CN105034002A - Multifunctional home service robot - Google Patents
Multifunctional home service robot Download PDFInfo
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- CN105034002A CN105034002A CN201510472661.9A CN201510472661A CN105034002A CN 105034002 A CN105034002 A CN 105034002A CN 201510472661 A CN201510472661 A CN 201510472661A CN 105034002 A CN105034002 A CN 105034002A
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Abstract
The invention relates to a multifunctional home service robot. The multifunctional home service robot is characterized by comprising an intelligent control system, a mechanical structure and a remote control terminal, wherein the intelligent control system is installed on the mechanical structure, the remote control terminal can regulate and control the intelligent control system, and thus the mechanical structure is driven to execute corresponding commands. The multifunctional home service robot can carry out voice-image feedback and limb feedback according to human voice commands and meanwhile has the functions of dust removing, disinfecting, organic-matter decomposing, gas detecting, air purifying, self-navigation traveling, self-action charging and the like. All-dimensional camera shooting and projection entertainment can be controlled through an intelligent microcomputer. The multifunctional home service robot can be used for information storage and voice, text and image intelligent interaction. The multifunctional home service robot also has the functions of indoor security inspection under remote control, emergency alarming and the like.
Description
Technical field
The present invention relates to a kind of robot, particularly a kind of multi-functional household service robot.
Background technology
Nowadays, the scope of application of robot started to be on active service to national security, particular surroundings, multiple fields expansion such as medical treatment is auxiliary, scientific investigation.And once step into the intelligent stage, community network constructed by Robot industry, will throughout social production, each field of living, become the basis of the social pattern-intelligent society after new round Industrial Revolution, on mankind market, most of so-called intelligent robot is all simple monolithic processor controlled family toy, effectively can not realize the high-tech artificial intelligence of real meaning.Robot particularly on market all cannot make suitable phonetic image feedback according to human speech order, limbs feedback etc.
Summary of the invention
For solving the problem, technical problem to be solved by this invention is to provide a kind ofly has intelligence control system, multi-functional home-services robot.
The technical scheme that the present invention solves the problems of the technologies described above is as follows: a kind of multi-functional household service robot, comprise intelligence control system, frame for movement and remote terminal, described intelligence control system is arranged in described frame for movement, described remote terminal regulates and controls described intelligence control system, thus driving mechanical structure acts accordingly;
Described frame for movement comprises head, trunk, chassis, chassis suspension protection motion and two movable dynamic wing mechanisms; described head is arranged on the upper end of described trunk; described trunk is arranged on described chassis; two described dynamic wing mechanism symmetries are arranged on described trunk both sides, and described chassis hangs protection motion and is arranged on described tray bottom.
The invention has the beneficial effects as follows: the present invention can make suitable phonetic image feedback according to human speech order, limbs feed back, there is the functions such as dedusting, sterilization, organic substance decomposing, gas detect, purification of air, independent navigation walking, autonomous actions charging simultaneously, intelligent microcomputer can be utilized to carry out controlling comprehensive shooting, projection amusement, and information storage, voice, word, image intelligent interaction can be carried out, also there is Long-distance Control and make an inspection tour indoor security, the functions such as emergent alarm.
On the basis of technique scheme, the present invention can also do following improvement:
Further, described head is connected with described trunk by head rotating mechanism, described head rotating mechanism comprises trunk fixed disk, cylindrical central sleeve, bearing, head rotating disk, holder, holddown spring, clamp nut, fixed frame, head direct current generator, driving wheel, driven pulley and at least three buphthalmos wheels
Described trunk fixed disk level is arranged on described trunk upper end, is set in outside the bottom of described cylindrical central sleeve in the middle part of it, and described trunk fixed disk is connected by cylindrical central sleeve described in described bearing;
Described cylindrical central sleeve above described trunk fixed disk is arranged with described head rotating disk, described holder, described holddown spring and described clamp nut from bottom to up successively, described head rotating disk is fixedly connected with described cylindrical central sleeve, described holder is fixed on described head rotating disk, described clamp nut is arranged on described cylindrical central sleeve upper end, described holddown spring one end is against on described holder, and the other end is against on described clamp nut;
The upper end of described fixed frame is fixed on bottom described trunk fixed disk and the position of close described cylindrical central sleeve, described head direct current generator is vertically fixed on described fixed frame lower end, the output shaft of described head direct current generator is positioned at fixed frame, it is arranged with described driving wheel;
Described driven pulley is set in the outside of described cylindrical central sleeve lower end, and described driving wheel and described driven pulley are connected with a joggle;
Described buphthalmos wheel is evenly distributed on described head rotating disk, and described head is fixedly connected with described head rotating disk by described buphthalmos wheel;
Described in described power module and described motor drive module co-controlling, head rotating mechanism is run, and makes it act accordingly.
