the larger and smaller sides show a gradual distribution from large to small, it means that the elderly care service robot as a whole is in a state of bearing deviatoric force, and when the detection value of the pressure sensor 9 on the smaller side tends to zero, while the larger side continues to increase, it means that the elderly care service robot is very likely to fall over. Combined with the information of the elderly collected by the adjusting visual camera 12, if the overall fall of the elderly care service robot is caused by the fall of the elderly, the airbag 14 will pop out to actively realize the auxiliary protection of the elderly.

[0042] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A robot for elderly care service, comprising a main body (1), characterized in that: The machine further comprises two sub-bodies (2), two parallelogram assemblies being mounted on the main body (1), the two sub-bodies (2) being connected to the two parallelogram assemblies respectively, the two sub-bodies (2) being rotatably connected to a swivel (3), the two sub-bodies (2) being installed with a first servo motor (4), the output shafts of the two first servo motors (4) being connected to the two swivels (3) respectively, the left and right ends of the main body (1), the two sub-bodies (2) and the two swivels (3) being installed with a second servo motor (5), the output shafts of the six second servo motors (5) being connected to a swivel leg frame (6), the six swivel leg frames (6) being rotatably connected to a linkage leg frame (7), the left and right ends of the main body (1), the two sub-bodies (2) and the two swivels (3) being fixedly connected to a linkage shaft (8), and the six Each linkage shaft (8) is rotatably connected to a linkage frame, and the six linkage frames are respectively rotatably connected to the six linkage leg frames (7). A pressure sensor (9) is installed in each of the six linkage frames. A front view camera (10) is installed at the front end of each of the two auxiliary bodies (2). A rotating frame (11) is installed at the rear end of the main body (1), and an adjustment visual camera (12) is installed at the rear end of the rotating frame (11). A third servo motor (13) is installed in the main body (1), and the third servo motor (13) is used for rotation adjustment of the rotating frame (11) relative to the main body (1). Safety airbags (14) are installed on the two parallelogram components and the two frontmost linkage leg frames (7). The six pressure sensors (9) jointly realize the excitation control of the safety airbags (14).

2. The elderly care service robot according to claim 1, characterized in that: The two parallelogram components each comprise an outer connecting frame (15) and an inner connecting frame (16); the two outer connecting frames (15) are both rotatably connected to the main body (1); the two outer connecting frames (15) are respectively rotatably connected to the two sub-bodies (2); the two inner connecting frames (16) are both rotatably connected to the main body (1); the two inner connecting frames (16) are respectively rotatably connected to the two sub-bodies (2); two mounting cavities are provided at the bottom end of the main body (1); fourth servo motors (17) are installed in the two mounting cavities; the two fourth servo motors (17) are respectively used for driving the rotation of the two inner connecting frames (16).

3. The elderly care service robot according to claim 2, characterized in that: The two inner connecting frames (16) are both fixedly connected with a driving shaft (18), the two driving shafts (18) are both rotatably connected with the main body (1), the two driving shafts (18) are both mounted with a driven synchronous wheel (21), the two driving synchronous wheels (19) are both drivingly connected with a synchronous belt (20), the two synchronous belts (20) are both drivingly connected with the driving synchronous wheel (19), and the two driving synchronous wheels (19) are respectively connected with the output shafts of two fourth servo motors (17).

4. The elderly care service robot according to claim 3, characterized in that: A through-strip cavity (22) is provided on the two outer connecting frames (15) and the two frontmost linkage leg frames (7), and the four safety airbags (14) are respectively installed in the four through-strip cavities (22).

5. The elderly care service robot according to claim 4, characterized in that: The six linkage frames each comprise an upper linkage rod (23) and a lower linkage rod (24); the six upper linkage rods (23) are rotatably connected to the six linkage shafts (8) respectively; the six lower linkage rods (24) are each fixedly connected with a transmission shaft (25); the six linkage leg frames (7) are each provided with a slot (26); the six transmission shafts (25) are respectively fixedly connected in the six slots (26); the six lower linkage rods (24) are each fixedly connected with a sleeve (27); the six pressure sensors (9) are respectively installed in the six sleeves (27); the six sleeves (27) are each connected with an elastic spring (28); the six elastic springs (28) are respectively fixedly connected to the six upper linkage rods (23); and the six sleeves (27) are respectively slidably connected to the six upper linkage rods (23).

6. The elderly care service robot according to claim 5, characterized in that: The six sleeves (27) are each provided with a threading hole (29), and the six threading holes (29) are respectively used for passing the signal wires of the six pressure sensors (9).

7. The elderly care service robot according to claim 6, characterized in that: The top ends of the two inner connecting frames (16) are each provided with a notch (30), and the two notches (30) respectively provide sufficient space for the ejection of two safety airbags (14) installed in the two outer connecting frames (15).

8. The elderly care service robot according to claim 7, characterized in that: The six rotating leg frames (6) are all fixedly connected with rotating links (31), and the left and right ends of the main body (1), the two auxiliary bodies (2) and the two rotating bodies (3) are all provided with annular grooves (32), and the six rotating links (31) are respectively rotatably connected in the six annular grooves (32).

9. The elderly care service robot according to claim 8, characterized in that: A side rear view camera (33) and a side front view camera (34) are installed at both left and right ends of the main body (1), and the two side rear view cameras (33) are respectively arranged in an up-and-down staggered manner with the two side front view cameras (34).

10. A robot system for elderly care service, characterized in that: A elderly care service robot according to any one of claims 1-9 is used, comprising a signal receiver, a central controller and a signal stimulator, wherein the signal receiver, the central controller and the signal stimulator are integrated on a circuit board, and the circuit board is installed in the main body. The signal receiver forms a pressure signal receiving unit for the six pressure sensors, and the signal receiver is electrically connected to the central controller. The central controller converts and compares the pressure signal value received by the signal receiver, and judges and inputs the control signal into the signal stimulator based on the processed information after conversion and comparison. The signal stimulator is used for the excitation control of the airbag, and the central controller has an internal and external interaction module and multiple open access ports.

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