CN106514717B - A kind of service robot - Google Patents
A kind of service robot Download PDFInfo
- Publication number
- CN106514717B CN106514717B CN201611037595.3A CN201611037595A CN106514717B CN 106514717 B CN106514717 B CN 106514717B CN 201611037595 A CN201611037595 A CN 201611037595A CN 106514717 B CN106514717 B CN 106514717B
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- Prior art keywords
- robot
- driving wheel
- battery
- fixed
- skeleton
- Prior art date
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
Abstract
The invention discloses a kind of service people, including robot base, battery, gearmotor package, fixation kit, and the battery, gearmotor package, fixation kit are independently in the robot base；The robot base is equipped with battery grooves and gearmotor package groove；The battery-disassembled is fixed on the battery grooves by the fixation kit, and the gearmotor package is removably secured in the gearmotor package groove by the fixation kit.Battery and gearmotor package are detachably secured to robot base by service robot provided in an embodiment of the present invention, the problem for overcoming the after-sale services difficulties such as maintenance, replacement caused by robot base integral structure, ensure that the stability of robot performance.
Description
Technical field
The present invention relates to intellectual product technical field more particularly to a kind of service robots.
Background technique
As the improvement of people's living standards, smart machine also obtained in people's production and life it is more and more extensive
Application, service humanoid robot also gradually come into people's lives.
The battery and gearmotor package of current service robot are disposed as and robot base integral structure.One
Denier forgets charging so that battery short of electricity, user are not just available reserve battery emergency；In addition, gearmotor package need according to
Family demand and design different parameters, at the time of necessity even need replacing.Therefore, if battery or decelerating motor go wrong,
It needs robot integrally to disassemble, these accessories can just be handled, maintenance difficult is time-consuming and laborious, and efficiency is caused to reduce；This
Outside, it is re-assemblied after robot dismantling, reduces the stability of robot performance, or even need to survey again after resetting
Try the performance to guarantee robot.
In conclusion the battery of existing service robot and the fixed form of gearmotor package are inflexible, so that
The after-sale services difficulty such as maintenance, replacement are larger.
Apply for content
The embodiment of the present invention provides a kind of service robot, the battery to solve to have service robot in the prior art and
The fixed form of gearmotor package is inflexible, so that the larger problem of after-sale services difficulty such as maintenance, replacement.
The embodiment of the present invention provides a kind of service robot, including robot base, battery, gearmotor package, fixation
Component, the battery, gearmotor package, fixation kit are independently in the robot base；
The robot base is equipped with battery grooves and gearmotor package groove；
The battery-disassembled is fixed on the battery grooves by the fixation kit, and the fixation kit subtracts described
Speed motor component is removably secured in the gearmotor package groove.
Preferably, the service robot further includes assembling plate；
The robot base is equipped with the first limit hole group, and the fixation kit is set to the battery and the deceleration
Electric machine assembly bottom；
When the fixation kit and the first limit hole group cooperate, the assembling plate and the robot base surface
The Cell closure is fixed in the battery grooves by fitting, the assembling plate, and the assembling plate is electric by the deceleration
Unit closing is fixed in the gearmotor package groove.
Preferably, the gearmotor package includes left gearmotor package, right gearmotor package；The decelerating motor
Component groove includes left gearmotor package groove and right gearmotor package groove.
Preferably, the assembling plate includes the first assembling plate, the second assembling bottom, third assembling plate；
First assembling plate is fixed on the battery bottom, and second assembling plate is fixed on the left deceleration electricity
Thermomechanical components bottom, the third assembling plate are fixed on the right gearmotor package bottom；Or,
First assembling plate, second assembling bottom, the third assembling plate are independently set to the machine
Device people's pedestal.
