CN210061109U - Home service robot with mobile grabbing function - Google Patents

Abstract

The utility model discloses a family service robot with mobile grabbing function, which comprises a chassis, a trunk main body and a head assembly, wherein the chassis comprises a first layer plate and a second layer plate, the bottom of the first layer plate is provided with walking wheels and universal wheels, the second layer plate is provided with a laser radar and an ultrasonic sensor, and the first layer plate is also provided with a plurality of anti-collision assemblies in the circumferential direction; the main body comprises a third layer plate, a fourth layer plate, a main body support, a lifting plate and a mechanical arm, wherein a vertical guide rod is arranged in the main body support, the lifting plate is slidably sleeved on the guide rod and can slide up and down along the guide rod, the mechanical arm is arranged on the lifting plate, the lifting plate is driven to lift along the vertical direction through a first driving mechanism so as to drive the mechanical arm to lift, and a microphone and a loudspeaker are further arranged on the main body support; the head assembly comprises a head main body, and a touch screen and a machine vision camera are arranged on the front side of the head main body. The utility model has the advantages that: can realize portable snatching, and the function is diversified.

Description

Home service robot with mobile grabbing function

Technical Field

The utility model relates to the technical field of robot, what especially relate to is a service robot of family with remove and snatch function.

Background

In recent years, with the development of robotics and the rise of artificial intelligence technology, many service robots incorporating artificial intelligence technology are present in the field of vision of people. The development of robotics is no longer limited to industrial robots, but is gradually focused on service robots. Common service robots include floor sweeping robots, welcoming robots, housekeeping robots, and business service robots used in hotels and banks, etc., and there are fewer service robots used for households. As is well known, in modern society, as the aging degree of population is increased, more and more old people live alone and live alone; or some patients have inconvenient actions and need special people to take care of; or some children are in the learning stage and parents do not have enough time to accompany. Most of current home service robots are learning and entertainment robots for children or home housekeeping robots equivalent to home equipment control centers, and do not have the function of grabbing objects.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to overcome prior art not enough, provide a service robot of family with remove and snatch function.

The utility model discloses a realize through following technical scheme:

a family service robot with a mobile grabbing function comprises a chassis, a trunk body and a head component which are sequentially arranged from bottom to top,

the chassis comprises a first layer plate and a second layer plate, the second layer plate is arranged above the first layer plate through a first layer supporting rod, walking wheels and universal wheels are arranged at the bottom of the first layer plate, a battery and a main control board are further arranged on the first layer plate, a laser radar and an ultrasonic sensor are arranged on the second layer plate, and a plurality of anti-collision assemblies are further circumferentially arranged on the first layer plate;

the main body comprises a third layer plate, a fourth layer plate, a main body support, a lifting plate and a mechanical arm, wherein the third layer plate is arranged above the second layer plate through a second layer of supporting rods, the fourth layer plate is arranged above the third layer plate through a third layer of supporting rods, the main body support is arranged on the fourth layer plate, a vertical guide rod is arranged in the main body support, the lifting plate is slidably sleeved on the guide rod and can slide up and down along the guide rod, the mechanical arm is arranged on the lifting plate, the lifting plate is driven to lift along the vertical direction through a first driving mechanism, the mechanical arm is driven to lift, and a microphone and a loudspeaker are further arranged on the main body support;

the head assembly is arranged at the top of the main body support and comprises a head main body, and a touch screen and a machine vision camera are arranged on the front side of the head main body.

Further, a first driving mechanism comprises a driving motor, a lead screw and a nut, the driving motor is arranged at the bottom of the fourth layer plate, the lead screw is vertically arranged, the upper end and the lower end of the lead screw are respectively rotatably arranged on the main body support, the lower end of the lead screw is connected with an output shaft of the driving motor, the nut is sleeved on the lead screw in a threaded manner, and the nut is fixedly connected with the lifting plate and drives the lead screw to rotate through the driving motor so as to drive the nut and the lifting plate to lift.

