CN102794758B - Multifunctional household service robot - Google Patents
Multifunctional household service robot Download PDFInfo
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- CN102794758B CN102794758B CN201210245335.0A CN201210245335A CN102794758B CN 102794758 B CN102794758 B CN 102794758B CN 201210245335 A CN201210245335 A CN 201210245335A CN 102794758 B CN102794758 B CN 102794758B
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Abstract
The invention provides a multifunctional household service robot which uses a crawler-type running system. The multifunctional household service robot comprises a maintenance system and a clear-up system; the maintenance system comprises a maintenance table and a butt-joint lamp group; the maintenance table mainly consists of a maintenance table lifting mechanism, a maintenance table push arm transmission mechanism, a maintenance table push arm cleaning mechanism, a charging joint, a positioning detection light sensation triode, a shooting indication lamp and the like; main mechanisms of the clear-up system are distributed in a chassis rack, and comprise a push arm, an ejector door and a lifting table from top to down in sequence; the push arm consists of two moving pairs; the ejecting door comprises an ejecting door right face and an ejecting door left face, which are connected through a connecting rod of a crank sliding block, and are driven by transmission mechanisms which are symmetrically arranged at the top of the chassis rack; and the lifting table consists of a platform and four screw rod nut mechanisms for supporting the platform. According to the multifunctional household service robot provided by the invention, the basic moving technology of the household service robot, such as simple indoor positioning and path planning can be realized, so that the multifunctional household service robot has actual use values when mission is carried out indoors; the full-automatic services can be basically realized; and the inconvenience brought by remote control can be avoided.
Description
Technical field
The invention belongs to small scale robot field, be specifically related to multifunctional household service robot.
Background technology
Now on market, family expenses service class robot function ratio is more single, is mainly some clean type robots, for article arrange and the robot of storage especially less and few, can not meet user's needs.This product not only can carry out article arrangement, this arrangement can also be divided into automatically and automanual, article is put into casing and can manually be put into by user, also can automatically article be taken in to casing from ground by machine, has realized the variation of function.
Present most of robot needs artificial periodic maintenance to detect, and this does not only have liberate people to allow on the contrary people go to look after robot, and the burden that has increased people has been raised user's use threshold.Thereby we wish robot can self and energy storage break away from user's treatment, " wholeheartedly " be user's service.Be in particular mobile robot based on these these works and designed all-in-service station, carry out self-fault detect, charging, substantially clean for it, realize the comprehensive automation from using maintenance, exempted user and introduce numerous and diverse things of periodic maintenance after robot and reduced the technical threshold that need grasp when user uses.
The utilization of solar energy is that present robot is also the developing direction of future robot, and adding of solar panel reduced the dependence of energy supplying system for rechargeable battery and fixed power source, and lighting energy can be provided again the in the situation that of short time power-off simultaneously.The solar powered function that focuses automatically of this product, its mechanism takies small volume, and can carry out two axial adjustings.This function has been introduced our design the system design philosophies of " people-machine-environment ", not only realizes social value but also utilized natural value, is a kind of designer trends of following domestic robot energy supplying system.
Summary of the invention
In order to overcome the shortcoming of above-mentioned prior art, the object of the present invention is to provide a kind of multifunctional household service robot, can realize the basic mobile technologies of home services class robot such as simple indoor positioning, path planning, in the time of indoor executing the task, have actual use value, substantially realize full automatic service, the inconvenience of avoiding remote control to bring.
