Modularized spoon and chopstick collaborative feeding auxiliary dual-redundancy mechanical arm device

Abstract

The invention relates to the technical field of feeding assistance, and discloses a modularized spoon and chopstick collaborative feeding assisting dual-redundancy mechanical arm device which comprises a three-axis and dual-screw module, a dual-screw fixing base module and a redundancy mechanical arm module. The redundant mechanical arm module comprises a redundant mechanical arm with an overturning spoon at the tail end and a redundant mechanical arm with an overturning clamping chopstick at the tail end, and the three-shaft and double-screw-rod module is arranged above the double-screw-rod fixing base module; and the redundant mechanical arm of which the tail end is provided with the turnover spoon and the redundant mechanical arm of which the tail end is provided with the turnover clamping chopsticks are respectively connected with the three-shaft and double-screw rod module. According to the device, accurate operation and flexible use can be conducted through the modularized mechanical arm, people needing the device can be further helped to complete daily feeding, the device is flexible in operation and variable in adaptive capacity, autonomous feeding can be conducted, on one hand, more self-care ability can be given to a user, and on the other hand, the device is more convenient to use. On the other hand, the psychological health and the social integration feeling of the user can be enhanced.

Description

Technical Field

[0001] The present invention relates to the technical field of eating assistance, and in particular to a modular spoon-and-chopstick collaborative eating assistance dual-redundant mechanical arm device. Background Art

[0002] With the increasing development of science and technology and the increasingly serious problem of population aging, the technology and development of assisted feeding are increasingly becoming one of the effective ways to solve this problem. At present, the existing feeding assistance robotic arms on the market mostly use spoons or forks as the main tools, with relatively simple designs, which are difficult to meet the diverse dietary cultural needs such as Chinese food, and lack the ability to adapt to diverse food forms. At the same time, the existing assisted feeding robotic arms have limited support for the user's autonomous operation capabilities, and are more dependent on the settings of nursing staff. They cannot achieve autonomous and diversified feeding. During the feeding process, there are also problems such as being unable to identify the specific information of the food and directly feeding it, resulting in accidental ingestion, and the feeding process is not smooth enough, which limits the use scenarios of feeding assistance structural devices.

[0003] In view of the above problems, technical personnel in this field are urgently required to propose a modular spoon-and-chopstick collaborative eating-assisting dual-redundant robotic arm device that is flexible in operation, adaptable, and capable of autonomous feeding. Summary of the invention

[0004] In view of the above technical problems, the present invention provides a modular spoon-and-chopstick collaborative feeding auxiliary dual redundant mechanical arm device, which solves the problems of inconvenient operation, inability to use diversified food, and inability to perform autonomous feeding in the prior art.

[0005] In order to achieve the above object, the technical solution adopted by the present invention is as follows: A modular spoon-and-chopstick collaborative eating assistance dual-redundant robotic arm device of the present invention comprises a three-axis and double-screw module, a double-screw fixed base module and a redundant robotic arm module, the redundant robotic arm module comprises a redundant robotic arm with a flip spoon at the end and a redundant robotic arm with a flip chopstick clamp at the end, the three-axis and double-screw module is arranged above the double-screw fixed base module, and the redundant robotic arm with a flip spoon at the end and the redundant robotic arm with a flip chopstick clamp at the end are respectively connected to the three-axis and double-screw module.

[0006] Furthermore, the three-axis and double-screw module comprises a screw upper bracket 1 (1), a screw upper bracket 2 (3), a horizontal screw bearing 1 (2), a horizontal screw bearing 2 (4), a screw 1 (5), a screw 2 (6), an optical axis 1 (32), an optical axis 2 (33), an optical axis 3 (34), an optical axis 4 (38), an optical axis 5 (39), an optical axis 6 (40), a linear bearing 1 (35), a linear bearing 2 (36), a linear bearing 3 (37), a linear bearing 4 (41), a linear bearing 5 (42), a linear bearing 6 ( 43), through-hole slider one (7), through-hole slider two (8), 3D screw cover one (9), 3D screw cover two (10), screw lower bracket one (11), screw lower bracket two (12), horizontal screw bearing three (44), horizontal screw bearing four (45), support plate (13) and support plate bottom (14), the upper ends of the optical axis one (32), optical axis two (33), optical axis three (34) and screw two (6) are all fixed by the screw upper bracket two (3) and the horizontal screw bearing two (4), and the lower ends are all fixed by the screw The lower rod bracket 2 (12) and the horizontal screw bearing 3 (44) are fixed, the linear bearing 2 (36), the linear bearing 1 (35), the linear bearing 3 (37) and the through-hole slider 2 (8) are respectively passed through the optical axis 1 (32), the optical axis 2 (33), the optical axis 3 (34) and the screw 2 (6) and installed in the 3D screw cover 2 (10), the optical axis 4 (38), the optical axis 5 (39), the optical axis 6 (40) and the upper end of the screw 1 (5) are respectively fixed by the upper screw bracket 1 (1) and the horizontal screw bearing 1 (2 ), the lower end of which is fixed by the screw lower bracket one (11) and the horizontal screw bearing four (45); the linear bearing four (41), the linear bearing five (42), the linear bearing six (43) and the through-hole slider one (7) are respectively passed through the optical axis four (38), the optical axis five (39), the optical axis six (40) and the screw one (5) and are installed in the 3D screw cover one (9); the support plate (13) and the support plate bottom (14) are arranged in sequence below the screw lower bracket one (11) and the screw lower bracket two (12).

