CN108297113A - A kind of multi-modal service robot - Google Patents
A kind of multi-modal service robot Download PDFInfo
- Publication number
- CN108297113A CN108297113A CN201810604397.3A CN201810604397A CN108297113A CN 108297113 A CN108297113 A CN 108297113A CN 201810604397 A CN201810604397 A CN 201810604397A CN 108297113 A CN108297113 A CN 108297113A
- Authority
- CN
- China
- Prior art keywords
- fuselage
- service robot
- mobile base
- head
- modal
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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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
- B25J11/00—Manipulators not otherwise provided for
Abstract
The invention discloses a kind of multi-modal service robots, belong to the technology in service robot field, including：The lower part of mobile base, the mobile base is equipped with several idler wheels, and the peripheral surface of the mobile base is equipped with a working region；The bottom end of fuselage, shown fuselage is set to the top of mobile base, is equipped in the fuselage for driving the fuselage relative to the elevating mechanism of the mobile base vertical shift；Head, the plane that the head has the hemisphere face at the top for being movably arranged on the fuselage and one is arranged upward.The advantageous effect of the technical solution is：The present invention can realize the switching between different modalities, service robot then rises fuselage and rotates head when needing mobile, so that entire service-delivery machine human body type reaches maximum, the fuselage that then lands when service robot need not move reduces the build of entire service robot, conducive to saving space, service robot can adapt to different environment, adaptable, occupy little space.
Description
Technical field
The present invention relates to a kind of technology in service robot field, specifically a kind of multi-modal service robots.
Background technology
In recent years, with SLAM（Simultaneous Localization and Mapping, instant positioning and map
Structure）The maturation and AI of technology（Artificial Intelligence, artificial intelligence）The development of technology, various servers
Device people comes into being, and especially starting high-volume as the service robot of major function using voice human-computer interaction moves towards market.
Currently, at least 48 countries are in development robot in the world, wherein 25 national involveds service humanoid robot
Exploitation.In Japan, North America and Europe, 40 left fund of existing 7 type meter service humanoid robot enters experiment and half commercialization so far
It answers.
Service robot is of wide application, and is mainly engaged in maintaining, repairing, transport, cleaning, security personnel, rescue, prison
The work such as shield.
The world is robot combined to be arranged through collection in a few years, given service robot one preliminary definition：Service
Robot is the robot of a kind of semi-autonomous or full utonomous working, it can complete the healthy services that is beneficial to man, but not
Including manufacturing-oriented equipment.Here, we are also included in some other robot lived close to people wherein.
Robot on the market is all single mode at present, can not often be accomplished in the case of functional taking into account and family
Front yard is perfectly combined.
Invention content
The present invention is directed to deficiencies of the prior art, proposes a kind of multi-modal service robot.Energy of the present invention
Enough realize that the switching between different modalities, service robot then rise fuselage and rotate head when needing mobile so that entire clothes
Business machine human body type reaches maximum, and the fuselage that then lands when service robot need not move reduces the body of entire service robot
Type is conducive to save space, and service robot can adapt to different environment, adaptable, occupy little space.
The present invention is achieved by the following technical solutions：The present invention relates to a kind of multi-modal service robots, wherein
Including：The lower part of mobile base, the mobile base is equipped with several idler wheels, and the peripheral surface of the mobile base is equipped with a workspace
Domain；The bottom end of fuselage, shown fuselage is set to the top of mobile base, is equipped in the fuselage for driving the fuselage opposite
In the elevating mechanism of the mobile base vertical shift；Head, the head have the top for being movably arranged on the fuselage
Hemisphere face and the plane that is arranged upward；The service robot is equipped with first mode and second mode；The server
When device people is in first mode, the elevating mechanism drives the fuselage to rise to expose the work in the mobile base
Region, top movable of the head relative to the fuselage, so that the plane on the head is relative to the mobile bottom
The lower surface of seat tilts；When the service robot is in second mode, the elevating mechanism drive the fuselage to decline with
Cover the working region in the mobile base, top movable of the head relative to the fuselage, so that the head
The plane in portion is parallel to the lower surface of the mobile base.
