CN105034002B - A kind of multi-functional household service robot - Google Patents
A kind of multi-functional household service robot Download PDFInfo
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- CN105034002B CN105034002B CN201510472661.9A CN201510472661A CN105034002B CN 105034002 B CN105034002 B CN 105034002B CN 201510472661 A CN201510472661 A CN 201510472661A CN 105034002 B CN105034002 B CN 105034002B
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Abstract
The present invention relates to a kind of multi-functional household service robot, it is characterized in that, including intelligence control system, frame for movement and remote terminal, described intelligence control system is arranged in described frame for movement, intelligence control system described in described remote terminal controllable, thus driving mechanical structure makes command adapted thereto.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 decomposition, gas detecting, air cleaning, independent navigation walking, autonomous actions charging simultaneously, available intelligent microcomputer is controlled comprehensive shooting, projection amusement, and information storage, voice, word, image intelligent interaction can be carried out, also have and remotely control to make an inspection tour indoor security, the function such as emergent alarm.
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 range of robot have started to national security, special environment be on active service, medical treatment auxiliary,
Multiple field such as scientific investigation extends.And once step into the intelligent stage, the society constructed by Robot industry
Meeting network, will become the social formation after new round Industrial Revolution throughout social production, each field of living
The basis of intelligent society, on mankind market, most of so-called intelligent robot is all simple single-chip microcomputer
The family's toy controlled, it is impossible to effectively realize the high-tech artificial intelligence of real meaning.Particularly city
Robot on field all cannot make suitable phonetic image feedback according to human speech order, and limbs feed back
Deng.
Summary of the invention
For solving the problems referred to above, the technical problem to be solved is to provide one and has Based Intelligent Control
Home-services robot system, multi-functional.
The technical scheme is that a kind of multi-functional household service-delivery machine
People, including intelligence control system, frame for movement and remote terminal, described intelligence control system is arranged on institute
Stating in frame for movement, described remote terminal regulates and controls described intelligence control system, thus driving mechanical structure is made
Go out corresponding actions；
Described frame for movement includes that head, trunk, chassis, chassis hang protection motion and two only
The dynamic wing mechanism of motion, described head is arranged on the upper end of described trunk, and described trunk is arranged on the described end
On dish, two described dynamic wing mechanisms are symmetrically mounted on described trunk both sides, and described chassis hangs protection motion
Mechanism is arranged on described tray bottom.
The invention has the beneficial effects as follows: the present invention can make suitable phonogram according to human speech order
As feedback, limbs feed back, and have dedusting, sterilization, Organic substance decomposition, gas detecting, air clean simultaneously
The functions such as change, independent navigation walking, autonomous actions charging, available intelligent microcomputer is controlled
Comprehensive shooting, projection amusement, and information storage, voice, word, image intelligent interaction friendship can be carried out
The functions such as stream, also has and remotely control to make an inspection tour indoor security, emergent alarm.
On the basis of technique scheme, the present invention can also do and improve as follows:
Further, described head is connected with described trunk by head rotating mechanism, described head rotation
Mechanism includes trunk fixed disk, cylindrical central sleeve, bearing, head rotating disk, fixing seat, holddown spring, pressure
Jack panel, fixed frame, head direct current generator, driving wheel, driven pulley and at least three buphthalmos wheel,
Described trunk fixed disk is horizontally arranged at described trunk upper end, is set in described cylindrical central sleeve in the middle part of it
Bottom outside, described trunk fixed disk is connected with described cylindrical central sleeve by described bearing；
Described head it is arranged with the most successively on described cylindrical central sleeve above described trunk fixed disk
Rotating disk, described fixing seat, described holddown spring and described clamp nut, described head rotating disk with described in
Heart sleeve is fixing to be connected, and described fixing seat is fixed on described head rotating disk, and described clamp nut is arranged on
Described cylindrical central sleeve upper end, described holddown spring one end is against on described fixing seat, and the other end is against described
On clamp nut；
The upper end of described fixed frame is fixed on bottom described trunk fixed disk and near described cylindrical central sleeve
Position, described head direct current generator is vertically fixed on described fixed frame lower end, described head direct current
The output shaft of motor is positioned at fixed frame, and it is arranged with described driving wheel；
Described driven pulley is set in the outside of described cylindrical central sleeve lower end, described driving wheel and described driven pulley
Engagement connects；
Described buphthalmos wheel is evenly distributed on described head rotating disk, and described head is taken turns by described buphthalmos and institute
State the fixing connection of head rotating disk；
Head rotating mechanism described in described power module and described motor drive module co-controlling is run, and makes
It acts accordingly.