Furthermore, the front end of the mechanical arm is provided with an electric mechanical claw, and a camera is arranged on the electric mechanical claw.

Further, the truck main body still includes the truck shell, the truck shell cover is established the periphery of main part support, the truck shell front side is opened and is had the groove of dodging of vertical extension, the outer end of lifter plate is followed it stretches out to dodge in the groove forward, the outer end on the lifter plate is installed to the arm, on the truck shell corresponding the speaker expands the hole at the position of speaker, the truck shell has seted up the microphone hole at the position that corresponds the microphone.

Furthermore, the two walking wheels are driven by respective walking motors to operate.

The anti-collision assembly comprises a collision strip and a collision sensor, the chassis further comprises a chassis shell covering the peripheries of the first layer plate and the second layer plate, the bottom of the chassis shell protrudes outwards to form an annular flange, the collision strip is an arc strip and is positioned outside the annular flange, a sliding groove extending along the radial direction is formed in the annular flange, a sliding block protruding inwards along the radial direction is arranged on the inner side of the collision strip, the sliding block of the collision strip penetrates through the sliding groove from outside to inside and limits the outer limit position of the sliding block through a limit strip inserted into a limit hole at the inner end of the sliding block, a spring is arranged between the inner end of the sliding block and the outer side wall of the chassis shell, and the limit strip is abutted against the inner end face of the sliding groove through the spring; the impact sensor is disposed on the annular flange and is activated when the impact strip is squeezed.

Furthermore, the slider sets up in the inboard middle section of collision strip, every anticollision subassembly includes two collision sensor, and two collision sensor are located the inboard both ends position of collision strip respectively.

Further, the head assembly further comprises a head rotating mechanism and a head pitching mechanism;

the head rotating mechanism comprises a head rotating base, a rotating motor, a rotating driving gear, a rotating driven gear and a rotating shaft, the head rotating base is fixedly installed at the top of the main body support, the rotating motor is installed on the head rotating base, an output shaft of the rotating motor vertically extends upwards and is fixedly sleeved with the rotating driving gear, the rotating shaft is rotatably arranged on the head rotating base and is vertically arranged, the rotating driven gear is fixedly sleeved on the rotating shaft, the rotating driven gear is meshed with the rotating driving gear, and a fixed disc is arranged at the top end of the rotating shaft;

head every single move mechanism includes head every single move base, every single move motor, every single move driving gear, every single move driven gear, every single move axle, head every single move pedestal mounting is in on the fixed disk on rotation axis top, every single move motor fixed mounting is on head every single move base, every single move motor's output shaft extends and fixed suit along the left right direction the every single move driving gear, every single move axle rotates to set up on head every single move base and extends along the left right direction, the fixed suit of every single move driven gear is on the every single move axle, every single move driving gear meshes with every single move driven gear mutually, every single move axle both ends are fixed suit respectively and are connected with the head installing support, the head main part is installed on two head installing.

Compared with the prior art, the utility model has the following advantages:

the utility model provides a home service robot with remove and snatch function, whole robot include chassis, truck main part and head subassembly that from the bottom up sets gradually, the design of this kind of tower structure, stability is good, can realize removing snatch, automatic obstacle avoidance, man-machine interaction etc. function, it can drive the lifter plate through first actuating mechanism and go up and down, and then drive the arm and go up and down, has increased the home range of arm, can snatch the object of eminence, has strengthened the practicality; the head assembly can realize head rotation and pitching motion, so that the machine vision camera is driven to synchronously move, the machine vision camera is used for detecting information such as human faces and images, and the scanning range of the machine vision camera is expanded.

Drawings

Fig. 1 is a schematic view of the overall structure of the present invention.

Fig. 2 is a schematic view of the chassis structure of the present invention.

Fig. 3 is a schematic view of the bottom structure of the chassis of the present invention.

Fig. 4 is a front view of the chassis of the present invention with the chassis housing removed.

Fig. 5 is a perspective view of the first laminate of the present invention.

Fig. 6 is a perspective view of the collision prevention assembly of the present invention assembled with the chassis housing.