Further, described dynamic wing mechanism comprises dynamic wing direct current generator, dynamic wing direct current generator installing rack, crank, connecting rod, rocking bar, the dynamic wing, the first connecting axle, the second connecting axle,
Described dynamic wing direct current generator is fixed on described dynamic wing direct current generator installing rack, and described crank one end is fixedly connected with the output of described dynamic wing direct current generator, and the other end is fixed on one end of described first connecting axle;
One end of described connecting rod and the other end of described first connecting axle are rotationally connected, and its other end is fixedly connected with one end of described second connecting axle;
The other end of described second connecting axle is fixedly connected with one end of described rocking bar, and the other end of described rocking bar is fixedly connected with one end of the described dynamic wing; Middle part and the described dynamic wing direct current generator installing rack of described rocking bar are rotationally connected;
Described dynamic wing direct current generator installing rack is fixed on described trunk;
Described motor drive module controls described dynamic wing mechanism and runs.
Further, described chassis hangs protection motion and comprises a driving wheel structure, and described driving wheel symmetrical configuration is arranged on described tray bottom both sides,
Described driving wheel structure comprises motor of advancing, driving wheel, tension spring, chassis fork, the first bearing, the second bearing and travel switch, described first bearing and the second bearing symmetry are vertically arranged in the reserved groove of described tray bottom, described tension spring one end is fixedly connected with the top of described first bearing, and the other end is fixedly connected with the top of described second bearing;
Advance described in described driving wheel is fixed on the output of motor, fork one end, described chassis is stuck on described second bearing, and the other end is fixed in the middle part of described driving wheel near described motor place;
Described travel switch is arranged on described second bearing, and is positioned at below the fork of described chassis; Described driving wheel can drive described chassis fork to press down when leaving ground, thus starts described travel switch;
Described motor drive module controls described chassis and hangs the operation of protection motion; Described Global localization module and described independent navigation module can control described chassis and hang protection motion movement locus.
Further, also comprise 2 universal wheels, described universal wheel symmetry is arranged on bottom, described chassis and close described driving wheel structure place.
Described head is provided with touch display screen, camera, Mike and protecting mask, described touch display screen is arranged on outside described head, described camera is arranged on outside the described head above described touch-screen, described Mike is arranged on outside the described head below described touch-screen, described protecting mask is embedded in described head upper end, and can output lid in described head and be located at described touch display screen, camera and Mike;
Described touch display screen, described camera and described Mike and described master control borad connection.
Further, described trunk is also provided with two air inlets, pallet, audio amplifier, the emergency stop button that can cut off the electricity supply, projecting apparatus, purification filter cover, air outlet, charging device and some ultrasonic sensors for shipped item,
Described air inlet symmetry is located at described trunk both sides, and is positioned at below described dynamic wing mechanism;
Described audio amplifier is arranged on the positive Middle face of described trunk, and described pallet is arranged on described trunk front upper, and is positioned at above described audio amplifier; Described pallet is embedded in described trunk, can extract out from described trunk;
Described emergency stop button, projecting apparatus, purification filter cover, air outlet and charging device are arranged on the described trunk back side from top to bottom successively,
Described ultrasonic sensor is evenly distributed on outside described trunk upper end;
Described projector module controls described projecting apparatus and runs;
Described power module controls described charging device and runs;
Described speaker module controls described audio amplifier and runs.
