Pension accompanying robot

Abstract

The invention discloses a nursing accompanying robot, which relates to the technical field of robots, and comprises a machine body, a power supply module is arranged in the machine body, the top is fixedly connected with an open box and a fixed plate, and a lifting plate is arranged above the fixed plate and is connected with the fixed plate through a lifting mechanism; a rhombic plate is arranged above the lifting plate, a driving shaft is rotatably inserted into the rhombic plate, a fixed sleeve is fixedly connected to the top end, a fixed transverse shaft is inserted into the rhombic plate, and the lifting plate is connected with the fixed transverse shaft through a swing arm mechanism; a U-shaped plate is arranged on the fixed transverse shaft, and a fixed flange plate, a T-shaped flange plate and a monitoring camera are sequentially mounted at the top; triangular plates on the two sides of the fixing plate are connected with triangular groove steel plates through connecting rod mechanisms. All the mechanisms work cooperatively, the moving system guarantees flexible displacement, the lifting mechanism adjusts the monitoring height, the swing arm and the rotating mechanism achieve monitoring multi-dimensional adjustment, the connecting rod and the clamping mechanism complete safe clamping, the environment adaptability, monitoring comprehensiveness and operation safety are improved, the elder nursing accompanying requirement is met, and practicability and reliability are enhanced.

Description

Technical Field

[0001] The present invention relates to the field of robotics technology, and in particular to a companion robot for the elderly. Background Art

[0002] In modern living environments, the physical and mental health of the elderly is receiving increasing attention. Statistics show that with the increasing aging of the population, the number of elderly people is increasing year by year, placing tremendous care pressure on families and society. As the aging population intensifies, the issue of elderly care is receiving increasing attention. In home-based elderly care models, real-time monitoring and companionship of the elderly can promptly identify health issues and daily needs, ensuring their safety and quality of life.

[0003] Most existing elderly care companion equipment is fixed-installed surveillance cameras, which have problems such as limited monitoring range and single viewing angle. It is difficult to fully cover the elderly's activity area and cannot meet the needs of all-round and multi-angle monitoring of the elderly; movement mostly relies on a single drive and lacks flexibility; the surveillance camera has a fixed angle or a narrow adjustment range, which makes it difficult to fully cover the environment; the clamping mechanism is mostly rigid clamping, which is easy to damage objects and has poor movement coordination, making it difficult to accurately complete the retrieval. Summary of the Invention

[0004] The purpose of the present invention is to solve the problems of limited monitoring range and single viewing angle of the elderly care companion equipment in the prior art, and to propose an elderly care companion robot.

[0005] In order to solve the problems existing in the prior art, the present invention adopts the following technical solutions: The elderly care companion robot includes a body, a power module is provided inside the body, an open box is fixed on the top surface of the body, a fixed plate is fixed at the top open portion of the open box, a lifting plate is provided above the fixed plate, and the body is connected to the lifting plate via a lifting mechanism; A suspended diamond plate is provided above the lifting plate, a driving shaft is rotatably inserted in the middle of the diamond plate, a vertically distributed fixed sleeve is fixed to the top end of the driving shaft, a fixed horizontal shaft is rotatably inserted inside the fixed sleeve, and the lifting plate is connected to the fixed horizontal shaft through a swing arm mechanism; A U-shaped plate with an opening facing downward is fixed on the fixed horizontal axis, a fixed flange is fixed on the top of the U-shaped plate, a T-shaped flange is mounted on the fixed flange, and a surveillance camera is fixed on the top of the T-shaped flange; A pair of symmetrically distributed triangular plates are fixed on both sides of the top surface of the fixed plate, and a triangular groove steel plate is provided on the outer side of each triangular plate, and each triangular plate is connected to the triangular groove steel plate on the same side through a connecting rod mechanism, and a pair of symmetrically distributed flexible splints are installed on the outer side of each triangular groove steel plate.

[0006] Preferably, arc-shaped notches are provided at the four corners of the bottom of the fuselage body, a servo motor is fixedly installed inside each of the arc-shaped notches, and a concentrically fixed driving wheel is sleeved on the end of the motor shaft of each of the servo motors.

[0007] Preferably, the lifting mechanism includes a rectangular slide rod and a fixed swing arm, the fixed plate is provided with four evenly distributed rectangular slide holes, a rectangular slide rod is slidably inserted into each of the rectangular slide holes, the top end of each rectangular slide rod is fixedly connected to the bottom surface of the lifting plate, and the upper half of each rectangular slide rod is sleeved with a tension spring; Four evenly distributed fixed ear seats are fixed on the top surface of the fuselage body, and a fixed shaft is rotatably inserted at the top end of each fixed ear seat. A fixed swing arm is fixed at one end of each fixed shaft, and the outer end of each fixed swing arm is movably connected to the bottom end of the corresponding rectangular slide rod through an H-shaped swing arm.