In order to achieve the above object, the technical solution used in the present invention is:
Multifunctional household service robot, adopts crawler type running system, also comprises maintenance system and clearing system:
Described maintenance system comprises base plate 3, is provided with to be started photoelectric tube group 1 and docked by docking to stop the docking lamp group that photoelectric tube group 2 forms on base plate 3, on base plate 3, also fix the first frame 4, in the first frame 4, be furnished with and be fixed on its middle the first vertical leading screw 5, the first leading screw 5 one sides arrange the first spacing telegraph key 6, on the first leading screw 5, there is the first nut 7, the first motor 8 is fixed on the first frame 4 tops, the first motor 8 connects the first gear 9, the first gear 9 engages with the second gear 10, the second gear 10 and the first leading screw 5 transmissions, the first gear 9 is connected and realizes coaxial rotation with the 3rd gear 11, this axle head contacts in the time rotating, to realize counting with counting telegraph key 12, the first nut 7 is fixed with the balanced controls 13 that balance is used on one side, balanced controls 13 front ends are fixed with the indicator lamp 20 of taking pictures, malfunction monitoring camera and temperature sensor 21, the first nut 7 another sides are fixed with the second motor 14, the second motor 14 connects the first gear-box 15, the first gear-box 15 is connected with the first tooth bar 16 by draw-in groove, the first tooth bar 16 is fixed on bar 18, the below that charging connector 19 and maintenance state indicator lamp group 22, the second motors 14 are equipped with in the front of bar 18 is fixed with the second spacing telegraph key 17,
The principal organ of described clearing system is all distributed in rack cabinet 40, is from top to bottom followed successively by and pushes arm, roof door and lifting platform:
Described propelling movement arm, formed by two moving sets, moving sets is taken turns 41 transition and is connected to form via being fixed on the 7th gear 42 at two ends of push pedal 43 and octadentate by the first chain 44, another moving sets adopts pinion and rack, be fixed on a side of push pedal 43 by the second tooth bar 32, the second gear-box 38 is all connected with the second tooth bar 32 by draw-in groove with the 3rd gear-box 36, the 6th motor 37 drives the 3rd gear-box 36, the second gear-box 38 is fixed on the rear of rack cabinet 40, in push pedal 43, be connected with moving sets slide block 71, the relative translation of the second tooth bar 32 when the second gear-box 38 is driven, and then drive moving sets slide block 71 to move,
Described roof door comprises the roof door right side 55 connected by the connecting rod 57 of crank block and the roof door left side 56,56 belows, the roof door left side are provided with solar panel 54, roof door is driven by the transmission mechanism that is symmetrically distributed in rack cabinet 40 tops, transmission mechanism comprises the 9th gear 33, the 9th gear 33 is for driving link and driven by the 5th motor 34, and the 9th gear 33 is connected with at the 3rd tooth bar 73 being fixed on rack cabinet 40 by draw-in groove;
Described lifting platform is made up of platform 35 and its four screw-nut bodies of support.
Described running gear comprises the main crawler belt part using the second frame 29 as chassis, in the second frame 29, be symmetrically distributed with two the 3rd motors 59, the two-stage travelling gear that the 3rd motor 59 forms via driven pulley 61 and driving wheel 60 drives, driving wheel 60 is unsettled, driven pulley 61 and the 5th gear 58 coaxial rotation that drive secondary crawler belt part.
Between the major-minor crawler belt part of running gear by a moving sets, and three revolute pairs composition.Moving sets is that two the second leading screws 25 and two the second nuts 24 matching with it form, and two second nuts 24 are symmetrically fixed on secondary crawler belt by fixture 39, revolute pair frame 23 is fixed in the second frame 29, three gears as revolute pair are fixed in the middle of moving sets frame 23, the 4th motor 66 being fixed in moving sets frame 23 drives pinion 69 to rotate, pinion 69 drives the central gear 68 engaging with it to rotate, the 4th gear 67 engaging with central gear 68 by this secondary gear transmission drive rotates, as the 4th gear 67 is connected and is realized coaxial rotation by axle with the second leading screw 25, and then drive secondary crawler belt part to realize the motion of two-dimensional directional, the 5th gear 58 of secondary crawler belt part and driven pulley 61 coaxial rotation of main crawler belt part, the 5th gear 58 engages with the 6th gear 72 and drives its rotation, leading, the both sides of secondary crawler belt are respectively provided with one group of anticreep sprocket wheel 28, 26.
Lamp 77 is docked in maintenance in revolute pair frame 23, carries out the transmitting of optical signal and finishes receiving mating operation by starting photoelectric tube group 1 with docking on all-in-service station and docking termination photoelectric tube group 2.The charging that is fixed on rack cabinet 40 right-hand members is subject to mouth 74, docks realize charging with the charging inlet 19 on maintenance console.
