CN114589714A - Dynamic unknown environment network interactive mobile robot and use method thereof - Google Patents
Dynamic unknown environment network interactive mobile robot and use method thereof Download PDFInfo
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- CN114589714A CN114589714A CN202210345738.6A CN202210345738A CN114589714A CN 114589714 A CN114589714 A CN 114589714A CN 202210345738 A CN202210345738 A CN 202210345738A CN 114589714 A CN114589714 A CN 114589714A
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- 230000002452 interceptive effect Effects 0.000 title claims abstract description 33
- 238000000034 method Methods 0.000 title claims abstract description 18
- 230000003993 interaction Effects 0.000 claims abstract description 56
- 230000000149 penetrating effect Effects 0.000 claims description 19
- 230000006835 compression Effects 0.000 claims description 15
- 238000007906 compression Methods 0.000 claims description 15
- 238000009434 installation Methods 0.000 claims description 11
- 230000001681 protective effect Effects 0.000 claims description 9
- 230000008569 process Effects 0.000 claims description 7
- 230000002093 peripheral effect Effects 0.000 claims 1
- 230000005484 gravity Effects 0.000 abstract description 3
- 230000006870 function Effects 0.000 description 8
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000002035 prolonged effect Effects 0.000 description 2
- 238000007792 addition Methods 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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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
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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
- B25J19/0075—Means for protecting the manipulator from its environment or vice versa
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
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Abstract
The invention discloses a dynamic unknown environment network interactive mobile robot and a using method thereof. The invention has the advantages of playing a convenient self-adjusting role, being capable of interacting with people with different heights, having wider application range, being capable of revealing the display screen when in interaction requirement, having a good function of protecting the display screen when in idle, prolonging the service life of the display screen, being capable of avoiding the damage of the shell caused by the severe collision of the mobile robot and the external object, simultaneously reducing the gravity center of the mobile robot and improving the stability of the robot.
Description
Technical Field
The invention belongs to the technical field of dynamic unknown environment network interaction, and particularly relates to a dynamic unknown environment network interaction mobile robot and a using method thereof.
Background
The interactive mobile robot is a comprehensive system integrating multiple functions of environment perception, dynamic decision and planning, behavior control and execution and the like. The method integrates the research results of multiple subjects such as sensor technology, information processing, electronic engineering, computer engineering, automatic control engineering, artificial intelligence and the like, represents the highest achievement of mechanical-electrical integration, and is one of the most active fields of scientific and technical development at present. With the continuous improvement of the performance of the robot, the application range of the mobile robot is greatly expanded, and the mobile robot technology has gained general attention of all countries in the world;
most of the existing dynamic unknown environment network interactive mobile robots have poor self-adjusting functions, can only interact with people with specific heights, are inconvenient to use and operate, have small application range, are generally exposed outside, easily accumulate dust, do not have good functions of protecting the display screen, and reduce the service life of the display screen.
Disclosure of Invention
The invention aims to provide a dynamic unknown environment network interactive mobile robot and a using method thereof, and mainly solves the problems that most of the existing dynamic unknown environment network interactive mobile robots have poor self-adjusting function, can only interact with people with specific heights, are inconvenient to use and operate, have small application range, are easy to accumulate dust because display screens are always exposed outside consistently, do not have a good function of protecting the display screens, reduce the service life of the display screens, are easy to collide with external objects violently to damage shells when the robots move, and have poor stability.
The purpose of the invention can be realized by the following technical scheme:
a dynamic unknown environment network interactive mobile robot comprises a supporting block, wherein a bearing disc is fixedly connected to the lower surface of the supporting block, a fixing rod is fixedly connected to the lower surface of the bearing disc, a bearing bottom plate is arranged below the bearing disc, an annular groove is formed in the upper surface of the bearing bottom plate, a first motor is fixedly installed in the middle of the upper surface of the bearing bottom plate, a first rotating shaft is installed at the output end of the first motor, a groove is formed in the middle of the lower surface of the supporting block, a hydraulic cylinder is fixedly installed inside the groove, a first telescopic rod penetrating through the supporting block is installed at the output end of the hydraulic cylinder, an interactive box is fixedly connected to the upper end of the first telescopic rod, a mounting groove is formed in the outer side surface of the supporting block, a mounting box is embedded inside the mounting groove, and a second motor is fixedly installed on one side surface of the mounting box close to the top, the utility model discloses a mounting box, including mounting box, No. two motor, the fixed cover of lateral surface of No. two motor is equipped with the gear, the inside grafting of mounting box has the sawtooth pole, the equal fixedly connected with spacing slide bar in both sides of sawtooth pole, the sawtooth pole is kept away from one side of sawtooth and is close to top fixedly connected with scanning head.
