CN106826850A - A kind of Multi-functional domestic intelligent robot - Google Patents
A kind of Multi-functional domestic intelligent robot Download PDFInfo
- Publication number
- CN106826850A CN106826850A CN201710065916.9A CN201710065916A CN106826850A CN 106826850 A CN106826850 A CN 106826850A CN 201710065916 A CN201710065916 A CN 201710065916A CN 106826850 A CN106826850 A CN 106826850A
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- Prior art keywords
- drawstring
- fixed pulley
- way
- trunk
- connection
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
-
- 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
- B25J11/0085—Cleaning
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of robot, more particularly to a kind of Multi-functional domestic intelligent robot.The technical problem to be solved in the present invention is to provide a kind of Multi-functional domestic intelligent robot that can be done housework and remove article.In order to solve the above-mentioned technical problem, the invention provides such a Multi-functional domestic intelligent robot, roller, first bearing seat, first bevel gear, second bevel gear, the 3rd rotating shaft, the second rotating shaft, first rotating shaft, the first fixed pulley, first drawstring etc. are included；Bearing in second bearing seat is connected with the 4th rotating shaft by way of interference is connected, and the mode that the 4th rotating shaft top is connected through a screw thread is connected with head, and the left cheek position of head is connected with the second retainer ring by way of being welded to connect.Clothing is cleaned invention achieves turning off the light, carrying and by purposes such as articles, while this intelligent robot in the 3rd rotating shaft by being connected with round brush, family ground can be cleaned while mobile.
Description
Technical field
The present invention relates to a kind of robot, more particularly to a kind of Multi-functional domestic intelligent robot.
Background technology
Robot is the installations for performing work automatically.It can both receive mankind commander, and volume in advance can be run again
The program of row, it is also possible to according to the principle guiding principle action formulated with artificial intelligence technology.Its task is to assist or replace the mankind
The work of work.
Nowadays people's rhythm of life is increasingly accelerated, and household services emerge in an endless stream, traditional nurse to confinement-caring woman, then to cleaning clock
Point work, while also ten hundreds of volunteer ground is serviced the elderly person of no family of community, manpower and materials waste very big.Be limited to through
Ji condition, some families do not list the category of household services in also, can't be freed from heavy household chores, with
Robot technology increasingly mature, it is necessary to a kind of robot of replacement community Volunteer service, is the family life service of people,
The rest that ensureing people has abundance can tackle work.
Existing most of housework does housework when there is household chores burdensome and causing rest more by being accomplished manually, manually
Between inadequate shortcoming, therefore need a kind of Multi-functional domestic intelligent robot that can be done housework and remove article of design badly.
The content of the invention
（1）The technical problem to be solved
The present invention in order to overcome present most of housework more by being accomplished manually, because household chores burdensome causes people's work-break
Breath time inadequate shortcoming, the technical problem to be solved in the present invention is to provide a kind of home-use many work(that can be done housework and remove article
Can intelligent robot.
（2）Technical scheme
In order to solve the above-mentioned technical problem, the invention provides such a Multi-functional domestic intelligent robot, rolling is included
Wheel, first bearing seat, first bevel gear, second bevel gear, the 3rd rotating shaft, the second rotating shaft, first rotating shaft, the first fixed pulley,
One drawstring, the 5th fixed pulley, the second fixed pulley, the first flexible member, hinge member, the second flexible member, the first manipulator,
One swing arm, the second drawstring, the 3rd fixed pulley, trunk, the first retainer ring, ultrasonic sensor, head, camera, second are consolidated
Determine ring, the 4th fixed pulley, the 4th rotating shaft, second bearing seat, the 3rd drawstring, the second swing arm, the second manipulator, the 4th drawstring,
First motor, the 6th fixed pulley, reel, support plate, the second motor and connecting rod；What the center of top of trunk was bolted
Mode is connected with second bearing seat, and the bearing in second bearing seat is connected with the 4th rotating shaft, the 4th by way of interference is connected
The mode that rotating shaft top is connected through a screw thread is connected with head, and the left cheek position of head is connected with by way of being welded to connect
Second retainer ring, the right cheek position of head is connected with the first retainer ring, the left eye position of head by way of being welded to connect
Equipped with camera, the right eye position of head is equipped with ultrasonic sensor, and the 4th fixed pulley is welded on trunk top by the 4th pole
The left side in portion, the 4th fixed pulley is rotatable, and the 3rd fixed pulley is welded on the right side at the top of trunk by the 3rd pole, and the 3rd is fixed sliding
Wheel is rotatable, and the left side wall of trunk is connected with the second swing arm by hinge member, and hinge member includes notch plate, connecting shaft