Push between arm, roof door and lifting platform and directly do not connect, they are all fixed on rack cabinet 40 by part parts separately.The second gear-box 38 in propelling movement arm and the 3rd gear-box 36 are all fixed on the rear of rack cabinet 40; The 3rd tooth bar 73 is fixed on rack cabinet 40, and the roof door left side 56 is fixed on rack cabinet 40 by axle 75, and the 4th leading screw 31 in lifting platform is fixed on rack cabinet 40 by screw set 76.
Compared with technology, advantage of the present invention is:
1) this robot designs for mobile arrangement of small article.This arrangement is divided into full-automatic and automanual.Article are put into casing can manually be put into by user, also can automatically article be taken in to casing from ground by machine, has realized the variation of function.And " plane " of this arrangement function robot different from the past arranges, it can realize " three-dimensional arrangement ",, from ground to desktop, is applicable to following life.
2) these works be in particular mobile robot designed all-in-service station for its carry out self-fault detect and charging, realize the comprehensive automation from using maintenance, exempted user and introduce numerous and diverse things of periodic maintenance after robot and reduced the technical threshold that need grasp when user uses.
3) lifting platform of clearing system uses the chain-drive mechanism that butterfly is arranged, makes travelling gear be difficult for skidding, and increases transmission pulling force.
4) push arm and adopt the rack-and-pinion of Double-stroke and the structure of chain transmission combination, not increasing number of motors, not reducing to push under the condition of distance, propelling movement arm lengths has been reduced to half, pushing speed has increased by one times, saves arrangement of mechanism space.
Brief description of the drawings
Fig. 1 is front view of the present invention.
Fig. 2 is left view of the present invention.
Fig. 3 is top view of the present invention.
Fig. 4 is that the present invention pushes arm mechanism figure.
Fig. 5 is chassis butterfly distribution motor figure of the present invention.
Fig. 6 is major-minor caterpillar belt structure sketch of the present invention.
Fig. 7 is hoistable platform sketch of the present invention.
Fig. 8 is scraper bowl jack sketch of the present invention.
Fig. 9 is roof door transmission mechanism sketch of the present invention.
Figure 10 is the main crawler belt part of the present invention driving wheel mechanism sketch.
Figure 11 is the front view of all-in-service station of the present invention.
Figure 12 is the left view of all-in-service station of the present invention.
Figure 13 is the top view of all-in-service station of the present invention.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is described in further details.
The present invention is a kind of multifunctional household service robot that adopts crawler type running system, has also comprised maintenance system and clearing system simultaneously.
The running gear that the present invention adopts comprises the main crawler belt part using the second frame 29 as chassis, as shown in Figure 6, in the second frame 29, be symmetrically distributed with two the 3rd motors 59, the two-stage travelling gear that the 3rd motor 59 forms via driven pulley 61 and driving wheel 60 drives, driving wheel 60 is unsettled, driven pulley 61 and the 5th gear 58 coaxial rotation that drive secondary crawler belt part.
Between the major-minor crawler belt part of running gear by a moving sets, and three revolute pairs composition.As shown in figures 1 and 3, moving sets is that two the second leading screws 25 and two the second nuts 24 matching with it form, and two second nuts 24 are symmetrically fixed on secondary crawler belt by fixture 39, again as shown in Figure 1, revolute pair frame 23 is fixed in the second frame 29, and for example shown in Figure 10 and Fig. 1, three gears as revolute pair are fixed in the middle of moving sets frame 23, the 4th motor 66 being fixed in moving sets frame 23 drives pinion 69 to rotate, pinion 69 drives the central gear 68 engaging with it to rotate, the 4th gear 67 engaging with central gear 68 by this secondary gear transmission drive rotates, as the 4th gear 67 is connected and is realized coaxial rotation by axle with the second leading screw 25, and then drive secondary crawler belt part to realize the motion of two-dimensional directional, the 5th gear 58 of secondary crawler belt part and driven pulley 61 coaxial rotation of main crawler belt part, the 5th gear 58 engages with the 6th gear 72 and drives its rotation, leading, the both sides of secondary crawler belt are respectively provided with one group of anticreep sprocket wheel 28, 26.
For another example Fig. 1, lamp 77 is docked in the maintenance in revolute pair frame 23, carries out the transmitting of optical signal and finishes receiving mating operation by starting photoelectric tube group 1 with docking on all-in-service station and docking termination photoelectric tube group 2.The charging that is fixed on rack cabinet 40 right-hand members is subject to mouth 74, docks realize charging with the charging inlet 19 on maintenance console.