As a further scheme of the invention: bear the lower surface intermediate position of dish and seted up the card axle groove, a pivot is passed through the card axle groove and is linked firmly with bearing the dish card, and four groups the dead lever sets up about a pivot symmetry, four groups the equal movable mounting of lower extreme of dead lever has the ball, and the lower extreme of four groups of dead levers all is located the inside of ring channel, bear the dish through the top of four groups of dead levers of a pivot cooperation and ring channel movable mounting at bearing the bottom plate.
As a further scheme of the invention: the interaction box is movably mounted above the supporting block through a first telescopic rod, a through hole is formed in the middle of the upper surface of the supporting block in a penetrating mode, and the first telescopic rod penetrates through the through hole and is connected with the supporting block in a sliding mode.
As a further scheme of the invention: the gear is movably installed in the installation box through a second rotating shaft, the gear and the sawtooth rod are installed in an meshed mode, limiting grooves are formed in two inner side walls of the installation box, two groups of limiting slide rods are connected with the two groups of limiting grooves in a sliding mode respectively, and the sawtooth rod is movably inserted in the installation box through the gear matched limiting slide rods and the limiting grooves.
As a further scheme of the invention: the upper end of the sawtooth rod is fixedly connected with a top plate, one end of the top plate is fixedly connected with a transparent shell, the upper side of the interaction box is provided with a protective shell, the inner side surface of the protective shell is close to both sides and is fixedly connected with fan-shaped plates, the outer side surface of the fan-shaped plates is fixedly connected with a light screen, one side of the interaction box is provided with a display screen, the edge position of one side of the interaction box is fixedly provided with a micro motor, one side of the interaction box is close to the bottom and is provided with a first rotating plate, the inside of the interaction box is provided with a second rotating plate close to the top, the other side of the interaction box is fixedly provided with a cylinder close to the middle position, the output end of the cylinder is provided with a second telescopic rod penetrating through the interaction box, the other end of the second telescopic rod is fixedly connected with a moving plate, an elastic plate is arranged between the moving plate and the display screen, and one side of the elastic plate, which is close to the moving plate, is fixedly connected with four groups of connecting rods, the other ends of the four groups of connecting rods are fixedly connected with a baffle, and compression springs are sleeved on the peripheries of the four groups of connecting rods.
As a further scheme of the invention: the utility model discloses a set up the protection shield, including transparent shell, roof, scanning head, spring shaft, micro motor, rotation plate, display screen, rotation shaft, rotation plate and rotation plate, the transparent shell sets up with the roof is perpendicular, and the one end of scanning head is located the inside of transparent shell, the cross sectional shape of protection shell is the arc setting, the shape of light screen is the V style of calligraphy setting, and the light screen is located a rotation plate directly over, a rotation plate and No. two rotation plates respectively with interactive between be connected with the spring shaft, and a rotation plate and No. two rotation plates respectively through spring shaft movable mounting on interactive case, the axis of rotation that runs through interactive case one side is installed to micro motor's output, and one side and the axis of rotation fixed connection of display screen, the opposite side intermediate position fixedly connected with auxiliary rod of display screen, the display screen passes through axis of rotation cooperation auxiliary rod movable mounting in one side of interactive case.
As a further scheme of the invention: the movable plate is movably installed inside the interaction box through a second telescopic rod, the movable plate and the elastic plate are arranged in parallel, the four groups of connecting rods are symmetrically arranged relative to the second telescopic rod, a round hole is formed in the side face of the movable plate in a penetrating mode, the four groups of compression springs are located between the elastic plate and the movable plate, and the elastic plate is movably connected with the movable plate through the four groups of connecting rods in a matching mode and the compression springs.
As a further scheme of the invention: the supporting device is characterized in that four groups of supporting rods are fixedly connected to the outer side face of the bearing bottom plate, a rotating ring plate is arranged on the periphery of the bearing bottom plate, an elastic ring pad is fixedly connected to the outer side face of the rotating ring plate, a limiting sliding ring is fixedly connected to the top of the inner side face of the rotating ring plate, a limiting sliding rail is arranged in the middle of the outer side face of the bearing disc, and three groups of rollers are movably mounted on the lower surface of the bearing bottom plate.
As a further scheme of the invention: four groups of bracing pieces are arranged symmetrically about a rotating shaft, and one ends of the four groups of bracing pieces, which are far away from the bearing bottom plate, are fixedly connected with the inner side surface of the rotating ring plate, the limiting sliding ring is connected with the limiting sliding rail in a sliding manner, and the rotating ring plate is movably arranged outside the bearing disc through the matching of the limiting sliding ring and the limiting sliding rail.