And swivel plate, connecting shaft is fixedly mounted on notch plate, is provided with through hole on swivel plate, and connecting shaft is through logical on swivel plate
Hole, and swivel plate rotates by around connecting shaft, and the left side wall of trunk is by way of welding and on the left side wall of trunk
The notch plate connection of hinge member, the hinge member of the top of the second swing arm by way of welding and on the left side wall of trunk
Swivel plate connection, the mode that the second swing arm bottom is bolted is connected with the second manipulator, the right side of the second swing arm
The second flexible member is provided between side and left side of trunk wall, the second flexible member left end is put by way of linking up with connection with second
The right side connection of lever, the second flexible member right-hand member is connected by way of linking up with connection with left side of trunk wall, the second swing arm
The mode for passing on left hook connection be connected with the 3rd drawstring, the 3rd drawstring bypasses the 4th fixed pulley, and the 3rd drawstring end leads to
Mode and the connection of the second retainer ring of hook connection are crossed, the right side wall of trunk is connected with the first swing arm, body by hinge member
The notch plate of hinge member of the dry right side wall by way of welding and on the right side wall of trunk is connected, the top of the first swing arm
The swivel plate of the hinge member by way of welding and on the right side wall of trunk is held to connect, the first swing arm bottom passes through bolt
The mode of connection is connected with the first manipulator, and the first flexible member is provided between the left side of the first swing arm and right side of trunk wall,
First flexible member right-hand member is connected by way of linking up with connection with the left side of the first swing arm, and the first flexible member left end passes through
Mode and left side of trunk the wall connection of connection are linked up with, the right side of the first swing arm is connected with the second drawing by way of linking up with connection
Rope, the second drawstring bypasses the 3rd fixed pulley, and the second drawstring end is connected by way of linking up with connection with the first retainer ring, and the 5th
Fixed pulley is welded on trunk inner left wall by the 5th pole, and the 5th fixed pulley is rotatable, and the second fixed pulley passes through the second pole
It is welded on trunk inner right wall, the second fixed pulley is rotatable, and the bottom of trunk is provided with groove, and groove inner top is bolted
Mode be connected with the first motor, the output shaft of the first motor is connected with first rotating shaft, passes through in first rotating shaft by shaft coupling
The mode of flat key connection is connected with reel, and the first drawstring and the 4th drawstring are wound with reel, and the first fixed pulley passes through first
Pole is welded on groove inner right wall, and the first fixed pulley is rotatable, and the first drawstring bypasses the first fixed pulley and second and slides calmly successively
Wheel, the first drawstring end link up with connection by way of and the first swing arm left side connect, the 6th fixed pulley pass through the 6th
Bar is welded on groove inner left wall, and the 6th fixed pulley is rotatable, and the 4th drawstring bypasses the 6th fixed pulley and the 5th fixed pulley successively,
4th drawstring end link up with connection by way of and the second swing arm right side connect, first rotating shaft bottom is connected through a screw thread
Mode be connected with support plate, support plate bottom left and right side are connected with connecting rod by way of welding, and connecting rod bottom leads to
Cross bolted mode and be connected with first bearing seat, the inner bearing of first bearing seat is connected with the by way of interference is connected
Three rotating shafts, first bevel gear, the left end of the 3rd rotating shaft and the 3rd rotating shaft are connected with the 3rd rotating shaft by way of flat key is connected
Right-hand member connected with roller by way of interference is connected, the mode that support plate bottom center is bolted is connected with second
Motor, the output shaft of the second motor is connected with the second rotating shaft by shaft coupling, connects by way of flat key is connected in the second rotating shaft
Second bevel gear is connected to, first bevel gear and second bevel gear are engaged.
Preferably, round brush is also included, the 3rd rotating shaft left side and right side are connected with round brush by way of flat key is connected,
The round brush of left is located at the left of first bevel gear, and the round brush of right is located at the right of first bevel gear.
Preferably, the first cylinder and the second cylinder are also included, the mode that the first swing arm bottom is bolted connects
The first cylinder is connected to, mode and the connection of the first manipulator that the first cylinder end is bolted, the second swing arm bottom leads to
Cross bolted mode and be connected with the second cylinder, the mode and the second manipulator that the second cylinder end is bolted connect
Connect.
Preferably, draw ring is also included, apical head is connected with draw ring by way of welding, and the material of draw ring is Q235
Steel.
Preferably, the first motor and the second motor are servomotor.
Preferably, the first drawstring, the second drawstring, the 3rd drawstring and the 4th drawstring are steel wire rope.
Preferably, the first flexible member and the second flexible member are spring.
