Old-age care robot with health care function

Abstract

The utility model discloses an old-age care robot with a health care function, and relates to the technical field of old-age care robots, the old-age care robot comprises an intelligent moving chassis and a shell installed at the top end of the intelligent moving chassis, two six-axis numerical control mechanical arms are symmetrically installed on the two sides of the shell, and double-finger self-adaptive clamping jaws are installed at the tail ends of the six-axis numerical control mechanical arms; muscle fatigue of old people can be relieved through the massage function of the double-finger self-adaptive clamping jaw, when the old people need to be massaged, the six-axis numerical control mechanical arm moves the double-finger self-adaptive clamping jaw to the corresponding position, the electric push cylinder and the micro electric push rod work cooperatively, the double-finger self-adaptive clamping jaw is unfolded in different forms for massage, and the massage effect is good. The convex points on the first massage roller and the second massage roller stimulate acupuncture points and promote blood circulation, the first massage roller and the second massage roller are rotatable and can massage along body meridians and collaterals of the old, and long-term use of the device helps the old to keep a body healthy state and improve life quality.

Description

Technical Field

[0001] This utility model relates to the field of elderly care robot technology, and in particular to an elderly care robot with health care functions. Background Technology

[0002] With the aging population becoming an increasingly prominent issue in today's society, technological advancements have spurred the emergence of elderly care robots, bringing new hope for addressing the living needs and health issues of the elderly. Existing elderly care robots are typically equipped with various sensors, such as visual, auditory, and tactile sensors, enabling them to perceive the surrounding environment and the elderly person's condition. Through the data collected by these sensors, the robot can recognize the elderly person's movements, expressions, and voices, thereby understanding their needs and intentions. For example, visual sensors can recognize the elderly person's gestures to determine whether they want to pick something up or need help getting up; auditory sensors can recognize the elderly person's voice commands and execute corresponding operations.

[0003] However, existing elderly care robots generally cannot massage the elderly's body, and traditional massage methods may require assistance from others or require the elderly to go to a specific place, which poses many difficulties for the elderly with limited mobility. Therefore, elderly care robots with massage functions are particularly important. We propose an elderly care robot with health care functions. Utility Model Content

[0004] The main purpose of this utility model is to provide an elderly care robot with health care functions, which can effectively solve the problems in the background art.

[0005] To achieve the above objectives, the technical solution adopted by this utility model is as follows:

[0006] A health care robot for the elderly includes an intelligent mobile chassis and a shell mounted on top of the intelligent mobile chassis. Two six-axis CNC robotic arms are symmetrically mounted on both sides of the shell, and the ends of the six-axis CNC robotic arms are equipped with two-finger self-adaptive grippers.

[0007] The dual-finger self-adaptive gripper includes two symmetrical plate-type finger bones, with plate-type fingertips rotatably connected to the ends of the two plate-type finger bones. Several parallel second massage rollers are rotatably mounted on the inner end faces of the plate-type finger bones via several small damping shafts, and several parallel first massage rollers are rotatably mounted on the inner end faces of the plate-type fingertips via several small damping shafts.

[0008] Preferably, the dual-finger self-adaptive gripper further includes a connecting box, an electric push cylinder, a connecting rod, a connecting seat, two arched frames, and two rotating rods. The connecting box is fixedly connected to the end of the six-axis CNC robotic arm. The electric push cylinder is fixedly installed inside the connecting box. The end of the push rod in the electric push cylinder and the beginning of the connecting rod are coaxially fixedly connected. The connecting seat is fixedly connected to the end of the connecting rod. The beginnings of the two rotating rods are symmetrically hinged to both sides of the connecting seat. The two plate-type finger bones are fixedly connected to the ends of the two rotating rods. The two rotating rods pass through the ends of the two arched frames. The two arched frames are symmetrically fixedly installed on one side of the connecting box. The connecting rod slides through the connecting box.

[0009] Preferably, the end of the arched frame is provided with a notch for the rotating rod to pass through. A cylinder is rotatably installed on the inner walls of both sides of the notch. A connecting block is fixedly installed at one end of each of the two cylinders. A round rod is rotatably installed between the two ends of the two connecting blocks. The two round rods are respectively rolled on the two end faces of the rotating rod.

[0010] Preferably, a second hinge seat is fixedly connected to one end of the dorsal end face of the plate-type fingertip, and a first hinge seat is fixedly connected to one end of the dorsal end face of the plate-type phalanx. A miniature electric push rod is connected between the first hinge seat and the second hinge seat.

