CN117547417A - Intelligent old-age-helping displacement robot - Google Patents

Abstract

The invention discloses an intelligent aging-assisting displacement robot, which relates to the technical field of aging-assisting displacement equipment and comprises the following components: the device comprises a bearing main body, a lifting motor, a supporting plate, a steering module and a maintenance cleaning module; the lifting motor is fixedly arranged on the bearing main body; the supporting plate is movably arranged at the bottom of the bearing main body; the steering module is connected with the supporting plate and the executing end of the lifting motor and is used for driving the supporting plate to lift and steer; the maintenance cleaning module is arranged on the bearing main body, is connected with the lifting motor and is used for daily maintenance and cleaning of wheel bearings of a plurality of wheels of the bearing main body. The invention solves the defect that the prior art needs to occupy larger deployment space in the steering process, and has the characteristics of convenient operation and control and low maintenance cost.

Description

Intelligent elderly displacement robot

Technical field

The invention relates to the technical field of displacement equipment for assisting the elderly, specifically an intelligent displacement robot for assisting the elderly.

Background technique

The intelligent elderly-assisting displacement robot is a robot specially designed for the elderly. It mainly provides mobility assistance, companionship services and many different types of services.

Existing intelligent displacement robots that assist the elderly have problems. Existing medical auxiliary displacement robots are limited by special circumstances such as functional integration, site size, and objects of use. As a result, the existing displacement robots cannot well meet the needs of the objects of use. Demand requires more intelligent and functionally diversified medical-assisted displacement robot products to meet current social needs. The existing technology patent number is CN219847133U, which is called an intelligent displacement robot for assisting the elderly. It can be rotated and closed by using settings. The wheelchair seat with the structure of the first and second seat panels facilitates the caregiver to move the disabled elderly person to the robot. The caregiver remotely controls the robot through the touch screen. When traveling, the robot can simply decelerate through the sensing component. The obstacle avoidance function makes the robot more intelligent and greatly improves the work efficiency of nursing staff, thus solving the above problems.

However, when using this kind of intelligent displacement robot for assisting the elderly, you need to make a U-turn, because this intelligent displacement robot for assisting the elderly can only perform forward, backward, left and right turns, etc. If you need to make a U-turn, you need to make multiple direction adjustments and certain performances. Space can only be achieved.

Contents of the invention

In view of the technical problem that existing intelligent displacement robots for assisting the elderly in the prior art require multiple direction adjustment operations and a certain display space when turning around, embodiments of the present invention provide an intelligent displacement robot for assisting the elderly. Includes: load-bearing body, lifting motor, pallet, steering module and maintenance and cleaning module;

The lifting motor is fixedly installed on the carrying body;

The supporting plate is movable at the bottom of the carrying body;

The steering module connects the pallet and the execution end of the lifting motor, and is used to drive the pallet to lift and turn;

The maintenance and cleaning module is arranged on the main body, and is connected to the lifting motor. It is used for daily maintenance and cleaning of the wheel bearings of several wheels of the main body.

Further, the steering module includes: a chassis, a pair of guide holes, a pair of guide rods, a lifting component and a steering component;

The chassis is movablely set at the bottom of the load-bearing body, and the supporting plate is rotatably set at the bottom of the chassis;

A pair of guide holes are opened on the top of the chassis;

A pair of guide rods are fixedly arranged at the bottom of the load-bearing body, and the pair of guide rods are movably inserted into a pair of guide holes respectively. The guide rods are arranged vertically along the axial direction of the load-bearing body and are used to radially limit the chassis;

The lifting component connects the execution end of the chassis and the lifting motor and is used to drive the chassis and the pallet to lift;

The steering assembly connects the pallet and the chassis and is used to drive the pallet to rotate.

Further, the lifting assembly includes: an internally threaded barrel, a stud, a push plate, a number of accommodation cavities, a number of sockets, a number of load-bearing rods and a number of first springs;

The top of the internal thread barrel is fixedly connected to the execution end of the lifting motor. The thread barrel is arranged vertically along the axial direction of the load-bearing body. The bottom end of the internal thread barrel adopts an open design;

The stud is inserted into the inner cavity of the internally threaded barrel, and the stud is threadedly connected to the internally threaded barrel;

The push plate is fixedly installed on the bottom end of the stud;

Several accommodation cavities are provided inside the chassis;

Several jacks are opened on the top of the chassis, and any jack penetrates the outer wall of the chassis and communicates with the accommodation cavity;

The top ends of several load-bearing rods are fixedly connected to the push plates, and the bottom ends of several load-bearing rods respectively pass through several sockets and are movablely inserted into the interior of several accommodation cavities;

Several first springs are respectively sleeved on several load-bearing rods. One end of any first spring is fixedly connected to the bottom end of the corresponding load-bearing rod, and the other end of any first spring is connected to the inner cavity of the corresponding accommodation cavity. The top walls are connected.

Further, the lifting component also includes: an assembly slot, a receiving slot, a card slot, a first slide block, a second slide block, a locking slide block, a second spring, a first inclined plane, a second inclined plane and a third inclined plane;

The assembly groove is opened at the bottom of the load-bearing body;

The accommodating groove is opened on the side wall of the inner cavity of the assembly groove;

The card slot is opened on the chassis, and the notch of the card slot faces the side of the accommodating slot;

The first slider is movably arranged in the inner cavity of the accommodating groove, the first slider is slidingly connected with the side wall of the inner cavity of the accommodating groove, and the first slider slides along the axial direction of the accommodating groove;

The second slide block is slidingly connected to the top wall of the inner cavity of the accommodating groove, the second slide block slides along the radial direction of the accommodating groove, and the position of the second slide block matches the position of the push plate;

The locking slider is slidingly connected to the bottom wall of the inner cavity of the accommodating groove. The locking slider slides along the radial direction of the accommodating groove. After the head end of the locking slider extends through the notch of the accommodating groove, the head of the locking slider The end is plugged into the card slot for axial positioning of the chassis;

The second spring is arranged at the bottom of the inner cavity of the accommodating groove. One end of the second spring is fixedly connected to the tail end of the locking slider, and the other end of the second spring is fixedly connected to the inner wall of the accommodating groove for driving the locking slider to retract. Return to the interior of the holding tank;

The first inclined surface is arranged on the top of the first slider, the first inclined surface faces the bottom of the second slider, and the first inclined surface abuts the tail end of the second slider;

The second inclined surface is provided at the bottom of the second slide block, the second inclined surface is located at the head end of the second slide block, the second inclined surface faces the push plate, and the second inclined surface abuts the push plate;

The third inclined surface is arranged on the top of the locking slider, the third inclined surface is located at the rear end of the locking slider, the third inclined surface faces the bottom of the first slider, and the third inclined surface abuts the bottom of the first slider.

