CN107378972A - A kind of home-services robot - Google Patents
A kind of home-services robot Download PDFInfo
- Publication number
- CN107378972A CN107378972A CN201710808031.3A CN201710808031A CN107378972A CN 107378972 A CN107378972 A CN 107378972A CN 201710808031 A CN201710808031 A CN 201710808031A CN 107378972 A CN107378972 A CN 107378972A
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- Prior art keywords
- motor
- support plate
- gear
- hinged
- electric cylinders
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
- B25J9/0027—Means for extending the operation range
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0054—Programme-controlled manipulators having parallel kinematics with kinematics chains having a spherical joint at the base
- B25J9/0057—Programme-controlled manipulators having parallel kinematics with kinematics chains having a spherical joint at the base with kinematics chains of the type spherical-prismatic-spherical
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of home-services robot, including walking module, lifting module, adjusting module, manipulator, it is characterised in that：Described lifting module is arranged on the 3rd support plate of walking module；Six the second electric cylinders bottoms of adjusting module are arranged on the first support plate of lifting module；The guide holder of manipulator is fixedly mounted on the second gear upper surface of adjusting module by underlying holder；The present invention is walked by bottom wheel, lift module control integral elevating, angle of inclination is adjusted by parallel institution, operated by manipulator, user of service can be observed by camera, control machine people carries out various operations, can understand home background in time and take measures in time, safe and convenient.
Description
Technical field
The present invention relates to domestic robot technical field, more particularly to a kind of home-services robot.
Background technology
As rhythm of life is gradually accelerated, increasing people's spirit is in high-pressure state all the time, often goes out
Forget whether lock a door suddenly behind the door, close the things such as jet, in order to prevent accident, many people can select to go home again
Determine one time；This behavior not only wastes the plenty of time, while if not locking a door really, closing coal gas, can cause greatly
A kind of potential safety hazard, it is therefore desirable to home-services robot that can be carried out pass window at home, lock a door, close various switches.
The content of the invention
In view of the above-mentioned problems, the present invention provides a kind of home-services robot, the present invention is walked by bottom wheel, is lifted
Module controls integral elevating, adjusts angle of inclination by parallel institution, is operated by manipulator, user of service can pass through
Camera is observed, and control machine people carries out various operations, can understand home background in time and take measures in time, safety
It is convenient.
Technical scheme used in the present invention is：A kind of home-services robot, including walking module, lifting module, tune
Mould preparation block, manipulator, it is characterised in that：Described lifting module is arranged on the 3rd support plate of walking module；Adjust mould
Six the second electric cylinders bottoms of block are arranged on the first support plate of lifting module；The guide holder of manipulator passes through lower section branch
Frame is fixedly mounted on the second gear upper surface of adjusting module；
Described walking module include the 3rd support plate, bottom plate, four supporting legs, four rubber cushions, two the first electromagnetic springs, four
Wheel, wheel stand, the second electromagnetic spring, swing arm, the 4th motor, bogie, the 4th gear, the 5th motor, the 5th gear, institute
The 3rd support plate and bottom plate stated are linked together by the column on four angles, and a branch is respectively provided with each angle in bottom plate lower surface
Support leg, a rubber cushion is housed on each supporting leg, described wheel stand is hinged on bottom plate lower end into two montants of door shape
Face, two vehicle wheel rotations are arranged on wheel stand both sides, and two first electromagnetic spring one end are respectively hinged at the 3rd support plate lower end
On two hinge stents in face, the other end is hinged on wheel stand；Described middle part of swing arm is hinged on bottom plate lower surface, the second electricity
Magnetic spring one end is hinged on swing arm close to wheel stand side, and the other end is hinged on the 3rd support plate lower surface, bogie end
It is hinged on swing arm other end；Described bogie lower surface is installed with fourth tooth coaxial with bogie and swing arm hinged place
Wheel, the 4th described motor are fixedly mounted on swing arm lower surface, and the 5th gear is fixedly mounted on the 4th motor axle, and with
4th gear coordinates；Described bogie end side is rotatablely equipped with a wheel, and opposite side is installed with the 5th motor,