[0011] Preferably, a first tension sensor is fixedly connected between the connecting seat and the connecting rod, and a second tension sensor is fixedly connected to the end of the push rod in the miniature electric push rod.

[0012] Preferably, a corrugated pipe lifting platform is installed between the upper surface of the intelligent mobile chassis and the lower surface of the outer shell.

[0013] Preferably, a plurality of protrusions are fixedly connected to the outer walls of both the first and second massage rollers.

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] 1. Promotes health and wellness: The massage function of the two-finger self-adaptive gripper can relieve muscle fatigue in the elderly. When the elderly need a massage, the six-axis CNC robotic arm moves the two-finger self-adaptive gripper to the corresponding part. Through the coordinated work of the electric push cylinder and the micro electric push rod, the two-finger self-adaptive gripper unfolds in different shapes to perform the massage. The protrusions on the first and second massage rollers stimulate acupoints and promote blood circulation. Moreover, the first and second massage rollers can rotate and massage along the meridians of the elderly's body. Long-term use helps the elderly maintain their health and improve their quality of life.

[0016] 2. Enhance convenience and safety in daily life: The intelligent mobile chassis can move flexibly in various scenarios, the corrugated pipe lifting platform can adjust its height, the six-axis CNC robotic arm moves precisely, and the two-finger self-adaptive gripper can not only help the elderly pick up everyday items such as toilet paper and water cups, but also ensure safe and reliable gripping force through the first and second tension sensors. For example, the elderly do not need to exert effort to find and pick up items, which greatly improves the convenience of daily life and avoids accidents caused by improper handling of items. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0018] Figure 2 This is a schematic diagram of the structure of the two-finger self-adaptive gripper in this utility model;

[0019] Figure 3 This utility model Figure 2 A magnified view of a portion of the image.

[0020] In the diagram: 1. Intelligent mobile chassis; 2. Corrugated pipe lifting platform; 3. Outer shell; 4. Six-axis CNC robotic arm; 5. Two-finger self-adaptive gripper; 501. Connecting box; 502. Arched frame; 503. Plate-type finger bone; 504. Plate-type fingertip; 505. First massage roller; 506. Second massage roller; 507. Connecting seat; 508. Electric push cylinder; 509. Connecting rod; 510. First tension sensor; 511. Cylinder; 512. Connecting block; 513. Round rod; 514. Miniature electric push rod; 515. First hinge seat; 516. Second hinge seat; 517. Rotating rod. Detailed Implementation

[0021] To make the technical means, creative features, objectives and effects of this utility model easier to understand, the present utility model will be further described below in conjunction with specific embodiments.

[0022] like Figure 1-3 As shown, a health care robot for the elderly includes an intelligent mobile chassis 1, which can move flexibly in various scenarios. A corrugated pipe lifting platform 2 is fixedly installed on the upper surface of the intelligent mobile chassis 1. A shell 3 is fixedly installed on the upper surface of the corrugated pipe lifting platform 2. That is, the shell 3 is vertically lifted and installed directly above the intelligent mobile chassis 1 through the corrugated pipe lifting platform 2, and its height can be flexibly adjusted according to different needs. Two six-axis CNC robotic arms 4 are symmetrically installed on both sides of the shell 3. The ends of the six-axis CNC robotic arms 4 are equipped with two-finger self-adaptive grippers 5. The six-axis CNC robotic arms 4 and the two-finger self-adaptive grippers 5 are connected to the vision camera and programmable controller on the shell 3 of the existing elderly care robot through wires.

[0023] The two six-axis CNC robotic arms 4, symmetrically mounted on both sides of the outer shell 3, move precisely. The two-finger self-adaptive grippers 5 at the ends can skillfully grasp items, retrieve daily necessities for the elderly, and also massage the elderly's body regularly to relieve muscle fatigue, bringing more convenience and comfort to the lives of the elderly.

[0024] refer to Figure 2-3 The two-finger self-adaptive gripper 5 includes a connecting box 501, an electric push cylinder 508, a connecting rod 509, a connecting seat 507, two arched frames 502, two rotating rods 517, and two symmetrical plate-type finger bones 503. The ends of the two plate-type finger bones 503 are rotatably connected to plate-type fingertips 504. Several parallel second massage rollers 506 are rotatably mounted on the inner end face of the plate-type finger bones 503. Several parallel first massage rollers 505 are rotatably mounted on the inner end face of the plate-type fingertips 504. Several protrusions are fixedly connected to the outer walls of the first massage rollers 505 and the second massage rollers 506. When massaging the elderly, the protrusions on the outer walls of the first massage rollers 505 and the second massage rollers 506 can better stimulate acupoints and promote blood circulation.