Further, the load-bearing rod includes: a sleeve, a insertion rod, a load-bearing counterbore, a positioning counterbore, a fixed magnet block, a moving magnet block and a third magnet block;

The top of the sleeve is fixedly connected to the bottom of the push plate. The bottom of the sleeve adopts an open design. The sleeve passes through the corresponding socket and is movablely inserted into the interior of the corresponding accommodation cavity. One of the first spring sleeves is set in on the sleeve;

The top end of the insertion rod passes through the bottom end port of the sleeve and is movably inserted into the inner cavity of the sleeve, and the bottom end of the insertion rod is fixedly connected to one end of the first spring;

The load-bearing counterbore is opened on the side wall of the insertion rod;

The positioning counterbore is opened on the side wall of the inner cavity of the sleeve. When the insertion rod and the sleeve are in a mutually locked state, the positioning counterbore matches the position of the load counterbore;

The fixed magnet block is fixedly installed in the inner cavity carrying the counterbore;

The moving magnet block is movably installed in the inner cavity of the countersunk hole. When the insertion rod and the sleeve are locked with each other, the head end of the moving magnet block is inserted into the inner cavity of the positioning counterbore, and the tail end of the moving magnet block faces The head end of the fixed magnet block and the tail end of the moving magnet block have the same magnetic poles as the head end of the fixed magnet block, which are used to lock the insertion rod and sleeve;

The third magnet block is fixedly arranged inside the locking slider. The third magnet block is located at the head end of the locking slider. The head end of the third magnet block faces the head end of the moving magnet block. The head end of the third magnet block is in contact with the moving magnet block. The magnetic poles at the head ends of the blocks are the same.

Further, the steering component includes: steering motor, ring gear, driving gear and driven gear;

The steering motor is fixedly mounted on the supporting plate;

The ring gear is fixedly installed at the bottom of the chassis;

The driving gear is set at the execution end of the steering motor, and the driving gear is located in the inner cavity of the ring gear;

The driven gear is rotated and arranged on the supporting plate. The driven gear is located in the inner cavity of the ring gear. The driven gear meshes with the driving gear, and the driven gear meshes with the ring gear.

Further, the maintenance and cleaning module includes: a main transmission mechanism, several auxiliary transmission mechanisms and several maintenance components;

The main transmission mechanism is arranged inside the load-bearing body, and the main transmission mechanism is connected to the execution end of the lifting motor;

Several maintenance components are arranged on the load-bearing body, and the several maintenance components are respectively matched with the positions of several wheels, and are used for daily cleaning and maintenance of the wheels;

Any auxiliary transmission mechanism connects the main transmission mechanism and one of the maintenance components for driving the maintenance component to operate.

Further, the maintenance component includes: a storage cavity, an assembly cavity, a transmission cavity, several liquid dispensing holes, partitions, a pair of output holes, a socket, an insert plate and a driving mechanism;

The storage cavity is arranged inside the bearing body, and is located on the upper side of the corresponding wheel for storing bearing cleaner;

The assembly cavity is arranged inside the load-bearing body, and the assembly cavity is located between the storage cavity and the corresponding wheel;

Several liquid separation holes are evenly opened on the bottom wall of the inner cavity of the storage cavity, and any liquid separation hole penetrates the inner wall of the storage cavity and communicates with the assembly cavity;

The partition is fixedly arranged on the bottom wall of the inner cavity of the assembly cavity, and the partition separates the assembly cavity into a pair of infusion chambers;

A pair of output holes are opened on the outer wall of the load-bearing body. The pair of output holes penetrate the outer wall of the load-bearing body and are respectively connected with the bottom of the inner cavity of a pair of infusion chambers. The pair of output holes are split on both sides of the corresponding wheel. The pair of output holes Facing the wheel bearing locations on both sides of the wheel;

The transmission cavity is arranged inside the bearing body, and the transmission cavity is located on one side of the assembly cavity;

The socket is provided on the inner wall of the transmission cavity, and the socket penetrates the inner wall of the transmission cavity and communicates with the assembly cavity;

The plug-in plate is movably inserted into the socket, and the radial cross-sectional shape of the plug-in plate matches the socket. The top surface of the plug-in plate is in contact with the top wall of the inner cavity of the assembly cavity, and is used to block and close several liquid separation holes;

The driving mechanism is arranged inside the transmission cavity, and is connected to the plug-in board for controlling the opening and closing of the plug-in board.

Furthermore, the maintenance and cleaning module also includes: an air pump and several air pipes.

The air pump is installed on the bearing body;

The air inlet ends of several air pipes are connected with the air outlet ends of the air pumps, and the air outlet ends of the several air pipes are respectively connected with the assembly cavities of several maintenance components.

Further, the driving mechanism includes: screw rod and nut;

The screw is rotated and arranged inside the transmission cavity. One end of the screw is connected to one of the auxiliary transmission mechanisms, and the auxiliary transmission mechanism drives the screw to rotate;

The nut is sleeved on the screw rod, the nut is threadedly connected to the screw rod, and the nut is fixedly connected to the plug-in plate, and is used to drive the plug-in plate to slide along the guide of the socket.

The intelligent displacement robot for assisting the elderly according to the embodiment of the present invention has the following beneficial effects:

1. This device drives the pallet to lift and rotate through the steering module, and utilizes the friction between the bottom of the pallet and the ground to achieve the purpose of driving the device to turn in place, solving the problem of intelligent elderly assistance displacement in the existing technology. The robot has the disadvantage of needing to occupy a large display space during the turning process, which improves the control convenience of this device.

2. This device uses the assembly relationship between the accommodation slot, the first slide block, the second slide block, the locking slide block, and the card slot. After the chassis and the supporting plate are lifted into place, the head end of the locking slide block is snapped in. The slot thus locks the floor and the pallet axially, thereby enhancing the axial stability of the device.