A wheel is installed with 5th motor axle；
Described lifting module includes two the first hinge stents, two the first guide holders, two the first links, two the second companies
Connect frame, first connecting rod, the first electric cylinders, second connecting rod, two the second guide holders, two the second hinge stents, four rolling, first
Plate, described two the first hinge stents are fixedly mounted on the 3rd support plate upper surface front end, and second connecting rod is rotatably installed in two
On first hinge stent；Two the first guide holders are fixedly mounted on the 3rd support plate upper surface both sides；Two the second hinge stents fix peace
Mounted in the first support plate lower end front end, two the second guide holders are fixedly mounted on the first support plate lower surface rear portion both sides；It is described
Two the first links and two the second links be divided into two groups, it is be hinged in the middle part of every group of the first link and the second link
Together；Two described the first link middle and upper parts are fixedly connected by first connecting rod, and first electric cylinders one end is rotatably installed in
On first connecting rod, the other end is rotatably installed in second connecting rod；Two the second link bottoms are hinged on second connecting rod, two
A roller is respectively installed on the outside of second link upper end, two the second link upper ends are installed respectively by two rollers
On two the second guide holders；One roller, two first companies are respectively installed on the outside of two described the first link bottoms
Connect frame bottom to be separately mounted on two the first guide holders by two rollers, two the first link upper ends are respectively articulated with
On two the second hinge stents；
Described adjusting module includes six the second electric cylinders, the first motor, first gear, the second support plate, second gear, described
One group two-by-two of six the second electric cylinders, the cylinder base of each second electric cylinders are hingedly mounted on the first support plate upper surface, the second electricity
The telescopic rod end of cylinder is hingedly mounted on second postlaminar part, and the bottom of two the second electric cylinders in every group of second electric cylinders separates,
Front portion is close together, and the axis of two the second electric cylinders and V-shaped distribution, the first described motor are fixedly mounted on the second support plate,
Motor shaft is upward, and first gear is fixedly mounted on the first motor axle, and second gear is rotatably installed in the second support plate upper end
On face, and engaged with first gear；
Described manipulator include guide holder, two guide rails, leading truck, rack, the second motor, the 3rd gear, camera,
3rd motor, main card pawl seat, the first claw, the second claw, eight springs, vice card pawl seat, the 3rd electric cylinders, first axle, it is described
Guide holder inwall be provided with two guide grooves, oblong openings are arranged at guide holder top, and the leading truck both sides are provided with two guide rails,
Leading truck is arranged on guide holder by the guide rail of both sides；Guide holder upper front end is installed with the second motor, the second motor
Axle is provided with the 3rd gear, and leading truck top is installed with the rack coordinated with the 3rd gear, and described camera fixes peace
Mounted in leading truck top, leading truck front end is provided with the 3rd motor, and main jaw base rear end face is fixedly mounted on the 3rd motor axle
On；Vice card pawl seat is arranged in main card pawl seat by first axle, and the 3rd electric cylinders one end is hinged in vice card pawl seat, other end hinge
It is connected in main card pawl seat；First claw is arranged in main card pawl seat by four springs, and the second claw is installed by four springs
In vice card pawl seat.
Further, the first described electromagnetic spring is provided with axle sleeve, axle sleeve and the first electromagnetism bullet with wheel stand junction
Spring end is rotatablely connected, and axle sleeve center is provided with the square hole coordinated with wheel stand gabarit.
Beneficial effect of the present invention：
1. the present invention is walked by bottom wheel, lifting module control integral elevating, angle of inclination is adjusted by parallel institution, led to
Manipulator is crossed to be operated, user of service can be observed by camera, and control machine people carries out various operations, can and
When understand and home background and take measures in time, safe and convenient.
2. robot section of the present invention is transferred the pressure on claw by spring, uniform force, switch handle is hardly damaged
Hand.
Brief description of the drawings
Fig. 1, Fig. 2, Fig. 3, Fig. 5, Fig. 7, Fig. 8 are the structural representation that the present invention is completed rear multiple angles.
Fig. 4 is Fig. 3 of the present invention partial enlarged drawing.