Preferably, the service robot further include: robot shells ontology, driving wheel, driving wheel protective cover；
The bottom of the outer cover body includes at least one circular shell, and the driving wheel is removably fixed in the circle
In shell；
Circular shell upper marginal position is provided with the first limit card slot, and the first limiting card is arranged on the driving wheel protective cover
Mouthful；
When the fastening of first spacing bayonet and first limit card slot, the driving wheel protective cover and the circle
Shell cooperation, the driving wheel is fixed on the outer cover body.
Preferably, the circular shell inner surface is equipped with screw thread；
The driving wheel protective cover is ring structure, and the inner ring and the driving wheel of the driving wheel protective cover cooperate, institute
The outer ring and the circular shell for stating driving wheel protective cover cooperate, and dismount the driving by the rotation of the driving wheel protective cover
Wheel.
Preferably, the service robot further includes machine human skeleton, circuit board assemblies；
The circuit board assemblies front end is equipped with the second spacing bayonet, and the circuit board assemblies front end on the skeleton is corresponding
Position be provided with the second limit card slot；When second spacing bayonet and second limit card slot cooperate, the circuit board
Component front end is fixed on the skeleton；
The circuit board assemblies rear end is equipped with the second limit hole group, and the fixation kit and the second limit hole group cooperate
When, the circuit board assemblies rear end is fixed on the skeleton.
Preferably, after the service robot further includes robot shells ontology and is set on the outer cover body
Service cover；
The circuit board assemblies are when being closed in the outer cover body by service cover after described, it is described after service cover with it is described
Outer cover body fitting.
Preferably, the service robot further includes machine human skeleton, robot shells ontology, connecting plate；
The skeleton prolongs fitting distribution on the inside of the outer cover body, by multiple connecting plates by the skeleton and the shell
Ontology connection.
Preferably, the connecting plate is L-type, the connecting plate is fixed on the skeleton；
Threaded post is arranged in the corresponding position of the connecting plate on the outer cover body, passes through the threaded post and the connection
Plate cooperation, the skeleton and the shell are fixed.
The above embodiment of the present invention, service robot include robot base, battery, gearmotor package, fixed group
Part, the battery, gearmotor package, fixation kit are independently in the robot base；It is set on the robot base
There are battery grooves and gearmotor package groove；It is recessed that the battery-disassembled is fixed on the battery by the fixation kit
The gearmotor package is removably secured in the gearmotor package groove by slot, the fixation kit.The present invention is real
Battery and gearmotor package are detachably secured to robot base by the service robot for applying example offer, overcome robot
The problem of the after-sale services difficulties such as maintenance, replacement caused by pedestal integral structure, ensure that the stability of robot performance.
Detailed description of the invention
Fig. 1 a is a kind of service robot top view of battery-disassembled structure provided in an embodiment of the present invention；
Fig. 1 b is a kind of service robot main view of battery-disassembled structure provided in an embodiment of the present invention；
Fig. 2 a is that a kind of service robot of decelerating through motor device assembly detachable structure provided in an embodiment of the present invention is overlooked
Figure；
Fig. 2 b is a kind of service robot main view of decelerating through motor device assembly detachable structure provided in an embodiment of the present invention
Figure；
Fig. 3 a is a kind of service robot main view of driving wheel detachable structure provided in an embodiment of the present invention；
Fig. 3 b is a kind of driving wheel protecting cover structure figure provided in an embodiment of the present invention；
Fig. 4 a is a kind of service robot main view of circuit board assemblies detachable structure provided in an embodiment of the present invention；
Fig. 4 b is a kind of service robot internal structure of circuit board assemblies detachable structure provided in an embodiment of the present invention
Figure；
Fig. 5 is a kind of partial enlargement structure chart of circuit board assemblies and skeleton coupling part provided in an embodiment of the present invention；
Fig. 6 a is the service robot skeleton structure diagram that a kind of skeleton provided in an embodiment of the present invention prolongs shell fitting distribution；
Fig. 6 b is the service robot outer cover body knot that a kind of skeleton provided in an embodiment of the present invention prolongs shell fitting distribution
Composition；
Fig. 7 is a kind of connecting board structure figure provided in an embodiment of the present invention；
Fig. 8 is a kind of threaded stud structure figure provided in an embodiment of the present invention.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with attached drawing to the present invention make into
It is described in detail to one step, it is clear that the described embodiments are only some of the embodiments of the present invention, rather than whole implementation
Example.Based on the embodiments of the present invention, obtained by those of ordinary skill in the art without making creative efforts
All other embodiment, shall fall within the protection scope of the present invention.