3. This device realizes the connection between the inserting rod and the moving magnet by embedding a third magnetic block inside the head end of the locking slider and by setting load-bearing counterbore, positioning counterbore, fixed magnet block and moving magnet block on the sleeve and inserting rod. To automatically lock and unlock the sleeve, after the head end of the locking slider is inserted into the slot, the magnetic force between the third magnet block and the moving magnet block is used to push the head end of the moving magnet block out of the positioning counterbore, allowing the insertion rod to move from It extends from the inner cavity of the sleeve to release the first spring, which relieves the axial force acting directly on the stud and avoids the fatigue of the thread between the stud and the internal thread barrel caused by long-term axial force. damage, reducing the maintenance cost of the device.

4. This device automatically cleans and maintains the wheel bearings of the wheel through maintenance components on a regular basis to avoid wear and tear caused by excessive adhesion of impurities to the wheel bearings during long-term use, further reducing the maintenance cost of the device.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and are intended to provide further explanation of the claimed technology.

Description of the drawings

Figure 1 is a perspective view according to an embodiment of the present invention;

Figure 2 is a schematic diagram of the internal structure according to an embodiment of the present invention;

Figure 3 is a partial enlarged schematic diagram of area A in Figure 2;

Figure 4 is a partially enlarged schematic diagram of area B in Figure 3;

Figure 5 is a schematic diagram of the internal structure of a load-bearing rod according to an embodiment of the present invention;

Figure 6 is a partially enlarged schematic diagram of area C in Figure 5;

Figure 7 is an exploded schematic diagram of the structure of the load-bearing rod according to an embodiment of the present invention (the sleeve is perspectively processed);

Figure 8 is a partially enlarged schematic diagram of area D in Figure 3;

Figure 9 is a schematic diagram of the internal structure of area E in Figure 1;

Figure 10 is a partial enlarged schematic diagram of the H area in Figure 9;

Figure 11 is a schematic assembly diagram of a maintenance component according to an embodiment of the present invention.

Explanation of the attached picture identification:

1-Loading body, 2-Lifting motor, 3-Plate, 6-Wheels.

Steering module: 41-chassis, 42-guide rod, lifting component {431-internal thread barrel, 432-stud, 433-push plate, 434-accommodation cavity, 435-carrying rod (4351-sleeve, 4352-insert Rod, 4353-loading counterbore, 4354-positioning counterbore, 4355-fixed magnet block, 4356-moving magnet block, 4357-third magnet block), 436-first spring, 437-accommodating slot, 438-card slot , 439-first slider, 440-second slider, 441-locking slider, 442-second spring, 443-first bevel, 444-second bevel, 445-third bevel}, steering assembly (451 -Steering motor, 452-ring gear, 453-driving gear, 454-driven gear).

Maintenance and cleaning module: main transmission mechanism (511-main transmission shaft, 512-driving sprocket, 513-driven sprocket, 514-transmission chain, 515-first bevel gear, 516-auxiliary drive shaft, 517-second umbrella gear), auxiliary transmission mechanism (521-third transmission shaft, 522-third bevel gear, 523-fourth bevel gear), maintenance components {531-storage chamber, 532-assembly chamber, 5321-infusion chamber, 533 -Transmission cavity, 534-dispensing hole, 535-partition plate, 536-insert plate, driving mechanism (5371-screw, 5372-nut)}.

Detailed ways

The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings to further elucidate the present invention.

The foregoing and other technical contents, features and effects of the present invention will be clearly presented in the following detailed description of the embodiments with reference to the accompanying drawings. The direction terms mentioned in the following embodiments, such as up, down, left, right, front or back, etc., are only for reference to the directions in the drawings. Therefore, the directional terminology used is illustrative rather than limiting and, further, like reference numerals refer to like elements throughout the embodiments.

First, an intelligent elderly-assisting displacement robot according to an embodiment of the present invention will be described with reference to Figures 1 to 11. It is used to assist the elderly or patients with mobility difficulties to move, and its application scenarios are broad.

As shown in Figures 1 and 2, the intelligent displacement robot for assisting the elderly according to the embodiment of the present invention includes: a carrying body 1, a lifting motor 2, a pallet 3, a steering module and a maintenance and cleaning module.

Specifically, as shown in Figures 1 and 2, the lifting motor 2 is fixedly arranged on the carrying body 1; the supporting plate 3 is movably arranged at the bottom of the carrying body 1; the steering module connects the supporting plate 3 and the execution end of the lifting motor 2 for The pallet 3 is driven to lift and turn; the maintenance and cleaning module is arranged on the carrying body 1, and is connected to the lifting motor 2 for daily maintenance and cleaning of the wheel 6 bearings of several wheels 6 of the carrying body 1.

Further, as shown in Figures 1 to 3 and 8, the steering module includes: a chassis 41, a pair of guide holes (not shown in the figure), a pair of guide rods 42, a lifting component and a steering component; the chassis 41 is movable on the load-bearing body 1, the supporting plate 3 is rotatably arranged at the bottom of the chassis 41; a pair of guide holes are opened at the top of the chassis 41; a pair of guide rods 42 are fixedly installed at the bottom of the load-bearing body 1, and a pair of guide rods 42 are respectively movably inserted into the bottom of the chassis 41. In a pair of guide holes, the guide rods 42 are arranged vertically along the axial direction of the load-bearing body 1, and are used to limit the radial position of the chassis 41; the lifting assembly connects the chassis 41 and the execution end of the lifting motor 2, and is used to drive the chassis 41 and the lifting motor 2. The supporting plate 3 is lifted and lowered; the steering assembly connects the supporting plate 3 and the chassis 41 to drive the supporting plate 3 to rotate.

Further, as shown in Figures 1 to 4, the lifting assembly includes: an internally threaded barrel 431, a stud 432, a push plate 433, a number of accommodation cavities 434, a number of jacks (not shown in the figure), and a number of load-bearing rods. 435 and several first springs 436; the top of the internal thread barrel 431 is fixedly connected to the execution end of the lifting motor 2, the thread barrel is arranged vertically along the axial direction of the load-bearing body 1, and the bottom end of the internal thread barrel 431 adopts an open design; The stud 432 is inserted into the inner cavity of the internal thread barrel 431, and the stud 432 is threadedly connected to the internal thread barrel 431; the push plate 433 is fixedly provided at the bottom of the stud 432; several accommodation cavities 434 are provided on the chassis 41 Inside; several jacks are opened on the top of the chassis 41, and any jack penetrates the outer wall of the chassis 41 and communicates with the accommodation cavity 434; the tops of several load-bearing rods 435 are fixedly connected to the push plate 433, and the bottoms of several load-bearing rods 435 are fixedly connected. The ends pass through several sockets and are movably inserted into the interior of several accommodating cavities 434; several first springs 436 are respectively set on several load-bearing rods 435, and one end of any first spring 436 is connected to the corresponding load-bearing rod 435. The bottom end of the rod 435 is fixedly connected, and the other end of any first spring 436 is connected to the top wall of the corresponding inner cavity of the accommodation cavity 434 .