Further, described dynamic wing mechanism include dynamic wing direct current generator, dynamic wing direct current generator installing rack, crank,
Connecting rod, rocking bar, the dynamic wing, the first connecting shaft, the second connecting shaft,
Described dynamic wing direct current generator is fixed on described dynamic wing direct current generator installing rack, described crank one end with
The outfan of described dynamic wing direct current generator is fixing to be connected, and the other end is fixed on the one of described first connecting shaft
End；
One end of described connecting rod is rotationally connected with the other end of described first connecting shaft, and its other end is with described
One end of second connecting shaft is fixing to be connected；
The other end of described second connecting shaft and one end of described rocking bar are fixing to be connected, another of described rocking bar
Hold the one end with the described dynamic wing to fix to be connected；The middle part of described rocking bar and described dynamic wing direct current generator installing rack
It is 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 and protects motion to include a drivewheel structure, described active rolling hitch
Structure is symmetrically mounted on described tray bottom both sides,
Described drivewheel structure include traveling motor, drivewheel, tension spring, chassis fork, first
Seat, the second bearing and travel switch, described first bearing and the second bearing symmetry are vertically installed at the described end
In the groove that tray bottom is reserved, described tension spring one end is fixing with the top of described first bearing to be connected,
The other end is fixing with the top of described second bearing to be connected；
Described drivewheel is fixed on the outfan of described traveling motor, and fork one end, described chassis is stuck in described
On second bearing, the other end is fixed in the middle part of described drivewheel at the described traveling motor；
Described travel switch is arranged on described second bearing, and is positioned at below the fork of described chassis；Described
Can drive when drivewheel leaves ground and press under the fork of described chassis, thus start described travel switch；
Described motor drive module controls described chassis and hangs protection motion operation；Described Global localization
Module and described independent navigation module can control described chassis and hang protection motion movement locus.
Further, also including 2 universal wheels, described universal wheel is symmetrically mounted on bottom, described chassis and leans on
At nearly described drivewheel structure.
Being provided with touch display screen, photographic head, Mike and protecting mask on described head, described touch shows
Display screen is arranged on outside described head, and described photographic head is arranged on outside the described head above described touch screen
Side, described Mike is arranged on outside the described head below described touch screen, and described protecting mask is embedded
In described head upper end, and can output in described head lid be located at described touch display screen, photographic head and
Outside Mike；
Described touch display screen, described photographic head and described Mike are connected with described host computer master control borad.
Further, described trunk is also equipped with two air inlets, pallet for shipped item, audio amplifier,
If the emergency stop button that can cut off the electricity supply, projector, purification filter cover, air outlet, charging device and
Dry ultrasonic sensor,
Described air inlet is symmetrically arranged 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
Portion, and be positioned at above described audio amplifier；Described pallet is embedded in described trunk, can take out from described trunk
Go out；
Described emergency stop button, projector, purification filter cover, air outlet and charging device are from top to bottom
It is sequentially arranged at the described trunk back side,
Described ultrasonic sensor is evenly distributed on outside described trunk upper end；
Described projector module controls described projector 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 include host computer master control borad, slave computer master control borad, for sweeping
Information is also changed the image capture module of reception and registration, is used for being acquired sound analyzing and carrying out by tracing picture
Process the sound collection of feedback and locating module, for strengthening speaker effect and sound being polished
Speaker module and for carrying out the WiFi routing module of radio communication, power module, electricity with remote terminal
Machine drives module, the positioning navigation module for positioning robot's charging pile and avoiding obstacles, depurator
Module and projector module,
Described host computer master control borad is arranged in described head, and described slave computer master control borad is arranged on the described end
In dish, 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 only
Change device module and described projector module respectively with described host computer master control borad connection；
Described positioning navigation module include the Global localization module that positions for described frame for movement and for
The independent navigation module of described frame for movement autonomous operation.