The embodiment of the present invention provides a kind of service robot, including robot base, battery, gearmotor package, fixation
Component.Wherein, fixation kit, gearmotor package, battery are independently in robot base；Robot base is equipped with battery
Groove and gearmotor package groove by battery-disassembled are fixed on battery grooves by fixation kit, pass through fixation kit
Gearmotor package is detachably secured in gearmotor package groove.
Further, fixation kit can be the structure of the mechanical means such as bolt, screw, pin, buckle.
Further, the first limit hole group can be equipped on robot base, fixation kit is set to battery and the deceleration
Electric machine assembly bottom；When fixation kit and the first limit hole group cooperate, assembling plate is bonded with robot base surface,
Cell closure is fixed in the battery grooves by assembling plate, and decelerating motor group is fixed in decelerating motor group closing
In part groove.
The embodiment of the invention provides a kind of service robots of battery-disassembled structure, as illustrated in figs. 1A and ib, packet
It includes as outer cover body 101, pedestal 102, battery 103, battery bottom plate 104, bolt 105, battery grooves 106, limit hole 107.
When needing repairing battery 103 or replacing battery 103, robot was fallen, unclamps five spiral shells on battery 103
Bolt 105, holding battery bottom plate 104 can take out battery 103 outside service robot outer cover body 101.If needing to change battery, pull out
Connection plug on battery 103, connection plug may be designed to error-proof structure, wrong plug when preventing user from replacing battery.Maintenance
Or after the completion of replacement, battery bottom plate 104 is held by battery 103 and buckles back battery grooves 106, and limit hole is cooperated by bolt 105
107, battery 103 is lock on pedestal 102.Battery grooves 106 on pedestal 102 are designed to error-proof structure, prevent battery from filling
Instead.
It should be noted that battery bottom plate 104 can be configured as and 103 integral type knot of battery independently of battery 103
Structure, herein with no restrictions.
It is unremovably fixed on robot interior for existing battery, battery once goes wrong, and needs machine
Device is largely disassembled, and maintenance, replacement battery are difficult, time-consuming and laborious.Meanwhile once forgetting to charge, battery short of electricity, user can not make
It is met an urgent need with reserve battery.Battery-disassembled structure through the embodiment of the present invention, user can operate letter with Dismountable battery
It is single, pressure after sale is alleviated while increasing practicability, improves service efficiency.
The embodiment of the present invention provides a kind of service robot of decelerating through motor device assembly detachable structure, such as Fig. 2 a and Fig. 2 b
It is shown, including be outer cover body 201, pedestal 202, left decelerating motor 203, right decelerating motor 203 ', left electric machine assembly bottom plate
204, right electric machine assembly bottom plate 204 ', bolt 205, left decelerating motor groove 206, right decelerating motor groove 206 ', limit hole
207。
When needing adjusting parameter or maintenance, replacement driving decelerating motor 203 and 203 ', robot was fallen, was unclamped
Four bolts 205 of fixed left decelerating motor 203 and left electric machine assembly bottom plate 204, and fixed right decelerating motor 203 ' and the right side
Four bolts 205 of electric machine assembly bottom plate 204 ' hold left electric machine assembly bottom plate 204 for left decelerating motor 203 and take out server
Outside device people outer cover body 201, right electric machine assembly bottom plate 204 ' is held by right decelerating motor 203 ' and takes out service robot shell sheet
Outside body 201.Motor can be repaired or replace by pulling out line, and connection plug may be designed to error-proof structure, prevent user more
Wrong plug when changing gearmotor package.