Operation principle：When to be turned off the light using the robot, start ultrasonic sensor and camera work, ultrasonic wave is passed
Sensor and camera will find target and planning distance, at this moment start the rotating forward of the second motor, and the second motor passes through the second rotating shaft band
Dynamic second bevel gear is rotated forward, and second bevel gear drives first bevel gear reversion, and first bevel gear drives roller by the 3rd rotating shaft
Rotate, roller will drive whole robot to move forward, when the second motor reversal, roller will drive whole robot to be moved back by
It is dynamic.Start the first motor simultaneously to rotate forward, the first motor drives reel and support plate to rotate forward by first rotating shaft, and support plate is by connection
Bar drives first bearing seat to rotate forward, and first bearing seat drives roller to turn right skew by the 3rd rotating shaft, and roller drive is entirely
Robot turns right skew, and when the first motor reversal, and the first motor will drive roller to turn left skew, and roller is by band
Move whole robot to offset to the left, such robot, can be with adjustment direction, such that it is able to more efficiently look for while going ahead
To target, and complete task.When reel is rotated forward, reel will withdraw the first drawstring, and the first drawstring pulls on the first pendulum
Lever is moved down, and the first flexible member is gradually compressed, and the first swing arm drives head to offset to the right by the second drawstring, head
Portion offsets to the right can remind people to note, it will to the right turn to skew, and reel will release the 4th drawstring, the second swing arm
Moved up in the presence of head drives the 3rd drawstring, the second flexible member will gradually be stretched.When robot ambulation to pass
When at lamp switch, start the second manipulator, the second manipulator will be contacted with turn off switch for lamp, and Push switch, at this moment can be with
The purpose turned off the light is reached, when wanting to be turned off the light with the first swing arm and the first manipulator, the first motor reversal, the first electricity can be started
Machine drives reel reversion, and reel will withdraw the 4th drawstring, the 4th drawstring will drive the second swing arm and the first manipulator to
Lower movement, the second flexible member will be compressed, and the second swing arm pulls head to be moved to the left by the 3rd drawstring, and head is to the left
The whole robot of mobile prompting people will offset to the left, and at this moment reel releases the first drawstring, and the first swing arm is in the second drawstring
Pulling force and the first flexible member elastic force effect under move up, when the first swing arm is moved upwards up to appropriate height, open
Dynamic second manipulator, the second manipulator is by Push switch, so as to electric light is closed.When lamp close complete when, the first manipulator and
Second manipulator is stopped, while when the first swing arm, the second swing arm and whole robot reset, the first motor and
Two motors are stopped, and camera and ultrasonic sensor are stopped.When will using robot go carry the clothing to be cleaned
Or help during by thing, repeating the above steps, it can complete these work.
Because also including round brush, the 3rd rotating shaft left side and right side are connected with round brush by way of flat key is connected, left
The round brush of side is located at the left of first bevel gear, and the round brush of right is located at the right of first bevel gear, so when robot is in side
During busy rotation, the 3rd rotating shaft will drive round brush to rotate, and round brush will be cleaned to ground, so as in the carrying thing that helps
Wait, moreover it is possible to which ground is cleaned, reached the purpose for saving labour.
Because also including the first cylinder and the second cylinder, the mode that the first swing arm bottom is bolted is connected with
First cylinder, mode and the connection of the first manipulator that the first cylinder end is bolted, the second swing arm bottom passes through spiral shell
Tether the mode for connecing and be connected with the second cylinder, mode and the connection of the second manipulator that the second cylinder end is bolted, institute
So that the first cylinder or the elongation of the second cylinder when the first manipulator and the second manipulator less long, can be started, at this moment
First manipulator and the second manipulator can carry higher square article, while the first manipulator and the second manipulator can activities
Scope it is more extensive, so as to improve the use scope of robot, when robot is not used, the first cylinder or the second cylinder
It is stopped.
Because also including draw ring, apical head is connected with draw ring by way of welding, and the material of draw ring is Q235 steel,
So when transfer robot is wanted, people directly can easily carry whole robot by draw ring, it is whole so as to improve
The portability of robot.
（3）Beneficial effect
Clothing is cleaned invention achieves turning off the light, carrying and by purposes such as articles, while this intelligent robot passes through the 3rd rotating shaft
On be connected with round brush, family ground can be cleaned while mobile, so as to save manually sweep the floor the spent time,
And then improving the efficiency of people's work, it is to avoid people spend in the time in these cumbersome things.
Brief description of the drawings
Fig. 1 is the first main structure diagram of the invention.
Fig. 2 is the dimensional structure diagram of hinge member of the invention.
Fig. 3 is second main structure diagram of the invention.
Fig. 4 is the third main structure diagram of the invention.
Fig. 5 is the 4th kind of main structure diagram of the invention.
Mark in accompanying drawing for：1- rollers, 2- first bearing seats, 3- first bevel gears, 4- second bevel gears, the 3rd turn of 5-
Axle, the rotating shafts of 6- second, 7- first rotating shafts, the fixed pulleys of 8- first, 9- grooves, the drawstrings of 10- first, the fixed pulleys of 11- the 5th, 12-
Two fixed pulleys, the flexible members of 13- first, 14- hinge members, the flexible members of 15- second, the manipulators of 16- first, 17- first puts
Lever, the drawstrings of 18- second, the fixed pulleys of 19- the 3rd, 20- trunks, the retainer rings of 21- first, 22- ultrasonic sensors, 23- heads,
24- cameras, the retainer rings of 25- second, the fixed pulleys of 26- the 4th, the rotating shafts of 27- the 4th, 28- second bearing seats, the drawstrings of 29- the 3rd,
The swing arms of 30- second, the manipulators of 31- second, the drawstrings of 32- the 4th, the motors of 33- first, the fixed pulleys of 34- the 6th, 35- reels,
36- support plates, the motors of 37- second, 38- connecting rods, 39- notch plates, 40- connecting shafts, 41- swivel plates, 42- round brush, the gas of 43- first
Cylinder, the cylinders of 44- second, 45- draw rings.