Further, also including Information Collecting & Processing module, described Information Collecting & Processing module is upper with described
Owner controls plate connection,
Described Information Collecting & Processing module includes gyroscope, acceleration transducer, the infrared biography of simulation output
Sensor, numeral output infrared sensor, for monitor smog concentration fire preventing Smoke Sensor,
For monitor CO concentration prevention the CO sensor of gas leakage, in sensing chamber CO and formaldehyde poison
The CO of bulk concentration, formaldehyde sensor, for monitoring the dust sensor of dust content and indoor for perception
The Temperature Humidity Sensor of temperature and humidity,
Described dust sensor and described Temperature Humidity Sensor are all connected with described depurator module circuitry.
Further, voice interaction module, described voice interaction module and described host computer master control borad are also included
Connection, described voice interaction module can control robot and receive extraneous voice messaging and to make voice anti-
Feedback.
Using above-mentioned further scheme to provide the benefit that have autonomous control, voice positions, image
Identifying, autonomous map also navigates, and recharging playbacks, and intelligent sound, word, image intelligent interaction are handed over
Stream, the function such as article transport, remotely control to make an inspection tour indoor security, emergent alarm etc..
Accompanying drawing explanation
Fig. 1 is the present invention main TV structure schematic diagram；
Fig. 2 is the present invention main TV structure schematic diagram；
Fig. 3 is head rotating mechanism main TV structure schematic diagram 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 the perspective view in the present invention under head rotating mechanism vertical view visual angle；
Fig. 7 is the perspective view under head rotating mechanism looks up visual angle in the present invention；
Fig. 8 is dynamic wing mechanism structural representation in the present invention；
Fig. 9 is drivewheel structure main TV structure schematic diagram in the present invention；
Figure 10 is drivewheel 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, photographic head, 1-2, protecting mask, 1-3, touch display screen, 1-4, wheat
Gram, 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, projector, 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, fixing seat,
3-7, clamp nut, 3-8, buphthalmos wheel, 3-9, holddown spring, 3-10, driving wheel, 3-11, axle
Hold, 3-12, fixed frame, 4, dynamic wing mechanism, 4-1, dynamic wing direct current generator, 4-2, dynamic wing direct current
Motor mounting rack, 4-3, crank, 4-4, connecting rod, 4-5, rocking bar, 4-6, the dynamic wing, 4-7, first
Connecting shaft, 4-8, the second connecting shaft, 5, drivewheel structure, 5-1, traveling motor, 5-2, drivewheel,
5-3, tension spring, 5-4, chassis fork, 5-5, the first bearing, 5-6, the second bearing, 5-7,
Travel switch, 6, universal wheel, 7, chassis.
Detailed description of the invention
Being described principle and the feature of the present invention below in conjunction with accompanying drawing, example is served only for explaining this
Invention, is not intended to limit the scope of the present invention.
As Fig. 1 is to shown in 7, and a kind of multi-functional household service robot, including intelligence control system, machine
Tool structure and remote terminal, described intelligence control system is arranged in described frame for movement, and described remote control is eventually
End regulates and controls described intelligence control system, thus driving mechanical structure acts accordingly；
Described frame for movement includes that head 1, trunk 2, chassis 7, chassis hang protection motion and two
The most movable dynamic wing mechanism 4, described head 1 is arranged on the upper end of described trunk 2, described trunk 2
Being arranged on described chassis 7, two described dynamic wing mechanisms 4 are symmetrically mounted on described trunk 2 both sides, institute
State chassis suspension protection motion to be arranged on bottom described chassis 7.