Line after the completion of maintenance holds left electric machine assembly bottom plate 204, and it is recessed that left decelerating motor 203 is detained back left decelerating motor
In slot 206；Right electric machine assembly bottom plate 204 ' is held, right decelerating motor 203 ' is detained back in right decelerating motor groove 206 ', and is led to
It crosses bolt 205 and cooperates limit hole 207, decelerating motor 203 and 203 ' is lock on robot base 202, the left side on pedestal 202
Decelerating motor groove 206 and right decelerating motor groove 206 ' are designed to error-proof structure, prevent motor anti-loaded.
It should be noted that left electric machine assembly bottom plate 204 can be configured as subtracting with a left side independently of left decelerating motor 203
203 integral structure of speed motor；Right electric machine assembly bottom plate 204 ' can be configured as subtracting with the right side independently of right decelerating motor 203 '
203 ' integral structure of speed motor；Herein with no restrictions.
It is unremovably fixed on robot interior for the decelerating through motor device assembly of existing service robot, and motor subtracts
Fast device assembly needs to design different parameters according to user demand, even to replace at the time of necessity.Non-dismountable fixation side
It when formula results in designer's progress parameter adjustment or replacement, needs to dismantle machine majority structure, efficiency reduces, workload
It is heavy；And also need to re-assembly most of structure, the stability of robot performance is reduced, or even test after needing to reset
Guarantee the performance of robot.Decelerating through motor device assembly detachable structure through the embodiment of the present invention, user can be with Dismountable
Decelerating through motor device assembly, it is easy to operate, pressure after sale is alleviated while increasing practicability, improves service efficiency.
The embodiment of the present invention provides a kind of service robot of driving wheel detachable structure, as shown in Figure 3a, including is outer
Shell ontology 301, left driving wheel 302, right driving wheel 302 ', left driving wheel protective cover 303 and right driving wheel protective cover 303 '.
The bottom of outer cover body 301 includes left circular shell 3011 and right circular shell 3011 ', and left driving wheel 302 is removable
It is fixed on unloading in left circular shell 3011, right driving wheel 302 ' is detachably secured in left circular shell 3011 '.Left driving
It takes turns protective cover 303 and right driving wheel protective cover 303 ' is ring structure.
By taking right driving wheel as an example, Fig. 3 b is a kind of driving wheel protecting cover structure figure provided in an embodiment of the present invention, right driving
It takes turns and three spacing bayonets 305 is set on protective cover 303 ', there are three corresponding for the marginal position setting on right circular shell 3011 '
Limit card slot 304.When each spacing bayonet 305 and each limit card slot 304 fastening, right driving wheel protective cover 303 ' and right circular shell
3011 ' cooperations, right driving wheel 302 ' is fixed on 301 on outer cover body.Further, right 3011 ' inner surface of circular shell can
Equipped with screw thread 306, screw thread 306 can be accordingly arranged in the outer surface of right driving wheel protective cover 303 '.Right driving wheel protective cover 303 '
Inner ring and right driving wheel 302 ' cooperate, and the outer ring of right driving wheel protective cover 303 ' is matched by screw thread 306 with right circular shell 3011 '
It closes, right driving wheel 302 ' is dismounted by rotation right driving wheel protective cover 303 '.
It is similar with 303 ' structure of right driving wheel protective cover for left driving wheel protective cover 303, left circular shell 3011 and the right side
3011 ' structure of circular shell is similar, and details are not described herein.