Further, described intelligence control system comprise host computer master control borad, slave computer master control borad, the image capture module passed on for scan image and by information conversion, be used for sound carry out collection analysis go forward side by side row relax feedback sound collection and locating module, be used for strengthening speaker effect and the speaker module of polishing sound and the WiFi routing module being used for carrying out with remote terminal radio communication, power module, motor drive module, the positioning navigation module being used for positioning robot's charging pile and avoiding obstacles, clarifier module and projector module
Described host computer master control borad is arranged in described head, and described slave computer master control borad is arranged in described chassis, described host computer master control borad and described slave computer master control borad connection; Described image capture module, sound collection and locating module, speaker module and WiFi routing module respectively with described host computer master control borad connection; Described power module, described motor drive module, described positioning navigation module, described clarifier module and described projector module respectively with described host computer master control borad connection;
Described positioning navigation module comprises the Global localization module of locating for described frame for movement and the independent navigation module for described frame for movement autonomous operation.
Further, also comprise Information Collecting & Processing module, described Information Collecting & Processing module and described host computer master control borad connection,
The infrared sensor that described Information Collecting & Processing module comprises gyroscope, acceleration transducer, the infrared sensor of modulating output, numeral export, for monitor the concentration fire preventing of smog Smoke Sensor, for monitor the CO sensor of CO concentration prevention gas leakage, CO for CO in sensing chamber and formaldehyde poisonous gas concentration, formaldehyde sensor, for monitor dust content dust sensor and for perception indoor temperature and humidity Temperature Humidity Sensor
Described dust sensor and described Temperature Humidity Sensor are all connected with described clarifier module circuitry.
Further, also comprise voice interaction module, described voice interaction module and described host computer master control borad connection, described voice interaction module can receive extraneous voice messaging and makes voice feedback by control.
Adopt the beneficial effect of above-mentioned further scheme to be have autonomous to control, voice are located, image recognition, autonomous map also navigates, and recharging playbacks, intelligent sound, word, image intelligent interaction, the functions such as article transport, Long-distance Control makes an inspection tour indoor security, emergent alarm etc.
Accompanying drawing explanation
Fig. 1 is the main TV structure schematic diagram of the present invention;
Fig. 2 is the main TV structure schematic diagram of the present invention;
Fig. 3 is the main TV structure schematic diagram of head rotating mechanism in the present invention;
Fig. 4 is head rotating mechanism sectional structure schematic diagram in the present invention;
Fig. 5 is head rotating mechanism plan structure schematic diagram in the present invention;
Fig. 6 is that in the present invention, head rotating mechanism overlooks the perspective view under visual angle;
Fig. 7 is that in the present invention, head rotating mechanism looks up the perspective view under visual angle;
Fig. 8 is dynamic wing mechanism structural representation in the present invention;
Fig. 9 is the main TV structure schematic diagram of driving wheel structure in the present invention;
Figure 10 is driving wheel structure backsight structural representation in the present invention;
Figure 11 is intelligence control system schematic flow sheet of the present invention.
In accompanying drawing, the list of parts representated by each label is as follows:
1, head, 1-1, camera, 1-2, protecting mask, 1-3, touch display screen, 1-4, Mike, 2, trunk, 2-1, air inlet, 2-2, for taking up the pallet of CD, 2-3, audio amplifier, 2-4, emergency stop button, 2-5, projecting apparatus, 2-6, purification filter cover, 2-7, air outlet, 2-8, charging device, 2-9, ultrasonic sensor, 3, head rotating mechanism, 3-1, head direct current generator, 3-2, driven pulley, 3-3, trunk fixed disk, 3-4, cylindrical central sleeve, 3-5, head rotating disk, 3-6, holder, 3-7, clamp nut, 3-8, buphthalmos is taken turns, 3-9, holddown spring, 3-10, driving wheel, 3-11, bearing, 3-12, fixed frame, 4, dynamic wing mechanism, 4-1, dynamic wing direct current generator, 4-2, dynamic wing direct current generator installing rack, 4-3, crank, 4-4, connecting rod, 4-5, rocking bar, 4-6, the dynamic wing, 4-7, first connecting axle, 4-8, second connecting axle, 5, driving wheel structure, 5-1, to advance motor, 5-2, driving wheel, 5-3, tension spring, 5-4, chassis fork, 5-5, first bearing, 5-6, second bearing, 5-7, travel switch, 6, universal wheel, 7, chassis.