[0007] Furthermore, the double-screw fixed base module comprises a bottom optical axis 1 (46), a bottom optical axis 2 (47), a bottom optical axis 3 (48), a bottom optical axis 4 (49), a bottom optical axis 5 (50), a bottom optical axis 6 (51), an elastic coupling 1 (52), an elastic coupling 2 (55), a motor 1 (53), a motor 2 (54), a dinner plate base 1 (15) and a dinner plate base 2 (16), wherein the bottom optical axis 1 (46), the bottom optical axis 2 (47), the bottom optical axis 3 (48), the bottom optical axis 4 (49), the bottom optical axis 5 (50) and the bottom optical axis 6 (51) are all arranged vertically and in parallel, and ...55) One end of the bottom optical axis (47), the bottom optical axis (48), the bottom optical axis (49), the bottom optical axis (50) and the bottom optical axis (51) are all mounted below the support plate bottom (14), and the other end of each is mounted above the dinner plate base (15). The dinner plate base (16) is mounted below the dinner plate base (15). The motor (53) and the motor (54) are both mounted below the support plate bottom (14). The motor (53) is connected to the support plate bottom (14) via the elastic coupling (52), and the motor (54) is connected to the support plate bottom (14) via the elastic coupling (55).

[0008] Furthermore, the redundant mechanical arm with a flip spoon at the end comprises a universal connection module 1 (56), a steering gear 1 (57), a steering gear joint arm 1, a steering gear joint arm 2, a steering gear joint arm 3, a flip motor, a flip connecting rod and a flip spoon (17), wherein the steering gear joint arm 1 comprises a movable bracket 1 (58), a connecting rod 1 (59), a connecting rod 2 (60), a tail frame 1 (61), and a steering gear 2 (62) in sequence, wherein the steering gear joint arm 2 comprises a movable bracket 2 (63), a connecting rod 3 (64), a connecting rod 4 (65), a tail frame 2 (66), and a steering gear 3 (67), wherein the steering gear joint arm 3 ...1 comprises a movable bracket 1 (63), a connecting rod 3 (64), a connecting rod 4 (65), a tail frame 2 (66), and a steering gear 3 (67) in sequence, wherein the steering gear joint arm 3 comprises a movable bracket 1 (58), a connecting rod 1 (59), a connecting rod 2 (60), a tail frame 1 (61), and a steering gear 2 (62) in sequence, wherein the steering gear joint arm 1 comprises a movable bracket 1 (58), a connecting rod 1 (59), a connecting rod 2 (60), a tail The invention relates to a first embodiment of the present invention, wherein the first and second servo motors are connected to each other through a plurality of connecting rods, a plurality of connecting rods and a plurality of connecting rods. The first and second servo motors are connected to each other through a plurality of connecting rods, a plurality of connecting rods and a plurality of connecting rods. The first and second servo motors are connected to each other through a plurality of connecting rods, a plurality of connecting rods and a plurality of connecting rods. The first and second servo motors are connected to each other through a plurality of connecting rods, a plurality of connecting rods and a plurality of connecting rods. The second frame (66), the steering gear third (67) and the movable support third (68) are connected in sequence, the connecting rod first (59) and the connecting rod second (60) are arranged in parallel, one end of the connecting rod first (59) and the connecting rod second (60) is connected to the movable support first (58), and the other end is connected to the tail frame first (61), the connecting rod third (64) and the connecting rod fourth (65) are arranged in parallel, one end of the connecting rod third (64) and the connecting rod fourth (65) is connected to the movable support second (63), and the other end is connected to the tail frame second (66), the connecting rod fifth (69) and the connecting rod sixth (70) are arranged in parallel, and the connecting rod fifth (69) and the connecting rod sixth (70) are connected to the movable support second (63). ) is connected to a movable bracket three (68) at one end, and connected to a tail frame three (71) at the other end; the tail frame three (71) is connected to a steering gear four (72); the other end of the steering gear four (72) is sequentially connected to a main steering disc one (73), a tail frame four (74) and a tail steering gear one (21) below the other end; the movable bracket four (20) is rotatably connected to both ends of the tail steering gear one (21); the terminal U-shaped frame one (19) is connected to the movable bracket four (20); the tail steering gear two (18) is rotatably connected in the terminal U-shaped frame one (19); and the tail steering gear two (18) is connected to the flip spoon (17).