[0008] Preferably, the other end of each of the fixed shafts is sleeved with a concentrically fixed driven bevel gear, a square groove is opened in the middle of the top surface of the fuselage body, and a first motor with the output end facing upward is fixedly installed inside the square groove, and the end of the motor shaft of the first motor is sleeved with a concentrically fixed bevel gear disk, and the bevel gear disk is synchronously meshed with the four driven bevel gears.

[0009] Preferably, bent connecting rods are fixed at the four corners of the diamond plate, the bottom end of each bent connecting rod is fixedly connected to the corresponding corner of the lifting plate, the T-shaped flange and the fixed flange are locked and connected by a number of bolts, and a second motor with the output end facing upward is fixedly installed on the bottom surface of the diamond plate, and the motor shaft end of the second motor is fixedly connected to the bottom end of the drive shaft.

[0010] Preferably, the swing arm mechanism includes an annular channel steel and an L-shaped connecting rod. A suspended annular channel steel is provided between the diamond plate and the fixed flange. A pair of symmetrically distributed L-shaped connecting rods are fixed to the two ends of the fixed horizontal axis. A spherical slider is fixed to the outer end of each L-shaped connecting rod. Each spherical slider is slidably fitted in the annular channel steel. A pair of symmetrically distributed first electric telescopic cylinders are fixedly installed on both sides of the top surface of the lifting plate. The end of the telescopic rod of each of the first electric telescopic cylinders is fixed to the bottom surface of the annular channel steel.

[0011] Preferably, the connecting rod mechanism includes a first long rod and a second long rod, a pair of parallel first long rods are hinged on the triangular plate, and the outer ends of the pair of first long rods are movably hinged to the two ends of the same first short rod respectively, and a pair of parallel second long rods are hinged in the triangular groove steel plate, and the outer ends of the pair of second long rods are movably hinged to the two ends of the same second short rod respectively, and the middle part of the first short rod and the middle part of the second short rod are movably hinged to the two ends of the same hinged connecting rod respectively.

[0012] Preferably, a third motor is fixedly installed on the back of the triangle plate, the motor shaft end of the third motor is fixedly connected to one of the first long rods, the bottom end of the first short rod is fixedly provided with a first gear, the bottom end of the second short rod is fixedly provided with a second gear, and the first gear is meshed with the second gear.

[0013] Preferably, a pair of parallel fixed links are fixed on the outer side surface of the triangular groove steel plate, a fixed pin is rotatably inserted on the outer end of each fixed link, a clamping swing arm is fixed on both ends of each fixed pin, a driven swing arm is fixed on the inner end of each clamping swing arm, and the outer side surface of each flexible splint is fixedly connected to the outer ends of an adjacent pair of clamping swing arms.

[0014] Preferably, an elliptical pin hole is provided at the outer end of each of the driven swing arms, and an adjacent pair of driven swing arms are staggered in an "X" shape. A second electric telescopic cylinder with the output end facing outward is fixedly installed in the middle of the outer side surface of the triangular groove steel plate, and a fixed connecting block is fixedly provided at the end of the telescopic rod of the second electric telescopic cylinder. A limit pin is fixedly inserted in the middle of the fixed connecting block, and both ends of the limit pin are slidably inserted in the corresponding elliptical pin holes.