Specific embodiment
The present invention is further illustrated with reference to the accompanying drawings and examples.
Embodiment 1
A kind of Multi-functional domestic intelligent robot, as Figure 1-5, includes roller 1, first bearing seat 2, first bevel gear
3rd, second bevel gear 4, the 3rd rotating shaft 5, the second rotating shaft 6, first rotating shaft 7, the first fixed pulley 8, the first drawstring 10, the 5th fixed pulley
11st, the second fixed pulley 12, the first flexible member 13, hinge member 14, the second flexible member 15, the first manipulator 16, first are put
Lever 17, the second drawstring 18, the 3rd fixed pulley 19, trunk 20, the first retainer ring 21, ultrasonic sensor 22, head 23, shooting
First 24, second retainer ring 25, the 4th fixed pulley 26, the 4th rotating shaft 27, second bearing seat 28, the 3rd drawstring 29, the second swing arm
30th, the second manipulator 31, the 4th drawstring 32, the first motor 33, the 6th fixed pulley 34, reel 35, support plate 36, the second motor 37
With connecting rod 38；The mode that the center of top of trunk 20 is bolted is connected with second bearing seat 28, second bearing seat 28
Interior bearing is connected with the 4th rotating shaft 27 by way of interference is connected, and the mode that the top of the 4th rotating shaft 27 is connected through a screw thread connects
Head 23 is connected to, the left cheek position of head 23 is connected with the second retainer ring 25, the right side of head 23 by way of being welded to connect
Cheek position is connected with the first retainer ring 21 by way of being welded to connect, and the left eye position of head 23 is equipped with camera 24, head
The right eye position in portion 23 is equipped with ultrasonic sensor 22, and the 4th fixed pulley 26 is welded on the left side at the top of trunk 20 by the 4th pole
Side, the 4th fixed pulley 26 is rotatable, and the 3rd fixed pulley 19 is welded on the right side at the top of trunk 20 by the 3rd pole, and the 3rd is fixed sliding
Wheel 19 is rotatable, and the left side wall of trunk 20 is connected with the second swing arm 30 by hinge member 14, and hinge member 14 includes recessed
Shape plate 39, connecting shaft 40 and swivel plate 41, connecting shaft 40 are fixedly mounted on notch plate 39, and through hole is provided with swivel plate 41,
Connecting shaft 40 is rotated through the through hole on swivel plate 41, and swivel plate 41 by around connecting shaft 40, the left side wall of trunk 20
The notch plate 39 of the hinge member 14 by way of welding and on the left side wall of trunk 20 is connected, the top of the second swing arm 30
The swivel plate 41 of the hinge member 14 by way of welding and on the left side wall of trunk 20 is connected, and the bottom of the second swing arm 30 leads to
Cross bolted mode and be connected with the second manipulator 31, is provided between the right side of the second swing arm 30 and the left side wall of trunk 20
Two flexible members 15, the left end of the second flexible member 15 is connected by way of linking up with connection with the right side of the second swing arm 30, and the
The right-hand member of two flexible member 15 is connected by way of linking up with connection with the left side wall of trunk 20, and second swing arm 30 passes on left extension
The mode of hook connects is connected with the 3rd drawstring 29, and the 3rd drawstring 29 bypasses the 4th fixed pulley 26, and the end of the 3rd drawstring 29 is by hanging
The mode of hook connects and the second retainer ring 25 are connected, and the right side wall of trunk 20 is connected with the first swing arm by hinge member 14
17, the notch plate 39 of the hinge member 14 of the right side wall of trunk 20 by way of welding and on the right side wall of trunk 20 is connected,
The swivel plate 41 of hinge member 14 of the top of the first swing arm 17 by way of welding and on the right side wall of trunk 20 is connected,
The mode that the bottom of first swing arm 17 is bolted is connected with the first manipulator 16, the left side of the first swing arm 17 and trunk
The first flexible member 13 is provided between 20 right side walls, the right-hand member of the first flexible member 13 swings by way of linking up with connection with first
The left side connection of bar 17, the left end of the first flexible member 13 is connected by way of linking up with connection with the left side wall of trunk 20, the first pendulum
The right side of lever 17 is connected with the second drawstring 18 by way of linking up with connection, and the second drawstring 18 bypasses the 3rd fixed pulley 19, the
The end of two drawstring 18 is connected by way of linking up with connection with the first retainer ring 21, and the 5th fixed pulley 11 is welded by the 5th pole
On the inner left wall of trunk 20, the 5th fixed pulley 11 is rotatable, and the second fixed pulley 12 is welded in trunk 20 right by the second pole
On wall, the second fixed pulley 12 is rotatable, and the bottom of trunk 20 is provided with groove 9, and the mode that the inner top of groove 9 is bolted connects
The first motor 33 is connected to, the output shaft of the first motor 33 is connected with first rotating shaft 7 by shaft coupling, by flat in first rotating shaft 7
It is bonded the mode for connecing and is connected with reel 35, the first drawstring 10 and the 4th drawstring 32 are wound with reel 35, the first fixed pulley 8 leads to
Cross the first pole to be welded on the inner right wall of groove 9, the first fixed pulley 8 is rotatable, and the first drawstring 10 bypasses the first fixed pulley 8 successively
With the second fixed pulley 12, the end of the first drawstring 10 link up with connection by way of and the first swing arm 17 left side connect, the 6th
Fixed pulley 34 is welded on the inner left wall of groove 9 by the 6th pole, and the 6th fixed pulley 34 is rotatable, and the 4th drawstring 32 is bypassed successively