[0009] Furthermore, the redundant mechanical arm with a flip gripper at the end includes a universal connection module 2 (75), a steering gear 5 (76), a steering gear joint arm 4, a steering gear joint arm 5, a movable bracket 7 (87), a tail frame 7 (88), a tail steering gear 3 (31), a tail steering gear 4 (27), a tail steering gear 5 (28), a through-hole base (30), a terminal main gear (90), a terminal sub-gear (89), a terminal rotating frame (29), a terminal hand gripper steering gear base (91), a terminal circuit board (26), a hand gripper bracket (25), a temperature measuring device (100), a laser (101), a camera (99), a crank plate (93), a small connecting rod 1 (92), a small connecting rod 2 (94), a linear connecting rod shaft 1 (95), and a linear connecting rod shaft 2 (96). 6), bearing support one (97), bearing support two (98), chopstick clamping groove (24), chopstick clamping thick head one (22), chopstick clamping thick head two (23), the steering gear joint arm four comprises movable bracket five (77), connecting rod seven (78), connecting rod eight (79), tail frame five (80), steering gear six (81) in sequence, the steering gear joint arm five comprises movable bracket six (82), connecting rod nine (83), connecting rod ten (84), tail frame six (85), steering gear seven (86) in sequence, one side of the universal connection module two (75) is connected to the 3D screw cover one (9), and the other side is connected to the movable bracket five (77) through the steering gear five (76), the tail frame five (80), the steering gear six (81) and the movable bracket six (82) are connected in sequence, The tail frame six (85), steering gear seven (86) and movable bracket seven (87) are connected in sequence, the connecting rod seven (78) and connecting rod eight (79) are arranged in parallel, one end of the connecting rod seven (78) and the connecting rod eight (79) is connected to the movable bracket five (77), and the other end is connected to the movable bracket six (82), the connecting rod nine (83) and the connecting rod ten (84) are arranged in parallel, one end of the connecting rod nine (83) and the connecting rod ten (84) is connected to the movable bracket six (82), and the other end is connected to the tail frame six (85), one end of the tail frame seven (88) is connected to the movable bracket seven (87), the through hole base (30) is horizontally connected to one side of the inside of the tail frame seven (88), and the tail steering gear three (31) is arranged on the through hole base (30 ) and the tail frame seven (88), a terminal main gear (90) and a terminal sub-gear (89) are installed below the through hole base (30), the terminal main gear (90) is arranged at the lower end of the through hole base (30) away from the tail frame seven (88), and the terminal sub-gear (89) is arranged at the lower end of the through hole base (30) close to the tail frame seven (88), a terminal rotating frame (29) is connected below the terminal main gear (90), and a tail servo four (27) and a tail servo five (28) are respectively arranged at the inner two ends below the terminal rotating frame (29), and a terminal hand claw servo base (91) is connected below the tail servo four (27), and the terminal hand claw servo base (91) and the tail servo five (28) are both arranged above the hand claw bracket (25),The gripper bracket (25) is also provided with a terminal circuit board (26), the terminal circuit board (26) is located outside the tail servo four (27) and the tail servo five (28), the terminal circuit board (26) is provided with a temperature measuring device (100), a laser (101) and a camera (99), the gripper bracket (25) is provided with a temperature measuring hole, a laser emitting hole and a camera reserved hole at corresponding positions, the temperature measuring device (100), the laser (101) and the camera (99) on the terminal circuit board (26) all pass through the corresponding temperature measuring hole, the laser emitting hole and the camera reserved hole on the gripper bracket (25), and a linear connecting rod shaft 1 (95) and a linear connecting rod shaft 2 (95) are installed below the gripper bracket (25) on the side close to the tail servo four (27) and the tail servo five (28). The second connecting rod shaft (96), the crank plate (93), the small connecting rod one (92) and the small connecting rod two (94) are movably provided directly below the gripper bracket (25), the small connecting rod one (92), the crank plate (93) and the small connecting rod two (94) are all connected in sequence through bearings, the bearing support one (97) and the bearing support two (98) are both slidably provided on the linear connecting rod shaft one (95) and the linear connecting rod shaft two (96), the upper end of the bearing support one (97) is connected to the small connecting rod two (94), the upper end of the bearing support two (98) is connected to the small connecting rod one (92), the chopstick clamping groove (24) is provided below the bearing support two (98), the chopstick clamping head one (22) is fixedly provided in the chopstick clamping groove (24), and the chopstick clamping head two (23) is provided inside the bearing support one (97).

[0010] Compared with the prior art, the present invention has the following beneficial effects: The modular spoon-and-chopstick collaborative eating assistance dual-redundant robotic arm device of the present invention utilizes computer, sensor, information, communication, artificial intelligence, automatic control and other technologies, and can perform precise operation and flexible use through modular robotic arms, thereby further helping the elderly, the disabled, patients with limited mobility and other groups in need to complete their daily meals. The device of the present invention is flexible to operate, has diverse adaptability and can perform autonomous feeding. On the one hand, it can give users more self-care abilities, and on the other hand, it can enhance the users' mental health and sense of social integration. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Attached Figure 1 Schematic diagram of the overall structure of the device in this embodiment; Attached Figure 2 This is a schematic diagram of the three-axis and double-screw module structure of the device in this embodiment; Attached Figure 3 Schematic diagram of the horizontal posture of the redundant mechanical arm with the tip of the flip spoon of the device in this embodiment; Attached Figure 4 Schematic diagram of the horizontal posture of the redundant mechanical arm with flip chopsticks of the device in this embodiment; Attached Figure 5 Schematic diagram of the structure of the flip chopsticks end of the device in this embodiment.

[0012] Figure numerals: 1 is a screw upper bracket 1; 2 is a horizontal screw bearing 1; 3 is a screw upper bracket 2; 4 is a horizontal screw bearing 2; 5 is a screw 1; 6 is a screw 2; 7 is a through-hole slider 1; 8 is a through-hole slider 2; 9 is a 3D screw cover 1; 10 is a 3D screw cover 2; 11 is a screw lower bracket 1; 12 is a screw lower bracket 2; 13 is a support plate; 14 is a support plate bottom; 15 is a dinner plate base 1; 16 is a dinner plate base 2; 17 is a flip spoon; 18 is a tail servo 2; 19 is an end U-shaped frame 1; 20 is a movable bracket 4; 21 is a tail servo 1; 22 is a clamp 1 is the thick end of the chopstick; 23 is the thick end of the chopstick clamp; 24 is the chopstick clamp groove; 25 is the gripper bracket; 26 is the end circuit board; 27 is the tail servo four; 28 is the tail servo five; 29 is the end rotating bracket; 30 is the through-hole base; 31 is the tail servo three; 32 is the optical axis one; 33 is the optical axis two; 34 is the optical axis three; 35 is the linear bearing one; 36 is the linear bearing two; 37 is the linear bearing three; 38 is the optical axis four; 39 is the optical axis five; 40 is the optical axis six; 41 is the linear bearing four; 42 is the linear bearing five; 43 is the linear bearing six; 44 is the horizontal screw bearing three; 45 is Horizontal screw bearing four; 46 is bottom optical axis one; 47 is bottom optical axis two; 48 is bottom optical axis three; 49 is bottom optical axis four; 50 is bottom optical axis five; 51 is bottom optical axis six; 52 is elastic coupling one; 53 is motor one; 54 is motor two; 55 is elastic coupling two; 56 is universal connection module one; 57 is steering gear one; 58 is movable bracket one; 59 is connecting rod one; 60 is connecting rod two; 61 is tail frame one; 62 is steering gear two; 63 is movable bracket two; 64 is connecting rod three; 65 is connecting rod four; 66 is tail frame two; 67 is steering gear three; 68 is The movable bracket is three; 69 is the connecting rod five; 70 is the connecting rod six; 71 is the tail frame three; 72 is the steering gear four; 73 is the main steering disc one; 74 is the tail frame four; 75 is the universal connection module two; 76 is the steering gear five; 77 is the movable bracket five; 78 is the connecting rod seven; 79 is the connecting rod eight; 80 is the tail frame five; 81 is the steering gear six; 82 is the movable bracket six; 83 is the connecting rod nine; 84 is the connecting rod ten; 85 is the tail frame six; 86 is the steering gear seven; 87 is the movable bracket seven; 88 is the tail frame seven; 89 is the terminal secondary gear; 90 is the terminal main gear; 91 is the terminal claw steering gear base; 92 is the small connecting rod one; 93 is the crank plate; 94 is the small connecting rod two; 95 is the linear connecting rod shaft one; 96 is the linear connecting rod shaft two; 97 is the bearing support one; 98 is the bearing support two; 99 is the camera; 100 is the temperature measuring device; 101 is the laser. DETAILED DESCRIPTION

