CN-122008290-A - Actuator and dining assisting robot

CN122008290ACN 122008290 ACN122008290 ACN 122008290ACN-122008290-A

Abstract

The application provides an actuator and a dining-assisting robot, wherein the actuator comprises a shell, a turntable and a plurality of translation parts, a preformed hole is formed in the peripheral wall of the shell, and a plugging assembly is arranged on the shell. The rotary table is coaxially arranged in the shell and is in transmission connection with a rotary driving member, an annular accommodating space is formed between the outer peripheral wall of the rotary table and the inner peripheral wall of the shell, a plurality of guide grooves are formed in the outer peripheral wall of the rotary table at intervals along the circumferential direction, a plurality of translation parts are arranged in the guide grooves in a one-to-one correspondence manner, each translation part has the freedom degree of moving along the axial direction of the corresponding guide groove, and the translation part is in transmission connection with a linear driving member. Each translation part is provided with an executing element, and the required executing element can extend out of the shell through rotating the turntable and driving the translation parts to move so as to be matched with the mechanical arm. The executor and the dining assisting robot provided by the application can be used for rapidly switching different execution elements, so that the collection of different foods by a user is facilitated, and the dining efficiency of the user is ensured.

Inventors

DUAN LANPING
WU RUI
ZHANG MENGMENG
ZHANG YUANYUAN
YU NA
ZHANG JIE
Zong Kexuan
CAO YINGFENG

Assignees

沧州医学高等专科学校

Dates

Publication Date: 20260512
Application Date: 20260415

Claims (10)

1. The executor for link to each other with the end of arm, its characterized in that includes: The shell adopts a hollow cylindrical structure, and a preformed hole communicated with the inside is formed in the outer peripheral wall of the shell; A rotary disk coaxially arranged in the shell and in transmission connection with a rotation driving member for driving the rotary disk to rotate, an annular accommodating space formed between the outer peripheral wall of the rotary disk and the inner peripheral wall of the shell, a plurality of guide grooves arranged on the outer peripheral wall of the rotary disk at intervals along the circumferential direction, and The translation parts are arranged in the guide grooves in a one-to-one correspondence manner, each translation part has the freedom degree of moving along the axial direction corresponding to the guide groove, and a linear driving component for driving the translation parts to move is connected in a transmission manner; Wherein each translation member is provided with an execution element, and the execution element is one of a spoon, a fork and a clip; when the guide groove faces the reserved hole, the linear driving component can drive the translation piece to move, so that the corresponding executing element extends out of the shell.
2. The actuator of claim 1, wherein the turntable comprises: The central body is coaxially arranged in the shell and has the freedom degree of rotating by a central axis of the central body, the central body is in transmission connection with the rotation driving component, a plurality of extension arms are arranged at the periphery of the central body, the extension arms are arranged at intervals along the periphery of the central body, and an installation space is formed between two adjacent extension arms along the periphery of the central body, and the rotation driving component comprises a plurality of extension arms which are arranged at intervals along the periphery of the central body The butt joint pieces are embedded in the installation spaces in a one-to-one correspondence manner, and the number of the butt joint pieces is greater than or equal to that of the translation pieces; The plurality of guide grooves are correspondingly arranged on the outer walls of the plurality of butt joint pieces in one-to-one correspondence, and the outer end faces of the extension arms are aligned with the outer end faces of the butt joint pieces so as to form the accommodating space with the inner peripheral wall of the shell.
3. The actuator of claim 2, wherein an inner end surface of the abutting member abuts against an outer peripheral wall of the center body when the abutting member is fitted into the corresponding mounting space; the outer end of the extension arm is provided with a lug extending along the circumferential direction of the central body, and the outer end surface of the abutting piece is provided with a groove suitable for the lug to be embedded in so as to limit the abutting piece to move outwards along the radial direction of the central body; and limiting grooves are formed in two sides, facing the circumference direction of the central body, of the extension arm, limiting pieces suitable for being embedded into the limiting grooves are arranged on two sides of the butt joint piece, and therefore the butt joint piece is limited to move along the axial direction of the central body.
4. The actuator of claim 2, wherein an accommodating groove is formed in the end face of the translation member facing the bottom of the guide groove, and an anti-falling frame is arranged at the opening of the accommodating groove; The linear driving component comprises a linear air cylinder fixedly arranged in the accommodating groove, and a power output shaft of the linear air cylinder extends out through the anti-falling frame and is connected with the bottom of the guide groove.
5. The actuator of claim 1, wherein the occlusion assembly comprises: The baffle adopts an arc structure matched with the peripheral wall of the shell, and is connected on the peripheral surface of the shell in a sliding way along the circumferential direction of the shell, an arc driven rack is fixedly connected on the baffle, the central axis of the driven rack is aligned with the central axis of the shell, and The second rotating motor is fixedly arranged on the outer wall of the shell, the power output shaft direction of the second rotating motor is parallel to the shaft direction of the shell, and the power output end of the second rotating motor is connected with a transmission gear meshed with the driven rack.
6. The actuator of claim 1, wherein the housing has a through hole at the center thereof in communication with the inside thereof, and the turntable is provided with a driving shaft penetrating the through hole and protruding therefrom; The rotary driving member comprises a second rotary motor fixedly arranged outside the shell, and a power output shaft of the second rotary motor is in transmission connection with the driving shaft.
7. The actuator of any one of claims 1-6, wherein the actuator further comprises: The water storage piece is used for containing liquid and is fixedly arranged on the mechanical arm and positioned at one side of the shell, which faces the axial direction of the shell, of the mechanical arm; the water spraying assembly is fixedly arranged on the shell and is used for spraying high-pressure water into the accommodating space; the water pumping pipeline is communicated with the accommodating space and is connected with a pump body for providing pumping force; the water spraying assembly is communicated with the outlet of the water storage piece through a first telescopic pipe, and the liquid outlet of the pump body is communicated with the inlet of the water storage piece.
8. The actuator of claim 7, wherein the water pumping line comprises: a plurality of water pipes arranged on one side of the shell facing the water storage piece, each water pipe being communicated with the accommodating space, and The water collecting pipe is fixedly arranged on the shell and communicated with the water through pipes, a second telescopic pipe is connected to the center of the water collecting pipe, and the second telescopic pipe is communicated with the pump body.
9. The actuator of claim 7, wherein the water jet assembly and the water extraction line are juxtaposed in an axial direction of the preformed hole; when the reserved hole faces upwards, the water pumping pipeline is positioned above the water spraying assembly, so that circulating liquid with the liquid level higher than that of the water pumping pipeline is formed after the water spraying assembly inputs liquid into the accommodating space; the pump body pumps out the circulating liquid through the water pumping pipeline and inputs the circulating liquid into the water storage piece to form a cleaning system which acts on the executing element based on liquid circulation.
10. A dining robot comprising an actuator according to any one of claims 1-9.