Fig. 6 is Fig. 5 of the present invention partial enlarged drawing.
Fig. 9 is Fig. 2 of the present invention partial enlarged drawing.
Figure 10 is Fig. 8 of the present invention partial enlarged drawing.
Figure 11, Figure 14 are the structural representation of walking module of the present invention.
Figure 12, Figure 13 are Figure 11 of the present invention partial enlarged drawing.
Figure 15 is Figure 14 of the present invention partial enlarged drawing.
Drawing reference numeral：1- walking modules；2- lifts module；3- adjusting modules；4- manipulators；The support plates of 101- the 3rd；
102- bottom plates；103- supporting legs；104- rubber cushions；The electromagnetic springs of 105- first；106- wheels；107- wheel stands；108- axle sleeves；
The electromagnetic springs of 109- second；110- swing arms；The motors of 111- the 4th；112- bogies；The gears of 113- the 4th；The motors of 114- the 5th；
The gears of 115- the 5th；The hinge stents of 201- first；The guide holders of 202- first；The links of 203- first；The links of 204- second；205-
First connecting rod；The electric cylinders of 206- first；207- second connecting rods；The guide holders of 208- second；The hinge stents of 209- second；210- rollers；
The support plates of 211- first；The electric cylinders of 301- second；The motors of 302- first；303- first gears；The support plates of 304- second；The teeth of 305- second
Wheel；401- guide holders；402- guide rails；403- leading trucks；404- racks；The motors of 405- second；The gears of 406- the 3rd；407- is imaged
Head；The motors of 408- the 3rd；409- main card pawl seats；The claws of 410- first；The claws of 411- second；412- springs；413- vice card pawl seats；
The electric cylinders of 414- the 3rd；415- first axles.
Embodiment
Below by embodiment, and with reference to accompanying drawing, technical scheme is described in further detail.
Embodiment
As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, Fig. 9, Figure 10, Figure 11, Figure 12, Figure 13, Figure 14, Figure 15,
A kind of home-services robot, including walking module 1, lifting module 2, adjusting module 3, manipulator 4, it is characterised in that：
Described lifting module 2 is arranged on the 3rd support plate 101 of walking module 1；Six lower ends of the second electric cylinders 301 of adjusting module 3
Portion is arranged on the first support plate 211 of lifting module 2；The guide holder 401 of manipulator 4 is fixedly mounted on by underlying holder
On the upper surface of second gear 305 of adjusting module 3；
Described walking module 1 includes the 3rd support plate 101, the rubber cushion 104, two first of supporting leg 103, four of bottom plate 102, four
105, four wheels 106 of electromagnetic spring, wheel stand 107, the second electromagnetic spring 109, swing arm 110, the 4th motor 111, steering
Frame 112, the 4th gear 113, the 5th motor 114, the 5th gear 115, the 3rd described support plate 101 and bottom plate 102 pass through four
Column on angle links together, and is respectively provided with a supporting leg 103 on each angle in the lower surface of bottom plate 102, on each supporting leg 103
Equipped with a rubber cushion 104, described wheel stand 107 is hinged on the lower surface of bottom plate 102, two cars into two montants of door shape
Wheel 106 is rotatably installed in the both sides of wheel stand 107, and two one end of the first electromagnetic spring 105 are respectively hinged under the 3rd support plate 101
On two hinge stents of end face, the other end is hinged on wheel stand 107；The described middle part of swing arm 110 is hinged under bottom plate 102
End face, the one end of the second electromagnetic spring 109 are hinged on swing arm 110 and are hinged on the 3rd support plate close to the side of wheel stand 107, the other end
On 101 lower surfaces, the end of bogie 112 is hinged on the other end of swing arm 110；The described lower surface of bogie 112 is installed with
The 4th coaxial gear 113 with bogie 112 and the hinged place of swing arm 110, the 4th described motor 111 are fixedly mounted on swing arm
110 lower surfaces, the 5th gear 115 are fixedly mounted on the motor shaft of the 4th motor 111, and are coordinated with the 4th gear 113；Described
The end side of bogie 112 is rotatablely equipped with a wheel 106, and opposite side is installed with the 5th motor 114, the 5th motor
A wheel 106 is installed with 114 motor shafts；
Described lifting module 2 include two the first hinge stents, 201, two the first guide holders, 202, two the first links 203,