This running gear also comprises scraper bowl 62, as shown in Figure 8, the 3rd nut 65 and double rocking lever 63 that scraper bowl 62 matches by one group of the 3rd leading screw 64, with it drive, and the 3rd leading screw 64 is fixed on the centre of the crawler belt of two articles of symmetry arrangement of main crawler belt part, and the 5th motor 70 is coaxially connected with the 3rd leading screw 64; The 3rd nut 65 links together by axle with double rocking lever 63, and double rocking lever 63 is connecting scraper bowl 62.
The principal organ of described clearing system is all distributed in rack cabinet 40, is from top to bottom followed successively by and pushes arm, roof door and lifting platform:
Described propelling movement arm, formed by two moving sets, as Fig. 4, moving sets is taken turns 41 transition and is connected to form via being fixed on the 7th gear 42 at two ends of push pedal 43 and octadentate by the first chain 44, as Fig. 2, another moving sets adopts pinion and rack, be fixed on a side of push pedal 43 by the second tooth bar 32, the second gear-box 38 is all connected with the second tooth bar 32 by draw-in groove with the 3rd gear-box 36, the 6th motor 37 drives the 3rd gear-box 36, the second gear-box 38 is fixed on the rear of rack cabinet 40, in push pedal 43, be connected with moving sets slide block 71, the relative translation of the second tooth bar 32 when the second gear-box 38 is driven, and then drive moving sets slide block 71 to move,
As Fig. 1 and Fig. 9, described roof door comprises the roof door right side 55 connected by the connecting rod 57 of crank block and the roof door left side 56,56 belows, the roof door left side are provided with solar panel 54, roof door is driven by the transmission mechanism that is symmetrically distributed in rack cabinet 40 tops, as Fig. 2, transmission mechanism comprises that the 9th gear 33, the nine gears 33 are driving link and are driven by the 5th motor 34, and the 9th gear 33 is connected with at the 3rd tooth bar 73 being fixed on rack cabinet 40 by draw-in groove;
As Fig. 7, described lifting platform is made up of platform 35 and its four screw-nut bodies of support.Driving force is provided by four low power the 8th motors 27 in parallel, and transmission mechanism is adopted the chain kind of drive that butterfly is arranged.As Fig. 5, four the 8th motors 27 drive respectively four gears 45,46,47,48 in the first gear train.These four gears drive four gears 49,50,51,52 in the second gear train being attached thereto to rotate by the second chain 53 respectively.And gear 49,50,51 is connected with the 4th leading screw 31 axles with 52, as Fig. 7, drive the 4th nut 30 on the 4th leading screw 31 to move up and down.And platform 35 is fixed on the 4th nut 30, move along with moving up and down of nut.
Between above-mentioned propelling movement arm, roof door and lifting platform, directly do not connect, they are all fixed on rack cabinet 40 by part parts separately.The second gear-box 38 in propelling movement arm and the 3rd gear-box 36 are all fixed on the rear of rack cabinet 40; The 3rd tooth bar 73 is fixed on rack cabinet 40, and the roof door left side 56 is fixed on rack cabinet 40 by axle 75, and the 4th leading screw 31 in lifting platform is fixed on rack cabinet 40 by screw set 76.