[0013] In order to make the purpose and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention. Example

[0014] See attached Figure 1-5 A modular spoon-and-chopstick collaborative eating assistance dual-redundant robotic arm device of this embodiment includes a three-axis and double-screw module, a double-screw fixed base module and a redundant robotic arm module. The redundant robotic arm module includes a redundant robotic arm with a flip spoon at the end and a redundant robotic arm with a flip chopstick clamp at the end. The three-axis and double-screw module is arranged above the double-screw fixed base module, and the redundant robotic arm with a flip spoon at the end and the redundant robotic arm with a flip chopstick clamp at the end are respectively connected to the three-axis and double-screw module.

[0015] Among them, the three-axis and double-screw module includes a screw upper bracket 1, a screw upper bracket 2 3, a horizontal screw bearing 1 2, a horizontal screw bearing 2 4, a screw 1 5, a screw 2 6, an optical axis 1 32, an optical axis 2 33, an optical axis 3 34, an optical axis 4 38, an optical axis 5 39, an optical axis 6 40, a linear bearing 1 35, a linear bearing 2 36, a linear bearing 3 37, a linear bearing 4 41, a linear bearing 5 42, a linear bearing 6 43, a through-hole slider 1 7, a through-hole slider 2 8, a 3D screw cover 1 9, a 3D screw cover 2 10, a screw lower bracket 1 11, a screw lower bracket 2 12, a horizontal screw bearing 3 44, a horizontal screw bearing 4 45, a support plate 13 and a support plate bottom 14. The upper ends of the optical axis 1 32, the optical axis 2 33, the optical axis 3 34 and the screw 2 6 are fixed by the screw upper bracket 2 3 and the horizontal screw bearing 2 4, and the lower ends They are all fixed by the lower screw bracket 2 12 and the horizontal screw bearing 3 44. The linear bearing 2 36, the linear bearing 1 35, the linear bearing 3 37 and the through-hole slider 2 8 are respectively passed by the optical axis 1 32, the optical axis 2 33, the optical axis 3 34 and the screw 2 6 and installed in the 3D screw cover 2 10. The upper ends of the optical axis 4 38, the optical axis 5 39, the optical axis 6 40 and the screw 1 5 are respectively fixed by the upper screw bracket 1 1 and the horizontal screw bearing 2, and the lower ends are fixed by the lower screw bracket 1 11 and the horizontal screw bearing 4 45. The linear bearing 4 41, the linear bearing 5 42, the linear bearing 6 43 and the through-hole slider 7 are respectively passed by the optical axis 4 38, the optical axis 5 39, the optical axis 6 40 and the screw 1 5 and installed in the 3D screw cover 9. The support plate 13 and the support plate bottom 14 are sequentially arranged below the lower screw bracket 1 11 and the lower screw bracket 2 12.

[0016] The double-screw fixed base module includes a bottom optical axis 1 46, a bottom optical axis 2 47, a bottom optical axis 3 48, a bottom optical axis 49, a bottom optical axis 50, a bottom optical axis 6 51, an elastic coupling 1 52, an elastic coupling 2 55, a motor 1 53, a motor 2 54, a dinner plate base 15 and a dinner plate base 2 16. The bottom optical axis 1 46, the bottom optical axis 2 47, the bottom optical axis 3 48, the bottom optical axis 49, the bottom optical axis 50 and the bottom optical axis 6 51 are all placed vertically and parallel to each other. The bottom optical axis 1 46 , bottom optical axis two 47, bottom optical axis three 48, bottom optical axis four 49, bottom optical axis five 50 and bottom optical axis six 51 are all installed at one end below the support plate bottom 14, and the other end are all installed above the dinner plate base one 15, dinner plate base two 16 is installed below the dinner plate base one 15, motor one 53 and motor two 54 are both installed below the support plate bottom 14, motor one 53 is connected to the support plate bottom 14 via an elastic coupling one 52, and motor two 54 is connected to the support plate bottom 14 via an elastic coupling two 55.