Preferably, the multi-modal service robot, wherein the mobile base constitutes a bullet with the fuselage,
The bottom end of the fuselage is sheathed on the top of the mobile base.
Preferably, multi-modal service robot, wherein the elevating mechanism includes：
Bottom plate is fixed on the mobile base；Top plate is connected by multiple the linear guides with the bottom plate；Lead screw, the lead screw
Both ends are arranged in the top plate and the bottom plate center respectively, and the lead screw is movably equipped with a nut；Lifter plate, with the fuselage
It is connected, is sheathed on the lead screw, is connected with the nut at the center of the lifter plate, the linear guide passes through the lifting
Plate.
Preferably, the multi-modal service robot, wherein the spherical surface on the head and the top of the fuselage it
Between be equipped with one for driving the luffing mechanism of the head rotation.
Preferably, multi-modal service robot, wherein the luffing mechanism includes：Support plate is fixed on the machine
The top of body；The rack support of arc, the rack support both ends are connected with the head, and an arc is equipped in the rack support
Shape slot；Arc-shaped rack is fixed in the arc groove with the rack support, and the arc-shaped rack and a pitching drive gear phase
Engagement.
Preferably, multi-modal service robot, wherein the plane on the head is equipped with a camera, is used for
Acquire the image information of ambient enviroment.
Preferably, multi-modal service robot, wherein one is equipped in the working region for acquiring the service
The laser radar of one first range information between robot and surrounding objects.
Preferably, multi-modal service robot, wherein one is equipped in the working region for acquiring the service
The sonac of a second distance information between robot and surrounding objects.
The advantageous effect of above-mentioned technical proposal is：The present invention can realize the switching between different modalities, service robot
It then rises fuselage when needing mobile and rotates head so that entire service-delivery machine human body type reaches maximum, and service robot is not required to
The fuselage that then lands when moving reduces the build of entire service robot, is conducive to save space, service robot can adapt to not
Same environment, it is adaptable, it occupies little space.
Description of the drawings
Fig. 1 is a kind of multi-modal service robot structural schematic diagram in the preferred embodiment of the present invention；Fig. 2 is this
In the preferred embodiment of invention, a kind of multi-modal service robot first mode structural schematic diagram；Fig. 3 be the present invention compared with
In good embodiment, a kind of multi-modal service robot second mode structural schematic diagram；Fig. 4 is the preferable implementation of the present invention
In example, a kind of multi-modal service robot elevating mechanism structural schematic diagram；Fig. 5 is in the preferred embodiment of the present invention one
The multi-modal service robot luffing mechanism side view of kind；Fig. 6 is a kind of multi-modal clothes in the preferred embodiment of the present invention
Business robot luffing mechanism dimensional structure diagram；In figure：1 head, 2 fuselages, 3 mobile bases, 4 elevating mechanisms, 5 pitching machines
Structure, 11 planes, 12 hemisphere faces, 13 cameras, 31 laser radars, 32 sonacs, 33 idler wheels, 41 bottom plates, 42 top plates, 43 liters
Plate, 44 the linear guides, 45 linear bearings, 46 lead screws, 47 nuts, 48 lifting drive motors, 51 support plates, 52 rear shells, 53 drop
Motor bracket, 54 pitching drive motors, 55 arc-shaped racks, 56 rack supports, 57 arc grooves, 58 pitching driving gear, 59 limits
Bearing.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art obtained under the premise of not making creative work it is all its
His embodiment, shall fall within the protection scope of the present invention.
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the present invention can phase
Mutually combination.
The invention will be further described in the following with reference to the drawings and specific embodiments, but not as limiting to the invention.
As shown in Figure 1, the present embodiment is related to a kind of multi-modal service robot, the concrete structure packet of service robot
It includes：Mobile base 3, fuselage 2 and head 1, wherein：Fuselage 2 is arranged and mobile base 3, and head 1 is set to the upper of fuselage 2
Portion.