6th fixed pulley 34 and the 5th fixed pulley 11, the end of the 4th drawstring 32 link up with connection by way of and the second swing arm 30 the right side
Side connects, and the mode that the bottom of first rotating shaft 7 is connected through a screw thread is connected with support plate 36, and the bottom left of support plate 36 and right side pass through
The mode of welding is connected with connecting rod 38, and the mode that the bottom of connecting rod 38 is bolted is connected with first bearing seat 2, first
The inner bearing of bearing block 2 is connected with the 3rd rotating shaft 5 by way of interference is connected, the side connected by flat key in the 3rd rotating shaft 5
Formula is connected with first bevel gear 3, and the left end of the 3rd rotating shaft 5 and the right-hand member of the 3rd rotating shaft 5 are by way of interference is connected and rolling
Wheel 1 is connected, and the mode that the bottom center of support plate 36 is bolted is connected with the second motor 37, and the output shaft of the second motor 37 leads to
Cross shaft coupling and be connected with the second rotating shaft 6, be connected with second bevel gear 4, the first cone in the second rotating shaft 6 by way of flat key is connected
Gear 3 and second bevel gear 4 are engaged.
Round brush 42 is also included, the left side of the 3rd rotating shaft 5 and right side are connected with round brush 42 by way of flat key is connected, left
The round brush 42 of side is located at the left of first bevel gear 3, and the round brush 42 of right is located at the right of first bevel gear 3.
The first cylinder 43 and the second cylinder 44 are also included, the mode that the bottom of the first swing arm 17 is bolted is connected
There is the first cylinder 43, the mode and the first manipulator 16 that the bottom of the first cylinder 43 is bolted are connected, the second swing arm 30
The mode that bottom is bolted is connected with the second cylinder 44, the mode and second that the bottom of the second cylinder 44 is bolted
Manipulator 31 is connected.
Draw ring 45 is also included, the top of head 23 is connected with draw ring 45 by way of welding, and the material of draw ring 45 is
Q235 steel.
First motor 33 and the second motor 37 are servomotor.
First drawstring 10, the second drawstring 18, the 3rd drawstring 29 and the 4th drawstring 32 are steel wire rope.
First flexible member 13 and the second flexible member 15 are spring.
Operation principle：When to be turned off the light using the robot, start ultrasonic sensor 22 and camera 24 works, ultrasound
Wave sensor 22 and camera 24 will find target and planning distance, at this moment start the second motor 37 and rotate forward, and the second motor 37 leads to
Crossing the second rotating shaft 6 drives second bevel gear 4 to rotate forward, and second bevel gear 4 drives first bevel gear 3 to invert, and first bevel gear 3 passes through
3rd rotating shaft 5 drives roller 1 to rotate, and roller 1 will drive whole robot to move forward, when the second motor 37 is inverted, roller 1
Whole robot will be driven to be moved rearwards by.Simultaneously start the first motor 33 rotate forward, the first motor 33 by first rotating shaft 7 drive around
Line wheel 35 and support plate 36 are rotated forward, and support plate 36 drives first bearing seat 2 to rotate forward by connecting rod 38, and first bearing seat 2 passes through the 3rd
Rotating shaft 5 drives roller 1 to turn right skew, and roller 1 drives whole robot to turn right skew, and ought the first motor 33 invert
When, the first motor 33 will drive roller 1 to turn left skew, and roller 1 offsets the whole robot of drive to the left, such robot
While going ahead, task such that it is able to more efficiently find target, and can be completed with adjustment direction.When reel 35
During rotating forward, reel 35 will withdraw the first drawstring 10, and the first drawstring 10 pulls on the first swing arm 17 and moves down, the first elasticity
Element 13 is gradually compressed, and the first swing arm 17 drives head 23 to offset to the right by the second drawstring 18, and head 23 offsets to the right
People can be reminded to note, it will to the right turn to skew, and reel 35 will release the 4th drawstring 32, and the second swing arm 30 is in head
Portion 23 moves up in the presence of driving the 3rd drawstring 29, and the second flexible member 15 will gradually be stretched.When robot ambulation is arrived
When at turn off switch for lamp, start the second manipulator 31, the second manipulator 31 will be contacted with turn off switch for lamp, and Push switch, this
When can reach the purpose turned off the light, when wanting to be turned off the light with the first swing arm 17 and the first manipulator 16, the first motor can be started
33 reversions, the first motor 33 drives reel 35 to invert, and reel 35 will withdraw the 4th drawstring 32, and the 4th drawstring 32 will drive the
Two swing arms 30 and the first manipulator 16 are moved down, and the second flexible member 15 will be compressed, and the second swing arm 30 is by the
Three drawstring 29 pulls head 23 to be moved to the left, and head 23 is moved to the left prompting people whole robot and will offset to the left, at this moment around
Line wheel 35 releases the first drawstring 10, elastic force effect of first swing arm 17 in the pulling force and the first flexible member 13 of the second drawstring 18
Under move up, when the first swing arm 17 is moved upwards up to appropriate height, start the second manipulator 31, the second manipulator 31 will
Push switch, so as to electric light is closed.When lamp is closed to be completed, the first manipulator 16 and the second manipulator 31 are stopped, together
When the first swing arm 17, the second swing arm 30 and whole robot reset, the first motor 33 and the second motor 37 stop work
Make, camera 24 and ultrasonic sensor 22 are stopped.When going the carrying clothing to be cleaned or help using robot
During by thing, repeat the above steps, it can complete these work.