Further, as shown in Figures 1 to 4, the lifting assembly also includes: an assembly slot (not shown in the figure), an accommodating slot 437, a card slot 438, a first slider 439, a second slider 440, and a locking slider 441. , the second spring 442, the first inclined surface 443, the second inclined surface 444 and the third inclined surface 445; the assembly groove is provided at the bottom of the bearing body 1; the accommodation groove 437 is provided on the inner cavity side wall of the assembly groove; the clamping groove 438 is provided On the chassis 41, the notch of the card slot 438 faces one side of the accommodating slot 437; the first slider 439 is movably disposed in the inner cavity of the accommodating slot 437, and the first slider 439 is in contact with the inner cavity side of the accommodating slot 437. The first slider 439 slides along the axial direction of the accommodating groove 437; the second slider 440 is slidably connected with the top wall of the inner cavity of the accommodating groove 437, and the second slider 440 slides along the radial direction of the accommodating groove 437. Slide, the second slider 440 matches the position of the push plate 433; the locking slider 441 is slidingly connected to the bottom wall of the inner cavity of the accommodating groove 437, and the locking slider 441 slides along the radial direction of the accommodating groove 437. After the head end of the block 441 extends through the notch of the accommodating groove 437, the head end of the locking slider 441 is inserted into the slot 438 for axial positioning of the chassis 41; the second spring 442 is disposed in the accommodating groove. 437 at the bottom of the inner cavity, one end of the second spring 442 is fixedly connected to the tail end of the locking slider 441, and the other end of the second spring 442 is fixedly connected to the inner wall of the accommodating groove 437 for driving the locking slider 441 to retract. Inside the slot 437; the first inclined surface 443 is provided at the top of the first slider 439, the first inclined surface 443 faces the bottom of the second slider 440, and the first inclined surface 443 abuts the tail end of the second slider 440; The second inclined surface 444 is provided at the bottom of the second slider 440, the second inclined surface 444 is located at the head end of the second slider 440, the second inclined surface 444 faces the push plate 433, and the second inclined surface 444 abuts the push plate 433; the third inclined surface 445 is provided at the top of the locking slider 441, the third slope 445 is located at the rear end of the locking slider 441, the third slope 445 faces the bottom of the first slider 439, and the third slope 445 abuts the bottom of the first slider 439 .

Further, as shown in Figures 3 to 7, the load-bearing rod 435 includes: a sleeve 4351, an insertion rod 4352, a load-bearing counterbore 4353, a positioning counterbore 4354, a fixed magnet block 4355, a moving magnet block 4356 and a third magnet block 4357; The top of the barrel 4351 is fixedly connected to the bottom of the push plate 433. The bottom of the sleeve 4351 adopts an open design. The sleeve 4351 passes through the corresponding jack and is movablely inserted into the interior of the corresponding accommodation cavity 434. One of the first The spring 436 is sleeved on the sleeve 4351; the top of the insertion rod 4352 passes through the bottom end port of the sleeve 4351 and is movably inserted into the inner cavity of the sleeve 4351, and the bottom end of the insertion rod 4352 is fixed to one end of the first spring 436 Connection; the load-bearing counterbore 4353 is opened on the side wall of the insertion rod 4352; the positioning counterbore 4354 is opened on the side wall of the inner cavity of the sleeve 4351. When the insertion rod 4352 and the sleeve 4351 are in a mutually locked state, the positioning counterbore 4354 matches the position of the load-bearing counterbore; the fixed magnet block 4355 is fixedly arranged in the inner cavity of the load-bearing counterbore 4353; the moving magnet block 4356 is movably arranged in the inner cavity of the load-bearing counterbore 4353, between the insertion rod 4352 and the sleeve 4351 are in a mutually locked state, the head end of the moving magnet block 4356 is plugged into the inner cavity of the positioning counterbore 4354, the tail end of the moving magnet block 4356 faces the head end of the fixed magnet block 4355, and the tail end of the moving magnet block 4356 is in contact with the fixed magnet block 4355. The magnetic poles at the head end of the fixed magnet block 4355 are the same and are used to lock the insertion rod 4352 and the sleeve 4351; the third magnet block 4357 is fixedly arranged inside the locking slider 441, and the third magnet block 4357 is located at the head end of the locking slider 441. The head end of the third magnet block 4357 faces the head end of the moving magnet block 4356, and the head end of the third magnet block 4357 has the same magnetic pole as the head end of the moving magnet block 4356.

Further, as shown in Figures 3 and 8, the steering assembly includes: a steering motor 451, a ring gear 452, a driving gear 453 and a driven gear 454; the steering motor 451 is fixed on the supporting plate 3; the ring gear 452 is fixed on the chassis 41 at the bottom; the driving gear 453 is set at the execution end of the steering motor 451, and the driving gear 453 is located in the inner cavity of the ring gear 452; the driven gear 454 is rotated and installed on the supporting plate 3, and the driven gear 454 is located in the inner cavity of the ring gear 452 , the driven gear 454 meshes with the driving gear 453, and the driven gear 454 meshes with the ring gear 452.

The working principle of the steering module is as follows: when the device needs to be turned, first, the lifting motor 2 drives the internal thread barrel 431 to rotate forward. Since the chassis 41 is radially positioned by the assembly relationship between the guide rod 42 and the guide hole, the chassis 41 The lifting displacement can only be carried out along the guide of the guide rod 42, and because the push plate 433 fixedly provided at the bottom of the stud 432 is movablely inserted into the interior of the plurality of accommodation cavities 434 through the plurality of load-bearing rods 435, the stud 432 It is positioned radially and cannot rotate. Therefore, during the forward rotation of the internally threaded barrel 431, under the action of the thread matching relationship between the stud 432 and the internally threaded barrel 431, the stud 432 is driven to extend along the axial direction of the threaded barrel. , and then drive the push plate 433, the insertion rod 4352, the first spring 436, the chassis 41 and the supporting plate 3 to descend synchronously until the bottom of the supporting plate 3 contacts the ground; after the bottom of the supporting plate 3 contacts the ground, the steering motor 451 drives the driving gear 453 to rotate. The driving gear 453 drives the driven gear 454 to rotate by meshing with the driven gear 454. The driven gear 454 drives the supporting plate 3 to rotate by meshing with the ring gear 452. The connection between the bottom of the supporting plate 3 and the ground is used. The friction between them drives the entire device to turn.