Described head 1 is connected with described trunk 2 by head rotating mechanism 3, described head rotation machine
Structure 3 includes trunk fixed disk 3-3, cylindrical central sleeve 3-4, bearing 3-11, head rotating disk 3-5, fixes
Seat 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 is horizontally arranged at described trunk 2 upper end, be set in the middle part of it described in
Outside the bottom of heart sleeve 3-4, described trunk fixed disk 3-3 is by described bearing 3-11 and described center
Sleeve 3-4 connects；
On described cylindrical central sleeve 3-4 above described trunk fixed disk 3-3 the most sheathed
State head rotating disk 3-5, described fixing seat 3-6, described holddown spring 3-9 and described clamp nut 3-7,
Described head rotating disk 3-5 and described cylindrical central sleeve 3-4 is fixing to be connected, and described fixing seat 3-6 is fixed on institute
Stating on 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 fixing seat 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 near described
The position of 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, and it overlaps
It is provided 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, described driving wheel 3-10
It is connected with described driven pulley 3-2 engagement；
Described buphthalmos wheel 3-8 is evenly distributed on described head rotating disk 3-5, and described head 1 is by described
Buphthalmos wheel 3-8 and described head rotating disk 3-5 is fixing to be connected；
Head rotating mechanism 3 described in described power module and described motor drive module co-controlling is run,
Make it act accordingly.
Described dynamic wing mechanism 4 includes dynamic wing direct current generator 4-1, dynamic wing direct current generator installing rack 4-2, song
Handle 4-3, connecting rod 4-4, rocking bar 4-5, dynamic wing 4-6, the first connecting shaft 4-7, the second connecting shaft 4-8,
Described dynamic wing direct current generator 4-1 is fixed on described dynamic wing direct current generator installing rack 4-2, described song
Handle 4-3 one end is fixing with the outfan of described dynamic wing direct current generator 4-1 to be connected, and the other end is fixed on described
One end of first connecting shaft 4-7；
One end of described connecting rod 4-4 is rotationally connected with the other end of described first connecting shaft 4-7, its another
Hold the one end with described second connecting shaft 4-8 to fix to be connected；
One end of the other end of described second connecting shaft 4-8 and described rocking bar 4-5 is fixing to be connected, described in shake
The other end of bar 4-5 is fixing with one end of described dynamic wing 4-6 to be connected；The middle part of described rocking bar 4-5 and institute
State wing direct current generator installing rack 4-2 to be 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 includes 2 drivewheel structures 5, described drivewheel structure 5
It is symmetrically mounted on described chassis 7 two bottom sides,
Described drivewheel structure 5 includes traveling motor 5-1, drivewheel 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
It is vertically installed in groove reserved bottom described chassis 7 with the second bearing 5-6 symmetry, described pulling force bullet
Spring 5-3 one end is fixing with the top of described first bearing 5-5 to be connected, the other end and described second bearing 5-6
Top fixing connect；
Described drivewheel 5-2 is fixed on the outfan of described traveling motor 5-1, described chassis fork 5-4
One end is stuck on described second bearing 5-6, and the other end is fixed in the middle part of described drivewheel 5-2 near described
At traveling motor 5-1；
Described travel switch 5-7 is arranged on described second bearing 5-6, and is positioned at described chassis fork 5-4
Lower section；Described drivewheel 5-2 can drive when leaving ground and press under described chassis fork 5-4, thus starts
Described travel switch 5-7；
Described motor drive module controls described chassis and hangs protection motion operation；Described Global localization
Module and described independent navigation module can control described chassis and hang protection motion movement locus.
Also include that 2 universal wheels 6, described universal wheel 6 are symmetrically mounted on described bottom, chassis 7 and close
At described drivewheel structure 5.
Touch display screen 1-3, photographic head 1-1, Mike 1-4 and protection face are installed on described head 1
Cover 1-2, described touch display screen 1-3 are arranged on outside described head 1, and described photographic head 1-1 installs
Outside described head 1 above described touch screen, described Mike 1-4 is arranged on below described touch screen
Described head 1 outside, described protecting mask 1-2 is embedded in described head 1 upper end, and can be from institute
Output lid in stating head 1 to be located at outside described touch display screen 1-3, photographic head 1-1 and Mike 1-4；
Described touch display screen 1-3, described photographic head 1-1 and described Mike 1-4 and described upper owner
Control plate connects.