Because also including round brush 42, the left side of the 3rd rotating shaft 5 and right side are connected with round brush by way of flat key is connected
42, the round brush 42 of left is located at the left of first bevel gear 3, and the round brush 42 of right is located at the right of first bevel gear 3, so working as
When rotation is helped, the 3rd rotating shaft 5 will drive round brush 42 to rotate, and round brush 42 will be cleaned to ground, so as in side for robot
When busy carrying thing, moreover it is possible to which ground is cleaned, the purpose for saving labour has been reached.
Because also including the first cylinder 43 and the second cylinder 44, the mode that the bottom of the first swing arm 17 is bolted
The first cylinder 43 is connected with, the mode and the first manipulator 16 that the bottom of the first cylinder 43 is bolted are connected, second swings
The mode that the bottom of bar 30 is bolted is connected with the second cylinder 44, the mode that the bottom of the second cylinder 44 is bolted and
Second manipulator 31 is connected, so when the first manipulator 16 and the second manipulator 31 less long, can start the first gas
The cylinder 44 of cylinder 43 or second extends, and at this moment the first manipulator 16 and the second manipulator 31 can carry higher square article,
The scope that the first manipulator 16 and the second manipulator 31 can be movable simultaneously is more extensive, so that the use scope of robot is improved,
When robot is not used, the first cylinder 43 or the second cylinder 44 are stopped.
Because also including draw ring 45, the top of head 23 is connected with draw ring 45, the material of draw ring 45 by way of welding
It is Q235 steel, so when transfer robot is wanted, people directly can easily carry whole robot by draw ring 45, so that
Improve the portability of whole robot.
Embodiment described above only expresses the preferred embodiment of the present invention, and its description is more specific and detailed, but simultaneously
Therefore the limitation to the scope of the claims of the present invention can not be interpreted as.It should be pointed out that for one of ordinary skill in the art
For, without departing from the inventive concept of the premise, some deformations, improvement can also be made and substituted, these belong to this hair
Bright protection domain.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (7)
1. a kind of Multi-functional domestic intelligent robot, it is characterised in that include roller（1）, first bearing seat（2）, first
Bevel gear（3）, second bevel gear（4）, the 3rd rotating shaft（5）, the second rotating shaft（6）, first rotating shaft（7）, the first fixed pulley（8）,
One drawstring（10）, the 5th fixed pulley（11）, the second fixed pulley（12）, the first flexible member（13）, hinge member（14）, the second bullet
Property element（15）, the first manipulator（16）, the first swing arm（17）, the second drawstring（18）, the 3rd fixed pulley（19）, trunk
（20）, the first retainer ring（21）, ultrasonic sensor（22）, head（23）, camera（24）, the second retainer ring（25）, the 4th
Fixed pulley（26）, the 4th rotating shaft（27）, second bearing seat（28）, the 3rd drawstring（29）, the second swing arm（30）, the second manipulator
（31）, the 4th drawstring（32）, the first motor（33）, the 6th fixed pulley（34）, reel（35）, support plate（36）, the second motor
（37）And connecting rod（38）；Trunk（20）The mode that is bolted of center of top be connected with second bearing seat（28）, the
Two bearing bracket（28）Interior bearing is connected with the 4th rotating shaft by way of interference is connected（27）, the 4th rotating shaft（27）Top passes through
The mode of threaded connection is connected with head（23）, head（23）Left cheek position second is connected with by way of being welded to connect
Retainer ring（25）, head（23）Right cheek position the first retainer ring is connected with by way of being welded to connect（21）, head
（23）Left eye position be equipped with camera（24）, head（23）Right eye position be equipped with ultrasonic sensor（22）, the 4th is fixed sliding
Wheel（26）Trunk is welded on by the 4th pole（20）The left side at top, the 4th fixed pulley（26）Rotatably, the 3rd fixed pulley
（19）Trunk is welded on by the 3rd pole（20）The right side at top, the 3rd fixed pulley（19）Rotatably, trunk（20）Left side
Wall passes through hinge member（14）It is connected with the second swing arm（30）, hinge member（14）Include notch plate（39）, connecting shaft