Multi-modal service robot specifically includes：The lower part of mobile base 3, mobile base 3 is equipped with several idler wheels 33, moves
The peripheral surface of dynamic pedestal 3 is equipped with a working region.
Fuselage 2,2 bottom end of shown fuselage are set to the top of mobile base 3, are equipped in fuselage 2 for driving fuselage 2 opposite
The elevating mechanism of 3 vertical shift of mobile base.
Head 1, the plane that head 1 has the hemisphere face at the top for being movably arranged on fuselage 2 and one is arranged upward.
I.e. head 1 is the hemisphere for including semi-sphere 12 and a plane 11, and the hemisphere face 12 on head 1 is movably set in the top of fuselage 2
Portion.
Service robot includes both modalities which, i.e. first mode and second mode.
First mode is that service robot is moved and carried out state in which when service activity.Elevating mechanism
Fuselage 2 is driven to rise to expose the working region in mobile base 3, top movable of the head 1 relative to fuselage 2, so that head 1
Plane relative to mobile base 3 lower surface tilt.
Second mode is service robot when need not be moved and be serviced, i.e., state when static or suspend mode.It rises
Descending mechanism driving fuselage 2 declines to cover the working region in mobile base, top movable of the head 1 relative to fuselage 2, so that
The plane on head 1 is parallel to the lower surface of mobile base 3.
Mobile base 3 is cone, and the radius of the lower surface of mobile base 3 is more than the upper face of the mobile base 3.
Mobile base 3 constitutes a bullet with fuselage 2, and the bottom end of fuselage 2 is sheathed on the top of mobile base 3.
Mobile base 3 lower surface i.e. with ground opposite face, if there are three idler wheel 33.33 conduct of one pair of which idler wheel
Idler wheel 33, a remaining idler wheel 33 is driven to be used as direction idler wheel 33.
The diameter of idler wheel 33 is driven to be more than direction idler wheel 33, driving idler wheel 33 is connected with the driving motor in mobile base 3,
Driving mobile base 3 moves on the ground.Direction idler wheel 33 is arranged between two driving idler wheels 33 and opposite with driving idler wheel 33
Setting, direction idler wheel 33 control motor driving under can 360 degree rotate, to control the moving direction of service robot.
The working region of the peripheral surface of mobile base 3 is respectively equipped with a laser radar 31 and a sonac 32.
Laser radar 31 is used as the first range information, laser for acquiring the distance between service robot and surrounding objects
Radar 31 is connected with a navigation module, and the first range information that laser radar 31 is acquired is received by the navigation module, navigation module
It is navigated for service robot according to the first range information.
Sonac 32 is used as second distance information for acquiring the distance between service robot and surrounding objects, surpasses
Sonic transducer 32 is connected with an obstacle avoidance module, and the second distance information that sonac 32 is acquired is received by the obstacle avoidance module,
Obstacle avoidance module carries out avoidance according to second distance information governance services robot.
Fuselage 2 is tapered, and 2 bottom end of fuselage is sheathed on the top of mobile base 3, is equipped in fuselage 2 for driving 2 phase of fuselage
To the elevating mechanism of 3 vertical shift of mobile base.
Head 1 is a hemisphere, including semi-sphere 12 and a plane 11, the hemisphere face 12 on head 1 be movably set in machine
The top of body 2.
A luffing mechanism for the rotation of drive head 1 is equipped between the spherical surface and the top of fuselage 2 on head 1.Pitching machine
Structure drives entire head 1 to do curvilinear motion along hemisphere face 12, so that pitching motion is done on head 1.
The plane 11 on head 1 is equipped with a camera 13, the image information for acquiring ambient enviroment.
As shown in Fig. 2, when service robot is in first mode, elevating mechanism drives fuselage 2 to rise, the plane on head 1
11 are obliquely installed relative to the lower surface of mobile base 3.
