Five-degree-of-freedom open source feeding auxiliary mechanical arm

Abstract

The utility model discloses a five-degree-of-freedom open source feeding auxiliary mechanical arm, which belongs to the field of feeding auxiliary mechanical arms, and comprises a tail end clamping jaw, a camera and a laser module are detachably mounted on the tail end clamping jaw, and the camera and the laser module are used for sensing the position and posture information of food in real time. The robot is characterized in that a tail end clamping jaw is installed at the tail end of the robot body, autonomous path planning and target grabbing operation are conducted in combination with an intelligent algorithm, a tail end steering engine is installed at the lower end of the tail end clamping jaw, the output end of the tail end steering engine is fixedly connected with a support at the lower end of the tail end clamping jaw, and the tail end steering engine is used for converting the direction of the tail end clamping jaw. According to the utility model, accurate grabbing and feeding operation of target food can be quickly completed, the design is more flexible and intelligent, the use efficiency of a user is improved, the operation complexity is reduced, the dependence on the use environment is lower, the adaptability is stronger, and the closed-loop control structure is adopted, so that the use is more convenient. The precision and the reliability of the mechanical arm are remarkably improved through closed-loop control in a real-time feedback mode.

Description

Technical Field

[0001] This utility model relates to the field of feeding assistance robotic arms, and in particular to a five-degree-of-freedom open-source feeding assistance robotic arm. Background Technology

[0002] Traditional robotic arms for assisting feeding have a simple structure, limited reach, and low precision in their end effector grippers, requiring a large amount of complex information to complete tasks. While traditional robotic arms typically employ a relatively simple open-loop control structure, which is inexpensive to manufacture, it has many limitations in practical applications. For example, their limited range of motion makes it difficult to meet the needs of users in diverse feeding scenarios. Furthermore, the end effector grippers of traditional robotic arms suffer from significant deficiencies in positioning and operational accuracy, usually requiring users or caregivers to provide substantial input information, such as food position, gripping angle, and path planning. This process is cumbersome, inefficient, and prone to errors.

[0003] Therefore, a feeding-assistive robotic arm system capable of laser and camera positioning and multi-directional movement was designed and used. Utility Model Content

[0004] In order to overcome the shortcomings of the existing technology, the purpose of this utility model is to provide a five-degree-of-freedom open-source feeding assistance robotic arm. This utility model can quickly and accurately grasp and feed the target food. Its design is more flexible and intelligent, which improves user efficiency, reduces operation complexity, and has less dependence on the usage environment and stronger adaptability.

[0005] The above-mentioned technical objective of this utility model is achieved through the following technical solution:

[0006] A five-degree-of-freedom open-source feeding assistive robotic arm includes an end effector gripper. A camera and laser module are detachably mounted on the end effector gripper. The camera and laser module are used to perceive the position and posture information of the food in real time, and to perform autonomous path planning and target grasping operations in combination with intelligent algorithms. An end effector servo is mounted on the lower end of the end effector gripper. The output end of the end effector servo is fixedly connected to the bracket at the lower end of the end effector gripper. The end effector servo is used to change the direction of the end effector gripper.

[0007] The robotic arm's end effector gripper integrates a high-precision camera and laser positioning module, enabling it to perceive the position and posture of food in real time. Combined with intelligent algorithms, it performs autonomous path planning and target grasping operations, reducing reliance on complex external inputs. In addition, the end effector gripper structure incorporates a servo motor design for changing direction, which can flexibly adjust the gripper's posture to meet different user habits and various eating posture requirements, thereby significantly improving the robotic arm's applicability and user experience.

[0008] Furthermore, a tail servo motor is installed at the right end of the end gripper, and the output end of the tail servo motor is fixedly connected to the bracket at the right end of the end gripper.

[0009] Furthermore, a second tail servo is installed on the right end of the first tail servo, and the output end of the second tail servo is fixedly connected to the bracket on the right end of the first tail servo.

[0010] Furthermore, a mechanical connecting plate is fixedly installed on the right end of the tail servo motor 2, and a joint plate is rotatably connected to the outside of the mechanical connecting plate.

[0011] Furthermore, a bottom servo motor is installed on the outside of the joint plate on the left side, and the output end of the bottom servo motor is fixedly connected to the joint plate on the left side.

[0012] Furthermore, a bottom servo motor 2 is installed on the outside of the right-side joint plate, and the output end of the bottom servo motor 2 is fixedly connected to the right-side joint plate.