It is unremovably fixed on robot interior for the driving wheel of existing service robot, when the driving wheel of robot
When there is the problems such as damaged, gas leakage, need to repair driving wheel or replace, non-dismountable fixed form results in design
It when personnel carry out parameter adjustment or replacement, needs to dismantle machine majority structure, efficiency reduces, and workload is heavy；And it also needs
Most of structure is re-assemblied, the stability of robot performance is reduced, or even is tested after needing to reset to guarantee robot
Performance.Driving wheel detachable structure provided in an embodiment of the present invention, by rotating driving wheel protective cover, that is, dismountable driving wheel
Protective cover simultaneously exposes driving wheel, thus the operation such as repair, replace, it is convenient and simple；By preventing driving wheel after the completion of maintenance
Protecting cover is screwed into bottom and driving wheel protective cover can be installed on robot body so that driving wheel will not it is exposed
Outside, it ensure that the overall beautiful of robot.
The embodiment of the present invention provides a kind of service robot of circuit board assemblies detachable structure, such as Fig. 4 a and Fig. 4 b institute
Show, including machine human skeleton 401, circuit board assemblies 402, robot shells ontology 403 and the rear dimension being set on outer cover body
Build 4031.402 front end of circuit board assemblies is equipped with spacing bayonet 404, the circuit board assemblies front end pair on the skeleton 401
The position answered is provided with limit card slot 405；Fig. 5 is the partial enlarged view of circuit board assemblies 402 and 401 coupling part of skeleton, limit
When position bayonet 404 and limit card slot 405 cooperate, the front end of circuit board assemblies 402 is fixed on skeleton 401.Circuit board assemblies 402
Rear end is equipped with limit hole group 406, is cooperated by bolt 407 and limit hole group 406, bone is fixed in 402 rear end of circuit board assemblies
On frame 401.In addition, circuit board assemblies 402 are closed in outer cover body 403 by rear service cover 4031, and rear service cover 4031 with
Outer cover body 403 is bonded.
When robot performance goes wrong, and needs detection or repair circuit, rear service cover 4031 can be dismantled, unclamp electricity
The bolt 407 that road board group part 402 is connected with skeleton, circuit board assemblies 402 are released, and are taken outside machine casing ontology 403, inspection
It surveys or repair circuit is convenient, avoid and carry out inspection operation in the small space of robot interior.When circuit board assemblies 402
After maintenance is good, spacing bayonet 404 is provided with due to 402 front end of circuit board assemblies, spacing bayonet 404 is inserted on skeleton 401
Limit card slot 405 within, in the end of circuit board assemblies 402, be locked on skeleton 401 with bolt 407, thus by circuit
Board group part 402 is fixed in robot body, and guarantee will not move or misplace, and simple to operate.
The embodiment of the present invention provides the service robot that a kind of skeleton prolongs shell fitting distribution, as shown in figures 6 a and 6b,
Including machine human skeleton 601, outer cover body 602, connecting plate 603.Skeleton 601, which prolongs, is bonded distribution on the inside of outer cover body 602, pass through
Skeleton 601 is connect by multiple connecting plates 603 with outer cover body 602.Connecting plate 603 is fixed on skeleton 601, and Fig. 7 is connecting plate
603 structure chart, connecting plate 603 are L-type structure, and L-type connecting plate two sides are arranged to waist-shaped hole to make up deviation, prevent skeleton
Slight deformation influences assembly.The corresponding position fixed thread column 604 of 602 upper junction plate 603 of outer cover body, if Fig. 8 is threaded post
604 structure chart.Cooperated by threaded post 604 and connecting plate 603, skeleton 601 and outer cover body 602 is fixed.
The embodiment of the present invention is by way of fitting setting, increasing robot on the inside of plastic shell for machine human skeleton
Whole intensity bears most impact force by metallic framework if colliding outside transport or use process are favorite,
To ensure that the appearance of robot is not in biggish deformation and destruction.Meanwhile along the metal bone of plastic shell distribution
Frame increases the obdurability of entire robot, prevents shell from misplacing, and strengthens robot interior space, ensure that internal function
Energy property accessory is not under compression and destroys.