Detailed description of the invention
Be described principle of the present invention and feature below in conjunction with accompanying drawing, example, only for explaining the present invention, is not intended to limit scope of the present invention.
As shown in Fig. 1 to 7, a kind of multi-functional household service robot, comprise intelligence control system, frame for movement and remote terminal, described intelligence control system is arranged in described frame for movement, described remote terminal regulates and controls described intelligence control system, thus driving mechanical structure acts accordingly;
Described frame for movement comprises head 1, trunk 2, chassis 7, chassis suspension protection motion and two movable dynamic wing mechanisms 4; described head 1 is arranged on the upper end of described trunk 2; described trunk 2 is arranged on described chassis 7; two described dynamic wing mechanism 4 symmetries are arranged on described trunk 2 both sides, and described chassis hangs protection motion and is arranged on bottom described chassis 7.
Described head 1 is connected with described trunk 2 by head rotating mechanism 3, described head rotating mechanism 3 comprises trunk fixed disk 3-3, cylindrical central sleeve 3-4, bearing 3-11, head rotating disk 3-5, holder 3-6, holddown spring 3-9, clamp nut 3-7, fixed frame 3-12, head direct current generator 3-1, driving wheel 3-10, a driven pulley 3-2 and at least three buphthalmos wheel 3-8
Described trunk fixed disk 3-3 level is arranged on described trunk 2 upper end, is set in outside the bottom of described cylindrical central sleeve 3-4 in the middle part of it, and described trunk fixed disk 3-3 is connected by cylindrical central sleeve 3-4 described in described bearing 3-11;
Described cylindrical central sleeve 3-4 above described trunk fixed disk 3-3 is arranged with described head rotating disk 3-5, described holder 3-6, described holddown spring 3-9 and described clamp nut 3-7 from bottom to up successively, described head rotating disk 3-5 is fixedly connected with described cylindrical central sleeve 3-4, described holder 3-6 is fixed on described head rotating disk 3-5, described clamp nut 3-7 is arranged on described cylindrical central sleeve 3-4 upper end, described holddown spring 3-9 one end is against on described holder 3-6, and the other end is against on described clamp nut 3-7;
The upper end of described fixed frame 3-12 is fixed on bottom described trunk fixed disk 3-3 and the position of close described cylindrical central sleeve 3-4, described head direct current generator 3-1 is vertically fixed on described fixed frame 3-12 lower end, the output shaft of described head direct current generator 3-1 is positioned at fixed frame 3-12, it is arranged with described driving wheel 3-10;
Described driven pulley 3-2 is set in the outside of described cylindrical central sleeve 3-4 lower end, and described driving wheel 3-10 and described driven pulley 3-2 is connected with a joggle;
Described buphthalmos wheel 3-8 is evenly distributed on described head rotating disk 3-5, and described head 1 is fixedly connected with described head rotating disk 3-5 by described buphthalmos wheel 3-8;
Described in described power module and described motor drive module co-controlling, head rotating mechanism 3 is run, and makes it act accordingly.
Described dynamic wing mechanism 4 comprises dynamic wing direct current generator 4-1, dynamic wing direct current generator installing rack 4-2, crank 4-3, connecting rod 4-4, rocking bar 4-5, dynamic wing 4-6, the first connecting axle 4-7, the second connecting axle 4-8,
Described dynamic wing direct current generator 4-1 is fixed on described dynamic wing direct current generator installing rack 4-2, and described crank 4-3 one end is fixedly connected with the output of described dynamic wing direct current generator 4-1, and the other end is fixed on one end of described first connecting axle 4-7;
One end of described connecting rod 4-4 and the other end of described first connecting axle 4-7 are rotationally connected, and its other end is fixedly connected with one end of described second connecting axle 4-8;
The other end of described second connecting axle 4-8 is fixedly connected with one end of described rocking bar 4-5, and the other end of described rocking bar 4-5 is fixedly connected with one end of described dynamic wing 4-6; Middle part and the described dynamic wing direct current generator installing rack 4-2 of described rocking bar 4-5 are rotationally connected;
Described dynamic wing direct current generator installing rack 4-2 is fixed on described trunk 2;
Described motor drive module controls described dynamic wing mechanism 4 and runs.