[0015] Compared with the prior art, the present invention has the following beneficial effects: 1. In this invention, a servo motor within the arc-shaped notch at the bottom of the main body provides independent power for the drive wheels. By precisely controlling the speed and direction of each drive wheel, flexible movement is achieved to meet displacement requirements in different environments. In the lifting mechanism, a first motor drives the bevel gear plate to engage with the driven bevel gear, driving the fixed shaft and fixed swing arm to rotate. The H-shaped swing arm drives the rectangular slide bar to rise and fall along the rectangular slide hole of the fixed plate. The tension spring ensures smooth movement, driving the lifting plate and the upper surveillance camera and other components to adjust their height, expanding the monitoring range and improving adaptability. 2. In the present invention, the diamond plate is connected to the lifting plate by a bent connecting rod to enhance structural stability. The second motor drives the drive shaft to rotate, causing the fixed sleeve, fixed horizontal axis and monitoring camera to rotate around the drive shaft, achieving 360-degree rotation monitoring. In the swing arm mechanism, the first electric telescopic cylinder drives the annular channel steel to rise and fall, and the spherical slider of the L-shaped connecting rod slides inside the annular channel steel, causing the fixed horizontal axis and camera to swing along their axis. Combined with the rotation function, multi-dimensional dynamic adjustment is achieved, fully covering the surrounding environment and improving the monitoring effect. 3. In the present invention, in the connecting rod mechanism, the third motor drives the first long rod to rotate, and through the meshing of the first gear and the second gear and the transmission of the parallelogram connecting rod structure, the first long rod and the second long rod are synchronously extended or retracted to adjust the gripping posture; the second electric telescopic cylinder drives the limit pin shaft to translate through the fixed connecting block, prompting the "X"-shaped distributed driven swing arm to swing, and the fixed pin shaft drives the clamping swing arm to drive the flexible clamping plate to open and close. The flexible material can not only firmly clamp the object but also avoid damage, realizing efficient and stable gripping operation; To sum up, the present invention achieves this through the coordinated operation of various mechanisms. The servo motor-driven mobile system ensures flexible displacement, the lifting mechanism adjusts the monitoring height, the swing arm and the rotating mechanism realize multi-dimensional monitoring adjustment, and the connecting rod and the clamping mechanism complete safe clamping. The precise coordination of various components improves the robot's environmental adaptability, comprehensive monitoring, and operational safety, and can better meet the needs of movement, monitoring, and assisted item picking in elderly care, thereby enhancing practicality and reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings: Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a schematic cross-sectional view of the overall structure of the present invention; Figure 3 It is a schematic diagram of the overall structure of the present invention; Figure 4 It is a structural schematic diagram of the lifting mechanism of the present invention; Figure 5 It is a schematic exploded view of the structure of the lifting mechanism of the present invention; Figure 6 It is a structural schematic diagram of the swing arm mechanism of the present invention; Figure 7 It is a schematic exploded view of the structure of the swing arm mechanism of the present invention; Figure 8 It is a structural schematic diagram of the connecting rod mechanism of the present invention; Figure 9It is a schematic exploded view of the structure of the connecting rod mechanism of the present invention; Serial numbers in the figure: 100, fuselage body; 101, open box; 102, fixed plate; 103, arc-shaped notch; 104, servo motor; 105, driving wheel; 106, rectangular slide; 107, tension spring; 108, fixed ear seat; 109, fixed shaft; 110, fixed swing arm; 111, H-shaped swing arm; 112, first motor; 113, bevel gear plate; 114, driven bevel gear; 200, lifting plate; 201, diamond plate; 202, bending connecting rod; 203, second motor; 204, driving shaft; 205, fixed sleeve; 206, fixed horizontal axis; 207, L-shaped connecting rod; 208, spherical slider; 209, U-shaped plate; 210, Fixed flange; 211, annular channel steel; 212, first electric telescopic cylinder; 213, T-shaped flange; 214, surveillance camera; 215, bolt; 300, triangular plate; 301, first long rod; 302, third motor; 303, first short rod; 304, first gear; 305, second gear; 306, second long rod; 307, second short rod; 308, articulated connecting rod; 309, triangular channel steel plate; 310, fixed connecting rod; 311, second electric telescopic cylinder; 312, fixed connecting block; 313, limit pin; 314, fixed pin; 315, driven swing arm; 316, elliptical pin hole; 317, clamping swing arm; 318, flexible splint. DETAILED DESCRIPTION