（40）And swivel plate（41）, connecting shaft（40）It is fixedly mounted on notch plate（39）On, in swivel plate（41）Through hole is provided with, is connected
Axle（40）Through swivel plate（41）On through hole, and swivel plate（41）By around connecting shaft（40）Rotate, trunk（20）'s
Left side wall welding by way of and trunk（20）Left side wall on hinge member（14）Notch plate（39）Connection, the second pendulum
Lever（30）Top welding by way of and trunk（20）Left side wall on hinge member（14）Swivel plate（41）Even
Connect, the second swing arm（30）The mode that bottom is bolted is connected with the second manipulator（31）, the second swing arm（30）'s
Right side and trunk（20）The second flexible member is provided between left side wall（15）, the second flexible member（15）Left end is connected by linking up with
Mode and the second swing arm（30）Right side connection, the second flexible member（15）Right-hand member link up with connection by way of and trunk
（20）Left side wall is connected, the second swing arm（30）Pass on left hook connection mode be connected with the 3rd drawstring（29）, the 3rd
Drawstring（29）Bypass the 4th fixed pulley（26）, the 3rd drawstring（29）End link up with connection by way of and the second retainer ring（25）
Connection, trunk（20）Right side wall pass through hinge member（14）It is connected with the first swing arm（17）, trunk（20）Right side wall lead to
Cross the mode and trunk of welding（20）Right side wall on hinge member（14）Notch plate（39）Connection, the first swing arm（17）
Top welding by way of and trunk（20）Right side wall on hinge member（14）Swivel plate（41）Connection, the first pendulum
Lever（17）The mode that bottom is bolted is connected with the first manipulator（16）, the first swing arm（17）Left side and trunk
（20）The first flexible member is provided between right side wall（13）, the first flexible member（13）Right-hand member is by way of linking up with connection and the
One swing arm（17）Left side connection, the first flexible member（13）Left end link up with connection by way of and trunk（20）Left side wall
Connection, the first swing arm（17）Right side link up with connection by way of be connected with the second drawstring（18）, the second drawstring（18）Around
Cross the 3rd fixed pulley（19）, the second drawstring（18）End link up with connection by way of and the first retainer ring（21）Connection, the 5th
Fixed pulley（11）Trunk is welded on by the 5th pole（20）On inner left wall, the 5th fixed pulley（11）Rotatably, the second fixed pulley
（12）Trunk is welded on by the second pole（20）On inner right wall, the second fixed pulley（12）Rotatably, trunk（20）Bottom open
It is fluted（9）, groove（9）The mode that inner top is bolted is connected with the first motor（33）, the first motor（33）It is defeated
Shaft is connected with first rotating shaft by shaft coupling（7）, first rotating shaft（7）On flat key connect by way of be connected with reel
（35）, reel（35）On be wound with the first drawstring（10）With the 4th drawstring（32）, the first fixed pulley（8）Welded by the first pole
In groove（9）On inner right wall, the first fixed pulley（8）Rotatably, the first drawstring（10）The first fixed pulley is bypassed successively（8）With second
Fixed pulley（12）, the first drawstring（10）End link up with connection by way of and the first swing arm（17）Left side connection, the 6th
Fixed pulley（34）Groove is welded on by the 6th pole（9）On inner left wall, the 6th fixed pulley（34）Rotatably, the 4th drawstring（32）
The 6th fixed pulley is bypassed successively（34）With the 5th fixed pulley（11）, the 4th drawstring（32）End is by way of linking up with connection and the
Two swing arms（30）Right side connection, first rotating shaft（7）The mode that bottom is connected through a screw thread is connected with support plate（36）, support plate
（36）Bottom left and right side are connected with connecting rod by way of welding（38）, connecting rod（38）Bottom is bolted
Mode be connected with first bearing seat（2）, first bearing seat（2）Inner bearing interference connect by way of be connected with the 3rd turn
Axle（5）, the 3rd rotating shaft（5）On flat key connect by way of be connected with first bevel gear（3）, the 3rd rotating shaft（5）Left end and
3rd rotating shaft（5）Right-hand member interference connect by way of and roller（1）Connection, support plate（36）Bottom center is connected by bolt
The mode for connecing is connected with the second motor（37）, the second motor（37）Output shaft the second rotating shaft is connected with by shaft coupling（6）, the
Two rotating shafts（6）On flat key connect by way of be connected with second bevel gear（4）, first bevel gear（3）And second bevel gear（4）
Engagement.