Described chassis hangs protection motion and comprises 2 driving wheel structures 5, and described driving wheel structure 5 symmetry is arranged on described chassis 7 two bottom sides,
Described driving wheel structure 5 comprises the motor 5-1 that advances, driving wheel 5-2, tension spring 5-3, chassis fork 5-4, the first bearing 5-5, the second bearing 5-6 and travel switch 5-7, described first bearing 5-5 and the second bearing 5-6 symmetry is vertically arranged in groove reserved bottom described chassis 7, described tension spring 5-3 one end is fixedly connected with the top of described first bearing 5-5, and the other end is fixedly connected with the top of described second bearing 5-6;
Advance described in described driving wheel 5-2 is fixed on the output of motor 5-1, fork 5-4 one end, described chassis is stuck on described second bearing 5-6, and the other end is fixed in the middle part of described driving wheel 5-2 near described motor place;
Described travel switch 5-7 is arranged on described second bearing 5-6, and is positioned at below described chassis fork 5-4; Described driving wheel 5-2 can drive described chassis fork 5-4 to press down when leaving ground, thus starts described travel switch 5-7;
Described motor drive module controls described chassis and hangs the operation of protection motion; Described Global localization module and described independent navigation module can control described chassis and hang protection motion movement locus.
Also comprise 2 universal wheels 6, described universal wheel 6 symmetry is arranged on described bottom, chassis 7 and close described driving wheel structure 5 place.
Described head 1 is provided with touch display screen 1-3, camera 1-1, Mike 1-4 and protecting mask 1-2, described touch display screen 1-3 is arranged on outside described head 1, described camera 1-1 is arranged on outside the described head 1 above described touch-screen, described Mike 1-4 is arranged on outside the described head 1 below described touch-screen, described protecting mask 1-2 is embedded in described head 1 upper end, and can output lid in described head 1 and be located at described touch display screen 1-3, camera 1-1 and Mike 1-4;
Described touch display screen 1-3, described camera 1-1 and described Mike 1-4 and described master control borad connection.
Described trunk 2 is also provided with two air inlet 2-1, pallet 2-2, audio amplifier 2-3 for shipped item, the emergency stop button 2-4 that can cut off the electricity supply, projecting apparatus 2-5, purification filter cover 2-6, air outlet 2-7, charging device 2-8 and some ultrasonic sensor 2-9
Described air inlet 2-1 symmetry is located at described trunk 2 both sides, and is positioned at below described dynamic wing mechanism 4;
Described audio amplifier 2-3 is arranged on the positive Middle face of described trunk 2, and described pallet 2-2 is arranged on described trunk 2 front upper, and is positioned at above described audio amplifier 2-3; Described pallet 2-2 is embedded in described trunk 2, can extract out from described trunk 2;
Described emergency stop button 2-4, projecting apparatus 2-5, purification filter cover 2-6, air outlet 2-7 and charging device 2-8 are arranged on described trunk 2 back side from top to bottom successively,
Described ultrasonic sensor 2-9 is evenly distributed on outside described trunk 2 upper end;
Described projector module controls described projecting apparatus 2-5 and runs;
Described power module controls described charging device 2-8 and runs;
Described speaker module controls described audio amplifier 2-3 and runs.
Described intelligence control system comprise host computer master control borad, slave computer master control borad, the image capture module passed on for scan image and by information conversion, be used for sound carry out collection analysis go forward side by side row relax feedback sound collection and locating module, be used for strengthening speaker effect and the speaker module of polishing sound and the WiFi routing module being used for carrying out with remote terminal radio communication, power module, motor drive module, the positioning navigation module being used for positioning robot's charging pile and avoiding obstacles, clarifier module and projector module
Described host computer master control borad is arranged in described head 1, and described slave computer master control borad is arranged in described chassis 7, and described host computer master control borad and described slave computer master control borad pass through together with connection; Described image capture module, sound collection and locating module, speaker module and WiFi routing module pass through connection with described host computer master control borad respectively; Described power module, described motor drive module, described positioning navigation module, described clarifier module and described projector module pass through together with connection with described host computer master control borad respectively;
Described positioning navigation module comprises the Global localization module of locating for described frame for movement and the independent navigation module for described frame for movement autonomous operation.