A use method of a dynamic unknown environment network interactive mobile robot comprises the following specific steps:
the method comprises the following steps: the movable robot moves on the ground through the three groups of rollers on the lower surface of the bearing bottom plate, in the moving process, when the robot collides with an external object, the elastic ring pad is firstly contacted with the external object, and then the rotating ring plate is matched with the limiting slide rail through the limiting slide ring to rotate along the object on the outer side of the bearing plate until the robot is far away from the external object;
step two: when the robot communicates with a person, a first motor on the upper surface of the bearing bottom plate is started to drive a first rotating shaft to rotate, a bearing disc is driven to rotate under the coordination of the clamping shaft groove, the fixed rod and the annular groove, so as to drive the interaction box on the supporting block to rotate, then a second motor on the outer side surface of the mounting box is started to drive a second rotating shaft and the gear to rotate together, so as to drive the sawtooth rods meshed with the gear to move up and down under the coordination of the two groups of limit slide rods and the limit grooves, so as to drive the scanning head in the transparent shell to move up and down until the face of the person is scanned and recognized, and simultaneously, a hydraulic cylinder in the groove is started to drive a first telescopic rod penetrating through the through hole to move up and down, so as to drive the interaction box to move up and down until the interaction box faces a user, then a micro motor on one side of the interaction box is started to drive the rotating shaft, so as to drive the display screen to rotate under the coordination of the auxiliary rod, rotate the user to the face until the screen of display screen, carry out tentatively spacingly through a rotor plate and No. two rotor plate cooperation spring shafts to the display screen, later start the cylinder and drive No. two telescopic links and extend, promote movable plate and elastic plate, make the back in close contact with of elastic plate and display screen under connecting rod, baffle and compression spring's cooperation, accomplish the spacing process to the display screen to the user uses the display screen to operate.
The invention has the beneficial effects that:
1. when the mobile robot interacts with a user, a first motor on the upper surface of the bearing bottom plate is started to drive a first rotating shaft to rotate, a bearing disc is driven to rotate under the coordination of the clamping shaft groove, the fixed rod and the annular groove, so as to drive the interaction box on the supporting block to rotate, then a second motor on the outer side surface of the mounting box is started to drive a second rotating shaft and the gear to rotate together, so as to drive the sawtooth rods meshed with the gear to move up and down under the coordination of the two groups of limiting slide rods and the limiting grooves, so as to drive the scanning head in the transparent shell to move up and down until the face is scanned and recognized, and simultaneously, a hydraulic cylinder in the groove is started to drive a first telescopic rod penetrating through the through hole to move up and down, so as to drive the interaction box to move up and down until the interaction box faces the user, so as to play a convenient self-adjusting role and can interact with people with different heights, the application range is wide;
2. after the scanning head identifies the face of a user, a micro motor on one side of an interaction box is started to drive a rotating shaft to rotate, so that a display screen is driven to rotate under the cooperation of an auxiliary rod until the screen of the display screen rotates to the opposite side of the user, the display screen is preliminarily limited through a first rotating plate and a second rotating plate which are matched with a spring shaft, then an air cylinder is started to drive a second telescopic rod to extend, a moving plate and an elastic plate are pushed, the elastic plate slowly applies pressure to the back of the display screen under the cooperation of a connecting rod, a baffle and a compression spring until the elastic plate is tightly contacted with the back of the display screen, the display screen can be exposed when interaction is needed, the scanning head has a good function of protecting the display screen when in idle, and the service life of the display screen is prolonged;
3. the mobile robot moves on the ground through three groups of rollers on the lower surface of the bearing bottom plate, when the robot collides with an external object in the moving process, the elastic ring pad contacts with the external object firstly, then the rotating ring plate is matched with the limiting slide rail through the limiting slide ring to rotate along the object on the outer side of the bearing plate until the robot is far away from the external object, the mobile robot is prevented from violently colliding with the external object to damage a shell, meanwhile, the gravity center of the mobile robot is reduced by matching with the supporting block, and the stability of the robot is improved.
Drawings
The invention will be further described with reference to the accompanying drawings.
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of a connection structure of the carrier tray of the present invention;
FIG. 3 is a schematic view showing a coupling structure of a rotating ring plate according to the present invention;
FIG. 4 is a schematic view showing a structure of coupling a gear and a toothed bar according to the present invention;
FIG. 5 is a schematic diagram of the internal structure of the interaction box of the present invention;
FIG. 6 is a schematic top view of the present invention;
fig. 7 is a side view schematic of the present invention.