After the steering of the device is completed, the lifting motor 2 drives the internally threaded barrel 431 to rotate in the reverse direction. During the reverse rotation, the internally threaded barrel 431 cooperates with the thread of the stud 432, and the stud 432 is driven to retract into the inner side of the internally threaded barrel 431. In the cavity, the stud 432 drives the push plate 433, the load-bearing rod 435, the first spring 436, the chassis 41, and the supporting plate 3 to rise simultaneously by one end distance. After the top of the supporting plate 3 contacts the top wall of the inner cavity of the assembly groove, The lifting motor 2 drives the internally threaded barrel 431 to further rotate at a certain angle, causing the studs 432 to further retract an end distance into the inner cavity of the internally threaded barrel 431, thereby pulling out several load-bearing rods 435 from several accommodation cavities 434. distance, the spring set on the load-bearing rod 435 is compressed; during this process, the push plate 433 and the second inclined surface 444 slide relative to each other, so that the push plate 433 squeezes the second slide block 440 into the containing groove 437 In the cavity, when the second slider 440 slides toward the depth of the inner cavity of the accommodating groove 437, the first inclined surface 443 and the tail end of the second slider 440 slide relative to each other, thereby pressing the first slider 439 toward the cavity. At the bottom of the inner cavity of the accommodating groove 437, when the first slider 439 is pressed toward the bottom of the inner cavity of the accommodating groove 437, the third inclined surface 445 and the bottom of the first slider 439 slide relative to each other, thereby locking the sliding block 439. The block 441 is extruded toward the notch of the accommodating groove 437 until the head end of the locking slider 441 is inserted into the inner cavity of the card slot 438; The head end of the block 4356, and the head end of the third magnet block 4357 has the same magnetic pole as the head end of the moving magnet block 4356. As the head end of the locking magnet block 4355 is inserted into the inner cavity of the card slot 438, the moving magnet The block 4356 is affected by the magnetic force between the moving magnet block 4356 and the third magnet block 4357. The moving magnet block 4356 is gradually pushed towards the fixed magnet block 4355 until the head end of the moving magnet block 4356 comes out of the positioning counterbore 4354. After the head end of the magnet block 4356 comes out of the positioning counterbore 4354, the insertion rod 4352 and the sleeve 4351 are in relative locking contact. Driven by the elastic force of the first spring 436, the insertion rod 4352 passes through the bottom port of the sleeve 4351. Extend a distance until the first spring 436 returns to its deformation.

After the insertion rod 4352 extends through the bottom port of the sleeve 4351, the gravity of the supporting plate 3, chassis 41, steering motor 451, driving gear 453, driven gear 454, ring gear 452 and other parts directly acts on the locking slider 441 , increasing the friction between the head end of the locking slide 441 and the inner wall of the slot 438, so when the lifting motor 2 drives the internal thread sleeve to rotate forward, the driving stud 432 extends downward, prompting the sleeve 4351 to When the relative positions between the inserting rods 4352 return to the initial state, the elastic force of the second spring 442 is not enough to drive the locking slider 441 to slide, and the head end of the locking slider 441 and the slot 438 still remain in the inserted state. After the relative position between the sleeve 4351 and the insertion rod 4352 returns to the initial position, the positioning counterbore 4354 is aligned with the load-bearing counterbore 4353, and the moving magnet block 4356 is driven by the magnetic force of the fixed magnet block 4355, causing the head of the moving magnet block 4356 to move. The end is re-inserted into the positioning counterbore 4354, thereby locking the relative position between the insertion rod 4352 and the sleeve 4351. After the relative position between the insertion rod 4352 and the sleeve 4351 is locked, the lifting motor 2 drives the internal thread barrel 431 reversely rotates to a certain angle, prompting the stud 432 to retract the distance from one end of the inner cavity of the internal thread barrel 431, exerting the force of gravity on the supporting plate 3, chassis 41, steering motor 451, driving gear 453, driven gear 454, ring gear 452 and other parts. The load is carried out to reduce the friction between the locking slider 441 and the slot 438, so that the locking slider 441 is driven by the elastic force of the second spring 442 to smoothly escape from the inner cavity of the slot 438, and the locking slider 441 is released. The axial position of the chassis 41 is locked.

Further, as shown in Figures 2, 3, 9 and 10, the maintenance and cleaning module includes: a main transmission mechanism, several auxiliary transmission mechanisms and several maintenance components; the main transmission mechanism is set inside the load-bearing body 1, and the main transmission mechanism and the lifting The execution end of the motor 2 is connected; several maintenance components are arranged on the carrying body 1, and several maintenance components are respectively matched with the positions of several wheels 6, and are used for daily cleaning and maintenance of the wheels 6; any auxiliary transmission mechanism is connected The main transmission mechanism and one of the maintenance components are used to drive the maintenance component to operate.

Preferably, as shown in Figures 2, 3, 9, and 10, the main transmission mechanism can use a pair of main transmission shafts 511, a driving sprocket 512, a pair of driven sprockets 513, a transmission chain 514, and a pair of first bevel gears. 515. A pair of auxiliary transmission shafts 516 and a pair of second bevel gears are combined; a pair of main transmission shafts 511 are rotatably installed inside the bearing body 1, and a pair of main transmission shafts 511 are arranged on both sides of the lifting motor 2. A pair of main transmission shafts 511 are arranged vertically; the driving sprocket 512 is fixedly sleeved on the execution end of the lifting motor 2, and the driving sprocket 512 is driven and rotated by the lifting motor 2; a pair of driven sprockets 513 are respectively fixedly sleeved on a pair of One end of the main transmission shaft 511 is used to drive the main transmission shaft 511 to rotate; the transmission chain 514 is sleeved on the driving sprocket 512 and a pair of driven sprockets 513, and the transmission chain 514 is connected to the driving sprocket 512 and a pair of driven sprockets 513 respectively. The driving sprocket 513 meshes to drive a pair of driven sprockets 513 and the driving sprocket 512 to rotate synchronously; a pair of first bevel gears 515 are fixedly sleeved on the other ends of a pair of main transmission shafts 511 respectively; a pair of auxiliary transmissions The shaft 516 is rotatably installed inside the load-bearing body 1 for changing the power transmission path; a pair of second bevel gears are respectively fixedly sleeved on one end of a pair of auxiliary transmission shafts 516, and the pair of second bevel gears are respectively connected to a pair of first The bevel gear 515 meshes and is used to drive the auxiliary transmission shaft 516 to rotate.