Also comprise Information Collecting & Processing module, described Information Collecting & Processing module and described host computer master control borad pass through together with connection,
Described Information Collecting & Processing module comprise gyroscope, acceleration transducer, modulating output infrared sensor, numeral export infrared sensor, for monitor the concentration fire preventing of smog Smoke Sensor, for monitor CO concentration prevention gas leakage CO sensor, for CO in sensing chamber
2with the CO of formaldehyde poisonous gas concentration
2, formaldehyde sensor, for monitor dust content dust sensor and for perception indoor temperature and humidity Temperature Humidity Sensor,
Described dust sensor and described Temperature Humidity Sensor all pass through together with connection with described clarifier module.
Also comprise voice interaction module, described voice interaction module and described host computer master control borad connection, described voice interaction module can receive extraneous voice messaging and makes voice feedback by control.
Operation principle of the present invention and the course of work: the present invention is by the frame for movement of intelligence control system band mobile robot, suitable phonetic image feedback can be made according to human speech order, limbs feed back, there is dedusting simultaneously, sterilization, organic substance decomposing, gas detect, purification of air, independent navigation is walked, the functions such as autonomous actions charging, intelligent microcomputer can be utilized to carry out controlling comprehensive shooting, projection amusement, and can information storage be carried out, voice, word, image intelligent interaction, also there is Long-distance Control and make an inspection tour indoor security, the functions such as emergent alarm.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. a multi-functional household service robot, it is characterized in that, comprise intelligence control system, frame for movement and remote terminal, described intelligence control system is arranged in described frame for movement, described remote terminal regulates and controls described intelligence control system, thus driving mechanical structure acts accordingly;
Described frame for movement comprises head (1), trunk (2), chassis (7), chassis suspension protection motion and two movable dynamic wing mechanisms (4); described head (1) is arranged on the upper end of described trunk (2); described trunk (2) is arranged on described chassis (7); two described dynamic wing mechanism (4) symmetries are arranged on described trunk (2) both sides, and described chassis hangs protection motion and is arranged on bottom, described chassis (7).
2. a kind of multi-functional household service robot according to claim 1, it is characterized in that, described head (1) is connected with described trunk (2) by head rotating mechanism (3), described head rotating mechanism (3) comprises trunk fixed disk (3-3), cylindrical central sleeve (3-4), bearing (3-11), head rotating disk (3-5), holder (3-6), holddown spring (3-9), clamp nut (3-7), fixed frame (3-12), head direct current generator (3-1), driving wheel (3-10), driven pulley (3-2) and at least three buphthalmos wheel (3-8),
Described trunk fixed disk (3-3) level is arranged on described trunk (2) upper end, be set in outside the bottom of described cylindrical central sleeve (3-4) in the middle part of it, described trunk fixed disk (3-3) is connected by described bearing (3-11) described cylindrical central sleeve (3-4);
The described cylindrical central sleeve (3-4) of described trunk fixed disk (3-3) top is arranged with described head rotating disk (3-5) from bottom to up successively, described holder (3-6), described holddown spring (3-9) and described clamp nut (3-7), described head rotating disk (3-5) is fixedly connected with described cylindrical central sleeve (3-4), described holder (3-6) is fixed on described head rotating disk (3-5), described clamp nut (3-7) is arranged on described cylindrical central sleeve (3-4) upper end, described holddown spring (3-9) one end is against on described holder (3-6), the other end is against on described clamp nut (3-7),
The upper end of described fixed frame (3-12) is fixed on described trunk fixed disk (3-3) bottom and the position of close described cylindrical central sleeve (3-4), described head direct current generator (3-1) is vertically fixed on described fixed frame (3-12) lower end, the output shaft of described head direct current generator (3-1) is positioned at fixed frame (3-12), it is arranged with described driving wheel (3-10);
Described driven pulley (3-2) is set in the outside of described cylindrical central sleeve (3-4) lower end, and described driving wheel (3-10) and described driven pulley (3-2) are connected with a joggle;
Described buphthalmos wheel (3-8) is evenly distributed on described head rotating disk (3-5), and described head (1) is taken turns (3-8) by described buphthalmos and is fixedly connected with described head rotating disk (3-5);
Described in described power module and described motor drive module co-controlling, head rotating mechanism (3) is run, and makes it act accordingly.