Fig. 7 is an enlarged view of fig. 6 at a.

Fig. 8 is a top view of the collision avoidance assembly of the present invention assembled with the chassis housing.

Fig. 9 is an exploded view of the connection member between the anti-collision assembly and the chassis housing according to the present invention.

Fig. 10 is an enlarged view of fig. 9 at B.

Fig. 11 is a perspective view of the trunk body of the present invention.

Fig. 12 is a perspective view of the trunk body of the present invention with the trunk shell removed.

Fig. 13 is a perspective view of the robot arm of the present invention.

Fig. 14 is a perspective view of the head assembly of the present invention.

Fig. 15 is an exploded view of the head rotating mechanism of the present invention.

Fig. 16 is an exploded view of the head pitch mechanism of the present invention.

Reference numbers in the figures: 1 chassis, 11 first layer plate, 12 second layer plate, 13 first layer support bar, 14 traveling wheels, 15 universal wheels, 16 traveling motors, 17 batteries, 18 main control board, 19 laser radar, 110 ultrasonic sensor, 111 collision strip, 112 collision sensor, 113 chassis shell, 114 annular flange, 115 sliding groove, 116 sliding block, 117 limit strip, 118 spring, 119 dust cap, 120 collision prevention component, 2 trunk body, 21 third layer plate, 22 fourth layer plate, 23 body bracket, 24 lifting plate, 25 mechanical arm, 26 second layer support bar, 27 guide rod, 28 electric mechanical claw, 29 camera, 210 microphone, 211 loudspeaker, 212 trunk shell, 213 avoidance groove, 214 loudspeaker sound expansion hole, 215 microphone hole, 216 driving motor, lead screw 217, 218 nut, 219 top cover, 3 head component, 31 head body, 32 touch screen, 33 machine vision camera, 34 head rotating base, 35 rotating motor, 36 rotating driving gear, 37 rotating driven gear, 38 rotating shaft, 39 fixing disc, 310 head pitching base, 311 pitching motor, 312 pitching driving gear, 313 pitching driven gear, 314 pitching shaft, 315 head mounting bracket, 316 head rotating mechanism and 317 head pitching mechanism.

Detailed Description

The embodiments of the present invention will be described in detail below, and the present embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation process are given, but the scope of the present invention is not limited to the following embodiments.

Referring to fig. 1 to 16, the present embodiment discloses a home service robot with a mobile grabbing function, which includes a chassis 1, a trunk body 2 and a head assembly 3, which are sequentially arranged from bottom to top.

The chassis 1 comprises a first layer plate 11 and a second layer plate 12, the second layer plate 12 is arranged above the first layer plate 11 through a first layer supporting rod 13, the bottom of the first layer plate 11 is provided with a walking wheel 14 and a universal wheel 15, the number of the walking wheels is 14, and each walking wheel 14 is driven to run through a respective walking motor 16. The first layer board 11 is also provided with a battery 17 and a main control board 18, and power is supplied to all the electric devices through the battery 17. The second layer plate 12 is provided with a laser radar 19 and an ultrasonic sensor 110, the ultrasonic sensor 110 is used for distance measurement and obstacle avoidance, and the laser radar 19 has a 360-degree all-dimensional laser distance measurement scanning function and is used for navigation positioning and mapping of the robot, so that path planning is achieved.