[0017] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0018] Example 1: This example provides a companion robot for elderly care, see Figures 1-9 Specifically, it includes a body 100, which serves as the basic frame of the robot and has a power module inside to supply power to various electrical components; the arc-shaped notch 103 at the bottom is used to install a servo motor 104, and the top carries an open box 101 and a lifting mechanism, playing a key role in integrating and supporting the overall structure; An open box 101 is fixed to the top surface of the fuselage body 100. A fixed plate 102 is fixed to the top opening of the open box 101. The open box 101 provides installation space for the upper structure. The fixed plate 102 serves as the connection base of the lifting mechanism. The rectangular sliding hole on the fixed plate provides a sliding track for the rectangular sliding rod 106 to ensure the guidance of the lifting movement. A suspended lifting plate 200 is provided above the fixed plate 102. The lifting plate 200 is fixedly connected to the top of the rectangular slide bar 106 and moves up and down under the drive of the lifting mechanism, thereby driving the diamond plate 201, the monitoring camera 214 and other components above to adjust their height. The fuselage body 100 is connected to the lifting plate 200 through the lifting mechanism. A suspended diamond plate 201 is provided above the lifting plate 200. A drive shaft 204 is rotatably inserted in the middle of the diamond plate 201. A vertically distributed fixed sleeve 205 is fixed to the top end of the drive shaft 204. A fixed horizontal shaft 206 is rotatably inserted inside the fixed sleeve 205. The lifting plate 200 is connected to the fixed horizontal shaft 206 through a swing arm mechanism. The diamond plate 201, the drive shaft 204, the fixed sleeve 205, and the fixed horizontal shaft 206 constitute the basic structure for the installation and rotation of the surveillance camera 214, providing support for the subsequent swing arm mechanism to achieve camera swing and rotation adjustment. A U-shaped plate 209 with a downward opening is fixed to the fixed horizontal axis 206. A fixed flange 210 is fixed to the top of the U-shaped plate 209. A T-shaped flange 213 is mounted on the fixed flange 210. A monitoring camera 214 is fixed to the top of the T-shaped flange 213. The U-shaped plate 209, the fixed flange 210, the T-shaped flange 213, and the monitoring camera 214 form a camera mounting assembly to achieve a monitoring function for the surrounding environment. A pair of symmetrically distributed triangular plates 300 are fixed on both sides of the top surface of the fixed plate 102. A triangular groove steel plate 309 is provided on the outer side of each triangular plate 300, and each triangular plate 300 is connected to the triangular groove steel plate 309 on the same side through a connecting rod mechanism, and a pair of symmetrically distributed flexible splints 318 are installed on the outer side surface of each triangular groove steel plate 309. The flexible splints 318 directly contact and clamp objects. Their soft material can avoid damage to objects while providing stable clamping force. The triangular plate 300, the triangular groove steel plate 309, and the flexible splint 318 reserve structural interfaces for the connecting rod mechanism and clamping function.

[0019] It should be noted that: in this embodiment, arc-shaped notches 103 are opened at the four corners of the bottom of the fuselage main body 100, and a servo motor 104 is fixedly installed inside each arc-shaped notch 103. The end of the motor shaft of each servo motor 104 is concentrically fixedly sleeved with a drive wheel 105. The servo motor 104 provides power for the drive wheel 105. By controlling the speed and direction of each servo motor 104, the flexible movement of the fuselage main body 100 is achieved.

[0020] In the specific implementation process, Figure 4 and Figure 5As shown, the lifting mechanism includes a rectangular slide bar 106 and a fixed swing arm 110. Four evenly distributed rectangular slide holes are opened on the fixed plate 102. A rectangular slide bar 106 is slidably inserted into the interior of each rectangular slide hole. The top end of each rectangular slide bar 106 is fixedly connected to the bottom surface of the lifting plate 200, and the upper half of each rectangular slide bar 106 is sleeved with a tension spring 107. The rectangular slide bar 106 plays a guiding and force transmission role in the lifting movement. The tension spring 107 provides a reset elastic force to assist in the smooth lifting process. Four evenly distributed fixed ear seats 108 are fixed on the top surface of the fuselage body 100. A fixed shaft 109 is rotatably inserted into the top end of each fixed ear seat 108. A fixed swing arm 110 is fixed to one end of each fixed shaft 109. The outer end of each fixed swing arm 110 is movably connected to the bottom end of the corresponding rectangular slide 106 through an H-shaped swing arm 111. The fixed ear seats 108, fixed shaft 109, fixed swing arm 110, and H-shaped swing arm 111 form a transmission connecting rod structure, which converts the rotational motion of the first motor 112 into the linear lifting motion of the rectangular slide 106. The other end of each fixed shaft 109 is sleeved with a concentrically fixed driven bevel gear 114. A square groove is opened in the middle of the top surface of the fuselage main body 100. The first motor 112 with the output end facing upward is fixedly installed inside the square groove. The motor shaft end of the first motor 112 is sleeved with a concentrically fixed bevel gear disk 113. The bevel gear disk 113 is synchronously meshed with the four driven bevel gears 114. The first motor 112, the bevel gear disk 113, and the driven bevel gears 114 constitute a gear transmission system. The first motor 112 serves as a power source, and the meshing of the bevel gear disk 113 with the driven bevel gear 114 realizes the synchronous transmission of power to the four fixed shafts 109.