As shown in Figure 11-13, maintenance system of the present invention is independent of other two systems, is mainly made up of docking lamp group and maintenance console.Docking lamp group is made up of the docking startup photoelectric tube group 1 and the docking termination photoelectric tube group 2 that are arranged on base plate 3.And maintenance console is mainly pushed arm cleaning mechanism, charging connector, detection and localization light sensation triode, the indicator lamp of taking pictures etc. and is formed by maintenance console elevating mechanism, maintenance console propelling movement arm transmission mechanism, maintenance console, maintenance console concrete structure comprises base plate 3, on base plate 3, also fix the first frame 4, in the first frame 4, be furnished with and be fixed on its middle the first vertical leading screw 5, the first leading screw 5 one sides arrange the first spacing telegraph key 6, the minimum shift position that has the spacing electricity of the first nut 7, the first to build key on the first leading screw 5 to limit the first nut 7.The first motor 8 is fixed on the first frame 4 tops, the first motor 8 connects the first gear 9 and drives the first gear 9 to rotate, the first gear 9 and the second gear 10 engage and then drive the motion of the first nut 7 on the first leading screw 5, the first gear 9 is connected and realizes coaxial rotation with the 3rd gear 11, this axle head contacts in the time rotating, to realize counting with counting telegraph key 12, the first nut 7 is fixed with the balanced controls 13 that balance is used on one side, and balanced controls 13 front ends are fixed with the indicator lamp 20 of taking pictures, malfunction monitoring camera and temperature sensor 21; The first nut 7 another sides are fixed with the second motor 14, the second motor 14 connects the first gear-box 15, the first gear-box 15 is connected with the first tooth bar 16 by draw-in groove, the first tooth bar 16 is fixed on bar 18, the below that charging connector 19 and maintenance state indicator lamp group 22, the second motors 14 are equipped with in the front of bar 18 is fixed with the second spacing telegraph key 17; The gear of the first gear-box 15 can make described the first tooth bar 16 slide while rotation, realizes and pushes protracting or indentation of arm, and complete cleaning mechanical body.
Of the present invention can realize picking up of little article to store and place arrange, follow reading, self-energy storage, self totally 5 main merits.Can go to the place that needs arrangement and pick up article by running gear the present invention, when the motion of level land, only need the 3rd motor 59 to drive, drive driving wheel 60, driven pulley 61 to rotate to realize and move.In the process of topping bar, first the 4th motor 66 drives and makes the second leading screw 25 rotate drive the second nut 24 translation backward, secondary crawler belt part is lifted, main crawler belt part drives complete machine to travel forward afterwards, the second nut 24 backward translation is pressed on step secondary crawler belt part, prop vehicle body, the driving wheel 60 of main crawler belt part and driven pulley 61 rotate and make vehicle body first half section press step.Last rear scraper bowl 62 is propped up aftercarriage, and rear crawler belt rotates, and makes machine gravity cross step, completes the process of topping bar.While getting out of a predicament or an embarrassing situation, after the second nut 24 of secondary crawler belt part, move press down touching low layer ground, main crawler belt part driving wheel 60 and driven pulley 61 rotate at a slow speed advances forward, secondary crawler belt part by the second nut 24 forward translation be slowly raised to and main crawler belt part conllinear.Main crawler belt portion is rotated and is accelerated to advance by driving wheel 60 and driven pulley 61, completes the process of getting out of a predicament or an embarrassing situation; Clearing system can be realized and follow reading, the chain kind of drive driven wheel 49,50,51 and 52 that the 8th motor 27 is arranged by butterfly rotates and then the 4th leading screw 31 is rotated, drive the 4th nut 30 on it to move up and down, and then lifting platform fixed thereon 35 is moved up and down, so user can be placed into book on it and read; The placement that scraper bowl 62 actings in conjunction of clearing system and running gear realize article arranges, hoistable platform 35 drops to extreme lower position, the 5th motor 70 drives the 3rd leading screw 64 to rotate and drives the 3rd nut 65 translations, double rocking lever 63 is moved, and then drive scraper bowl 62 to realize folding and unfolding; The 7th motor 34 drives the 9th gear 33 to rotate, and drives the roof door right side 55 to move horizontally, and drives the roof door left side 56 to move to realize the two dimensional motion of solar panel 54 to receive sunlight by connecting rod 57 simultaneously, realizes energy storage; On clearing system maintenance docking lamp 77, stop photoelectric tube group 2 and carry out transmitting and the reception of optical signal by starting photoelectric tube group 1 and docking with docking on all-in-service station, complete mating operation.And take pictures indicator lamp 20 and malfunction monitoring camera and temperature sensor 21 on all-in-service station completes the maintenance work to clearing system.