The first deck 11 is also provided with a plurality of collision prevention assemblies 120 circumferentially. Each anti-collision assembly 120 comprises a collision strip 111 and two collision sensors 112, the chassis 1 further comprises a chassis shell 113 covering the peripheries of the first layer plate 11 and the second layer plate 12, the bottom of the chassis shell 113 protrudes outwards to form an annular flange 114, the collision strip 111 is an arc strip and is positioned outside the annular flange 114, the annular flange 114 is provided with a sliding groove 115 extending along the radial direction, the inner side of the collision strip 111 is provided with a sliding block 116 protruding inwards along the radial direction, the sliding block 116 of the collision strip 111 penetrates through the sliding groove 115 from outside to inside and limits the outer limit position of the sliding block 116 through a limit strip 117 inserted into a limit hole at the inner end of the sliding block 116, a spring 118 is arranged between the inner end of the sliding block 116 and the outer side wall of the chassis shell 113, and the inner end limit strip 117 is abutted against the surface of; the spring 118 functions to automatically return after the middle of the impact bar 111 is impacted. A dust cover 119 is covered above each collision strip 111 for preventing dust. Impact sensor 112 is disposed on annular flange 114 such that impact strip 111 is compressed to activate impact sensor 112. The slider 116 is disposed at the middle section of the inner side of the collision bar 111, and the two collision sensors 112 are respectively located at two ends of the inner side of the collision bar 111. The collision strip 111 has certain elasticity, when two ends of the collision strip 111 are collided, the collision sensor 112 on the inner side can be triggered, the system can detect the collision, the main control board 18 controls the robot to retreat and adjust the walking direction to walk again, and therefore automatic obstacle avoidance is achieved. Preferably, four anti-collision assemblies 120 are circumferentially arranged on the first layer plate 11, and the four anti-collision assemblies 120 are uniformly arranged around the chassis 1, so that omnibearing collision detection can be realized. And the robot arranges the anti-collision component 120 at the periphery of the chassis 1, and the position is lower, so that the robot can avoid obstacles even if the obstacles are short.

Trunk main part 2 includes third plywood 21, fourth plywood 22, main part support 23, lifter plate 24, arm 25, third plywood 21 sets up the top at second plywood 12 through second floor bracing piece 26, fourth plywood 22 sets up the top at third plywood 21 through the third floor bracing piece, main part support 23 sets up on fourth plywood 22, main part support 23 is inside to be equipped with vertical guide arm 27, lifter plate 24 slip suit is on guide arm 27 and can slide from top to bottom along guide arm 27, arm 25 is installed on lifter plate 24, arm 25 adopts three degree of freedom arm 25, arm 25 front end is equipped with electric gripper 28, be equipped with camera 29 on the electric gripper 28, an object that is used for discerning more accurately will snatch. The main body support 23 is also provided with a microphone 210 and a loudspeaker 211, the loudspeaker 211 is used for voice output of the robot, and the microphone 210 is used for input of external voice information, so that the functions of voice control and sound listening and position identification are realized.

The trunk body 2 further includes a trunk housing 212, the trunk housing 212 is covered on the periphery of the body support 23, an avoiding groove 213 extending vertically is formed in the front side of the trunk housing 212, the outer end of the lifting plate 24 extends forward from the avoiding groove 213, the mechanical arm 25 is mounted on the outer end of the lifting plate 24, a speaker sound expansion hole 214 is formed in a position corresponding to the speaker 211 on the trunk housing 212, and a microphone hole 215 is formed in a position corresponding to the microphone 210 on the trunk housing 212.

The lifting plate 24 is driven by the first driving mechanism to lift along the vertical direction, and the mechanical arm 25 is driven to lift. The first driving mechanism comprises a driving motor 216, a screw rod 217 and a nut 218, the driving motor 216 is arranged at the bottom of the fourth layer plate 22, the screw rod 217 is vertically arranged, the upper end and the lower end of the screw rod 217 are respectively rotatably arranged on the main body support 23, the lower end of the screw rod 217 is connected with an output shaft of the driving motor 216, the nut 218 is sleeved on the screw rod 217 in a threaded manner, the nut 218 is fixedly connected with the lifting plate 24, the screw rod 217 is driven to rotate through the driving motor 216, so that the nut 218 and the lifting plate 24 are driven to lift, the mechanical arm 25 mounted on the lifting plate is driven to lift, and automatic grabbing of objects with different heights is.