In the figure: 1. a support block; 2. a carrier tray; 3. fixing the rod; 4. a load floor; 5. an annular groove; 6. a first motor; 7. a first rotating shaft; 8. a hydraulic cylinder; 9. a first telescopic rod; 10. an interaction box; 11. installing a box; 12. a top plate; 13. a transparent shell; 14. a second motor; 15. a second rotating shaft; 16. a gear; 17. a serrated bar; 18. a limiting slide bar; 19. a scanning head; 20. a protective shell; 21. a sector plate; 22. a visor; 23. a display screen; 24. a micro-motor; 25. a first rotating plate; 26. a second rotating plate; 27. a cylinder; 28. a second telescopic rod; 29. moving the plate; 30. an elastic plate; 31. a connecting rod; 32. a baffle plate; 33. a compression spring; 34. a support bar; 35. rotating the ring plate; 36. an elastic ring pad; 37. a limiting sliding ring; 38. a limiting slide rail; 39. and a roller.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1-7, a dynamic unknown environment network interactive mobile robot comprises a supporting block 1, a bearing plate 2 is fixedly connected to the lower surface of the supporting block 1, a fixing rod 3 is fixedly connected to the lower surface of the bearing plate 2, a bearing bottom plate 4 is arranged below the bearing plate 2, an annular groove 5 is formed in the upper surface of the bearing bottom plate 4, a first motor 6 is fixedly installed in the middle position of the upper surface of the bearing bottom plate 4, a first rotating shaft 7 is installed at the output end of the first motor 6, a groove is formed in the middle position of the lower surface of the supporting block 1, a hydraulic cylinder 8 is fixedly installed in the groove, a first telescopic rod 9 penetrating through the supporting block 1 is installed at the output end of the hydraulic cylinder 8, an interactive box 10 is fixedly connected to the upper end of the first telescopic rod 9, a mounting groove is formed in the outer side surface of the supporting block 1, a mounting box 11 is embedded in the mounting groove, and a second motor 14 is fixedly installed near the top of the mounting box 11, the output end of the second motor 14 is provided with a second rotating shaft 15 penetrating through the installation box 11, the outer side surface of the second rotating shaft 15 is fixedly sleeved with a gear 16, a sawtooth rod 17 is inserted in the installation box 11, both sides of the sawtooth rod 17 are fixedly connected with limit slide rods 18, one side of the sawtooth rod 17 far away from the sawtooth is close to the top and is fixedly connected with a scanning head 19, the middle position of the lower surface of the bearing disc 2 is provided with a shaft clamping groove, the first rotating shaft 7 is fixedly connected with the bearing disc 2 in a clamping way through the shaft clamping groove, the four groups of fixed rods 3 are symmetrically arranged about the first rotating shaft 7, the lower ends of the four groups of fixed rods 3 are movably provided with balls, the lower ends of the four groups of fixed rods 3 are positioned in the annular groove 5, the bearing disc 2 is movably arranged above the bearing bottom plate 4 through the first rotating shaft 7 in cooperation with the four groups of fixed rods 3 and the annular groove 5, the interaction box 10 is movably arranged above the supporting block 1 through the first telescopic rod 9, a through hole is formed in the middle position of the upper surface of the supporting block 1 in a penetrating mode, the first telescopic rod 9 penetrates through the through hole and is connected with the supporting block 1 in a sliding mode, the gear 16 is movably mounted inside the mounting box 11 through the second rotating shaft 15, the gear 16 and the sawtooth rod 17 are mounted in a meshed mode, limiting grooves are formed in two inner side walls of the mounting box 11, the two groups of limiting slide rods 18 are connected with the two groups of limiting grooves in a sliding mode respectively, and the sawtooth rod 17 is movably inserted inside the mounting box 11 through the gear 16 in a matching mode with the limiting slide rods 18 and the limiting grooves;
through the technical scheme: starting a first motor 6 on the upper surface of a bearing bottom plate 4 to drive a first rotating shaft 7 to rotate, driving a bearing disc 2 to rotate under the matching of a clamping shaft groove, a fixed rod 3 and an annular groove 5, thereby driving an interaction box 10 on a supporting block 1 to rotate, then starting a second motor 14 on the outer side surface of a mounting box 11 to drive a second rotating shaft 15 and a gear 16 to rotate together, thereby driving a sawtooth rod 17 meshed with the gear 16 to move up and down under the matching of two groups of limit slide rods 18 and limit grooves, thereby driving a scanning head 19 in a transparent shell 13 to move up and down until a human face is scanned and recognized, simultaneously starting a hydraulic cylinder 8 in a groove, driving a first telescopic rod 9 penetrating through a through hole to move up and down, thereby driving the interaction box 10 to move up and down until the interaction box 10 faces a user, playing a convenient self-adjusting role, and being capable of interacting with people with different heights, the application range is wide;