3. a kind of multi-functional household service robot according to claim 2, it is characterized in that, described dynamic wing mechanism (4) comprises dynamic wing direct current generator (4-1), dynamic wing direct current generator installing rack (4-2), crank (4-3), connecting rod (4-4), rocking bar (4-5), the dynamic wing (4-6), the first connecting axle (4-7), the second connecting axle (4-8)
Described dynamic wing direct current generator (4-1) is fixed on described dynamic wing direct current generator installing rack (4-2), described crank (4-3) one end is fixedly connected with the output of described dynamic wing direct current generator (4-1), and the other end is fixed on one end of described first connecting axle (4-7);
One end of described connecting rod (4-4) and the other end of described first connecting axle (4-7) are rotationally connected, and its other end is fixedly connected with one end of described second connecting axle (4-8);
The other end of described second connecting axle (4-8) is fixedly connected with one end of described rocking bar (4-5), and the other end of described rocking bar (4-5) is fixedly connected with one end of the described dynamic wing (4-6); Middle part and the described dynamic wing direct current generator installing rack (4-2) of described rocking bar (4-5) are rotationally connected;
Described dynamic wing direct current generator installing rack (4-2) is fixed on described trunk (2);
Described motor drive module controls the operation of described dynamic wing mechanism (4).
4. a kind of multi-functional household service robot according to claim 3; it is characterized in that; described chassis hangs protection motion and comprises 2 driving wheel structures (5), and described driving wheel structure (5) symmetry is arranged on described chassis (7) two bottom sides
Described driving wheel structure (5) comprises motor of advancing (5-1), driving wheel (5-2), tension spring (5-3), chassis fork (5-4), first bearing (5-5), second bearing (5-6) and travel switch (5-7), described first bearing (5-5) and the second bearing (5-6) symmetry are vertically arranged in the reserved groove in bottom, described chassis (7), described tension spring (5-3) one end is fixedly connected with the top of described first bearing (5-5), the other end is fixedly connected with the top of described second bearing (5-6),
To advance described in described driving wheel (5-2) is fixed on the output of motor (5-1), described chassis fork (5-4) one end is stuck on described second bearing (5-6), and the other end is fixed on described driving wheel (5-2) middle part near described motor place;
Described travel switch (5-7) is arranged on described second bearing (5-6), and is positioned at below, described chassis fork (5-4); Described driving wheel (5-2) can drive described chassis fork (5-4) to press down when leaving ground, thus starts described travel switch (5-7);
Described motor drive module controls described chassis and hangs the operation of protection motion; Described Global localization module and described independent navigation module can control described chassis and hang protection motion movement locus.
5. a kind of multi-functional household service robot according to claim 4, it is characterized in that, also comprise 2 universal wheels (6), described universal wheel (6) symmetry is arranged on (7) bottom, described chassis and close described driving wheel structure (5) place.
6. a kind of multi-functional household service robot according to claim 5, it is characterized in that, described head (1) is provided with touch display screen (1-3), camera (1-1), Mike (1-4) and protecting mask (1-2), described touch display screen (1-3) is arranged on described head (1) outside, described camera (1-1) is arranged on described head (1) outside above described touch-screen, described Mike (1-4) is arranged on described head (1) outside below described touch-screen, described protecting mask (1-2) is embedded in described head (1) upper end, and lid can be outputed in described head (1) and be located at described touch display screen (1-3), camera (1-1) and Mike (1-4) are outward,
Described touch display screen (1-3), described camera (1-1) and described Mike (1-4) and described master control borad connection.