[0017] The redundant mechanical arm with a flip spoon at the end includes a universal connection module 156, a steering gear 157, a steering gear joint arm 1, a steering gear joint arm 2, a steering gear joint arm 3, a flip motor, a flip connecting rod and a flip spoon 17. The steering gear joint arm 1 includes an active bracket 158, a connecting rod 159, a connecting rod 260, a tail frame 161, and a steering gear 262 in sequence. The steering gear joint arm 2 includes an active bracket 263, a connecting rod 364, a connecting rod 465, a tail frame 266, and a steering gear 367 in sequence. The steering gear joint arm 3 includes an active bracket 263, a connecting rod 364, a connecting rod 465, a tail frame 266, and a steering gear 367 in sequence. The first part includes a movable bracket 3 68, a connecting rod 5 69, a connecting rod 6 70, a tail frame 3 71, and a steering gear 4 72. The flip motor includes a main steering plate 1 73, a tail frame 4 74, a tail steering gear 1 21, and a movable bracket 4 20. The flip connecting rod includes an end U-shaped frame 19 and a tail steering gear 2 18. One side of the universal connection module 1 56 is connected to the 3D screw cover 2 10, and the other side is connected to the movable bracket 1 58 through the steering gear 1 57. The tail frame 1 61, the steering gear 2 62 and the movable bracket 2 63 are connected in sequence. Then, the tail frame 2 66, the steering gear 3 67 and the movable bracket 3 68 are connected in sequence, the connecting rod 1 59 and the connecting rod 2 60 are arranged in parallel, one end of the connecting rod 1 59 and the connecting rod 2 60 is connected to the movable bracket 1 58, and the other end is connected to the tail frame 1 61, the connecting rod 3 64 and the connecting rod 4 65 are arranged in parallel, one end of the connecting rod 3 64 and the connecting rod 4 65 is connected to the movable bracket 2 63, and the other end is connected to the tail frame 2 66, the connecting rod 5 69 and the connecting rod 6 70 are arranged in parallel, and the connecting rod 5 69 and the connecting rod 6 7 One end of 0 is connected to the movable bracket three 68, and the other end is connected to the tail frame three 71, the tail frame three 71 is connected to the steering gear four 72, and the lower part of the other end of the steering gear four 72 is sequentially connected to the main steering plate one 73, the tail frame four 74 and the tail steering gear one 21, the movable bracket four 20 is rotatably connected to the two ends of the tail steering gear one 21, the terminal U-shaped frame one 19 is connected to the movable bracket four 20, the tail steering gear two 18 is rotatably connected in the terminal U-shaped frame one 19, and the tail steering gear two 18 is connected to the flip spoon 17.

[0018] The redundant mechanical arm with flip chopsticks at the end includes a universal connection module 2 75, a steering gear 5 76, a steering gear joint arm 4, a steering gear joint arm 5, an active bracket 7 87, a tail frame 7 88, a tail steering gear 3 31, a tail steering gear 4 27, a tail steering gear 5 28, a through-hole base 30, a terminal main gear 90, a terminal sub-gear 89, a terminal rotating frame 29, a terminal hand claw steering gear base 91, a terminal circuit board 26, a hand claw bracket 25, a temperature measuring device 100, a laser 101, a camera 99, a crank plate 93, a small connecting rod 1 92, a small connecting rod 2 94, a linear connecting rod shaft 1 95, a linear connecting rod shaft 2 96, a bearing support 1 97, a bearing support 2 98, a chopstick clamping groove 24, a chopstick clamping thick head 1 22, and a chopstick clamping thick head 23. The steering gear joint arm 4 includes active Bracket five 77, connecting rod seven 78, connecting rod eight 79, tail frame five 80, steering gear six 81, the steering gear joint arm five includes movable bracket six 82, connecting rod nine 83, connecting rod ten 84, tail frame six 85, steering gear seven 86 in sequence, one side of the universal connection module two 75 is connected to the 3D screw cover one 9, and the other side is connected to the movable bracket five 77 through the steering gear five 76, the tail frame five 80, the steering gear six 81 and the movable bracket six 82 are connected in sequence, the tail frame six 85, the steering gear seven 86 and the movable bracket seven 87 are connected in sequence, the connecting rod seven 78 and the connecting rod eight 79 are arranged in parallel, one end of the connecting rod seven 78 and the connecting rod eight 79 is connected to the movable bracket five 77, and the other end is connected to the movable bracket six 82, the connecting rod nine 83 and the connecting rod ten 84 are arranged in parallel, the connecting rod nine 83 and the connecting rod ten One end of 84 is connected to the movable bracket 6 82, and the other end is connected to the tail frame 6 85. One end of the tail frame 7 88 is connected to the movable bracket 7 87. The through-hole base 30 is horizontally connected to one side of the inside of the tail frame 7 88. The tail servo 3 31 is arranged between the through-hole base 30 and the tail frame 7 88. A terminal main gear 90 and a terminal sub-gear 89 are installed below the through-hole base 30. The terminal main gear 90 is arranged at the lower end of the through-hole base 30 away from the tail frame 7 88. The terminal sub-gear 89 is arranged at the lower end of the through-hole base 30 close to the tail frame 7 88. A terminal rotating frame 29 is connected below the terminal main gear 90. A tail servo 4 27 and a tail servo 5 28 are respectively arranged at the inner two ends below the terminal rotating frame 29. A terminal hand claw servo bottom is connected below the tail servo 4 27 The base 91 of the terminal hand gripper servo engine and the tail servo engine 5 28 are all arranged above the hand gripper bracket 25. The hand gripper bracket 25 is also provided with a terminal circuit board 26, which is located outside the tail servo engine 4 27 and the tail servo engine 5 28. The terminal circuit board 26 is provided with a temperature measuring device 100, a laser 101 and a camera 99. The corresponding positions of the hand gripper bracket 25 are provided with temperature measuring holes, laser emission holes and camera reserved holes. The temperature measuring device 100, the laser 101 and the camera 99 on the terminal circuit board 26 all pass through the corresponding temperature measuring holes, laser emission holes and camera reserved holes on the hand gripper bracket 25. A linear connecting rod shaft 1 95 and a linear connecting rod shaft 2 96 are installed below the hand gripper bracket 25 near the tail servo engine 4 27 and the tail servo engine 5 28.A crank plate 93, a small connecting rod 1 92 and a small connecting rod 2 94 are movably arranged directly below the gripper bracket 25. The small connecting rod 1 92, the crank plate 93 and the small connecting rod 2 94 are sequentially connected through bearings. The bearing support 1 97 and the bearing support 2 98 are slidably arranged on the linear connecting rod shaft 1 95 and the linear connecting rod shaft 2 96. The upper end of the bearing support 1 97 is connected to the small connecting rod 2 94, and the upper end of the bearing support 2 98 is connected to the small connecting rod 1 92. The chopstick clamping groove 24 is arranged below the bearing support 2 98. The chopstick clamping head 1 22 is fixedly arranged in the chopstick clamping groove 24, and the chopstick clamping head 23 is arranged inside the bearing support 1 97.

