CN106426197B - A kind of changeable service robot - Google Patents
A kind of changeable service robot Download PDFInfo
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- CN106426197B CN106426197B CN201610820550.7A CN201610820550A CN106426197B CN 106426197 B CN106426197 B CN 106426197B CN 201610820550 A CN201610820550 A CN 201610820550A CN 106426197 B CN106426197 B CN 106426197B
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- robot
- support frame
- rotating mechanism
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- head movement
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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
- B25J11/008—Manipulators for service tasks
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
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Abstract
The invention discloses a kind of changeable service robot, the robot includes walking mechanism, internal support frame, hand exercise mechanism, head movement mechanism, unfolding mechanism and robot shell；Walking mechanism is located at the bottom of robot, the inside support frame is mounted on the top of walking mechanism, the robot shell is connected in the outside of internal support frame, and the hand exercise mechanism connect with the robot shell by a multiple-degree-of-freedom mechanism and is located at the waist of robot shell.Structure of the invention is compact reliable, vdiverse in function practical, can be used as guest-meeting robot use, is also transformed into intelligent podium and uses.
Description
Technical field
The invention belongs to service robot technical fields, and in particular to a kind of machine for welcome and variable intelligence podium
Device people.
Background technique
Currently, service robot such as is widely used in welcome, orders and impart knowledge to students at the fields, single work function is primarily focused on
Energy and interactive voice etc., few substantial variations on robot mechanism, the movement of robot is also very simple, and variable body is almost
No.In Some features occasion, robot needs to undertake more substantial work tasks, serves as attendant for welcoming visitors on foreground,
Operating position variable body podium realizes the diversification of service function, a tractor serves several purposes etc., thus above mentions in the mechanism of robot composition
Higher requirement and variation are gone out.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of changeable service robots.
Changeable service robot of the invention, comprising: walking mechanism, internal support frame, hand exercise mechanism, head fortune
Motivation structure, unfolding mechanism and robot shell, the walking mechanism are located at the bottom of robot, the inside support frame
It is mounted on the top of walking mechanism, the robot shell is connected in the outside of internal support frame, the hand exercise
Mechanism connect with the robot shell and is located at the waist of robot shell, the exhibition by a multiple-degree-of-freedom mechanism
Opening mechanism is connected by rotating mechanism with the inside support frame after being connected with head movement mechanism, the unwinder
Structure is made of two panels wing and two groups of straight-line motion mechanisms, and is located at the back position of robot, and the rotating mechanism can
Realize the big angle rotary of maximum 180 degree, the head movement mechanism and unfolding mechanism is angled is mounted on whirler
On two faces of structure, the head movement is in-house two groups of microphones, and two groups of microphones are connect with one group of synchronism mechanism,
The synchronism mechanism can drive two groups of microphones to move to the top of the head movement mechanism, the expansion
The two panels wing of mechanism is deployable to plane, and the plane angle with horizontal plane is at 15 degree or so, the two panels wing
It can be folded into angle.
The straight-line motion mechanism is made of electric cylinders and guide rail, and is connected by guide rail slide block and the rotating mechanism
It connects, is connect by orbit of guide rail with the mounting plate of the two panels wing, the rotating mechanism, connected and walked by harmonic speed reducer
It is constituted into motor and rotary shaft, harmonic speed reducer is mounted on the side of the rotating mechanism, and stepper motor and rotary shaft are in institute
The other side for the rotating mechanism stated, the rotating mechanism centre position are equipped with the similar neck of the head movement mechanism
Connector, the synchronism mechanism is made of one group of gear train, and positioned at the top of robot head, described is more
Freedom degree mechanism, by stepper motor connection gear, gear drives two groups of teeth item, which has one section of cylindrical surface, one end circle
Cylinder is connected to the outside of robot, and other end cylindrical surface is slided in a fixed sliding slot, and more You Du mechanisms have
Another stepper motor is connected by the inside of synchronous belt and robot, realizes movement of the robot similar to shoulder joint, machine
Manpower inner side and outer side is connected by end, can relative rotary motion.
A kind of changeable service robot architecture of the invention is compact reliable, vdiverse in function practical, can be used as guest-meeting robot
It uses, is also transformed into podium and is used for welcome guest, meet at present for service robot welcome, guidance, variable body, displaying etc.
The demand of multifunctional use.
Detailed description of the invention
Fig. 1 is the embodiment of changeable service robot of the invention, side view when Fig. 1 a is robot ambulation state, figure
1b is the deformed side view of robot, and Fig. 1 c is the front view of robot.
Fig. 2 is the embodiment internal structure chart for removing the changeable service robot after robot shell, and Fig. 2 a is robot
The side view of internal structure when walking states, the front view of internal structure when Fig. 2 b is robot ambulation state.
In figure, 1. walking mechanisms, 2. inside support frames, 3. hand exercise mechanisms, 4. head movement mechanisms, 5. exhibitions
Opening mechanism, 6. robot shells, 301. multiple-degree-of-freedom mechanisms, 401. rotating mechanisms, 402. microphones, 403. move synchronously
Mechanism, 501. wings, 502. straight-line motion mechanisms.