At this point, laser radar 31 and sonac 32 are all externally exposed, and it is in running order.It puts down on head 1
Face 11 is in vertical state, so that camera 13 can acquire the image information of surrounding.It head 1 simultaneously can be along vertical axis
The extraction of 360 degree of image information is realized in rotation.
As shown in figure 3, elevating mechanism driving fuselage 2 declines, the plane 11 on head 1 is parallel to the lower part table of mobile base 3
Face.When service robot need not be moved, takes pictures or be serviced, service robot will be adjusted to second mode, can save in this way
Space, when storage, are also more beautiful.
As shown in figure 4, elevating mechanism 4 includes top plate 42 and bottom plate 41, top plate 42 and bottom plate 41 pass through four the linear guides
44 fix, and bottom plate 41 is fixed on the mobile base 3, and lifter plate 43 is fixed with fuselage 2.Bottom plate 41 and the both ends of lead screw 46 are distinguished
It is arranged at 41 center of 42 center of top plate and bottom plate, the nut 47 for being movably set in lead screw 46 is connected with lifter plate 43, lifter plate
43 centers are set to lead screw 46, and the outer rim of lifter plate 43 again passes through four the linear guides 44, and the linear guide 44 passes through linear axis
It holds 45 to fix with lifter plate, one end of lead screw 46 is equipped with a lifting drive motor 48, and lifting drive motor 48 drives lead screw 46 to revolve
Turn, drives lifter plate 43 to move up and down by nut 47, so that lifter plate 43 can move up and down along the linear guide 44,
It is further that fuselage 2 is driven to move up and down.
As shown in Fig. 5 ~ 6, luffing mechanism 5 includes：Support plate 51, motor bracket 53, pitching drive motor 54, arc-shaped rack
55, rack support 56, arc groove 57 and pitching drive gear 58, wherein：Support plate 51 is fixed on the top of the fuselage 2,
Motor bracket 53 is fixed on support plate 51.Arc-shaped rack 55 is fixed on the rack support 56 of arc, 56 both ends of the rack support
It is connected with the rear axle, that is, head rear shell 52 on the head 1 of service robot, arc-shaped rack 55 is meshed with pitching driving gear 58.Arc
Slot 57 is the fluting on rack support 56, as motion guide rail.Pitching driving gear 58 is driven by pitching drive motor 54, pitching
Drive motor 54 is fixed by motor bracket 53.Motor bracket 53 is equipped with Limit Bearing 59, and Limit Bearing 59 matches with arc groove 57
It closes, to limit the direction of motion of entire rack support 56, makes it that can only be moved along arcwall face.It is driven by pitching drive motor 54
Dynamic pitching driving gear 58 drives arc gear wheel 55, and arcuately slot 57 makees movement in a curve, to drive entire head 1 to make pitching fortune
It is dynamic.
The multi-modal service robot of the present invention, compared with prior art：The present invention can realize between different modalities
Switching, service robot then rises fuselage and rotates head when needing mobile so that entire service-delivery machine human body type reaches most
Greatly, the fuselage that then lands when service robot need not move reduces the build of entire service robot, is conducive to save space, service
Robot can adapt to different environment, adaptable, occupy little space.
The foregoing is merely preferred embodiments of the present invention, are not intended to limit embodiments of the present invention and protection model
It encloses, to those skilled in the art, should can appreciate that all with made by description of the invention and diagramatic content
Equivalent replacement and obviously change obtained scheme, should all be included within the scope of the present invention.
Claims (8)
1. a kind of multi-modal service robot, which is characterized in that including：The lower part of mobile base, the mobile base is equipped with
The peripheral surface of several idler wheels, the mobile base is equipped with a working region；The bottom end of fuselage, shown fuselage is set to mobile base
Top, be equipped with for driving the fuselage relative to the elevating mechanism of the mobile base vertical shift in the fuselage；Head
Portion, the plane that the head has the hemisphere face at the top for being movably arranged on the fuselage and one is arranged upward；The clothes
Robot be engaged in equipped with first mode and second mode；When the service robot is in first mode, the elevating mechanism driving
The fuselage rises to expose the working region in the mobile base, and the head is lived relative to the top of the fuselage
It is dynamic, so that the plane on the head is tilted relative to the lower surface of the mobile base；The service robot is in
When second mode, the elevating mechanism drives the fuselage to decline to cover the working region in the mobile base, institute
Top movable of the head relative to the fuselage is stated, so that the plane on the head is parallel to the lower part of the mobile base
Surface.