[0025] The end of the connecting box 501 is fixedly connected to the end of the six-axis CNC robotic arm 4. The electric push cylinder 508 is fixedly installed inside the connecting box 501. The end of the push rod in the electric push cylinder 508 and the beginning of the connecting rod 509 are coaxially fixedly connected. The connecting seat 507 is fixedly connected to the end of the connecting rod 509. That is, the movement of the connecting seat 507 is controlled by the extension and retraction of the push rod in the electric push cylinder 508. The two arched frames 502 are symmetrically fixedly installed on one side of the connecting box 501. The connecting rod 509 slides through the connecting box 501. The beginnings of the two rotating rods 517 are symmetrically hinged to the two sides of the connecting seat 507. The two plate-type finger bones 503 are fixedly connected to the ends of the two rotating rods 517 respectively. The two rotating rods 517 pass through the ends of the two arched frames 502 respectively to realize the opening and closing action of the two-finger self-adaptive gripper 5.

[0026] The end of the arched frame 502 is provided with a notch for passing through the rotating rod 517. A cylinder 511 is rotatably installed on the inner walls of both sides of the notch. A connecting block 512 is fixedly installed at one end of each cylinder 511. A round rod 513 is rotatably installed between the two ends of the two connecting blocks 512. The two round rods 513 are respectively rolled on the two end faces of the rotating rod 517. With the cooperation of the two cylinders 511, the two connecting blocks 512 and the two round rods 513 rotatably installed on the inner walls of both sides of the notch, the smooth and stable movement of the two rotating rods 517 is ensured.

[0027] A second hinge seat 516 is fixedly connected to one end of the dorsal end face of the plate-type fingertip 504, and a first hinge seat 515 is fixedly connected to one end of the dorsal end face of the plate-type finger bone 503. A miniature electric push rod 514 is connected between the first hinge seat 515 and the second hinge seat 516. The plate-type fingertip 504 and the plate-type finger bone 503 are connected by the miniature electric push rod 514, which can realize the angle adjustment of the plate-type fingertip 504 to better adapt to different massage areas. A first tension sensor 510 is fixedly connected between the connecting seat 507 and the connecting rod 509. The first tension sensor 510 can monitor the gripping force between the two plate-type finger bones 503 in the two-finger self-adaptive gripper 5 in real time. The push rod ends of the two miniature electric push rods 514 are fixedly connected to a second tension sensor to monitor the gripping force between the two plate-type fingertip 504 in the two-finger self-adaptive gripper 5 in real time to ensure safety and reliability.

[0028] It should be added that both ends of the first massage roller 505 and the second massage roller 506 are rotatably connected to the plate-type fingertip 504 and the plate-type finger bone 503 respectively through small damping shafts. The resistance required for the rotation of the aforementioned small damping shafts is greater than 5kg, which can ensure that the two-finger self-adaptive gripper 5 can help the elderly to stably grasp everyday items such as toilet paper and water cups. On this basis, the first massage roller 505 and the second massage roller 506 can also rotate and roll along the elderly's body for massage.

[0029] This invention features an intelligent mobile chassis 1 that can move flexibly in various scenarios, providing a foundation for robot services. A corrugated pipe lifting platform 2 can adjust the height of the outer shell 3 according to different needs. A six-axis CNC robotic arm 4 moves precisely, and its end-effector, a two-finger self-adaptive gripper 5, works as follows: a connecting box 501 is fixed to the end of the six-axis CNC robotic arm 4; an electric push cylinder 508 inside the connecting box 501 controls the extension and retraction of a push rod, driving the connecting rod 509 to move, thereby moving the connecting seat 507; and symmetrically hinged rotating rods 517 on both sides of the connecting seat 507, guided by an arched frame 502, drive the plate-type finger bones 503 to achieve two-finger self-adaptive gripper movement. The opening and closing action of the self-adaptive gripper 5, the notch at the end of the arched frame 502, the cooperation of the cylinder 511, the connecting block 512, and the round rod 513 ensures the smooth and stable movement of the rotating rod 517. At the same time, the miniature electric push rod 514 between the plate-type fingertip 504 and the plate-type finger bone 503 can adjust the angle of the plate-type fingertip 504 to adapt to different massage areas. The first tension sensor 510 and the second tension sensor at the end of the miniature electric push rod 514 between the connecting seat 507 and the connecting rod 509 respectively monitor the gripping force of the plate-type finger bone 503 and the plate-type fingertip 504 in the self-adaptive gripper 5 in real time to ensure safety and reliability.