The head assembly 3 is arranged on the top cover 219 at the top of the main body support 23, the head assembly 3 comprises a head main body 31, a head rotating mechanism 316 and a head tilting mechanism 317, and the front side of the head main body 31 is provided with a touch screen 32 and a machine vision camera 33. Head rotary mechanism 316 includes head rotating base 34, rotating electrical machines 35, rotatory driving gear 36, rotatory driven gear 37, rotation axis 38, head rotating base 34 fixed mounting is at the top of main part support 23, rotating electrical machines 35 installs on head rotating base 34, the vertical upwards extension of output shaft of rotating electrical machines 35 and the fixed rotatory driving gear 36 of suit, rotation axis 38 rotates and sets up on head rotating base 34 and be vertical setting, the fixed suit of rotatory driven gear 37 is on rotation axis 38, rotatory driven gear 37 meshes with rotatory driving gear 36 mutually, rotation axis 38 top is equipped with a fixed disk 39.

The head tilting mechanism 317 comprises a head tilting base 310, a tilting motor 311, a tilting driving gear 312, a tilting driven gear 313 and a tilting shaft 314, wherein the head tilting base 310 is installed on a fixed disk 39 at the top end of the rotating shaft 38, the tilting motor 311 is fixedly installed on the head tilting base 310, an output shaft of the tilting motor 311 extends in the left-right direction and is fixedly sleeved with the tilting driving gear 312, the tilting shaft 314 is rotatably arranged on the head tilting base 310 and extends in the left-right direction, the tilting driven gear 313 is fixedly sleeved on the tilting shaft 314, the tilting driving gear 312 is meshed with the tilting driven gear 313, two ends of the tilting shaft 314 are respectively fixedly sleeved with head mounting brackets 315, and the head main body 31 is installed on the two head mounting brackets 315.

The rotation motor 35 of the head rotation mechanism 316 drives the rotation driving gear 36 to rotate, thereby driving the rotation driven gear 37, the rotation shaft 38, and the fixed disk 39 to rotate, and further driving the entire head tilting mechanism 317 and the head main body 31 to rotate, thereby realizing the rotation of the head main body 31 in the horizontal plane. The pitch motor 311 of the head pitch mechanism 317 drives the pitch driving gear 312 to rotate, so as to drive the pitch driven gear 313 and the pitch shaft 314 to rotate, further drive the two head mounting brackets 315 to rotate in a vertical plane, and finally drive the head main body 31 to realize a pitch function. This robot sets up the head rotation and every single move function, is on the one hand in order to realize the omnidirectional visual information of machine vision camera 33 and catches, and on the other hand is in order to realize the nodding of similar people and the function of shaking the head, and the reinforcing is interactive to experience interesting.

The robot that this embodiment provided wholly adopts tower structural design, and the installation is simple, and is reliable and stable, and inner space is big, the installation of the components and parts that follow-up function upgrade needs of being convenient for.

The above description is only exemplary of the present invention and should not be construed as limiting the present invention, and any modifications, equivalents and improvements made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.

Claims (8)

1. The utility model provides a family service robot with remove and snatch function which characterized in that: comprises a chassis, a trunk body and a head component which are arranged from bottom to top in sequence,

the chassis comprises a first layer plate and a second layer plate, the second layer plate is arranged above the first layer plate through a first layer supporting rod, walking wheels and universal wheels are arranged at the bottom of the first layer plate, a battery and a main control board are further arranged on the first layer plate, a laser radar and an ultrasonic sensor are arranged on the second layer plate, and a plurality of anti-collision assemblies are further circumferentially arranged on the first layer plate;

the main body comprises a third layer plate, a fourth layer plate, a main body support, a lifting plate and a mechanical arm, wherein the third layer plate is arranged above the second layer plate through a second layer of supporting rods, the fourth layer plate is arranged above the third layer plate through a third layer of supporting rods, the main body support is arranged on the fourth layer plate, a vertical guide rod is arranged in the main body support, the lifting plate is slidably sleeved on the guide rod and can slide up and down along the guide rod, the mechanical arm is arranged on the lifting plate, the lifting plate is driven to lift along the vertical direction through a first driving mechanism, the mechanical arm is driven to lift, and a microphone and a loudspeaker are further arranged on the main body support;

the head assembly is arranged at the top of the main body support and comprises a head main body, and a touch screen and a machine vision camera are arranged on the front side of the head main body.