[0021] The working principle of this embodiment is as follows: at the lifting mechanism operation level, after the first motor 112 is started, the first motor 112 drives the bevel gear plate 113 to rotate synchronously; according to the gear transmission principle, the bevel gear plate 113 forms a meshing linkage with the four driven bevel gears 114 sleeved on the inner end of the fixed shaft 109; As the driven bevel gear 114 rotates, the fixed shaft 109 begins to rotate around the axis in the fixed ear seat 108, thereby driving the fixed swing arm 110 fixed to its outer end to perform circular motion; since the outer end of the fixed swing arm 110 is movably connected to the bottom end of the rectangular slide rod 106 through the H-shaped swing arm 111, and the rectangular slide rod 106 is inserted into the rectangular slide hole of the fixed plate 102, under the traction of the mechanical linkage mechanism, the rectangular slide rod 106 overcomes the elastic force of the tension spring 107 and slides upward along the rectangular slide hole; During this process, the lifting plate 200 fixed to the top of the rectangular slide bar 106 is lifted, thereby driving the upper diamond plate 201, the fixed flange 210, the T-shaped flange 213 and the surveillance camera 214 to rise to the preset height, completing the lifting action; When the moving mechanism is running, the servo motor 104 in the arc-shaped notch 103 at the four corners at the bottom of the main body 100 plays a core role. When the servo motor 104 is powered on, its motor shaft drives the concentrically fixed drive wheel 105 to rotate; thanks to the fact that each drive wheel 105 is equipped with an independent servo motor 104, the differential rotation of the drive wheel 105 can be achieved through precise control of the speed and direction of each servo motor 104, thereby completing the flexible movement of the main body 100 such as forward, backward, and turning, and meeting the displacement requirements of the robot in different environments.

[0022] Example 2: Based on Example 1, this example innovatively designs the swing arm mechanism to achieve multi-dimensional dynamic adjustment of the monitoring angle, and further includes: In the specific implementation process, Figure 6 and Figure 7 As shown, the four corners of the diamond plate 201 are fixed with bent connecting rods 202, and the bottom end of each bent connecting rod 202 is fixedly connected to the corresponding corner of the lifting plate 200. The bent connecting rods 202 connect the diamond plate 201 and the lifting plate 200, thereby enhancing the structural stability of the two and ensuring the reliability of motion transmission; the T-shaped flange 213 and the fixed flange 210 are locked and connected by a number of bolts 215. The bottom surface of the diamond plate 201 is fixedly installed with a second motor 203 with the output end facing upward. The motor shaft end of the second motor 203 is fixedly connected to the bottom end of the drive shaft 204. The second motor 203 drives the drive shaft 204 to rotate, thereby driving the monitoring camera 214 to rotate around the axis of the drive shaft 204, thereby realizing the rotation adjustment function of the camera; The swing arm mechanism includes an annular channel steel 211 and an L-shaped connecting rod 207. A suspended annular channel steel 211 is provided between the diamond plate 201 and the fixed flange 210. A pair of symmetrically distributed L-shaped connecting rods 207 are fixed at both ends of the fixed horizontal axis 206. A spherical slider 208 is fixed at the outer end of each L-shaped connecting rod 207. Each spherical slider 208 is slidably fitted in the annular channel steel 211. A pair of symmetrically distributed first electric telescopic cylinders 212 are fixedly installed on both sides of the top surface of the lifting plate 200. Each first electric The ends of the telescopic rods of the dynamic telescopic cylinder 212 are fixedly connected to the bottom surface of the annular channel steel 211. The annular channel steel 211 rises and falls under the action of the first electric telescopic cylinder 212. The spherical slider 208 slides with the annular channel steel 211, so that the L-shaped connecting rod 207 drives the fixed horizontal axis 206 and the camera to swing back and forth along the axis of the fixed horizontal axis 206. The first electric telescopic cylinder 212 serves as the power element of the swing arm mechanism. It drives the annular channel steel 211 to rise and fall through the extension and retraction of the telescopic rod, thereby providing power for the swing adjustment of the surveillance camera 214.