Description

Actuator and dining assisting robot Technical Field The application belongs to the technical field of auxiliary feeding equipment, and particularly relates to an actuator and a meal assisting robot. Background The meal assisting robot is auxiliary feeding equipment specially designed for people with mobility impairment, and has the main function of replacing the traditional manual feeding means, so that the autonomy of a user is improved, and the workload of nursing staff can be reduced while the psychological pressure of the user is relieved. In the prior art, a core module of the dining assisting robot is an action executing system, and the system comprises a multi-degree-of-freedom mechanical arm and an actuator (a spoon, a fork, a clip and the like) arranged at the tail end of the mechanical arm. When feeding action is executed, the mechanical arm controls the actuator to move to the food position, then food is transferred to the mouth of a user, and finally the mechanical arm controls the actuator to reset, so that the meal-assisting action of taking, delivering and returning is completed. When a user takes different kinds of foods successively, different actuators need to be replaced after a single meal-assisting action. Specifically, after scooping up the fluid food (such as porridge, soybean milk, etc.) using the scoop, if the user wants to eat the block food (such as diced meat, carrot block, etc.), the end of the robot arm that has been reset needs to be controlled to move to the actuator switching station, the scoop is released, and the actuator (such as a clip or fork, etc.) adapted to the block solid is assembled to perform the meal-assisting action of the next round. The whole process consumes a great deal of time, and the dining efficiency of the user is reduced. Disclosure of Invention The embodiment of the application provides an actuator and a dining assisting robot, which aim to flexibly switch different actuating elements so as to ensure the dining efficiency of a user. In order to achieve the above purpose, the application adopts the following technical scheme: There is provided an actuator for connection to an end of a robotic arm, comprising: The shell adopts a hollow cylindrical structure, and a preformed hole communicated with the inside is formed in the outer peripheral wall of the shell; A rotary disk coaxially arranged in the shell and in transmission connection with a rotation driving member for driving the rotary disk to rotate, an annular accommodating space formed between the outer peripheral wall of the rotary disk and the inner peripheral wall of the shell, a plurality of guide grooves arranged on the outer peripheral wall of the rotary disk at intervals along the circumferential direction, and The translation parts are arranged in the guide grooves in a one-to-one correspondence manner, each translation part has the freedom degree of moving along the axial direction corresponding to the guide groove, and a linear driving component for driving the translation parts to move is connected in a transmission manner; Wherein each translation member is provided with an execution element, and the execution element is one of a spoon, a fork and a clip; when the guide groove faces the reserved hole, the linear driving component can drive the translation piece to move, so that the corresponding executing element extends out of the shell. In one possible implementation, the turntable includes: The central body is coaxially arranged in the shell and has the freedom degree of rotating by a central axis of the central body, the central body is in transmission connection with the rotation driving component, a plurality of extension arms are arranged at the periphery of the central body, the extension arms are arranged at intervals along the periphery of the central body, and an installation space is formed between two adjacent extension arms along the periphery of the central body, and the rotation driving component comprises a plurality of extension arms which are arranged at intervals along the periphery of the central body The butt joint pieces are embedded in the installation spaces in a one-to-one correspondence manner, and the number of the butt joint pieces is greater than or equal to that of the translation pieces; The plurality of guide grooves are correspondingly arranged on the outer walls of the plurality of butt joint pieces in one-to-one correspondence, and the outer end faces of the extension arms are aligned with the outer end faces of the butt joint pieces so as to form the accommodating space with the inner peripheral wall of the shell. In one possible implementation, the inner end surface of the butt piece abuts against the outer peripheral wall of the central body when the butt piece is inserted into the corresponding installation space; the outer end of the extension arm is provided with a lug extending along the circumferential direction of the central body, and the o