a top plate 12 is fixedly connected to the upper end of the sawtooth rod 17, a transparent shell 13 is fixedly connected to one end of the top plate 12, a protective shell 20 is installed on the upper side of the interaction box 10, sector plates 21 are fixedly connected to the inner side surface of the protective shell 20 close to both sides, a light screen 22 is fixedly connected to the outer side surface of the sector plate 21, a display screen 23 is installed on one side of the interaction box 10, a micro motor 24 is fixedly installed at the edge position of one side of the interaction box 10, a first rotating plate 25 is arranged on one side of the interaction box 10 close to the bottom, a second rotating plate 26 is arranged inside the interaction box 10 close to the top, an air cylinder 27 is fixedly installed on the other side of the interaction box 10 close to the middle position, a second telescopic rod 28 penetrating through the interaction box 10 is installed at the output end of the air cylinder 27, a moving plate 29 is fixedly connected to the other end of the second telescopic rod 28, an elastic plate 30 is arranged between the moving plate 29 and the display screen 23, four groups of connecting rods 31 are fixedly connected to one side of the elastic plate 30 close to the moving plate 29, the other ends of the four groups of connecting rods 31 are fixedly connected with a baffle 32, the periphery of the four groups of connecting rods 31 is sleeved with a compression spring 33, the transparent shell 13 is perpendicular to the top plate 12, one end of the scanning head 19 is positioned in the transparent shell 13, the cross section of the protective shell 20 is arc-shaped, the light shielding plate 22 is V-shaped, the light shielding plate 22 is positioned right above the first rotating plate 25, the first rotating plate 25 and the second rotating plate 26 are respectively connected with the interaction box 10 through spring shafts, the first rotating plate 25 and the second rotating plate 26 are respectively movably arranged on the interaction box 10 through the spring shafts, the output end of the micro motor 24 is provided with a rotating shaft penetrating through one side of the interaction box 10, one side of the display screen 23 is fixedly connected with the rotating shaft, the middle position of the other side of the display screen 23 is fixedly connected with an auxiliary rod, the display screen 23 is movably arranged on one side of the interaction box 10 through the rotating shaft matching with the auxiliary rod, the movable plate 29 is movably mounted inside the interaction box 10 through a second telescopic rod 28, the movable plate 29 and the elastic plate 30 are arranged in parallel, four groups of connecting rods 31 are symmetrically arranged relative to the second telescopic rod 28, a round hole is formed in the side face of the movable plate 29 in a penetrating mode, four groups of compression springs 33 are located between the elastic plate 30 and the movable plate 29, and the elastic plate 30 is movably connected with the movable plate 29 through the four groups of connecting rods 31 matching with the round hole and the compression springs 33;
through the technical scheme: the micro motor 24 on one side of the interaction box 10 is started to drive the rotating shaft to rotate, so that the display screen 23 is driven to rotate under the cooperation of the auxiliary rod until the screen of the display screen 23 rotates to the opposite side of a user, the display screen 23 is preliminarily limited through the cooperation of the first rotating plate 25 and the second rotating plate 26 and the spring shaft, then the air cylinder 27 is started to drive the second telescopic rod 28 to extend, the moving plate 29 and the elastic plate 30 are pushed, the elastic plate 30 slowly applies pressure to the back side of the display screen 23 under the cooperation of the connecting rod 31, the baffle 32 and the compression spring 33 until the elastic plate 30 is tightly contacted with the back side of the display screen 23, the display screen 23 can be exposed when interaction is needed, the function of well protecting the display screen 23 is achieved when the display screen 23 is idle, and the service life of the display screen 23 is prolonged;
the outer side surface of the bearing bottom plate 4 is fixedly connected with four groups of supporting rods 34, the periphery of the bearing bottom plate 4 is provided with a rotating ring plate 35, the outer side surface of the rotating ring plate 35 is fixedly connected with an elastic ring pad 36, the inner side surface of the rotating ring plate 35 is fixedly connected with a limiting sliding ring 37 close to the top, the middle position of the outer side surface of the bearing disc 2 is provided with a limiting sliding rail 38, the lower surface of the bearing bottom plate 4 is movably provided with three groups of rollers 39, the four groups of supporting rods 34 are symmetrically arranged about a first rotating shaft 7, one ends of the four groups of supporting rods 34 far away from the bearing bottom plate 4 are fixedly connected with the inner side surface of the rotating ring plate 35, the limiting sliding ring 37 is in sliding connection with the limiting sliding rail 38, and the rotating ring plate 35 is movably arranged on the outer side of the bearing disc 2 by matching the limiting sliding ring 37 with the limiting sliding rail 38;
through the technical scheme: make mobile robot remove subaerial through three group gyro wheels 39 of bearing bottom plate 4 lower surface, when the robot bumps with external object at the in-process that removes, elastic ring pad 36 contacts with external object earlier, rotate the crown plate 35 and rotate along the object in the outside of bearing dish 2 through spacing slide rail 38 of spacing slip ring 37 cooperation after that, keep away from external object until the robot, avoid mobile robot and external object to take place violent collision and damage the shell, cooperate supporting shoe 1 to reduce mobile robot's focus simultaneously, robot's stability has been improved.