Specific embodiment
The present invention is described further with reference to the accompanying drawings and embodiments.
Fig. 1 is a kind of embodiment of changeable service robot, and Fig. 2 is variable after a kind of place to go robot of the invention shell
The embodiment internal structure chart of service robot, by Fig. 1,2 it is found that changeable service robot of the invention, comprising: walking mechanism
1, internal support frame 2, hand exercise mechanism 3, head movement mechanism 4, unfolding mechanism 5 and robot shell 6, the walking
Mechanism is located at the bottom of robot, and the inside support frame 2 is mounted on the top of walking mechanism 1, the robot shell
Body 5 is connected in the outside of internal support frame 2, the hand exercise mechanism 3 by a multiple-degree-of-freedom mechanism 301 with it is described
Robot shell 6 connect and be located at the waist of robot shell 6, after the unfolding mechanism 5 and head movement mechanism 4 are connected
It is connected by rotating mechanism 401 with the inside support frame 2, the unfolding mechanism 5 is by two panels wing 501 and two groups
Straight-line motion mechanism 502 forms, and is located at the back position of robot, and the rotating mechanism 401 can realize maximum 180 degree
Big angle rotary, the head movement mechanism 4 and angled two faces for being mounted on rotating mechanism 401 of unfolding mechanism 5
On, there are two groups of microphones 402 inside the head movement mechanism 4, and connect with one group of synchronism mechanism 403, described is same
Walk the top that movement mechanism can drive two groups of microphones 402 to move to the head movement mechanism 4, the unfolding mechanism
The 5 two panels wing 501 is deployable to plane, and the plane angle with horizontal plane is at 15 degree or so, the two panels wing 501
Also it can be folded into angle.
The straight-line motion mechanism 502 is made of electric cylinders and guide rail, and passes through guide rail slide block and the rotating mechanism
401 connections, are connect by orbit of guide rail with the mounting plate of the two panels wing 501, the rotating mechanism 401, by harmonic wave
Retarder connects stepper motor and rotary shaft is constituted, and harmonic speed reducer is mounted on the side of the rotating mechanism 401, stepping electricity
In the other side of the rotating mechanism, the intermediate position of rotating mechanism 401 is equipped with the head for machine and rotary shaft
The connector of the similar neck of movement mechanism 4, the synchronism mechanism 403 are made of one group of gear train, are located at machine
The top of device head part, the multiple-degree-of-freedom mechanism 301, by stepper motor connection gear, gear drives two groups of teeth item, the tooth
There is one section of cylindrical surface at both ends, and one end cylindrical surface is connected to the outside of robot, and other end cylindrical surface is in a fixed cunning
Sliding in slot, more You Du mechanisms 301 have another stepper motor to connect by the inside of synchronous belt and robot, realize
Similar to the movement of shoulder joint, robot inner side and outer side, can relative rotary motion by end connection for robot.
The specific course of work of changeable service robotic embodiment of the present invention are as follows:
Changeable service robot is first in left hand view state shown in Fig. 1, uses at this time as guest-meeting robot,
Under the action of walking mechanism 1 designated position, during walking, hand exercise machine can be reached along designed path automatic obstacle-avoiding
For structure 3 under the action of multiple-degree-of-freedom mechanism, hand can be flared out and spinning movement etc., simulates the related gesture of ceremony；Exhibition
Wing 501 can be folded or be unfolded under the action of straight-line motion mechanism by opening mechanism 5, and the movement that simulation wing is instigated flies joyous
It meets welcome guest and enters designated position, head movement mechanism 4, which can issue, to be welcome sound and guide prompt equipped with LED light flashing.
After robot guides welcome guest to reach designated position, robot is rotated under the effect of walking mechanism 1 up to correct body posture, with
This simultaneously, unfolding mechanism 5 is started to work opens wing 501 completely, forms a big plane, while head movement mechanism 4
Big angle rotary is carried out under the action of rotating mechanism 401 with unfolding mechanism 5, so that head reaches b in Fig. 1 and schemes shown state,
Head top is advanced, shows that the meetings such as current welcome guest's name or speech content prompt, microphone 402 is in synchronism mechanism 403
The lower extended tips simultaneously of driving, unfolding mechanism 5, which is rotated to, becomes a standard with the horizontal angle at 15 degree or so, wing 501
Podium, according to the height of welcome guest and speech position, unfolding mechanism 5 is by lowering on another set straight-line motion mechanism 501
The height of whole speech plane, microphone 402 also carry out appropriate location adjustment, reach ideal welcome guest's speech position, and variable body is dedicated
Podium.
The present invention changes the configuration and structure form of the guest-meeting robot of traditional sense, while utilizing these new structures
The profile variation of robot is realized, and generates actual use value, the robot after variable body can be used as a kind of intelligent speech
Platform uses, and can be changed according to welcome guest's difference.The present invention has opened up a kind of new service robot tactic pattern and real
Real value is showed, has met the demand at present for service robot multifunctionality and novelty, has also been current service machine
Man-based development provides a kind of new thinking.