Claims (2)
1. multifunctional household service robot, adopts crawler type running system, it is characterized in that, also comprises maintenance system and clearing system:
Described maintenance system comprises base plate (3), is provided with to be started photoelectric tube group (1) and docked by docking to stop the docking lamp group that photoelectric tube group (2) forms on base plate (3), on base plate (3), also fix the first frame (4), in the first frame (4), be furnished with and be fixed on its middle vertical the first leading screw (5), the first leading screw (5) one sides arrange the first spacing telegraph key (6), on the first leading screw (5), there is the first nut (7), the first motor (8) is fixed on the first frame (4) top, the first motor (8) connects the first gear (9), the first gear (9) engages with the second gear (10), the second gear (10) and the first leading screw (5) transmission, the first gear (9) is connected and realizes coaxial rotation with the 3rd gear (11), this axle head contacts in the time rotating, to realize counting with counting telegraph key (12), the first nut (7) is fixed with the balanced controls (13) that balance is used on one side, balanced controls (13) front end is fixed with the indicator lamp of taking pictures (20), malfunction monitoring camera and temperature sensor (21), the first nut (7) another side is fixed with the second motor (14), the second motor (14) connects the first gear-box (15), the first gear-box (15) is connected with the first tooth bar (16) by draw-in groove, the first tooth bar (16) is fixed on bar (18), charging connector (19) and maintenance state indicator lamp group (22) are equipped with in the front of bar (18), and the below of the second motor (14) is fixed with the second spacing telegraph key (17),
The principal organ of described clearing system is all distributed in rack cabinet (40), is from top to bottom followed successively by and pushes arm, roof door and lifting platform:
Described propelling movement arm, formed by two moving sets, a moving sets is connected to form via the 7th gear (42) and (41) transition of octadentate wheel at the two ends of being fixed on push pedal (43) by the first chain (44), another moving sets adopts pinion and rack, be fixed on a side of push pedal (43) by the second tooth bar (32), the second gear-box (38) is all connected with the second tooth bar (32) by draw-in groove with the 3rd gear-box (36), the 6th motor (37) drives the 3rd gear-box (36), the second gear-box (38) is fixed on the rear of rack cabinet (40), in push pedal (43), be connected with moving sets slide block (71), the second tooth bar (32) translation relatively when the second gear-box (38) is driven, and then drive moving sets slide block (71) mobile,
Described roof door comprises the roof door right side (55) and the roof door left side (56) that the connecting rod (57) by crank block is connected, below, the roof door left side (56) is provided with solar panel (54), roof door is driven by the transmission mechanism that is symmetrically distributed in rack cabinet (40) top, transmission mechanism comprises the 9th gear (33), the 9th gear (33) be driving link and by the 5th motor (34) drive, the 9th gear (33) by draw-in groove be connected at the 3rd tooth bar (73) being fixed on rack cabinet (40);
Described lifting platform is made up of platform (35) and its four screw-nut bodies of support.
2. multifunctional household service robot according to claim 1, it is characterized in that, described running gear comprises the main crawler belt part using the second frame (29) as chassis, in the second frame (29), be symmetrically distributed with two the 3rd motors (59), the two-stage travelling gear that the 3rd motor (59) forms via driven pulley (61) and driving wheel (60) drives, driving wheel (60) is unsettled, driven pulley (61) and the 5th gear (58) coaxial rotation that drives secondary crawler belt part.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210245335.0A CN102794758B (en) | 2012-07-16 | 2012-07-16 | Multifunctional household service robot |
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| CN201210245335.0A CN102794758B (en) | 2012-07-16 | 2012-07-16 | Multifunctional household service robot |
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| CN102794758A CN102794758A (en) | 2012-11-28 |
| CN102794758B true CN102794758B (en) | 2014-10-15 |
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| CN201210245335.0A Expired - Fee Related CN102794758B (en) | 2012-07-16 | 2012-07-16 | Multifunctional household service robot |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103264393B (en) * | 2013-05-22 | 2015-04-22 | 常州铭赛机器人科技股份有限公司 | Use method of household service robot |
| CN103699136B (en) * | 2014-01-14 | 2016-08-31 | 河海大学常州校区 | Intelligent home service robot system based on the algorithm that leapfrogs and method of servicing |
| CN104015820B (en) * | 2014-05-12 | 2016-05-11 | 高超 | Cha robot lives in crawler type salt pan |
| CN106682418B (en) * | 2016-12-27 | 2021-08-10 | Tcl科技集团股份有限公司 | Intelligent access system based on robot and access method thereof |
| CN111889422B (en) * | 2020-07-22 | 2022-05-24 | 山西安得瑞防护设备有限公司 | Automatic cleaning and maintaining device for civil air defense door |
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