[0023] The working principle of this embodiment is as follows: During the operation of the swing arm mechanism, a pair of first electric telescopic cylinders 212 mounted on both sides of the top surface of the lifting plate 200 serve as the core power source. When the telescopic rods of the first electric telescopic cylinders 212 begin to extend and retract, the annular channel steel 211 fixed to the ends thereof also undergoes vertical displacement. At this time, the spherical sliders 208 fixed at both ends of the fixed horizontal shaft 206 through the L-shaped connecting rods 207, by virtue of the sliding fit with the inner wall of the annular channel steel 211, convert the lifting motion of the annular channel steel 211 into a forward and backward swing along the axis of the fixed horizontal shaft 206; This ingenious mechanical transmission design allows the U-shaped plate 209, the fixed flange 210, the T-shaped flange 213 and the monitoring camera 214 connected to the fixed horizontal axis 206 to swing synchronously, achieving flexible adjustment of the monitoring angle in the horizontal dimension. In the rotation adjustment mechanism, the second motor 203 installed on the bottom surface of the diamond plate 201 plays a key role. When the second motor 203 is powered on, its motor shaft directly drives the drive shaft 204 fixed to it to rotate. Since the fixed sleeve 205 fixed at the top end of the drive shaft 204 is rotatably inserted with the fixed horizontal shaft 206, the rotational power of the drive shaft 204 is transmitted to the fixed horizontal shaft 206, thereby driving the U-shaped plate 209, the fixed flange 210, the T-shaped flange 213 and the monitoring camera 214 to perform circular motion around the axis of the drive shaft 204; During this process, the spherical slider 208 on the L-shaped connecting rod 207 rotates synchronously in the annular channel steel 211, which not only ensures the stability of the rotational motion, but also provides structural support for the 360-degree rotation of the monitoring camera 214, effectively expanding the environmental monitoring range of the robot.

[0024] Example 3: Based on Example 2, this example uses an innovative design of a connecting rod mechanism to give the elderly care companion robot an efficient and stable object gripping capability, and also includes: In the specific implementation process, Figure 8 and Figure 9 As shown, the connecting rod mechanism includes a first long rod 301 and a second long rod 306. A pair of parallel first long rods 301 are hingedly provided on the triangular plate 300. The outer ends of the pair of first long rods 301 are movably hinged to the two ends of the same first short rod 303. A pair of parallel second long rods 306 are hingedly provided in the triangular groove steel plate 309. The outer ends of the pair of second long rods 306 are movably hinged to the two ends of the same second short rod 307. The middle part of the first short rod 303 and the middle part of the second short rod 307 are movably hinged to the two ends of the same hinged connecting rod 308. The first long rod 301, the second long rod 306, the first short rod 303, the second short rod 307, and the hinged connecting rod 308 form a parallelogram connecting rod structure. Driven by the third motor 302, the connecting rod is expanded and retracted to adjust the structural posture for clamping objects. A third motor 302 is fixedly mounted on the back of the triangular plate 300. The motor shaft end of the third motor 302 is fixedly connected to one of the first long rods 301. A first gear 304 is fixedly mounted on the bottom end of the first short rod 303. A second gear 305 is fixedly mounted on the bottom end of the second short rod 307. The first gear 304 is meshed with the second gear 305. The third motor 302 serves as the power source for the linkage mechanism to rotate, driving the first long rod 301. Through gear transmission and connecting rod articulation, the two sets of parallelogram connecting rod structures move synchronously. The first gear 304 and the second gear 305 are meshed and driven to ensure synchronization and coordination of the movements of the second long rod 306 and the first long rod 301. A pair of parallel fixed links 310 are fixed to the outer side of the triangular groove steel plate 309. A fixed pin 314 is rotatably inserted into the outer end of each fixed link 310. A clamping swing arm 317 is fixed to both ends of each fixed pin 314. A driven swing arm 315 is fixed to the inner end of each clamping swing arm 317. The outer side of each flexible splint 318 is fixedly connected to the outer end of an adjacent pair of clamping swing arms 317. The fixed link 310, the fixed pin 314, the clamping swing arm 317, and the driven swing arm 315 constitute a clamping execution structure. The driven swing arm 315 swings under the action of the limit pin 313, and the clamping swing arm 317 is driven to rotate through the fixed pin 314 to realize the opening and closing of the flexible splint 318. The outer end of each driven swing arm 315 is provided with an elliptical pin hole 316, and an adjacent pair of driven swing arms 315 are staggered in an "X" shape. A second electric telescopic cylinder 311 with the output end facing outward is fixedly installed in the middle of the outer side surface of the triangular groove steel plate 309, and a fixed connecting block 312 is fixedly provided at the end of the telescopic rod of the second electric telescopic cylinder 311. A limiting pin 313 is fixedly inserted in the middle of the fixed connecting block 312, and both ends of the limiting pin 313 are slidably inserted in the corresponding elliptical pin holes 316. The second electric telescopic cylinder 311, the fixed connecting block 312, the limiting pin 313, and the elliptical pin hole 316 constitute a driving and transmission structure for the clamping action. The second electric telescopic cylinder 311 drives the limiting pin 313 to move horizontally through the fixed connecting block 312, and uses the elliptical pin hole 316 to convert the linear motion into the swing of the driven swing arm 315, thereby realizing the clamping operation of the flexible splint 318.