The working principle is as follows: firstly, the mobile robot is moved on the ground through three groups of rollers 39 on the lower surface of the bearing bottom plate 4, when the robot collides with an external object in the moving process, the elastic ring pad 36 is firstly contacted with the external object, then the rotating ring plate 35 is matched with the limiting slide rail 38 through the limiting slide ring 37 to rotate along the object on the outer side of the bearing plate 2 until the robot is far away from the external object, so that the mobile robot is prevented from colliding with the external object violently to damage the shell, meanwhile, the gravity center of the mobile robot is reduced by matching with the supporting block 1, the stability of the robot is improved, secondly, when the robot interacts with a user, the first motor 6 on the upper surface of the bearing bottom plate 4 is started to drive the first rotating shaft 7 to rotate, the bearing plate 2 is driven to rotate by matching with the shaft clamping groove, the fixing rod 3 and the annular groove 5, so as to drive the interaction box 10 on the supporting block 1 to rotate, then, a second motor 14 on the outer side surface of the installation box 11 is started to drive a second rotating shaft 15 and a gear 16 to rotate together, so that a sawtooth rod 17 meshed with the gear 16 is driven to move up and down under the matching of two groups of limiting slide rods 18 and limiting grooves, so that a scanning head 19 in the transparent shell 13 is driven to move up and down until a human face is scanned and recognized, meanwhile, a hydraulic cylinder 8 in the groove is started to drive a first telescopic rod 9 penetrating through a through hole to move up and down, so that the interaction box 10 is driven to move up and down until the interaction box 10 faces a user, a convenient self-adjusting effect is achieved, interaction with people with different heights can be achieved, the application range is wide, finally, a micro motor 24 on one side of the interaction box 10 is started to drive a rotating shaft to rotate, so that a display screen 23 is driven to rotate under the matching of an auxiliary rod until a screen of the display screen 23 rotates to the opposite side of the user, carry out preliminary spacing through a rotor plate 25 and No. two rotor plates 26 cooperation spring axle to display screen 23, later start cylinder 27 and drive No. two telescopic links 28 and extend, promote movable plate 29 and elastic plate 30, at connecting rod 31, make elastic plate 30 slowly exert pressure to the display screen 23 back under the cooperation of baffle 32 and compression spring 33, until elastic plate 30 and display screen 23's the back in close contact with, can expose display screen 23 when mutual needs, the function of fine protection display screen 23 has when idle, the life of display screen 23 has been improved, make mobile robot can carry out the interaction process through display screen 23 and scanning head 19 and user.
In the description herein, references to the description of "one embodiment," "an example," "a specific example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The foregoing is merely illustrative and explanatory of the present invention and various modifications, additions or substitutions may be made to the specific embodiments described by those skilled in the art without departing from the scope of the invention as defined in the accompanying claims.
Claims (10)
1. The dynamic unknown environment network interactive mobile robot comprises a supporting block (1) and is characterized in that a bearing plate (2) is fixedly connected to the lower surface of the supporting block (1), a fixing rod (3) is fixedly connected to the lower surface of the bearing plate (2), a bearing bottom plate (4) is arranged below the bearing plate (2), a ring-shaped groove (5) is formed in the upper surface of the bearing bottom plate (4), a first motor (6) is fixedly installed in the middle of the upper surface of the bearing bottom plate (4), a first rotating shaft (7) is installed at the output end of the first motor (6), a groove is formed in the middle of the lower surface of the supporting block (1), a hydraulic cylinder (8) is fixedly installed inside the groove, a first telescopic rod (9) penetrating through the supporting block (1) is installed at the output end of the hydraulic cylinder (8), an interactive box (10) is fixedly connected to the upper end of the first telescopic rod (9), the utility model discloses a gear saw, including supporting shoe (1), installation case (11), No. two motor (14) of top fixed mounting are close to a side of installation case (11), the output of No. two motor (14) is installed and is run through No. two pivot (15) of installation case (11), the lateral surface fixed mounting of No. two pivot (15) is equipped with gear (16), the inside of installation case (11) is pegged graft and is had sawtooth pole (17), the equal fixedly connected with spacing slide bar (18) in both sides of sawtooth pole (17), sawtooth pole (17) keep away from one side of sawtooth and are close to top fixedly connected with scanning head (19).