2. multi-modal service robot according to claim 1, which is characterized in that the mobile base and the fuselage
A bullet is constituted, the bottom end of the fuselage is sheathed on the top of the mobile base.
3. multi-modal service robot according to claim 1, which is characterized in that the elevating mechanism includes：Bottom plate,
It is fixed on the mobile base；Top plate is connected by multiple the linear guides with the bottom plate；Lead screw, the screw both end difference
It is arranged in the top plate and the bottom plate center, the lead screw is movably equipped with a nut；Lifter plate is connected with the fuselage, set
Set on the lead screw, it is connected with the nut at the center of the lifter plate, the linear guide passes through the lifter plate.
4. multi-modal service robot according to claim 1, which is characterized in that the spherical surface on the head and institute
State the luffing mechanism for being used to drive the head rotation equipped with one between the top of fuselage.
5. multi-modal service robot according to claim 4, which is characterized in that the luffing mechanism includes：Support
Plate is fixed on the top of the fuselage；The rack support of arc, the rack support both ends are connected with the head, the tooth
An arc groove is equipped in holder；Arc-shaped rack, in the fixed arc groove with the rack support, the arc-shaped rack with
One pitching driving gear is meshed.
6. multi-modal service robot according to claim 1, which is characterized in that the plane on the head is equipped with
One camera, the image information for acquiring ambient enviroment.
7. multi-modal service robot according to claim 1, which is characterized in that be equipped with one in the working region and use
In the laser radar for acquiring one first range information between the service robot and surrounding objects.
8. multi-modal service robot according to claim 1, which is characterized in that be equipped with one in the working region and use
In the sonac for acquiring the second distance information between the service robot and surrounding objects.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810064606X | 2018-01-23 | ||
| CN201810064606 | 2018-01-23 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108297113A true CN108297113A (en) | 2018-07-20 |
Family
ID=62846621
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810604397.3A Pending CN108297113A (en) | 2018-01-23 | 2018-06-13 | A kind of multi-modal service robot |
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| Country | Link |
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| CN (1) | CN108297113A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110154058A (en) * | 2019-06-20 | 2019-08-23 | 深圳弗徕威智能科技有限公司 | Intelligent robot, luffing mechanism and its horizontal righting mechanism of mic matrix |
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| CN105818152A (en) * | 2016-05-18 | 2016-08-03 | 单建强 | Head motion system of robot |
| CN206634992U (en) * | 2017-04-07 | 2017-11-14 | 合肥优智领英智能科技有限公司 | A kind of lifting/lowering type robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070192910A1 (en) * | 2005-09-30 | 2007-08-16 | Clara Vu | Companion robot for personal interaction |
| CN104548328A (en) * | 2014-12-22 | 2015-04-29 | 天津大学 | Robot device for minimally-invasive local radiotherapy |
| CN104842358A (en) * | 2015-05-22 | 2015-08-19 | 上海思岚科技有限公司 | Autonomous mobile multifunctional robot |
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| CN105798924A (en) * | 2016-05-16 | 2016-07-27 | 苏州金建达智能科技有限公司 | Back device of humanoid robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110154058A (en) * | 2019-06-20 | 2019-08-23 | 深圳弗徕威智能科技有限公司 | Intelligent robot, luffing mechanism and its horizontal righting mechanism of mic matrix |
| CN110154058B (en) * | 2019-06-20 | 2024-05-03 | 弗徕威智能机器人科技（上海）有限公司 | Intelligent robot, pitching mechanism and mic matrix horizontal centering mechanism thereof |
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Application publication date: 20180720 |
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