Two air inlet 2-1, the pallet 2-2 for shipped item, sound it is also equipped with on described trunk 2
Case 2-3, the emergency stop button 2-4 that can cut off the electricity supply, projector 2-5, purify filter cover 2-6, go out
Air port 2-7, charging device 2-8 and some ultrasonic sensor 2-9,
Described air inlet 2-1 is symmetrically arranged 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 described positive Middle face of trunk 2, and described pallet 2-2 is arranged on described body
Dry 2 front upper, and be positioned at above described audio amplifier 2-3；Described pallet 2-2 is embedded at described trunk 2
In, can extract out from described trunk 2；
Described emergency stop button 2-4, projector 2-5, purify filter cover 2-6, air outlet 2-7 and fill
Electric installation 2-8 is sequentially arranged at described trunk 2 back side from top to bottom,
Described ultrasonic sensor 2-9 is evenly distributed on outside described trunk 2 upper end；
Described projector module controls described projector 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 includes host computer master control borad, slave computer master control borad, for scanogram also
By the image capture module of information conversion reception and registration, it is used for being acquired sound analyzing and carry out to process feedback
Sound collection and locating module, for strengthening speaker effect the speaker module that sound is polished
With for remote terminal carry out the WiFi routing module of radio communication, power module, motor drive mould
Block, positioning navigation module, depurator module and throwing for positioning robot's charging pile and avoiding obstacles
Shadow instrument module,
Described host computer master control borad is arranged in described head 1, and described slave computer master control borad is arranged on described
In chassis 7, described host computer master control borad passes through together with connection with described slave computer master control borad；Institute
State image capture module, sound collection and locating module, speaker module and WiFi routing module respectively with
Described host computer master control borad passes through connection；Described power module, described motor drive module, described
Positioning navigation module, described depurator module and described projector module respectively with described host computer master control borad
By connection together；
Described positioning navigation module include the Global localization module that positions for described frame for movement and for
The independent navigation module of described frame for movement autonomous operation.
Also include Information Collecting & Processing module, described Information Collecting & Processing module and described host computer master control borad
By connection together,
Described Information Collecting & Processing module includes gyroscope, acceleration transducer, the infrared biography of simulation output
Sensor, numeral output infrared sensor, for monitor smog concentration fire preventing Smoke Sensor,
For monitor CO concentration prevention the CO sensor of gas leakage, in sensing chamber CO2With formaldehyde poison
The CO of bulk concentration2, formaldehyde sensor, for monitoring the dust sensor of dust content and for perception room
The Temperature Humidity Sensor of interior temperature and humidity,
Described dust sensor and described Temperature Humidity Sensor are all with described depurator module by circuit even
It is connected together.
Also including voice interaction module, described voice interaction module is with described host computer master control borad circuit even
Connecing, described voice interaction module can control robot and receives extraneous voice messaging and make voice feedback.
The operation principle of the present invention and work process: the present invention is by intelligence control system band mobile robot
Frame for movement, can make suitable phonetic image feedback according to human speech order, and limbs feed back, with
Time have dedusting, sterilization, Organic substance decomposition, gas detecting, air cleaning, independent navigation walking, from
The functions such as main action charging, available intelligent microcomputer is controlled comprehensive shooting, projection amusement,
And information storage, voice, word, image intelligent interaction can be carried out, also have and remotely control to make an inspection tour
Indoor security, the function such as emergent alarm.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all in the present invention
Spirit and principle within, any modification, equivalent substitution and improvement etc. made, should be included in this
Within bright protection domain.
Claims (9)
1. a multi-functional household service robot, it is characterised in that include intelligence control system, machine
Tool structure and remote terminal, described intelligence control system is arranged in described frame for movement, and described remote control is eventually
End regulates and controls described intelligence control system, thus driving mechanical structure acts accordingly；
Described frame for movement includes that head (1), trunk (2), chassis (7), chassis hang protection
Motion and two movable dynamic wing mechanisms (4), described head (1) is arranged on described trunk (2)
Upper end, described trunk (2) is arranged on described chassis (7), two described dynamic wing mechanisms (4)
Being symmetrically mounted on described trunk (2) both sides, described chassis hangs protection motion and is arranged on the described end
Dish (7) bottom；Described intelligence control system include host computer master control borad, slave computer master control borad, for sweeping
Information is also changed the image capture module of reception and registration, is used for being acquired sound analyzing and carrying out by tracing picture
Process the sound collection of feedback and locating module, for strengthening speaker effect and sound being polished
Speaker module and for carrying out the WiFi routing module of radio communication, power module, electricity with remote terminal
Machine drives module, the positioning navigation module for positioning robot's charging pile and avoiding obstacles, depurator
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 on institute
Stating in chassis (7), described host computer master control borad and described slave computer master control borad pass through connection one
Rise；Described image capture module, sound collection and locating module, speaker module and WiFi routing module
Connection is passed through respectively with described host computer master control borad；Described power module, described motor drive module,
Described positioning navigation module, described depurator module and described projector module respectively with described upper owner
Control plate is by connection together；
Described positioning navigation module include the Global localization module that positions for described frame for movement and for
The independent navigation module of described frame for movement autonomous operation.