[0019] Working process and principle of this embodiment: At the initial moment, food can be placed at any position on the dinner plate base 15. The three-axis and double-screw module connects the redundant mechanical arm with a flip spoon at the end and the redundant mechanical arm with flip chopsticks at the end by installing 3D screw cover 19 and 3D screw cover 210 respectively. Screw 15 and screw 26 can control the two mechanical arms to rise and fall smoothly to a suitable height. The double-screw fixed base module fixes the dinner plate base 15 and the dinner plate base 216, and can fix the screw to ensure that they are within a certain range and operate smoothly. The redundant mechanical arm with flip chopsticks at the end is connected to the end through the steering gear joint arm 4 and the steering gear joint arm 5. The steering gear 5 76, the steering gear 6 81 and the steering gear 7 86 can control the rotation and translation of the mechanical arm to expand its accessibility. The structure of the end main gear 90 and the end sub-gear 89 can make the chopsticks rotate in multiple dimensions in the horizontal plane, and the end rotating frame 29 can make the chopsticks rotate in multiple dimensions in the vertical plane. The combination of the two enables the chopsticks to rotate in all directions and approach the food according to the algorithm. The temperature and posture of the food to be taken are detected by the installed camera 99, temperature measuring device 100 and laser 101. After confirming the posture information, the high accessibility and stability of the mechanical arm are used to use the thick head 1 22 and the thick head 2 23 of the clamping chopsticks to grab or roll the food to the designated place for feeding or pass it to the flip spoon 17. The redundant mechanical arm with a flip spoon at the end is connected to the end through the servo joint arm 1, the servo joint arm 2 and the servo joint arm 3. The rotation and translation of the mechanical arm are controlled by the servo 2 62, the servo 3 67 and the servo 4 74 to expand its accessibility. The flip spoon 17 is connected to three flip motors to realize the full reception of the food passed by the thick head 1 22 and the thick head 2 23 of the clamping chopsticks, and can also scoop liquid for feeding. The two can complete the task of auxiliary feeding separately, or work together to complete the feeding assistance together.

[0020] The redundant robotic arm modules in the modular spoon-and-chopstick collaborative eating auxiliary dual redundant robotic arm device of this embodiment can not only load and take different types of food respectively, such as the end clamping chopsticks to pick up block-like food or roll up noodles and other strip-shaped food, the end spoon to pick up soft food or liquid, etc., but also work together to put the food picked up by the clamping chopsticks into the spoon before eating. The parallel structure of the temperature measuring device, camera and laser set at the end of the redundant robotic arm with flip clamping chopsticks at the end can realize the coordinated monitoring of the end of the spoon and the all-round detection of food. The setting of the end rotating frame can make the clamping chopsticks at the end rotate in all directions, and allow the wire to pass through without affecting the normal operation of the clamping chopsticks, ensuring that the chopsticks can not only grab vertically downward, but also feed horizontally forward. The flipping motor in the redundant robotic arm with flipping spoon at the end can make the flipping spoon at the end flip in multiple directions. Through the cooperation between the various components, the horizontal angle of the spoon can be guaranteed to be stable, and the feeding posture of the spoon can be changed, and the control and grabbing can be flexibly switched. The setting of the redundant robotic arm module can ensure the flexibility of the overall structure and avoid the influence of the dead angle of the joint on the reachable range of the end components. The three-axis and double-screw modules enable the redundant robotic arm module to achieve a large range of lifting and lowering, ensuring the stability of the overall structure. The device of this embodiment uses a reasonable spatial layout to fix the various components in the device within a certain spatial range, while also achieving all-round capture of food information and efficient feeding of special groups of people. It is an auxiliary tool that combines intelligence, convenience and efficiency, and is particularly suitable for daily life support for special groups of people. It has important application prospects in automation assistance, elderly care and disability assistance, social care, etc.

[0021] Beneficial effects of this embodiment: A modular spoon and chopsticks collaborative eating assistance dual redundant robotic arm device of this embodiment uses computer, sensor, information, communication, artificial intelligence and automatic control technologies. Through the modular robotic arm, it can perform precise operation and flexible use, and can further help the elderly, disabled people and patients with limited mobility to complete daily eating. The device of this embodiment is flexible in operation, adaptable and can perform autonomous feeding. On the one hand, it can give users more self-care ability, and on the other hand, it can also enhance the user's mental health and sense of social integration.

[0022] The above description is only a preferred embodiment of the present application and an explanation of the technical principles used. Those skilled in the art should understand that the scope of the invention involved in the present application is not limited to the technical solutions formed by the specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the inventive concept. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A modular spoon-and-chopstick collaborative eating assistance dual-redundant robotic arm device, characterized in that: It includes a three-axis and double-screw module, a double-screw fixed base module and a redundant robotic arm module. The redundant robotic arm module includes a redundant robotic arm with a flip spoon at the end and a redundant robotic arm with a flip chopstick clamp at the end. The three-axis and double-screw module is arranged above the double-screw fixed base module, and the redundant robotic arm with a flip spoon at the end and the redundant robotic arm with a flip chopstick clamp at the end are respectively connected to the three-axis and double-screw module.