7. a kind of multi-functional household service robot according to claim 6, it is characterized in that, described trunk (2) is also provided with two air inlets (2-1), pallet (2-2) for shipped item, audio amplifier (2-3), the emergency stop button (2-4) that can cut off the electricity supply, projecting apparatus (2-5), purification filter cover (2-6), air outlet (2-7), charging device (2-8) and some ultrasonic sensors (2-9)
Described air inlet (2-1) symmetry is located at described trunk (2) both sides, and is positioned at described dynamic wing mechanism (4) below;
Described audio amplifier (2-3) is arranged on the positive Middle face of described trunk (2), and described pallet (2-2) is arranged on described trunk (2) front upper, and is positioned at described audio amplifier (2-3) top; Described pallet (2-2) is embedded in described trunk (2), can extract out from described trunk (2);
Described emergency stop button (2-4), projecting apparatus (2-5), purification filter cover (2-6), air outlet (2-7) and charging device (2-8) are arranged on described trunk (2) back side from top to bottom successively
Described ultrasonic sensor (2-9) is evenly distributed on outside described trunk (2) upper end;
Described projector module controls described projecting apparatus (2-5) and runs;
Described power module controls described charging device (2-8) and runs;
Described speaker module controls described audio amplifier (2-3) and runs.
8. a kind of multi-functional household service robot according to any one of claim 1 to 7, it is characterized in that, described intelligence control system comprises host computer master control borad, slave computer master control borad, the image capture module passed on for scan image and by information conversion, for sound is carried out collection analysis go forward side by side row relax feedback sound collection and locating module, for strengthening speaker effect and the speaker module of polishing sound and for carrying out the WiFi routing module of radio communication with remote terminal, power module, motor drive module, for the positioning navigation module of positioning robot's charging pile and avoiding obstacles, clarifier module and projector module,
Described host computer master control borad is arranged in described head (1), and described slave computer master control borad is arranged in described chassis (7), and described host computer master control borad and described slave computer master control borad pass through together with connection; Described image capture module, sound collection and locating module, speaker module and WiFi routing module pass through connection with described host computer master control borad respectively; Described power module, described motor drive module, described positioning navigation module, described clarifier module and described projector module pass through together with connection with described host computer master control borad respectively;
Described positioning navigation module comprises the Global localization module of locating for described frame for movement and the independent navigation module for described frame for movement autonomous operation.
9. a kind of multi-functional household service robot according to claim 8, is characterized in that,
Also comprise Information Collecting & Processing module, described Information Collecting & Processing module and described host computer master control borad pass through together with connection,
Described Information Collecting & Processing module comprise gyroscope, acceleration transducer, modulating output infrared sensor, numeral export infrared sensor, for monitor the concentration fire preventing of smog Smoke Sensor, for monitor CO concentration prevention gas leakage CO sensor, for CO in sensing chamber
2with the CO of formaldehyde poisonous gas concentration
2, formaldehyde sensor, for monitor dust content dust sensor and for perception indoor temperature and humidity Temperature Humidity Sensor,
Described dust sensor and described Temperature Humidity Sensor all pass through together with connection with described clarifier module.
10. a kind of multi-functional household service robot according to claim 9, it is characterized in that, also comprise voice interaction module, described voice interaction module and described host computer master control borad connection, described voice interaction module can receive extraneous voice messaging and makes voice feedback by control.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510472661.9A CN105034002B (en) | 2015-08-04 | 2015-08-04 | A kind of multi-functional household service robot |
| EP16832222.0A EP3332923A4 (en) | 2015-08-04 | 2016-07-22 | Multi-functional home service robot |
| PCT/CN2016/091034 WO2017020734A1 (en) | 2015-08-04 | 2016-07-22 | Multi-functional home service robot |
| US15/522,820 US10500716B2 (en) | 2015-04-08 | 2016-07-22 | Multi-functional home service robot |
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|---|---|---|---|
| CN201510472661.9A CN105034002B (en) | 2015-08-04 | 2015-08-04 | A kind of multi-functional household service robot |
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| CN105034002A true CN105034002A (en) | 2015-11-11 |
| CN105034002B CN105034002B (en) | 2016-09-28 |
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Address after: Building 65, No. 17, Jiujiang Road, Tongji New Economic Zone, Jimo District, Qingdao City, Shandong Province, 266200 Patentee after: Qingdao Evolver xiaopang Robot Technology Co.,Ltd. Address before: Room 02-A426, 2nd Floor, Block B, No. 22, Information Road, Haidian District, Beijing 100085 Patentee before: BEIJING EVOLVER ROBOTICS Co.,Ltd. |
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