207, two two the second links 204, first connecting rod 205, the first electric cylinders 206, second connecting rod the second guide holders 208, two
Second hinge stent 209, four rolling 210, the first support plate 211, described two the first hinge stents 201 are fixedly mounted on the 3rd
On the upper surface front end of plate 101, second connecting rod 207 is rotatably installed on two the first hinge stents 201；Two the first guide holders 202
It is fixedly mounted on the upper surface both sides of the 3rd support plate 101；Two the second hinge stents 209 are fixedly mounted on the lower surface of the first support plate 211
Leading section, two the second guide holders 208 are fixedly mounted on the lower surface rear portion both sides of the first support plate 211；Two first described companies
Connect frame 203 and two the second links 204 are divided into two groups, every group of the first link 203 and the middle part of the second link 204 are be hinged
Together；Two described middle and upper parts of the first link 203 are fixedly connected by first connecting rod 205, and the one end of the first electric cylinders 206 turns
Dynamic to be arranged on first connecting rod 205, the other end is rotatably installed in second connecting rod 207；Two bottoms of the second link 204 are hinged
On second connecting rod 207, a roller 210, two the second links are respectively installed on the outside of two upper ends of the second link 204
204 upper ends are separately mounted on two the second guide holders 208 by two rollers 210；Two described the first links 203
A roller 210 is respectively installed on the outside of bottom, two bottoms of the first link 203 are installed respectively by two rollers 210
On two the first guide holders 202, two upper ends of the first link 203 are respectively hinged on two the second hinge stents 209；
Described adjusting module 3 includes six the second electric cylinders 301, the first motor 302, first gear 303, the second support plate 304, the
Two gears 305, described six one group two-by-two of the second electric cylinders 301, the cylinder base of each second electric cylinders 301 are hingedly mounted on
On the upper surface of one support plate 211, the telescopic rod end of the second electric cylinders 301 is hingedly mounted on the rear portion of the second support plate 304, every group second electricity
The bottom of two the second electric cylinders 301 in cylinder 301 separates, and front portion is close together, the axis of two the second electric cylinders 301 and V-shaped
Distribution, the first described motor 302 are fixedly mounted on the second support plate 304, and motor shaft is upward, and first gear 303 is fixedly mounted on
On the motor shaft of first motor 302, second gear 305 is rotatably installed on the upper surface of the second support plate 304, and with first gear 303
Engagement；
Described manipulator 4 include 401, two guide rails 402 of guide holder, leading truck 403, rack 404, the second motor 405,
411, eight 3rd gear 406, camera 407, the 3rd motor 408, main card pawl seat 409, the first claw 410, the second claw bullets
Spring 412, vice card pawl seat 413, the 3rd electric cylinders 414, first axle 415, the described inwall of guide holder 401 are provided with two guide grooves,
Oblong openings are arranged at the top of guide holder 401, and the both sides of leading truck 403 are provided with two guide rails 402, and leading truck 403 passes through both sides
Guide rail 402 be arranged on guide holder 401 on；The upper front end of guide holder 403 is installed with the second motor 405, the second motor 405
Axle is provided with the 3rd gear 406, and the top of leading truck 403 is installed with the rack 404 coordinated with the 3rd gear 406, described
Camera 407 is fixedly mounted on the top of leading truck 403, and the front end of leading truck 403 is provided with the 3rd motor 408, the rear end of main card pawl seat 409
Face is fixedly mounted on the motor shaft of the 3rd motor 408；Vice card pawl seat 413 is arranged on main card pawl seat 409 by first axle 415
On, the one end of the 3rd electric cylinders 414 is hinged in vice card pawl seat 413, and the other end is hinged in main card pawl seat 409；First claw 410 is logical
Four springs 412 are crossed in main card pawl seat 409, the second claw 411 is arranged on vice card pawl seat 413 by four springs 412
On.