It should be noted that "upper" "lower" corresponds to above and below picture in the embodiment of the present invention, " left side " " right side " is corresponding
The left and right side of device in picture, " inside " refer to the face in picture inside device, and " outside " refers in picture outside device
The face in portion, the embodiment of the present invention are only example effects.
Although preferred embodiments of the present invention have been described, it is created once a person skilled in the art knows basic
Property concept, then additional changes and modifications can be made to these embodiments.So it includes excellent that the following claims are intended to be interpreted as
It selects embodiment and falls into all change and modification of the scope of the invention.
Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art
Mind and range.In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to include these modifications and variations.
Claims (9)
1. a kind of service robot, which is characterized in that including robot base, battery, gearmotor package, fixation kit, machine
Device people outer cover body, driving wheel, driving wheel protective cover；The fixation kit, the gearmotor package, battery difference are only
Stand on the robot base；
The robot base is equipped with battery grooves and gearmotor package groove；
The battery-disassembled is fixed on the battery grooves by the fixation kit, and the fixation kit is electric by the deceleration
Thermomechanical components are detachably secured in the gearmotor package groove；
The bottom of the outer cover body includes at least one circular shell, and the driving wheel is removably fixed in the circular shell
It is interior；
Circular shell upper marginal position is provided with the first limit card slot, and the first spacing bayonet is arranged on the driving wheel protective cover；
When the fastening of first spacing bayonet and first limit card slot, the driving wheel protective cover and the circular shell
Cooperation, the driving wheel is fixed on the outer cover body.
2. service robot as described in claim 1, which is characterized in that further include assembling plate；
The robot base is equipped with the first limit hole group, and the fixation kit is set to the battery and the decelerating motor
Component bottom；
When the fixation kit and the first limit hole group cooperate, the assembling plate and the robot base surface are pasted
It closes, the Cell closure is fixed in the battery grooves by the assembling plate, and the assembling plate is by the decelerating motor
Group closing is fixed in the gearmotor package groove.
3. service robot as claimed in claim 2, which is characterized in that the gearmotor package includes left decelerating motor group
Part, right gearmotor package；The gearmotor package groove includes left gearmotor package groove and right gearmotor package
Groove.
4. service robot as claimed in claim 3, which is characterized in that the assembling plate includes the first assembling plate, the
Two assembling bottoms, third assembling plate；
First assembling plate is fixed on the battery bottom, and second assembling plate is fixed on the left decelerating motor group
Part bottom, the third assembling plate are fixed on the right gearmotor package bottom；Or,
First assembling plate, second assembling bottom, the third assembling plate are independently set to the robot
Pedestal.
5. service robot as described in claim 1, which is characterized in that the circular shell inner surface is equipped with screw thread；
The driving wheel protective cover is ring structure, and the inner ring and the driving wheel of the driving wheel protective cover cooperate, the drive
The outer ring of driving wheel protective cover and the circular shell cooperate, and dismount the driving wheel by the rotation of the driving wheel protective cover.
6. service robot as described in claim 1, which is characterized in that further include machine human skeleton, circuit board assemblies；
The circuit board assemblies front end is equipped with the second spacing bayonet, the corresponding position in the circuit board assemblies front end on the skeleton
It installs and is equipped with the second limit card slot；When second spacing bayonet and second limit card slot cooperate, the circuit board assemblies
Front end is fixed on the skeleton；
The circuit board assemblies rear end is equipped with the second limit hole group, when the fixation kit and the second limit hole group cooperate,
The circuit board assemblies rear end is fixed on the skeleton.
7. service robot as claimed in claim 6, which is characterized in that further include robot shells ontology and be set to institute
State the rear service cover on outer cover body；
When the circuit board assemblies are closed in the outer cover body by service cover after described, the rear service cover and the shell
Ontology fitting.