[0025] The working principle of this embodiment is as follows: In the linkage operation of the connecting rod mechanism, the third motor 302 mounted on the back of the set plate 300 serves as the core power source. When the third motor 302 is started, its motor shaft drives the first long rod 301 fixed to it to rotate. Because the set plate 300, the pair of first long rods 301, and the first short rod 303 form a parallelogram connecting rod structure, based on the motion characteristics of the parallelogram mechanism, this structure converts the rotational motion of the third motor 302 into the outward hinged swing of the pair of first long rods 301. At the same time, the first gear 304 at the bottom end of the first short rod 303 and the second gear 305 at the bottom end of the second short rod 307 form a gear meshing transmission, and cooperate with the hinged connection of the hinged connecting rod 308 with the first short rod 303 and the second short rod 307, so that the parallelogram connecting rod structure composed of the second short rod 307, the pair of second long rods 306, and the triangular groove steel plate 309 moves synchronously, driving the pair of second long rods 306 to hinge and swing outward, and finally making the pair of first long rods 301 and the pair of second long rods 306 unfold in a horizontal state, making the structure ready for the clamping action; During the object gripping execution phase, the second electric telescopic cylinder 311 installed in the middle of the outer side surface of the triangular groove steel plate 309 plays a key role. When the telescopic rod of the second electric telescopic cylinder 311 is extended or retracted, the limit pin 313 is driven to perform translational motion via the fixed connecting block 312. Since the two ends of the limiting pin 313 are slidably inserted into the elliptical pin holes 316 of the adjacent driven swing arms 315 that are staggered in an "X" shape, this unique limiting cooperation relationship converts the linear motion of the limiting pin 313 into the swinging motion of the driven swing arm 315; The swing of the driven swing arm 315 is transmitted to the clamping swing arm 317 through the fixed pin shaft 314, so that the clamping swing arm 317 rotates around the fixed pin shaft 314, thereby driving a pair of flexible splints 318 fixed to the outer end of the clamping swing arm 317 to close relative to each other. Thanks to the soft material of the flexible splints 318, it can not only achieve a firm clamping of the object, but also avoid pinching the object, and complete the object clamping operation accurately and efficiently.

[0026] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with the technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solution and inventive concept of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. A companion robot for elderly care, comprising a main body (100), wherein a power module is provided inside the main body (100), and characterized in that: An open box (101) is fixedly provided on the top surface of the fuselage main body (100), a fixed plate (102) is fixedly provided at the top opening of the open box (101), a suspended lifting plate (200) is provided above the fixed plate (102), and the fuselage main body (100) is connected to the lifting plate (200) via a lifting mechanism; A suspended diamond plate (201) is provided above the lifting plate (200), a driving shaft (204) is rotatably inserted in the middle of the diamond plate (201), a vertically distributed fixed sleeve (205) is fixed to the top end of the driving shaft (204), a fixed horizontal shaft (206) is rotatably inserted inside the fixed sleeve (205), and the lifting plate (200) is connected to the fixed horizontal shaft (206) via a swing arm mechanism; A U-shaped plate (209) with an opening facing downward is fixedly provided on the fixed horizontal axis (206), a fixed flange (210) is fixedly provided on the top of the U-shaped plate (209), a T-shaped flange (213) is mounted on the fixed flange (210), and a monitoring camera (214) is fixedly provided on the top end of the T-shaped flange (213); A pair of symmetrically distributed triangular plates (300) are fixed on both sides of the top surface of the fixed plate (102), and a triangular groove steel plate (309) is provided on the outer side of each triangular plate (300). Each triangular plate (300) is connected to the triangular groove steel plate (309) on the same side through a connecting rod mechanism, and a pair of symmetrically distributed flexible splints (318) are installed on the outer side surface of each triangular groove steel plate (309).

2. The elderly care companion robot according to claim 1, characterized in that: The four corners at the bottom of the main body (100) are each provided with an arc-shaped notch (103), a servo motor (104) is fixedly installed inside each of the arc-shaped notches (103), and a concentrically fixed drive wheel (105) is sleeved on the end of the motor shaft of each of the servo motors (104).