Further, the first described electromagnetic spring 105 is provided with axle sleeve 108, axle sleeve 108 with the junction of wheel stand 107
It is rotatablely connected with the end of the first electromagnetic spring 105, the center of axle sleeve 108 is provided with the square hole coordinated with the gabarit of wheel stand 107.
Operation principle of the present invention：Two wheels 106 of bottom front of the present invention and the wheel being directly installed on bogie 112
106 be driven pulley, and the 4th motor 111 drives the 4th gear 113 to rotate so that 112 turns of bogie by the 5th gear 115
Dynamic, change robot ambulation direction advances to provide by the wheel 106 in the drive motor shaft of the 5th motor 114 for robot to be moved
Power, the first electromagnetic spring 105 and the control wheel lifting of the second electromagnetic spring 109, two front-wheels when the first electromagnetic spring 105 extends
Contacted with ground, two, rear wheel contacts with ground when the second electromagnetic spring 109 shrinks, and now robot can be in ground row
Walk；First electric cylinders 206 control the first support plate 211 to lift, and two bottoms of the first link 203 lead to when the first electric cylinders 206 extend
Cross roller 210 to move forward along two the first guide holders 202, two upper ends of the second link 204 are by roller 210 along two
Second guide holder 208 moves forward, and the first support plate 211 raises, and the first support plate 211 declines when similarly the first electric cylinders 206 are shunk；It is logical
Cross the linkage of six the second electric cylinders 301 and change the angles of inclination of the second support plate 304, the first motor 302 drives the by first gear 303
Two gears 305 rotate, so that guide holder 401 rotates, the concomitant rotation of manipulator 4；Second motor 405 drives the 3rd gear
406 rotate, and make rack 404 drive leading truck 403 to be moved along guide holder 401, and the 3rd motor 408 drives main card pawl seat 409 to rotate,
Adjust claw angle；The first claw 410 and the second claw 411 clamp when 3rd electric cylinders 414 extend, and spring 412 makes uniform force；
Machine man-hour, operating position is firstly moved to, wheel 106 leaves ground, and robot, lifting are supported by supporting leg 103
Module 2 is adjusted to manipulator 4 with by the identical height of operation object, passing through adjusting module 3 and changing angle, the first claw 410
With the clamp operation handle of the second claw 411, the 3rd motor 408 rotates and can complete to operate.
Claims (2)
1. a kind of home-services robot, including walking module (1), lifting module (2), adjusting module (3), manipulator
(4), it is characterised in that：Described lifting module (2) is arranged on the 3rd support plate (101) of walking module (1)；Adjusting module
(3) six the second electric cylinders (301) bottoms are arranged on the first support plate (211) of lifting module (2)；Manipulator (4)
Guide holder (401) be fixedly mounted on by underlying holder on second gear (305) upper surface of adjusting module (3)；
Described walking module (1) includes the 3rd support plate (101), bottom plate (102), four supporting legs (103), four rubber cushions
(104), two the first electromagnetic springs (105), four wheels (106), wheel stand (107), the second electromagnetic spring (109), pendulum
Arm (110), the 4th motor (111), bogie (112), the 4th gear (113), the 5th motor (114), the 5th gear (115),
The 3rd described support plate (101) and bottom plate (102) are linked together by the column on four angles, and bottom plate (102) lower surface is every
A supporting leg (103) is respectively provided with individual angle, a rubber cushion (104), described wheel stand are housed on each supporting leg (103)
(107) bottom plate (102) lower surface is hinged on into two montants of door shape, two wheels (106) are rotatably installed in wheel stand
(107) both sides, two the first electromagnetic spring (105) one end are respectively hinged at two hinge stents of the 3rd support plate (101) lower surface
On, the other end is hinged on wheel stand (107)；It is hinged on bottom plate (102) lower surface in the middle part of described swing arm (110), second
Electromagnetic spring (109) one end is hinged on swing arm (110) and is hinged on the 3rd support plate close to wheel stand (107) side, the other end
(101) on lower surface, bogie (112) end is hinged on swing arm (110) other end；Described bogie (112) lower surface is solid
Dingan County is equipped with and the 4th coaxial gear (113) of bogie (112) and swing arm (110) hinged place, the 4th described motor (111)
Swing arm (110) lower surface is fixedly mounted on, the 5th gear (115) is fixedly mounted on the 4th motor (111) motor shaft, and with