2. a kind of Multi-functional domestic intelligent robot according to claim 1, it is characterised in that also include round brush
（42）, the 3rd rotating shaft（5）Left side and right side are connected with round brush by way of flat key is connected（42）, the round brush of left（42）Position
In first bevel gear（3）Left, the round brush of right（42）Positioned at first bevel gear（3）Right.
3. a kind of Multi-functional domestic intelligent robot according to claim 1, it is characterised in that also include the first gas
Cylinder（43）With the second cylinder（44）, the first swing arm（17）The mode that bottom is bolted is connected with the first cylinder（43）,
First cylinder（43）Mode and the first manipulator that bottom is bolted（16）Connection, the second swing arm（30）Bottom passes through
Bolted mode is connected with the second cylinder（44）, the second cylinder（44）Mode and the second machinery that bottom is bolted
Hand（31）Connection.
4. a kind of Multi-functional domestic intelligent robot according to claim 1, it is characterised in that also include draw ring
（45）, head（23）Top is connected with draw ring by way of welding（45）, draw ring（45）Material be Q235 steel.
5. a kind of Multi-functional domestic intelligent robot according to claim 1, it is characterised in that the first motor（33）With
Second motor（37）It is servomotor.
6. a kind of Multi-functional domestic intelligent robot according to claim 1, it is characterised in that the first drawstring（10）、
Second drawstring（18）, the 3rd drawstring（29）With the 4th drawstring（32）It is steel wire rope.
7. a kind of Multi-functional domestic intelligent robot according to claim 1, it is characterised in that the first flexible member
（13）With the second flexible member（15）It is spring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710065916.9A CN106826850A (en) | 2017-02-06 | 2017-02-06 | A kind of Multi-functional domestic intelligent robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710065916.9A CN106826850A (en) | 2017-02-06 | 2017-02-06 | A kind of Multi-functional domestic intelligent robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106826850A true CN106826850A (en) | 2017-06-13 |
Family
ID=59121592
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710065916.9A Withdrawn CN106826850A (en) | 2017-02-06 | 2017-02-06 | A kind of Multi-functional domestic intelligent robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106826850A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108527377A (en) * | 2018-03-08 | 2018-09-14 | 深圳市中科智诚科技有限公司 | A kind of safe and reliable intelligent security robot suitable for rainy day patrol |
| CN108525321A (en) * | 2018-06-21 | 2018-09-14 | 芜湖易泽中小企业公共服务股份有限公司 | It is a kind of can 360 degree rotation toy robot |
| CN108568807A (en) * | 2018-06-14 | 2018-09-25 | 深圳埃米电子科技有限公司 | A kind of device of control robot face expression |
| CN108724212A (en) * | 2018-06-05 | 2018-11-02 | 芜湖易迅生产力促进中心有限责任公司 | A kind of explosion-proof fire inspection machine people |
| CN113211427A (en) * | 2021-01-04 | 2021-08-06 | 苏州创世威智能科技有限公司 | Household robot monitoring device based on Internet of things |
| CN113561201A (en) * | 2021-08-13 | 2021-10-29 | 南通科钛机器人系统有限公司 | Patrol and guard robot with obstacle avoiding function |
| US11312009B2 (en) * | 2019-05-21 | 2022-04-26 | Lg Electronics Inc. | Action robot |
| WO2023040352A1 (en) * | 2021-09-18 | 2023-03-23 | 青岛海尔空调器有限总公司 | Method and apparatus for disinfecting clothes, and air conditioning device |
-
2017
- 2017-02-06 CN CN201710065916.9A patent/CN106826850A/en not_active Withdrawn
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108527377A (en) * | 2018-03-08 | 2018-09-14 | 深圳市中科智诚科技有限公司 | A kind of safe and reliable intelligent security robot suitable for rainy day patrol |
| CN108724212A (en) * | 2018-06-05 | 2018-11-02 | 芜湖易迅生产力促进中心有限责任公司 | A kind of explosion-proof fire inspection machine people |
| CN108568807A (en) * | 2018-06-14 | 2018-09-25 | 深圳埃米电子科技有限公司 | A kind of device of control robot face expression |
| CN108568807B (en) * | 2018-06-14 | 2024-02-13 | 深圳埃米电子科技有限公司 | Device for controlling facial expression of robot |
| CN108525321A (en) * | 2018-06-21 | 2018-09-14 | 芜湖易泽中小企业公共服务股份有限公司 | It is a kind of can 360 degree rotation toy robot |
| US11312009B2 (en) * | 2019-05-21 | 2022-04-26 | Lg Electronics Inc. | Action robot |
| CN113211427A (en) * | 2021-01-04 | 2021-08-06 | 苏州创世威智能科技有限公司 | Household robot monitoring device based on Internet of things |
| CN113561201A (en) * | 2021-08-13 | 2021-10-29 | 南通科钛机器人系统有限公司 | Patrol and guard robot with obstacle avoiding function |
| WO2023040352A1 (en) * | 2021-09-18 | 2023-03-23 | 青岛海尔空调器有限总公司 | Method and apparatus for disinfecting clothes, and air conditioning device |
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Application publication date: 20170613 |
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