A kind of multi-functional household service robot, it is characterised in that described
Head (1) is connected with described trunk (2) by head rotating mechanism (3), described head rotation
Mechanism (3) includes trunk fixed disk (3-3), cylindrical central sleeve (3-4), bearing (3-11), head
Portion's rotating disk (3-5), fixing seat (3-6), holddown spring (3-9), clamp nut (3-7), solid
Determine framework (3-12), head direct current generator (3-1), driving wheel (3-10), driven pulley (3-2)
(3-8) is taken turns with at least three buphthalmos,
Described trunk fixed disk (3-3) is horizontally arranged at described trunk (2) upper end, is set in the middle part of it
Outside the bottom of described cylindrical central sleeve (3-4), described trunk fixed disk (3-3) passes through described bearing (3-11)
It is connected with described cylindrical central sleeve (3-4)；
Overlap the most successively on the described cylindrical central sleeve (3-4) of described trunk fixed disk (3-3) top
Be provided with described head rotating disk (3-5), described fixing seat (3-6), described holddown spring (3-9) and
Described clamp nut (3-7), described head rotating disk (3-5) is fixed with described cylindrical central sleeve (3-4)
Connecting, described fixing seat (3-6) is fixed on described head rotating disk (3-5), described clamp nut (3-7)
Being arranged on described cylindrical central sleeve (3-4) upper end, described holddown spring (3-9) one end is against described fixing
On seat (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 leans on
The position of nearly described cylindrical central sleeve (3-4), described head direct current generator (3-1) is vertically fixed on institute
Stating fixed frame (3-12) lower end, the output shaft of described head direct current generator (3-1) is positioned at fixed frame
In 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, described driving
Wheel (3-10) is connected with described driven pulley (3-2) engagement；
Described buphthalmos wheel (3-8) is evenly distributed on described head rotating disk (3-5), described head (1)
It is connected by described buphthalmos wheel (3-8) and described head rotating disk (3-5) are fixing；
Head rotating mechanism (3) fortune described in described power module and described motor drive module co-controlling
OK so that it is act accordingly.
A kind of multi-functional household service robot, it is characterised in that described
Dynamic wing mechanism (4) include 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 shaft (4-7),
Second connecting shaft (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 fixing with the outfan of described dynamic wing direct current generator (4-1) to be connected, another
End is fixed on one end of described first connecting shaft (4-7)；
One end of described connecting rod (4-4) is rotationally connected with the other end of described first connecting shaft (4-7),
Its other end is fixing with one end of described second connecting shaft (4-8) to be connected；
The other end of described second connecting shaft (4-8) is fixing with one end of described rocking bar (4-5) to be connected,
The other end of described rocking bar (4-5) is fixing with one end of the described dynamic wing (4-6) to be connected；Described rocking bar (4-5)
Middle part be rotationally connected with described dynamic wing direct current generator installing rack (4-2)；
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.
A kind of multi-functional household service robot, it is characterised in that described
Chassis hangs protection motion and includes 2 drivewheel structures (5), and described drivewheel structure (5) is right
Claim to be arranged on described chassis (7) two bottom sides,
Described drivewheel structure (5) includes traveling motor (5-1), drivewheel (5-2), pulling force bullet
Spring (5-3), chassis fork (5-4), the first bearing (5-5), the second bearing (5-6) and stroke
Switch (5-7), described first bearing (5-5) and the second bearing (5-6) symmetry are vertically installed at institute
State in the groove that bottom, chassis (7) is reserved, described tension spring (5-3) one end and described first bearing
(5-5) top is fixing to be connected, and the other end is fixing with the top of described second bearing (5-6) to be connected；
Described drivewheel (5-2) is fixed on the outfan of described traveling motor (5-1), and described chassis is put
Bar (5-4) one end is stuck on described second bearing (5-6), and the other end is fixed on described drivewheel (5-2)
Middle part is near described traveling motor (5-1) place；
Described travel switch (5-7) is arranged on described second bearing (5-6), and is positioned at described chassis
Fork (5-4) lower section；Described drivewheel (5-2) can drive described chassis fork (5-4) when leaving ground
Under press, thus start described travel switch (5-7)；
Described motor drive module controls described chassis and hangs protection motion operation；Described Global localization
Module and described independent navigation module can control described chassis and hang protection motion movement locus.