Four gears (113) coordinate；Described bogie (112) end side is rotatablely equipped with a wheel (106), and opposite side fixes peace
Equipped with the 5th motor (114), a wheel (106) is installed with the 5th motor (114) motor shaft；
Described lifting module (2) includes two the first hinge stents (201), two the first guide holders (202), two the first connections
Frame (203), two the second links (204), first connecting rod (205), the first electric cylinders (206), second connecting rod (207), two
Two guide holders (208), two the second hinge stents (209), four rolling (210), the first support plate (211), described two first
Hinge stent (201) is fixedly mounted on the 3rd support plate (101) upper surface front end, and second connecting rod (207) is rotatably installed in two
On one hinge stent (201)；Two the first guide holders (202) are fixedly mounted on the 3rd support plate (101) upper surface both sides；Two second
Hinge stent (209) is fixedly mounted on the first support plate (211) lower end front end, and two the second guide holders (208) are fixedly mounted on
First support plate (211) lower surface rear portion both sides；Described two the first links (203) and two the second links (204) point
Into two groups, every group of the first link (203) and the second link (204) middle part is hinged；Two first described companies
Connect frame (203) middle and upper part to be fixedly connected by first connecting rod (205), the first electric cylinders (206) one end is rotatably installed in first connecting rod
(205) on, the other end is rotatably installed in second connecting rod (207)；Two the second link (204) bottoms are hinged on second connecting rod
(207) on, a roller (210), two the second links are respectively installed on the outside of two the second link (204) upper ends
(204) upper end is separately mounted on two the second guide holders (208) by two rollers (210)；Two first described companies
Connect and a roller (210) is respectively installed on the outside of frame (203) bottom, two the first link (203) bottoms pass through two rollings
Wheel (210) is separately mounted on two the first guide holders (202), and two the first link (203) upper ends are respectively hinged at two
On individual second hinge stent (209)；
Described adjusting module (3) include six the second electric cylinders (301), the first motor (302), first gear (303), second
Plate (304), second gear (305), described six one group two-by-two of the second electric cylinders (301), the cylinder body of each second electric cylinders (301)
Bottom is hingedly mounted on the first support plate (211) upper surface, and the telescopic rod end of the second electric cylinders (301) is hingedly mounted on second
Plate (304) rear portion, the bottom of two the second electric cylinders (301) in every group of second electric cylinders (301) separate, and front portion is close together, and two
The axis of individual second electric cylinders (301) and V-shaped distribution, described the first motor (302) are fixedly mounted on the second support plate (304),
Motor shaft is upward, and first gear (303) is fixedly mounted on the first motor (302) motor shaft, second gear (305) rotational installation
Engaged on the second support plate (304) upper surface, and with first gear (303)；
Described manipulator (4) includes guide holder (401), two guide rails (402), leading truck (403), rack (404), the
Two motors (405), the 3rd gear (406), camera (407), the 3rd motor (408), main card pawl seat (409), the first claw
(410), the second claw (411), eight springs (412), vice card pawl seat (413), the 3rd electric cylinders (414), first axle (415),
Described guide holder (401) inwall is provided with two guide grooves, and oblong openings, the leading truck are arranged at guide holder (401) top
(403) both sides are provided with two guide rails (402), and leading truck (403) is arranged on guide holder (401) by the guide rail (402) of both sides；
Guide holder (403) upper front end is installed with the second motor (405), and the second motor (405) axle is provided with the 3rd gear
(406), leading truck (403) top is installed with the rack (404) coordinated with the 3rd gear (406), described camera
(407) leading truck (403) top is fixedly mounted on, leading truck (403) front end is provided with the 3rd motor (408), main card pawl seat (409)
Rear end face is fixedly mounted on the 3rd motor (408) motor shaft；Vice card pawl seat (413) is arranged on master by first axle (415)
On master jaw (409), the 3rd electric cylinders (414) one end is hinged in vice card pawl seat (413), and the other end is hinged on main card pawl seat
(409) on；First claw (410) is arranged in main card pawl seat (409) by four springs (412), and the second claw (411) passes through
Four springs (412) are arranged in vice card pawl seat (413).