[0013] Furthermore, both the bottom servo motor one and the bottom servo motor two can be detachably mounted on the disc, and the bottom servo motor one is mounted on the lower end of the disc, with the output end of the bottom servo motor one being fixedly connected to the disc.

[0014] Furthermore, the lower end of the base servo motor is fixedly connected to a robotic arm base, and a bottom GD32 chip is detachably installed inside the robotic arm base.

[0015] In summary, this utility model has the following beneficial effects:

[0016] 1. This utility model can quickly and accurately grasp and feed the target food. Its design is more flexible and intelligent, which improves user efficiency and reduces operational complexity, while being less dependent on the usage environment and more adaptable.

[0017] 2. This utility model adopts a closed-loop control structure. The closed-loop control significantly improves the accuracy and reliability of the robotic arm through real-time feedback. The end effector of the robotic arm integrates a high-precision camera and laser positioning module, enabling it to perceive the position and posture information of the food in real time. Combined with intelligent algorithms, it performs autonomous path planning and target grasping operations, reducing dependence on complex external inputs. In addition, the end effector structure introduces a servo motor design for changing direction, which can flexibly adjust the gripper posture to meet different user habits and various eating posture requirements, thereby significantly improving the applicability and user experience of the robotic arm. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure in this embodiment.

[0019] In the diagram: 1. End gripper; 2. Camera and laser module; 3. End servo; 4. Tail servo 1; 5. Tail servo 2; 6. Mechanical connection plate; 7. Joint plate; 8. Bottom servo 1; 9. Bottom servo 2; 10. Base servo 1; 11. Bottom GD32 chip; 12. Robotic arm base. Detailed Implementation

[0020] The present invention will be further described in detail below with reference to the accompanying drawings.

[0021] Identical parts are indicated by the same reference numerals. It should be noted that the terms "front," "rear," "left," "right," "up," and "down" used in the following description refer to directions in the accompanying drawings, while the terms "bottom surface," "top surface," "inner," and "outer" refer to directions toward or away from the geometric center of a specific part, respectively.

[0022] Reference Figure 1 As shown, a preferred embodiment of this utility model is a five-degree-of-freedom open-source feeding assistance robotic arm, including an end effector gripper 1. A camera and laser module 2 are detachably mounted on the end effector gripper 1. The camera and laser module 2 are used to perceive the position and posture information of the food in real time, and to perform autonomous path planning and target grasping operations in combination with intelligent algorithms. An end effector servo 3 is mounted on the lower end of the end effector gripper 1. The output end of the end effector servo 3 is fixedly connected to the bracket at the lower end of the end effector gripper 1. The end effector servo 3 is used to change the direction of the end effector gripper 1.

[0023] The end effector gripper 1 of the robotic arm integrates a high-precision camera and laser positioning module, enabling it to perceive the position and posture information of food in real time. Combined with intelligent algorithms, it performs autonomous path planning and target grasping operations, reducing reliance on complex external inputs. In addition, the end effector gripper 1 incorporates a servo motor design for changing direction, which can flexibly adjust the gripper posture to meet different user habits and various eating posture requirements, thereby significantly improving the applicability and user experience of the robotic arm.

[0024] Reference Figure 1 As shown, a tail servo motor 4 is installed on the right end of the end gripper 1, and the output end of the tail servo motor 4 is fixedly connected to the bracket on the right end of the end gripper 1.

[0025] Reference Figure 1 As shown, a tail servo 2 5 is installed on the right end of the tail servo 1 4, and the output end of the tail servo 2 5 is fixedly connected to the bracket on the right end of the tail servo 1 4.

[0026] Tail servo motor 25 and tail servo motor 4 can ultimately control the up, down, left, and right movement of the end gripper 1.

[0027] Reference Figure 1As shown, a mechanical connecting plate 6 is fixedly installed on the right end of the tail servo 2 5, and a joint plate 7 is rotatably connected to the outside of the mechanical connecting plate 6.

[0028] Reference Figure 1 As shown, a bottom servo motor 8 is mounted on the outside of the left joint plate 7, and the output end of the bottom servo motor 8 is fixedly connected to the left joint plate 7.

[0029] Reference Figure 1 As shown, a bottom servo motor 2 9 is mounted on the outside of the right joint plate 7, and the output end of the bottom servo motor 2 9 is fixedly connected to the right joint plate 7.

[0030] Bottom servo motor 8 and bottom servo motor 9 can drive the joint plate 7 to move, which in turn drives the end gripper 1 to move.