A kind of multi-functional household service robot, it is characterised in that also wrap
Including 2 universal wheels (6), described universal wheel (6) is symmetrically mounted on (7) bottom, described chassis and leans on
Nearly described drivewheel structure (5) place.
A kind of multi-functional household service robot, it is characterised in that described
Touch display screen (1-3), photographic head (1-1), Mike (1-4) are installed on head (1) and protect
Face shield (1-2), described touch display screen (1-3) is arranged on described head (1) outside, described
Photographic head (1-1) is arranged on described head (1) outside above described touch screen, described Mike (1-4)
Being 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), photographic head (1-1) and Mike (1-4) are outward；
Described touch display screen (1-3), described photographic head (1-1) and described Mike (1-4) and institute
State host computer master control borad to connect.
A kind of multi-functional household service robot, it is characterised in that described
Be also equipped with on trunk (2) two air inlets (2-1), for shipped item pallet (2-2),
Audio amplifier (2-3), the emergency stop button (2-4) that can cut off the electricity supply, projector (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) is symmetrically arranged at described trunk (2) both sides, and is positioned at described dynamic wing mechanism
(4) lower section；
Described audio amplifier (2-3) is arranged on the positive Middle face of described trunk (2), and described pallet (2-2) is pacified
It is contained in described trunk (2) front upper, and is positioned at described audio amplifier (2-3) top；Described pallet (2-2)
It is embedded in described trunk (2), can extract out from described trunk (2)；
Described emergency stop button (2-4), projector (2-5), purify filter cover (2-6), go out
Air port (2-7) and charging device (2-8) are sequentially arranged at described trunk (2) back side from top to bottom,
Described ultrasonic sensor (2-9) is evenly distributed on outside described trunk (2) upper end；
Described projector module controls described projector (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. according to multi-functional household service robot a kind of described in any one of claim 1 to 7, its feature
It is, also includes Information Collecting & Processing module, described Information Collecting & Processing module and described upper owner
Control plate passes through connection together,
Described Information Collecting & Processing module includes gyroscope, acceleration transducer, the infrared biography of simulation output
Sensor, numeral output infrared sensor, for monitor smog concentration fire preventing Smoke Sensor,
For monitor CO concentration prevention the CO sensor of gas leakage, in sensing chamber CO2With formaldehyde poison
The CO of bulk concentration2, formaldehyde sensor, for monitoring the dust sensor of dust content and for perception room
Interior temperature and humidity Temperature Humidity Sensor,
Described dust sensor and described Temperature Humidity Sensor are all with described depurator module by circuit even
It is connected together.
A kind of multi-functional household service robot, it is characterised in that also wrap
Include voice interaction module, described voice interaction module and described host computer master control borad connection, institute's predicate
Sound interactive module can control robot and receives extraneous voice messaging and make voice feedback.
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 |
| US15/522,820 US10500716B2 (en) | 2015-04-08 | 2016-07-22 | Multi-functional home service robot |
| PCT/CN2016/091034 WO2017020734A1 (en) | 2015-08-04 | 2016-07-22 | Multi-functional home service robot |
| EP16832222.0A EP3332923A4 (en) | 2015-08-04 | 2016-07-22 | Multi-functional home service robot |
Applications Claiming Priority (1)
| 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 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105034002A CN105034002A (en) | 2015-11-11 |
| CN105034002B true CN105034002B (en) | 2016-09-28 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510472661.9A Active CN105034002B (en) | 2015-04-08 | 2015-08-04 | A kind of multi-functional household service robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105034002B (en) |
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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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