2. The modular spoon-and-chopstick collaborative eating assistance dual-redundant robotic arm device according to claim 1, characterized in that: The three-axis and double-screw module comprises a screw upper bracket 1 (1), a screw upper bracket 2 (3), a horizontal screw bearing 1 (2), a horizontal screw bearing 2 (4), a screw 1 (5), a screw 2 (6), an optical axis 1 (32), an optical axis 2 (33), an optical axis 3 (34), an optical axis 4 (38), an optical axis 5 (39), an optical axis 6 (40), a linear bearing 1 (35), a linear bearing 2 (36), a linear bearing 3 (37), a linear bearing 4 (41), a linear bearing 5 (42), and a linear bearing 6 (43). , a through-hole slider 1 (7), a through-hole slider 2 (8), a 3D screw cover 1 (9), a 3D screw cover 2 (10), a screw lower bracket 1 (11), a screw lower bracket 2 (12), a horizontal screw bearing 3 (44), a horizontal screw bearing 4 (45), a support plate (13) and a support plate bottom (14), the upper ends of the optical axis 1 (32), the optical axis 2 (33), the optical axis 3 (34) and the screw 2 (6) are all fixed by the screw upper bracket 2 (3) and the horizontal screw bearing 2 (4), and the lower ends are all fixed by the screw lower bracket 1 (12). The bracket 2 (12) and the horizontal screw bearing 3 (44) are fixed, the linear bearing 2 (36), the linear bearing 1 (35), the linear bearing 3 (37) and the through-hole slider 2 (8) are respectively passed through the optical axis 1 (32), the optical axis 2 (33), the optical axis 3 (34) and the screw 2 (6) and installed in the 3D screw cover 2 (10), and the upper ends of the optical axis 4 (38), the optical axis 5 (39), the optical axis 6 (40) and the screw 1 (5) are respectively fixed by the screw upper bracket 1 (1) and the horizontal screw bearing 1 (2). The lower end is fixed by the screw lower bracket one (11) and the horizontal screw bearing four (45); the linear bearing four (41), the linear bearing five (42), the linear bearing six (43) and the through-hole slider one (7) are respectively passed through the optical axis four (38), the optical axis five (39), the optical axis six (40) and the screw one (5) and installed in the 3D screw cover one (9); the support plate (13) and the support plate bottom (14) are sequentially arranged below the screw lower bracket one (11) and the screw lower bracket two (12).

3. The modular spoon-and-chopstick collaborative eating assistance dual-redundant robotic arm device according to claim 2, characterized in that: The double-screw fixed base module comprises a bottom optical axis 1 (46), a bottom optical axis 2 (47), a bottom optical axis 3 (48), a bottom optical axis 4 (49), a bottom optical axis 5 (50), a bottom optical axis 6 (51), an elastic coupling 1 (52), an elastic coupling 2 (55), a motor 1 (53), a motor 2 (54), a dinner plate base 1 (15) and a dinner plate base 2 (16), wherein the bottom optical axis 1 (46), the bottom optical axis 2 (47), the bottom optical axis 3 (48), the bottom optical axis 4 (49), the bottom optical axis 5 (50) and the bottom optical axis 6 (51) are all arranged vertically and in parallel, and the bottom optical axis 1 (46), the bottom optical axis 2 (4 7), one end of the bottom optical axis three (48), the bottom optical axis four (49), the bottom optical axis five (50) and the bottom optical axis six (51) are all installed below the support plate bottom (14), and the other end is installed above the dinner plate base one (15), the dinner plate base two (16) is installed below the dinner plate base one (15), the motor one (53) and the motor two (54) are both installed below the support plate bottom (14), the motor one (53) is connected to the support plate bottom (14) through the elastic coupling one (52), and the motor two (54) is connected to the support plate bottom (14) through the elastic coupling two (55).

4. The modular spoon-and-chopstick collaborative eating assistance dual-redundant robotic arm device according to claim 2, characterized in that: The redundant mechanical arm with a flip spoon at the end comprises a universal connection module 1 (56), a steering gear 1 (57), a steering gear joint arm 1, a steering gear joint arm 2, a steering gear joint arm 3, a flip motor, a flip connecting rod and a flip spoon (17), wherein the steering gear joint arm 1 comprises a movable bracket 1 (58), a connecting rod 1 (59), a connecting rod 2 (60), a tail frame 1 (61), and a steering gear 2 (62) in sequence, wherein the steering gear joint arm 2 comprises a movable bracket 2 (63), a connecting rod 3 (64), a connecting rod 4 (65), a tail frame 2 (66), and a steering gear 3 (67), wherein the steering gear joint arm 3 comprises a movable bracket 3 (68 ), connecting rod five (69), connecting rod six (70), tail frame three (71), steering gear four (72), the flip motor includes a main steering disc one (73), a tail frame four (74), a tail steering gear one (21), and a movable bracket four (20), the flip connecting rod includes an end U-shaped frame one (19) and a tail steering gear two (18), one side of the universal connection module one (56) is connected to the 3D screw cover two (10), and the other side is connected to the movable bracket one (58) through the steering gear one (57), the tail frame one (61), the steering gear two (62) and the movable bracket two (63) are connected in sequence, and the tail frame two ( 66), steering gear three (67) and movable support three (68) are connected in sequence, the connecting rod one (59) and connecting rod two (60) are arranged in parallel, one end of the connecting rod one (59) and connecting rod two (60) is connected to movable support one (58), and the other end is connected to tail frame one (61), the connecting rod three (64) and connecting rod four (65) are arranged in parallel, one end of the connecting rod three (64) and connecting rod four (65) is connected to movable support two (63), and the other end is connected to tail frame two (66), the connecting rod five (69) and connecting rod six (70) are arranged in parallel, the connecting rod five (69) and connecting rod six (70) are connected to each other. One end is connected to a movable bracket three (68), and the other end is connected to a tail frame three (71); the tail frame three (71) is connected to a steering gear four (72); the lower part of the other end of the steering gear four (72) is sequentially connected to a main steering disc one (73), a tail frame four (74) and a tail steering gear one (21); the movable bracket four (20) is rotatably connected to the two ends of the tail steering gear one (21); the terminal U-shaped frame one (19) is connected to the movable bracket four (20); the tail steering gear two (18) is rotatably connected in the terminal U-shaped frame one (19); and the tail steering gear two (18) is connected to the flip spoon (17).