Preferably, as shown in Figures 2, 3, 9 and 10, the auxiliary transmission mechanism includes: a third transmission shaft 521, a third bevel gear 522 and a fourth bevel gear 523; the third transmission shaft 521 is rotatably arranged on the carrying body 1 , one end of the third transmission shaft 521 is fixedly connected to one end of the screw 5371, and is used to drive the screw 5371 to rotate and change the power transmission path; the third bevel gear 522 is fixedly sleeved on the other end of the auxiliary transmission shaft 516. The gear 522 rotates coaxially with the auxiliary transmission shaft 516; the fourth bevel gear 523 is fixedly sleeved on the other end of the third transmission shaft 521, and the fourth bevel gear 523 meshes with the third bevel gear 522 to drive the third transmission shaft 521 Make a turn.

The working principle of the main transmission mechanism and the auxiliary transmission mechanism is as follows: during the turning process of the device, when the lifting motor 2 is running, the execution section of the lifting motor 2 drives the driving sprocket 512 to rotate, and the driving sprocket 512 passes through the transmission chain 514 and a The power transmission to the driven sprocket 513 drives a pair of main transmission shafts 511 to rotate. The main transmission shaft 511 drives the first bevel gear 515 to rotate during the rotation. The first bevel gear 515 drives the first bevel gear 515 by meshing with the second bevel gear. The auxiliary transmission shaft 516 rotates, and the auxiliary transmission shaft 516 drives the third bevel gear 522 to rotate synchronously during the rotation. The third bevel gear 522 drives the third transmission shaft 521 to rotate by meshing with the fourth bevel gear 523. The third transmission shaft 521 rotates in During the rotation process, the screw 5371 is driven to rotate synchronously.

Further, as shown in Figures 2, 3, 9, 10, and 11, the maintenance component includes: a storage cavity 531, an assembly cavity 532, a transmission cavity 533, several liquid dispensing holes 534, partitions 535, and a pair of output holes. (not shown in the figure), socket (not shown in the figure), insert plate 536 and driving mechanism; the storage cavity 531 is arranged inside the carrying body 1, and the storage cavity 531 is located on the upper side of the corresponding wheel 6, with For storing bearing cleaner or lubricant; the assembly cavity 532 is provided inside the carrying body 1, and the assembly cavity 532 is located between the storage cavity 531 and the corresponding wheel 6; several liquid separation holes 534 are evenly opened in the storage cavity On the bottom wall of the inner cavity of 531, any liquid separation hole 534 penetrates the inner wall of the storage cavity 531 and communicates with the assembly cavity 532; the partition 535 is fixedly provided on the bottom wall of the inner cavity of the assembly cavity 532, and the partition 535 will be assembled The cavity 532 separates a pair of infusion chambers 5321; a pair of output holes are opened on the outer wall of the bearing body 1, and the pair of output holes penetrate the outer wall of the bearing body 1 and are respectively connected with the bottom of the inner cavity of the pair of infusion chambers 5321. The holes are split on both sides of the corresponding wheel 6, and a pair of output holes face the wheel 6 bearing positions on both sides of the wheel 6 respectively; the transmission cavity 533 is provided inside the load-bearing body 1, and the transmission cavity 533 is located at the assembly cavity 532 One side; the socket is provided on the inner wall of the transmission cavity 533, and the socket penetrates the inner wall of the transmission cavity 533 and communicates with the assembly cavity 532; the plug-in plate 536 is movably inserted in the socket, and the plug-in plate 536 is consistent with the radial cross-sectional shape of the socket. Matching, the top surface of the plug-in plate 536 is in contact with the top wall of the inner cavity of the assembly cavity 532, used to block and close several liquid dispensing holes 534; the driving mechanism is arranged inside the transmission cavity 533, and the driving mechanism is connected to the plug-in plate 536 , used to control the opening and closing of the plug-in board 536.

Further, as shown in Figure 11, the maintenance and cleaning module also includes: an air pump (not shown in the figure) and several air pipes (not shown in the figure). The air pump is arranged on the carrying body 1; the air inlet ends of several air pipes are connected with the air outlet ends of the air pump, and the air outlet ends of the several air pipes are respectively connected with the assembly cavities 532 of several maintenance components.

Further, as shown in Figure 9, the driving mechanism includes: a screw 5371 and a nut 5372; the screw 5371 is rotatably installed inside the transmission cavity 533, and one end of the screw 5371 is connected to one of the auxiliary transmission mechanisms, and the auxiliary transmission mechanism drives the screw 5371 to rotate. ; The nut 5372 is sleeved on the screw rod 5371, the nut 5372 is threadedly connected to the screw rod 5371, and the nut 5372 is fixedly connected to the plug-in plate 536, and is used to drive the plug-in plate 536 to slide along the guide of the socket.

During the use of this device, the air pump is started regularly and air is injected into the assembly cavity 532 through the trachea. As the air pressure in the assembly cavity 532 increases, the air in the assembly cavity 532 is discharged through a pair of output holes respectively. Blow to the wheel 6 bearing positions located on both sides of the wheel 6, and blow off the dust attached to the secondary position; during the turning process of the device, the fourth bevel gear 523 of the auxiliary transmission mechanism drives the third transmission shaft 521 to rotate, and the third transmission The shaft 521 drives the screw 5371 to rotate. Since the socket has a guiding effect on the insert plate 536, the insert plate 536 can only slide open and close along the axial direction of the transmission cavity 533. Therefore, during the rotation of the screw 5371, the screw 5371 passes through the nut. The threaded matching relationship between 5372 drives the insert plate 536 to slide open or close; during the sliding opening process of the insert plate 536, several liquid separation holes 534 opened on the bottom wall of the inner cavity of the storage cavity 531 are gradually opened, so that The storage cavity 531 is connected with the assembly cavity 532. Part of the bearing cleaner or lubricant pre-stored in the storage cavity 531 flows into a pair of infusion chambers 5321 of the assembly cavity 532 through the liquid separation hole 534. At the same time, the air pump Air is injected into the assembly cavity 532 through the air pipe, so that the bearing cleaner flowing into the pair of infusion chambers 5321 is sprayed out to the wheel 6 bearing positions on both sides of the wheel 6 through a pair of output holes, making it convenient for the user to clean the wheel 6 bearings. Perform unscheduled maintenance.