2. The interactive mobile robot with the dynamic unknown environment network as claimed in claim 1, wherein a shaft clamping groove is formed in a middle position of a lower surface of the bearing plate (2), the first rotating shaft (7) is fixedly clamped with the bearing plate (2) through the shaft clamping groove, four groups of the fixing rods (3) are symmetrically arranged about the first rotating shaft (7), balls are movably mounted at lower ends of the four groups of the fixing rods (3), lower ends of the four groups of the fixing rods (3) are located inside the annular groove (5), and the bearing plate (2) is movably mounted above the bearing base plate (4) through the first rotating shaft (7) in cooperation with the four groups of the fixing rods (3) and the annular groove (5).
3. The dynamic unknown environment network interactive mobile robot as claimed in claim 1, wherein the interactive box (10) is movably mounted above the supporting block (1) through a first telescopic rod (9), a through hole is formed in the middle position of the upper surface of the supporting block (1) in a penetrating manner, and the first telescopic rod (9) penetrates through the through hole and is connected with the supporting block (1) in a sliding manner.
4. The interactive mobile robot for the network in the dynamic unknown environment according to claim 1, wherein the gear (16) is movably mounted inside the mounting box (11) through a second rotating shaft (15), the gear (16) and the sawtooth rod (17) are mounted in an engaged manner, two inner side walls of the mounting box (11) are respectively provided with a limiting groove, two sets of limiting sliding rods (18) are respectively connected with the two sets of limiting grooves in a sliding manner, and the sawtooth rod (17) is movably inserted inside the mounting box (11) through the gear (16) matching the limiting sliding rods (18) and the limiting grooves.
5. The dynamic unknown environment network interactive mobile robot as claimed in claim 1, wherein a top plate (12) is fixedly connected to the upper end of the sawtooth rod (17), a transparent shell (13) is fixedly connected to one end of the top plate (12), a protective shell (20) is installed on the upper side of the interactive box (10), sector plates (21) are fixedly connected to the inner side of the protective shell (20) close to both sides, a light shielding plate (22) is fixedly connected to the outer side of the sector plates (21), a display screen (23) is installed on one side of the interactive box (10), a micro motor (24) is fixedly installed on the edge of one side of the interactive box (10), a first rotating plate (25) is arranged on one side of the interactive box (10) close to the bottom, and a second rotating plate (26) is arranged on the inside of the interactive box (10) close to the top, the opposite side of mutual case (10) is close to intermediate position fixed mounting and has cylinder (27), No. two telescopic link (28) that run through mutual case (10) are installed to the output of cylinder (27), other end fixedly connected with movable plate (29) of No. two telescopic link (28), be provided with elastic plate (30) between movable plate (29) and display screen (23), elastic plate (30) are close to four connecting rod (31) of one side fixedly connected with of movable plate (29), four groups the equal fixedly connected with baffle (32) of the other end of connecting rod (31), four groups the peripheral cover of connecting rod (31) is equipped with compression spring (33).
6. The network interaction mobile robot for the dynamic unknown environment according to claim 5, wherein the transparent shell (13) is perpendicular to the top plate (12), one end of the scanning head (19) is located inside the transparent shell (13), the cross-sectional shape of the protective shell (20) is arc-shaped, the light shielding plate (22) is V-shaped, the light shielding plate (22) is located right above the first rotating plate (25), the first rotating plate (25) and the second rotating plate (26) are respectively connected with the interaction box (10) through spring shafts, the first rotating plate (25) and the second rotating plate (26) are respectively movably mounted on the interaction box (10) through spring shafts, the output end of the micro motor (24) is mounted with a rotating shaft penetrating through one side of the interaction box (10), and one side of the display screen (23) is fixedly connected with the rotating shaft, the auxiliary rod is fixedly connected to the middle position of the other side of the display screen (23), and the display screen (23) is movably mounted on one side of the interaction box (10) through the matching of a rotating shaft and the auxiliary rod.