2. A home service robot having a mobile grab function as claimed in claim 1, wherein: the first driving mechanism comprises a driving motor, a lead screw and a nut, the driving motor is arranged at the bottom of the fourth layer plate, the lead screw is vertically arranged, the upper end and the lower end of the lead screw are respectively rotatably arranged on the main body support, the lower end of the lead screw is connected with an output shaft of the driving motor, the nut is sleeved on the lead screw in a threaded manner, and the nut is fixedly connected with the lifting plate and is driven to rotate by the driving motor so as to drive the nut and the lifting plate to lift.

3. A home service robot having a mobile grab function as claimed in claim 1, wherein: the front end of the mechanical arm is provided with an electric mechanical claw, and the electric mechanical claw is provided with a camera.

4. A home service robot having a mobile grab function as claimed in claim 1, wherein: the truck main part still includes the truck shell, the truck shell cover is established the periphery of main part support, truck shell front side is opened has vertical extension dodge the groove, the outer end of lifter plate is followed it stretches out forward in the groove to dodge, the outer end on the lifter plate is installed to the arm, correspond on the truck shell the speaker expands the hole has been seted up at the position of speaker, the microphone hole has been seted up at the position that corresponds the microphone to the truck shell.

5. A home service robot having a mobile grab function as claimed in claim 1, wherein: the two walking wheels are driven by each walking motor to operate.

6. A home service robot having a mobile grab function as claimed in claim 1, wherein: the anti-collision assembly comprises a collision strip and a collision sensor, the chassis further comprises a chassis shell covering the peripheries of the first layer plate and the second layer plate, the bottom of the chassis shell protrudes outwards to form an annular flange, the collision strip is an arc strip and is positioned outside the annular flange, a sliding groove extending along the radial direction is formed in the annular flange, a sliding block protruding inwards along the radial direction is arranged on the inner side of the collision strip, the sliding block of the collision strip penetrates through the sliding groove from outside to inside, the outer limit position of the sliding block is limited through a limiting strip inserted into a limiting hole at the inner end of the sliding block, a spring is arranged between the inner end of the sliding block and the outer side wall of the chassis shell, and the limiting strip is abutted against the inner end face of the sliding groove; the impact sensor is disposed on the annular flange and is activated when the impact strip is squeezed.

7. A home service robot having a mobile grab function as claimed in claim 6, wherein: the slider sets up in the inboard middle section of collision strip, every anticollision subassembly includes two collision sensor, and two collision sensor are located the both ends position of collision strip inboard respectively.

8. A home service robot having a mobile grab function as claimed in claim 1, wherein: the head assembly further comprises a head rotation mechanism and a head pitch mechanism,

the head rotating mechanism comprises a head rotating base, a rotating motor, a rotating driving gear, a rotating driven gear and a rotating shaft, the head rotating base is fixedly installed at the top of the main body support, the rotating motor is installed on the head rotating base, an output shaft of the rotating motor vertically extends upwards and is fixedly sleeved with the rotating driving gear, the rotating shaft is rotatably arranged on the head rotating base and is vertically arranged, the rotating driven gear is fixedly sleeved on the rotating shaft, the rotating driven gear is meshed with the rotating driving gear, and a fixed disc is arranged at the top end of the rotating shaft;

head every single move mechanism includes head every single move base, every single move motor, every single move driving gear, every single move driven gear, every single move axle, head every single move pedestal mounting is in on the fixed disk on rotation axis top, every single move motor fixed mounting is on head every single move base, every single move motor's output shaft extends and fixed suit along the left right direction the every single move driving gear, every single move axle rotates to set up on head every single move base and extends along the left right direction, the fixed suit of every single move driven gear is on the every single move axle, every single move driving gear meshes with every single move driven gear mutually, every single move axle both ends are fixed suit respectively and are connected with the head installing support, the head main part is installed on two head installing.

Images