Above, the intelligent displacement robot for assisting the elderly according to the embodiment of the present invention is described with reference to Figures 1 to 11, which has the following beneficial effects:

1. This device drives the pallet to lift and rotate through the steering module, and utilizes the friction between the bottom of the pallet and the ground to achieve the purpose of driving the device to turn in place, solving the problem of intelligent elderly assistance displacement in the existing technology. The robot has the disadvantage of needing to occupy a large display space during the turning process, which improves the control convenience of this device.

2. This device uses the assembly relationship between the accommodation slot, the first slide block, the second slide block, the locking slide block, and the card slot. After the chassis and the supporting plate are lifted into place, the head end of the locking slide block is snapped in. The slot thus locks the floor and the pallet axially, thereby enhancing the axial stability of the device.

3. This device realizes the connection between the inserting rod and the moving magnet by embedding a third magnetic block inside the head end of the locking slider and by setting load-bearing counterbore, positioning counterbore, fixed magnet block and moving magnet block on the sleeve and inserting rod. To automatically lock and unlock the sleeve, after the head end of the locking slider is inserted into the slot, the magnetic force between the third magnet block and the moving magnet block is used to push the head end of the moving magnet block out of the positioning counterbore, allowing the insertion rod to move from It extends from the inner cavity of the sleeve to release the first spring, which relieves the axial force acting directly on the stud and avoids the fatigue of the thread between the stud and the internal thread barrel caused by long-term axial force. damage, reducing the maintenance cost of the device.

4. This device automatically cleans and maintains the wheel bearings of the wheel through maintenance components on a regular basis to avoid wear and tear caused by excessive adhesion of impurities to the wheel bearings during long-term use, further reducing the maintenance cost of the device.

It should be noted that in this specification, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device that includes a series of elements not only includes those elements , but also includes other elements not expressly listed or inherent in such process, method, article or equipment. Without further limitation, an element defined by the statement "comprises..." does not exclude the presence of additional identical elements in a process, method, article, or device that includes the stated element.

Although the content of the present invention has been described in detail through the above preferred embodiments, it should be understood that the above description should not be considered as limiting the present invention. Various modifications and substitutions to the present invention will be apparent to those skilled in the art after reading the above. Therefore, the protection scope of the present invention should be defined by the appended claims.

Claims (10)

1. An intelligent aging-assisting displacement robot, which is characterized by comprising: the device comprises a bearing main body, a lifting motor, a supporting plate, a steering module and a maintenance cleaning module;

the lifting motor is fixedly arranged on the bearing main body;

the supporting plate is movably arranged at the bottom of the bearing main body;

the steering module is connected with the supporting plate and the execution end of the lifting motor and is used for driving the supporting plate to lift and steer;

the maintenance cleaning module is arranged on the bearing main body, is connected with the lifting motor and is used for daily maintenance and cleaning of wheel bearings of a plurality of wheels of the bearing main body.

2. The intelligent, older-assisted displacement robot of claim 1, wherein the steering module comprises: the device comprises a chassis, a pair of guide holes, a pair of guide rods, a lifting assembly and a steering assembly;

the chassis is movably arranged at the bottom of the bearing main body, and the supporting plate is rotatably arranged at the bottom of the chassis;

the pair of guides Kong Kaishe are on top of the chassis;

the pair of guide rods are fixedly arranged at the bottom of the bearing main body, the pair of guide rods are respectively movably inserted into the pair of guide holes, and the guide rods are vertically arranged along the axial direction of the bearing main body and are used for radially limiting the chassis;

The lifting assembly is connected with the chassis and the execution end of the lifting motor and is used for driving the chassis and the supporting plate to lift;

the steering assembly is connected with the supporting plate and the chassis and used for driving the supporting plate to rotate.

3. The intelligent, aging-assisted displacement robot of claim 2, wherein the lifting assembly comprises: the device comprises an internal thread cylinder, a stud, a push plate, a plurality of accommodating cavities, a plurality of jacks, a plurality of bearing rods and a plurality of first springs;

the top end of the internal thread cylinder is fixedly connected with the execution end of the lifting motor, the thread cylinder is vertically arranged along the axial direction of the bearing main body, and the bottom end of the internal thread cylinder is of an open design;

the stud is inserted into the inner cavity of the internal thread cylinder and is in threaded connection with the internal thread cylinder;

the push plate is fixedly arranged at the bottom end of the stud;

the plurality of accommodating cavities are arranged in the chassis;

the jacks are arranged at the top of the chassis, and any jack penetrates through the outer wall of the chassis to be communicated with the accommodating cavity;

the top ends of the plurality of bearing rods are fixedly connected with the push plate, and the bottom ends of the plurality of bearing rods are movably inserted into the plurality of accommodating cavities through the plurality of jacks respectively;

The first springs are respectively sleeved on the bearing rods, one end of any one of the first springs is fixedly connected with the bottom end of the corresponding bearing rod, and the other end of any one of the first springs is connected with the top wall of the inner cavity of the corresponding accommodating cavity.

4. The intelligent, aging-assisted displacement robot of claim 3, wherein the lifting assembly further comprises: the device comprises an assembly groove, a containing groove, a clamping groove, a first sliding block, a second sliding block, a locking sliding block, a second spring, a first inclined plane, a second inclined plane and a third inclined plane;

the assembly groove is formed in the bottom of the bearing main body;

the accommodating groove is formed in the side wall of the inner cavity of the assembly groove;

the clamping groove is formed in the chassis, and the notch of the clamping groove faces one side of the accommodating groove;

the first sliding block is movably arranged in the inner cavity of the accommodating groove, is in sliding connection with the side wall of the inner cavity of the accommodating groove, and slides along the axial direction of the accommodating groove;

the second sliding block is in sliding connection with the top wall of the inner cavity of the accommodating groove, slides along the radial direction of the accommodating groove, and is matched with the push plate in position;

The locking slide block is in sliding connection with the bottom wall of the inner cavity of the accommodating groove, the locking slide block slides along the radial direction of the accommodating groove, and after the head end of the locking slide block extends out of the notch of the accommodating groove, the head end of the locking slide block is spliced with the clamping groove and is used for axially positioning the chassis;

the second spring is arranged at the bottom of the inner cavity of the accommodating groove, one end of the second spring is fixedly connected with the tail end of the locking sliding block, and the other end of the second spring is fixedly connected with the inner wall of the accommodating groove and is used for driving the locking sliding block to retract into the accommodating groove;

the first inclined surface is arranged at the top of the first sliding block, faces the bottom of the second sliding block, and is abutted with the tail end of the second sliding block;

the second inclined plane is arranged at the bottom of the second sliding block, is positioned at the head end of the second sliding block, faces the push plate and is abutted with the push plate;

the third inclined surface is arranged at the top of the locking sliding block, the third inclined surface is positioned at the tail end of the locking sliding block, the third inclined surface faces the bottom of the first sliding block, and the third inclined surface is abutted to the bottom of the first sliding block.