3. The elderly care companion robot according to claim 2, characterized in that: The lifting mechanism includes a rectangular slide bar (106) and a fixed swing arm (110). Four evenly distributed rectangular slide holes are opened on the fixed plate (102). A rectangular slide bar (106) is slidably inserted into the interior of each rectangular slide hole. The top end of each rectangular slide bar (106) is fixedly connected to the bottom surface of the lifting plate (200), and the upper half of each rectangular slide bar (106) is sleeved with a tension spring (107). Four evenly distributed fixed ear seats (108) are fixed on the top surface of the fuselage body (100), and a fixed shaft (109) is rotatably inserted into the top end of each fixed ear seat (108), and a fixed swing arm (110) is fixed to one end of each fixed shaft (109), and the outer end of each fixed swing arm (110) is movably connected to the bottom end of the corresponding rectangular slide rod (106) through an H-shaped swing arm (111).

4. The elderly care companion robot according to claim 3, characterized in that: The other end of each fixed shaft (109) is sleeved with a concentrically fixed driven bevel gear (114), a square groove is opened in the middle of the top surface of the fuselage main body (100), a first motor (112) with an output end facing upward is fixedly installed inside the square groove, and a motor shaft end of the first motor (112) is sleeved with a concentrically fixed bevel gear disk (113), and the bevel gear disk (113) is synchronously meshed with the four driven bevel gears (114).

5. The elderly care companion robot according to claim 4, characterized in that: The four corners of the diamond plate (201) are fixed with bent connecting rods (202), and the bottom end of each bent connecting rod (202) is fixedly connected to the corresponding corner of the lifting plate (200). The T-shaped flange (213) and the fixed flange (210) are locked and connected by a plurality of bolts (215). The bottom surface of the diamond plate (201) is fixedly installed with a second motor (203) with the output end facing upward, and the motor shaft end of the second motor (203) is fixedly connected to the bottom end of the drive shaft (204).

6. The elderly care companion robot according to claim 5, characterized in that: The swing arm mechanism includes an annular channel steel (211) and an L-shaped connecting rod (207). A suspended annular channel steel (211) is provided between the diamond plate (201) and the fixed flange (210). A pair of symmetrically distributed L-shaped connecting rods (207) are fixed to both ends of the fixed horizontal axis (206). A spherical slider (208) is fixed to the outer end of each L-shaped connecting rod (207). Each spherical slider (208) is slidably fitted in the annular channel steel (211). A pair of symmetrically distributed first electric telescopic cylinders (212) are fixedly installed on both sides of the top surface of the lifting plate (200). The end of the telescopic rod of each first electric telescopic cylinder (212) is fixed to the bottom surface of the annular channel steel (211).

7. The elderly care companion robot according to claim 6, characterized in that: The connecting rod mechanism includes a first long rod (301) and a second long rod (306). A pair of parallel first long rods (301) are hingedly provided on the triangular plate (300). The outer ends of the pair of first long rods (301) are respectively movably hinged to the two ends of the same first short rod (303). A pair of parallel second long rods (306) are hingedly provided inside the triangular groove steel plate (309). The outer ends of the pair of second long rods (306) are respectively movably hinged to the two ends of the same second short rod (307). The middle parts of the first short rod (303) and the middle parts of the second short rod (307) are respectively movably hinged to the two ends of the same hinged connecting rod (308).

8. The elderly care companion robot according to claim 7, characterized in that: A third motor (302) is fixedly mounted on the back of the triangular plate (300), the motor shaft end of the third motor (302) is fixedly connected to one of the first long rods (301), a first gear (304) is fixedly provided at the bottom end of the first short rod (303), a second gear (305) is fixedly provided at the bottom end of the second short rod (307), and the first gear (304) is meshedly connected with the second gear (305).

9. The elderly care companion robot according to claim 8, characterized in that: A pair of parallel fixed links (310) are fixed to the outer side surface of the triangular groove steel plate (309), a fixed pin (314) is rotatably inserted into the outer end of each fixed link (310), a clamping swing arm (317) is fixed to both ends of each fixed pin (314), a driven swing arm (315) is fixed to the inner end of each clamping swing arm (317), and the outer side surface of each flexible splint (318) is fixed to the outer ends of an adjacent pair of clamping swing arms (317).

10. The elderly care companion robot according to claim 9, characterized in that: An elliptical pin hole (316) is provided at the outer end of each driven swing arm (315), and a pair of adjacent driven swing arms (315) are staggered in an "X" shape. A second electric telescopic cylinder (311) with an output end facing outward is fixedly mounted on the middle of the outer side surface of the triangular groove steel plate (309). A fixed connecting block (312) is fixedly provided at the end of the telescopic rod of the second electric telescopic cylinder (311). A limiting pin shaft (313) is fixedly inserted in the middle of the fixed connecting block (312). Both ends of the limiting pin shaft (313) are slidably inserted in the corresponding elliptical pin holes (316).

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