Can be realized the present invention according to the case study on implementation announced of the present invention, but implementation of the invention be not limited only to it is above
Embodiment such as can substitute mechanism of the invention by using the similar structure combination of other function or mode to realize this hair
It is bright.
Claims (2)
1. a kind of changeable service robot, it is characterised in that: the robot includes walking mechanism (1), internal support frame
(2), hand exercise mechanism (3), head movement mechanism (4), unfolding mechanism (5) and robot shell (6), the walking mechanism
Positioned at the bottom of robot, the inside support frame (2) is mounted on the top of walking mechanism (1), the robot shell
Body (6) is connected in the outside of internal support frame (2), and the hand exercise mechanism (3) passes through a multiple-degree-of-freedom mechanism
(301) waist of robot shell (6), the unfolding mechanism (5) and head are connect and are located at the robot shell (6)
Portion's movement mechanism (4) is connected by rotating mechanism (401) with the inside support frame (2) after being connected, the expansion
Mechanism (5) is made of two panels wing (501) and two groups of straight-line motion mechanisms (502), and is located at the back position of robot, described
Rotating mechanism (401) can be realized the big angle rotary of maximum 180 degree, the head movement mechanism (4) and unfolding mechanism
(5) on angled two faces for being mounted on rotating mechanism (401), there are two groups of words inside the head movement mechanism (4)
Cylinder (402), two groups of microphones (402) connect with one group of synchronism mechanism (403), and the synchronism mechanism can drive described
Two groups of microphones (402) move to the top of the head movement mechanism (4), the two panels wing of the unfolding mechanism (5)
Wing (501) is deployable to plane, and for the plane angle with horizontal plane at 15 degree or so, the two panels wing (501) is also foldable
At angle.
2. changeable service robot according to claim 1, it is characterised in that: the straight-line motion mechanism (502) by
Electric cylinders and guide rail composition, and connect by guide rail slide block with the rotating mechanism (401), pass through orbit of guide rail and described two
The mounting plate of piece wing (501) connects, and the rotating mechanism (401) connects stepper motor and rotary shaft structure by harmonic speed reducer
At harmonic speed reducer is mounted on the side of the rotating mechanism (401), and stepper motor and rotary shaft are in the rotating mechanism
Other side, the intermediate position of the rotating mechanism (401) is equipped with the company of the similar neck of the head movement mechanism (4)
Fitting, the synchronism mechanism (403) is made of one group of gear train, described positioned at the top of robot head
Multiple-degree-of-freedom mechanism (301), by stepper motor connection gear, gear drives two groups of teeth item, which has one section of cylindrical surface,
One end cylindrical surface is connected to the outside of robot, and other end cylindrical surface is slided in a fixed sliding slot, described mostly free
Another stepper motor spent in mechanism (301) is connected by the inside of synchronous belt and robot, realizes robot similar to shoulder
The movement in joint, robot inner side and outer side are connected by end, being capable of relative rotary motion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610820550.7A CN106426197B (en) | 2016-09-14 | 2016-09-14 | A kind of changeable service robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610820550.7A CN106426197B (en) | 2016-09-14 | 2016-09-14 | A kind of changeable service robot |
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| Publication Number | Publication Date |
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| CN106426197A CN106426197A (en) | 2017-02-22 |
| CN106426197B true CN106426197B (en) | 2018-12-11 |
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| CN201610820550.7A Active CN106426197B (en) | 2016-09-14 | 2016-09-14 | A kind of changeable service robot |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108406782A (en) * | 2018-05-29 | 2018-08-17 | 朱晓丹 | A kind of financial counseling intelligent robot easy to use |
| CN108831204A (en) * | 2018-08-28 | 2018-11-16 | 广东海翔教育科技有限公司 | A kind of education and science's auxiliary robot |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4857242B2 (en) * | 2007-11-05 | 2012-01-18 | 株式会社日立製作所 | robot |
| CN102059700A (en) * | 2010-11-22 | 2011-05-18 | 南京信息工程大学 | Greeting robot system |
| EP2933068B1 (en) * | 2014-04-17 | 2021-08-18 | Aldebaran Robotics | Omnidirectional wheeled humanoid robot based on a linear predictive position and velocity controller |
| CN105108756A (en) * | 2015-09-07 | 2015-12-02 | 上海人智信息科技有限公司 | Intelligent robot used in hotel or at dining place |
| CN105108754B (en) * | 2015-09-07 | 2017-08-25 | 上海人智信息科技有限公司 | A kind of intelligent robot for mall shopping |
| CN205380682U (en) * | 2016-03-11 | 2016-07-13 | 武汉科技大学 | Novel robot is used in dining room |
| CN105798922B (en) * | 2016-05-12 | 2018-02-27 | 中国科学院深圳先进技术研究院 | A kind of home-services robot |
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Effective date of registration: 20210414 Address after: 621000 building 31, No.7, Section 2, Xianren Road, Youxian District, Mianyang City, Sichuan Province Patentee after: China Ordnance Equipment Group Automation Research Institute Co.,Ltd. Address before: 621000 Mianyang province Sichuan City Youxian District Road No. 7 two immortals Patentee before: China Ordnance Equipment Group Automation Research Institute |