5. The intelligent, aging-assisted displacement robot of claim 4, wherein the carrier bar comprises: the device comprises a sleeve, an inserted link, a bearing counter bore, a positioning counter bore, a fixed magnetic block, a movable magnetic block and a third magnetic block;

the top end of the sleeve is fixedly connected with the bottom of the push plate, the bottom end of the sleeve is of an open design, the sleeve penetrates through the corresponding jack to be movably inserted into the corresponding accommodating cavity, and one of the first springs is sleeved on the sleeve;

the top end of the inserted link penetrates through the bottom end port of the sleeve to be movably inserted into the inner cavity of the sleeve, and the bottom end of the inserted link is fixedly connected with one end of the first spring;

the bearing counter bore is formed in the side wall of the inserted link;

the positioning counter bore is formed in the side wall of the inner cavity of the sleeve, and the positioning counter bore is matched with the loading counter bore in position when the inserted link and the sleeve are in a mutually locked state;

the fixed magnetic block is fixedly arranged in the inner cavity of the bearing counter bore;

the movable magnetic block is movably arranged in the inner cavity of the bearing counter bore, and in the state that the inserted link and the sleeve are locked with each other, the head end of the movable magnetic block is spliced with the inner cavity of the positioning counter bore, the tail end of the movable magnetic block faces the head end of the fixed magnetic block, and the magnetic poles of the tail end of the movable magnetic block and the head end of the fixed magnetic block are the same and are used for locking the inserted link and the sleeve;

The third magnetic block is fixedly arranged in the locking sliding block, the third magnetic block is positioned at the head end of the locking sliding block, the head end of the third magnetic block faces the head end of the movable magnetic block, and the head end of the third magnetic block is identical to the head end of the movable magnetic block in magnetic pole.

6. The intelligent, aging-assisted displacement robot of claim 2, wherein the steering assembly comprises: the steering motor, the gear ring, the driving gear and the driven gear;

the steering motor is fixedly arranged on the supporting plate;

the gear ring is fixedly arranged at the bottom of the chassis;

the driving gear is arranged at the execution end of the steering motor and is positioned in the inner cavity of the gear ring;

the driven gear is rotatably arranged on the supporting plate, the driven gear is positioned in the inner cavity of the gear ring, the driven gear is meshed with the driving gear, and the driven gear is meshed with the gear ring.

7. The intelligent, assisted displacement robot of claim 6, wherein the maintenance cleaning module comprises: the device comprises a main transmission mechanism, a plurality of auxiliary transmission mechanisms and a plurality of maintenance components;

the main transmission mechanism is arranged in the bearing main body and is connected with the execution end of the lifting motor;

The plurality of maintenance components are arranged on the bearing main body and are respectively matched with the positions of the plurality of wheels and used for daily cleaning and maintenance of the wheels;

any one of the auxiliary transmission mechanisms is connected with the main transmission mechanism and one of the maintenance assemblies and used for driving the maintenance assemblies to operate.

8. The intelligent, aging-assisted displacement robot of claim 7, wherein the maintenance assembly comprises: the device comprises a storage cavity, an assembly cavity, a transmission cavity, a plurality of liquid separation holes, a baffle plate, a pair of output holes, a socket, an inserting plate and a driving mechanism;

the storage cavity is arranged in the bearing main body and is positioned at the upper side of the corresponding wheel and used for storing bearing cleaning agents;

the assembly cavity is arranged in the bearing main body and is positioned between the storage cavity and the corresponding wheel;

the plurality of liquid separation holes are uniformly formed in the bottom wall of the inner cavity of the storage cavity, and any liquid separation hole penetrates through the inner wall of the storage cavity to be communicated with the assembly cavity;

the partition board is fixedly arranged on the bottom wall of the inner cavity of the assembly cavity, and separates the assembly cavity into a pair of infusion cavities;

The pair of output Kong Kaishe is arranged on the outer wall of the bearing main body, the pair of output holes penetrate through the outer wall of the bearing main body and are respectively communicated with the bottoms of the inner cavities of the pair of infusion cavities, the pair of output holes are split at two sides of the corresponding wheels, and the pair of output holes face to the wheel bearing positions at two sides of the wheels respectively;

the transmission cavity is arranged in the bearing main body and is positioned at one side of the assembly cavity;

the socket is formed on the inner wall of the transmission cavity and penetrates through the inner wall of the transmission cavity to be communicated with the assembly cavity;

the inserting plate is movably inserted into the inserting opening, the shape of the radial section of the inserting opening is matched with that of the inserting opening, the top surface of the inserting plate is abutted with the top wall of the inner cavity of the assembling cavity and used for blocking and closing the plurality of liquid distributing holes;

the driving mechanism is arranged in the transmission cavity and connected with the plugboard for controlling the opening and closing of the plugboard.

9. The intelligent, assisted-aging displacement robot of claim 8, wherein the maintenance cleaning module further comprises: the air pump and a plurality of air pipes;

The air pump is arranged on the bearing main body;

the air inlet ends of the plurality of air pipes are communicated with the air outlet ends of the air pump, and the air outlet ends of the plurality of air pipes are respectively communicated with the assembly cavities of the plurality of maintenance assemblies.

10. The intelligent, aging-assisted displacement robot of claim 8, wherein the drive mechanism comprises: a screw and a nut;

the screw is rotatably arranged in the transmission cavity, one end of the screw is connected with one of the auxiliary transmission mechanisms, and the auxiliary transmission mechanism drives the screw to rotate;

the nut is sleeved on the screw, the nut is in threaded connection with the screw, and the nut is fixedly connected with the inserting plate and is used for driving the inserting plate to slide along the guide of the inserting opening.