[0030] When an elderly person needs to retrieve items from a high place, the intelligent mobile chassis 1 moves to the appropriate position, the corrugated pipe lifting platform 2 rises to the appropriate height, and the six-axis CNC robotic arm 4 extends and controls the two-fin self-adaptive gripper 5 to accurately grasp the items.

[0031] If the elderly person needs a massage, the six-axis CNC robotic arm 4 moves the two-finger self-adaptive gripper 5 to the corresponding part, such as the arm, back, or leg. The electric push cylinder 508 and two miniature electric push rods 514 work together to make the two-finger self-adaptive gripper 5 unfold 180° to fit and press against the elderly person's back, or unfold in a V-shape to pinch and massage the elderly person's arms, legs, or shoulders. The protrusions on the first massage roller 505 and the second massage roller 506 stimulate acupoints to relieve muscle fatigue. Furthermore, the first massage roller 505 and the second massage roller 506 are rotatably connected, which makes it easy to massage the elderly person's body along the meridians by unfolding and pressing the two-finger self-adaptive gripper 5.

[0032] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of this utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claims. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. A health care robot for the elderly, comprising an intelligent mobile chassis (1) and a shell (3) mounted on top of the intelligent mobile chassis (1), characterized in that: Two six-axis CNC robotic arms (4) are symmetrically installed on both sides of the outer shell (3), and the ends of the six-axis CNC robotic arms (4) are equipped with two-finger self-adaptive grippers (5). The dual-finger self-adaptive gripper (5) includes two mutually symmetrical plate-type phalanges (503), and the ends of the two plate-type phalanges (503) are rotatably connected to plate-type fingertips (504). Several parallel second massage rollers (506) are rotatably mounted on the inner end face of the plate-type phalanges (503) through several small damping shafts. Several parallel first massage rollers (505) are rotatably mounted on the inner end face of the plate-type fingertips (504) through several small damping shafts.

2. The elderly care robot with health care function according to claim 1, characterized in that: The dual-finger self-adaptive gripper (5) also includes a connecting box (501), an electric push cylinder (508), a connecting rod (509), a connecting seat (507), two arched frames (502), and two rotating rods (517). The connecting box (501) is fixedly connected to the end of the six-axis CNC robotic arm (4). The electric push cylinder (508) is fixedly installed inside the connecting box (501). The end of the push rod in the electric push cylinder (508) and the beginning of the connecting rod (509) are coaxially fixedly connected. The connecting seat (507) 07) and the end of the connecting rod (509) are fixedly connected. The first ends of the two rotating rods (517) are symmetrically hinged to the two sides of the connecting seat (507). The two plate-type finger bones (503) are fixedly connected to the ends of the two rotating rods (517). The two rotating rods (517) pass through the ends of the two arched frames (502). The two arched frames (502) are symmetrically fixedly installed on one side of the connecting box (501). The connecting rod (509) slides through the connecting box (501).

3. The elderly care robot with health care function according to claim 2, characterized in that: The end of the arched frame (502) is provided with a notch for passing through the rotating rod (517). A cylinder (511) is rotatably installed on the inner walls of both sides of the notch. A connecting block (512) is fixedly installed at one end of each of the two cylinders (511). A round rod (513) is rotatably installed between the two ends of the two connecting blocks (512). The two round rods (513) are respectively rolled on the two end faces of the rotating rod (517).

4. The elderly care robot with health care function according to claim 2, characterized in that: A second hinge seat (516) is fixedly connected to one end of the dorsal end face of the plate-type fingertip (504), and a first hinge seat (515) is fixedly connected to one end of the dorsal end face of the plate-type finger bone (503). A miniature electric push rod (514) is connected between the first hinge seat (515) and the second hinge seat (516).

5. The elderly care robot with health care function according to claim 4, characterized in that: A first tension sensor (510) is fixedly connected between the connecting seat (507) and the connecting rod (509), and a second tension sensor is fixedly connected to the end of the push rod in the miniature electric push rod (514).

6. The elderly care robot with health care function according to claim 1, characterized in that: A bellows lifting platform (2) is installed between the upper surface of the intelligent mobile chassis (1) and the lower surface of the outer shell (3).

7. The elderly care robot with health care function according to claim 1, characterized in that: Several protrusions are fixedly connected to the outer walls of the first massage roller (505) and the second massage roller (506).

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