7. The dynamic unknown environment network interactive mobile robot as claimed in claim 5, wherein the moving plate (29) is movably mounted inside the interactive box (10) through a second telescopic rod (28), the moving plate (29) and the elastic plate (30) are arranged in parallel, four groups of connecting rods (31) are symmetrically arranged about the second telescopic rod (28), a circular hole is formed in the side surface of the moving plate (29) in a penetrating manner, four groups of compression springs (33) are arranged between the elastic plate (30) and the moving plate (29), and the elastic plate (30) is movably connected with the moving plate (29) through the four groups of connecting rods (31) matching the circular hole and the compression springs (33).
8. The interactive mobile robot with the dynamic unknown environment network as claimed in claim 1, wherein four sets of support rods (34) are fixedly connected to an outer side surface of the bearing bottom plate (4), a rotating ring plate (35) is disposed on the periphery of the bearing bottom plate (4), an elastic ring pad (36) is fixedly connected to an outer side surface of the rotating ring plate (35), a limiting sliding ring (37) is fixedly connected to an inner side surface of the rotating ring plate (35) near a top portion, a limiting sliding rail (38) is disposed at a middle position of an outer side surface of the bearing disc (2), and three sets of rollers (39) are movably mounted on a lower surface of the bearing bottom plate (4).
9. The interactive mobile robot for the dynamic unknown environment network according to claim 8, wherein four sets of the supporting rods (34) are symmetrically arranged about the first rotating shaft (7), and one ends of the four sets of the supporting rods (34) far away from the bearing bottom plate (4) are fixedly connected with an inner side surface of the rotating ring plate (35), the limiting sliding ring (37) is slidably connected with the limiting sliding rail (38), and the rotating ring plate (35) is movably mounted on an outer side of the bearing disc (2) through the limiting sliding ring (37) matching with the limiting sliding rail (38).
10. A method for using a dynamic unknown environment network interactive mobile robot is characterized by comprising the following specific steps:
the method comprises the following steps: the mobile robot is moved on the ground through three groups of rollers (39) on the lower surface of the bearing bottom plate (4), in the moving process, when the robot collides with an external object, the elastic ring pad (36) is firstly contacted with the external object, and then the rotating ring plate (35) is matched with the limiting slide rail (38) through the limiting slide ring (37) to rotate along the object on the outer side of the bearing disc (2) until the robot is far away from the external object;
step two: when the robot communicates with a person, a first motor (6) on the upper surface of a bearing bottom plate (4) is started to drive a first rotating shaft (7) to rotate, a bearing disc (2) is driven to rotate under the matching of a shaft clamping groove, a fixed rod (3) and an annular groove (5), so as to drive an interaction box (10) on a supporting block (1) to rotate, then a second motor (14) on the outer side surface of an installation box (11) is started to drive a second rotating shaft (15) and a gear (16) to rotate together, so as to drive a sawtooth rod (17) meshed with the gear (16) to move up and down under the matching of two groups of limiting sliding rods (18) and limiting grooves, so as to drive a scanning head (19) in a transparent shell (13) to move up and down until a human face is scanned to be identified, and simultaneously start a hydraulic cylinder (8) in the groove to drive a first telescopic rod (9) penetrating through a through hole to move up and down, thereby driving the interaction box (10) to move up and down until the interaction box (10) faces the user, then a micro motor (24) at one side of the interaction box (10) is started to drive the rotating shaft to rotate, thereby driving the display screen (23) to rotate under the coordination of the auxiliary rod until the screen of the display screen (23) rotates to the opposite side of the user, the display screen (23) is initially limited by the matching of the first rotating plate (25) and the second rotating plate (26) with the spring shaft, then the cylinder (27) is started to drive the second telescopic rod (28) to extend, the movable plate (29) and the elastic plate (30) are pushed, make elastic plate (30) and the back in close contact with of display screen (23) under the cooperation of connecting rod (31), baffle (32) and compression spring (33), accomplish the spacing process to display screen (23) to the user uses display screen (23) to operate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210345738.6A CN114589714A (en) | 2022-03-31 | 2022-03-31 | Dynamic unknown environment network interactive mobile robot and use method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210345738.6A CN114589714A (en) | 2022-03-31 | 2022-03-31 | Dynamic unknown environment network interactive mobile robot and use method thereof |
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| CN114589714A true CN114589714A (en) | 2022-06-07 |
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| CN214870607U (en) * | 2020-11-27 | 2021-11-26 | 长春电子科技学院 | Internet education service intelligent robot |
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| US20180178375A1 (en) * | 2016-12-23 | 2018-06-28 | Lg Electronics Inc. | Guide robot |
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Application publication date: 20220607 |