5. The modular spoon-and-chopstick collaborative eating assistance dual-redundant robotic arm device according to claim 2, characterized in that: The redundant mechanical arm with a flip chopstick gripper at the end comprises a universal connection module 2 (75), a steering gear 5 (76), a steering gear joint arm 4, a steering gear joint arm 5, a movable bracket 7 (87), a tail frame 7 (88), a tail steering gear 3 (31), a tail steering gear 4 (27), a tail steering gear 5 (28), a through-hole base (30), a terminal main gear (90), a terminal secondary gear (89), a terminal rotating frame (29), a terminal hand gripper steering gear base (91), a terminal circuit board (26), a hand gripper bracket (25), a temperature measuring device (100), a laser (101), a camera (99), a crank plate (93), a small connecting rod 1 (92), a small connecting rod 2 (94), a linear connecting rod shaft 1 (95), a linear connecting rod shaft 2 (96), a shaft A bearing support (97), a bearing support (98), a chopstick clamping groove (24), a chopstick clamping head (22), and a chopstick clamping head (23); the steering gear joint arm (4) includes a movable bracket (77), a connecting rod (78), a connecting rod (79), a tail frame (80), and a steering gear (81); the steering gear joint arm (5) includes a movable bracket (82), a connecting rod (83), a connecting rod (84), a tail frame (85), and a steering gear (86); one side of the universal connection module (75) is connected to the 3D screw cover (9), and the other side is connected to the movable bracket (77) through the steering gear (76); the tail frame (80), the steering gear (81) and the movable bracket (82) are connected in sequence; the tail frame (80), the steering gear (81) and the movable bracket (82) are connected in sequence; The six (85), the steering gear seven (86) and the movable bracket seven (87) are connected in sequence, the connecting rod seven (78) and the connecting rod eight (79) are arranged in parallel, one end of the connecting rod seven (78) and the connecting rod eight (79) is connected to the movable bracket five (77), and the other end is connected to the movable bracket six (82), the connecting rod nine (83) and the connecting rod ten (84) are arranged in parallel, one end of the connecting rod nine (83) and the connecting rod ten (84) is connected to the movable bracket six (82), and the other end is connected to the tail frame six (85), one end of the tail frame seven (88) is connected to the movable bracket seven (87), the through hole base (30) is horizontally connected to one side of the inside of the tail frame seven (88), and the tail steering gear three (31) is arranged on the through hole base (30) Between the tail frame seven (88), a terminal main gear (90) and a terminal sub-gear (89) are installed below the through hole base (30), the terminal main gear (90) is arranged at the lower end of the through hole base (30) away from the tail frame seven (88), and the terminal sub-gear (89) is arranged at the lower end of the through hole base (30) close to the tail frame seven (88), and a terminal rotating frame (29) is connected below the terminal main gear (90), and a tail servo four (27) and a tail servo five (28) are respectively arranged at the inner two ends below the terminal rotating frame (29), and a terminal hand claw servo base (91) is connected below the tail servo four (27), and the terminal hand claw servo base (91) and the tail servo five (28) are both arranged above the hand claw bracket (25).The gripper bracket (25) is also provided with a terminal circuit board (26), and the terminal circuit board (26) is located outside the tail servo four (27) and the tail servo five (28). The terminal circuit board (26) is provided with a temperature measuring device (100), a laser (101) and a camera (99). The gripper bracket (25) is provided with a temperature measuring hole, a laser emitting hole and a camera reserved hole at corresponding positions. The temperature measuring device (100), the laser (101) and the camera (99) on the terminal circuit board (26) all pass through the corresponding temperature measuring hole, the laser emitting hole and the camera reserved hole on the gripper bracket (25). A linear connecting rod shaft 1 (95) and a linear connecting rod shaft 2 (95) are installed below the gripper bracket (25) on the side close to the tail servo four (27) and the tail servo five (28). Connecting rod shaft 2 (96), a crank plate (93), a small connecting rod 1 (92) and a small connecting rod 2 (94) are movably provided directly below the gripper bracket (25), the small connecting rod 1 (92), the crank plate (93) and the small connecting rod 2 (94) are all connected in sequence through bearings, the bearing support 1 (97) and the bearing support 2 (98) are both slidably arranged on the linear connecting rod shaft 1 (95) and the linear connecting rod shaft 2 (96), the upper end of the bearing support 1 (97) is connected to the small connecting rod 2 (94), the upper end of the bearing support 2 (98) is connected to the small connecting rod 1 (92), the chopstick clamping groove (24) is arranged below the bearing support 2 (98), the chopstick clamping head 1 (22) is fixedly arranged in the chopstick clamping groove (24), and the chopstick clamping head 2 (23) is arranged inside the bearing support 1 (97).

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