8. service robot as described in claim 1, which is characterized in that further include machine human skeleton, robot shells ontology,
Connecting plate；
The skeleton prolongs fitting distribution on the inside of the outer cover body, by multiple connecting plates by the skeleton and the outer cover body
Connection.
9. service robot as claimed in claim 8, which is characterized in that the connecting plate is L-type, and the connecting plate is fixed on
On the skeleton；
Threaded post is arranged in the corresponding position of the connecting plate on the outer cover body, passes through the threaded post and the connecting plate matched
It closes, the skeleton and the outer cover body is fixed.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611037595.3A CN106514717B (en) | 2016-11-23 | 2016-11-23 | A kind of service robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611037595.3A CN106514717B (en) | 2016-11-23 | 2016-11-23 | A kind of service robot |
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| Publication Number | Publication Date |
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| CN106514717A CN106514717A (en) | 2017-03-22 |
| CN106514717B true CN106514717B (en) | 2019-04-26 |
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| CN201611037595.3A Active CN106514717B (en) | 2016-11-23 | 2016-11-23 | A kind of service robot |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107571268A (en) * | 2017-10-19 | 2018-01-12 | 浙江行雨网络科技有限公司 | A kind of intelligent robot of unmanned convenience store |
| CN109895108B (en) * | 2019-03-01 | 2021-07-06 | 达闼科技（北京）有限公司 | Robot skeleton and robot |
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| CN1562575A (en) * | 2004-03-25 | 2005-01-12 | 上海交通大学 | Robot of feeding paper for copying machine automatically |
| EP2065774A1 (en) * | 2005-12-02 | 2009-06-03 | Irobot Corporation | Autonomous coverage robot navigation system |
| CN202241268U (en) * | 2011-09-13 | 2012-05-30 | 哈尔滨工程大学 | Transportation security robot based on omnibearing moving platform |
| CN104493830A (en) * | 2014-12-26 | 2015-04-08 | 浙江工业大学 | Supermarket service robot |
| KR20150003174U (en) * | 2014-02-14 | 2015-08-24 | (주) 퓨처로봇 | Service robot having exchangable plural batteries |
| CN205433582U (en) * | 2015-12-30 | 2016-08-10 | 东莞硕能塑胶模具有限公司 | Improvement formula robot of sweeping floor |
| CN105856253A (en) * | 2016-06-06 | 2016-08-17 | 深圳市优萌达智能科技有限公司 | Intelligent walking robot |
| CN206335603U (en) * | 2016-11-23 | 2017-07-18 | 上海螺趣科技有限公司 | A kind of service robot |
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2016
- 2016-11-23 CN CN201611037595.3A patent/CN106514717B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1562575A (en) * | 2004-03-25 | 2005-01-12 | 上海交通大学 | Robot of feeding paper for copying machine automatically |
| EP2065774A1 (en) * | 2005-12-02 | 2009-06-03 | Irobot Corporation | Autonomous coverage robot navigation system |
| CN202241268U (en) * | 2011-09-13 | 2012-05-30 | 哈尔滨工程大学 | Transportation security robot based on omnibearing moving platform |
| KR20150003174U (en) * | 2014-02-14 | 2015-08-24 | (주) 퓨처로봇 | Service robot having exchangable plural batteries |
| CN104493830A (en) * | 2014-12-26 | 2015-04-08 | 浙江工业大学 | Supermarket service robot |
| CN205433582U (en) * | 2015-12-30 | 2016-08-10 | 东莞硕能塑胶模具有限公司 | Improvement formula robot of sweeping floor |
| CN105856253A (en) * | 2016-06-06 | 2016-08-17 | 深圳市优萌达智能科技有限公司 | Intelligent walking robot |
| CN206335603U (en) * | 2016-11-23 | 2017-07-18 | 上海螺趣科技有限公司 | A kind of service robot |
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| Publication number | Publication date |
|---|---|
| CN106514717A (en) | 2017-03-22 |
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