[0031] Reference Figure 1 As shown, both bottom servo motor 8 and bottom servo motor 9 can be detachably mounted on the disc. A base servo motor 10 is mounted on the lower end of the disc, and the output end of the base servo motor 10 is fixedly connected to the disc.

[0032] Reference Figure 1 As shown, the lower end of the base servo motor 10 is fixedly connected to the robotic arm base 12, and the bottom GD32 chip 11 is detachably installed inside the robotic arm base 12.

[0033] The base servo motor 10 can drive the entire robotic arm to rotate, and the bottom GD32 chip 11 can control the movement of each servo motor, enabling the robotic arm to achieve closed-loop control. Closed-loop control significantly improves the accuracy and reliability of the robotic arm through real-time feedback.

[0034] Specific implementation process: The target food is usually placed in a special plate within the reach of the mechanical gripper. The operation process of the robotic arm is based on a set of efficient human-computer interaction algorithms. First, the system uses a camera to perform posture positioning on the user's face, accurately determining the position and angle of the user's head. With the help of this positioning information, the user can control the movement of the mechanical gripper in four directions through simple head movements, so that it can be gradually adjusted to a suitable position close to the target.

[0035] After facial localization is completed and the target area is confirmed, the robotic arm begins to explore and locate within the plate area. Through the integrated camera and laser positioning module, the robotic arm can scan the position of the food in the plate in real time, and combine algorithms to accurately identify the target food and plan the path. When the user issues a confirmation command by nodding, the robotic arm receives the signal and executes the grasping task. After the grasping is completed, the system recognizes the user's face and calibrates the position again to ensure that the robotic arm can accurately deliver the food to the user's mouth, thereby achieving an efficient and natural feeding process.

[0036] Furthermore, the detachable connections between the various components in this application are made by means of screws, bolts, etc., which facilitates disassembly.

[0037] 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 five-degree-of-freedom open-source feeding assistive robotic arm, characterized in that: The device includes an end gripper (1), on which a camera and laser module (2) are detachably mounted. The camera and laser module (2) are used to perceive the position and posture information of the food in real time and perform autonomous path planning and target grasping operations in combination with intelligent algorithms. An end servo motor (3) is installed at the lower end of the end gripper (1). The output end of the end servo motor (3) is fixedly connected to the bracket at the lower end of the end gripper (1). The end servo motor (3) is used to change the direction of the end gripper (1).

2. The five-degree-of-freedom open-source feeding assistive robotic arm according to claim 1, characterized in that: A tail servo motor (4) is installed on the right end of the end gripper (1), and the output end of the tail servo motor (4) is fixedly connected to the bracket on the right end of the end gripper (1).

3. The five-degree-of-freedom open-source feeding assistive robotic arm according to claim 2, characterized in that: Tail servo motor 2 (5) is installed on the right end of tail servo motor 1 (4), and the output end of tail servo motor 2 (5) is fixedly connected to the bracket on the right end of tail servo motor 1 (4).

4. The five-degree-of-freedom open-source feeding assistive robotic arm according to claim 3, characterized in that: A mechanical connecting plate (6) is fixedly installed on the right end of the tail servo 2 (5), and a joint plate (7) is rotatably connected to the outside of the mechanical connecting plate (6).

5. The five-degree-of-freedom open-source feeding assistive robotic arm according to claim 4, characterized in that: A bottom servo motor (8) is mounted on the outside of the joint plate (7) on the left side, and the output end of the bottom servo motor (8) is fixedly connected to the joint plate (7) on the left side.

6. The five-degree-of-freedom open-source feeding assistive robotic arm according to claim 5, characterized in that: A bottom servo motor 2 (9) is installed on the outside of the joint plate (7) on the right side, and the output end of the bottom servo motor 2 (9) is fixedly connected to the joint plate (7) on the right side.

7. A five-degree-of-freedom open-source feeding assistive robotic arm according to claim 6, characterized in that: Both the bottom servo motor 1 (8) and the bottom servo motor 2 (9) can be detachably mounted on the disc. The bottom end of the disc is equipped with a base servo motor 1 (10), and the output end of the base servo motor 1 (10) is fixedly connected to the disc.

8. The five-degree-of-freedom open-source feeding assistive robotic arm according to claim 7, characterized in that: The lower end of the base servo motor (10) is fixedly connected to the robotic arm base (12), and the bottom GD32 chip (11) is detachably installed inside the robotic arm base (12).

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