A kind of 2. home-services robot according to claim 1, it is characterised in that：The first described electromagnetic spring
(105) axle sleeve (108) is provided with wheel stand (107) junction, axle sleeve (108) rotates with the first electromagnetic spring (105) end
Connection, axle sleeve (108) center are provided with the square hole coordinated with wheel stand (107) gabarit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710808031.3A CN107378972A (en) | 2017-09-08 | 2017-09-08 | A kind of home-services robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710808031.3A CN107378972A (en) | 2017-09-08 | 2017-09-08 | A kind of home-services robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107378972A true CN107378972A (en) | 2017-11-24 |
Family
ID=60351990
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710808031.3A Pending CN107378972A (en) | 2017-09-08 | 2017-09-08 | A kind of home-services robot |
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| Country | Link |
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| CN (1) | CN107378972A (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107582277A (en) * | 2017-09-10 | 2018-01-16 | 徐秀芳 | A kind of medical examination bed |
| CN108406788A (en) * | 2018-02-09 | 2018-08-17 | 芜湖市海联机械设备有限公司 | A kind of adjustable robot of rotation |
| CN108838996A (en) * | 2018-07-03 | 2018-11-20 | 北京航空航天大学 | A kind of five degree of freedom serial parallel mechanism |
| CN109080590A (en) * | 2018-09-03 | 2018-12-25 | 冯小宇 | A kind of automobile washing instrument |
| CN109366493A (en) * | 2018-10-25 | 2019-02-22 | 滨州学院 | A kind of patch robot |
| CN110176122A (en) * | 2019-07-08 | 2019-08-27 | 刘忠辉 | A kind of multi-functional monitor alarm for fire accident |
| CN110405738A (en) * | 2019-08-28 | 2019-11-05 | 庹艳 | A kind of mobile base for industrial robot |
| CN111842307A (en) * | 2020-08-25 | 2020-10-30 | 泉州朔康工业设计服务有限公司 | Computer-controlled mechanical arm industrial cleaning device |
| CN111993389A (en) * | 2020-08-24 | 2020-11-27 | 宁波大学 | Hybrid-driven movable multi-degree-of-freedom parallel motion platform |
| CN113440072A (en) * | 2021-08-31 | 2021-09-28 | 北京源来善尚科技有限公司 | Home service robot |
| US20240116173A1 (en) * | 2022-10-07 | 2024-04-11 | Kubota Corporation | Robotic arm mount assembly including rack and pinion |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107582277A (en) * | 2017-09-10 | 2018-01-16 | 徐秀芳 | A kind of medical examination bed |
| CN108406788A (en) * | 2018-02-09 | 2018-08-17 | 芜湖市海联机械设备有限公司 | A kind of adjustable robot of rotation |
| CN108838996A (en) * | 2018-07-03 | 2018-11-20 | 北京航空航天大学 | A kind of five degree of freedom serial parallel mechanism |
| CN109080590B (en) * | 2018-09-03 | 2021-05-04 | 青岛日森机电有限公司 | Automobile cleaning instrument |
| CN109080590A (en) * | 2018-09-03 | 2018-12-25 | 冯小宇 | A kind of automobile washing instrument |
| CN109366493A (en) * | 2018-10-25 | 2019-02-22 | 滨州学院 | A kind of patch robot |
| CN110176122A (en) * | 2019-07-08 | 2019-08-27 | 刘忠辉 | A kind of multi-functional monitor alarm for fire accident |
| CN110405738A (en) * | 2019-08-28 | 2019-11-05 | 庹艳 | A kind of mobile base for industrial robot |
| CN111993389A (en) * | 2020-08-24 | 2020-11-27 | 宁波大学 | Hybrid-driven movable multi-degree-of-freedom parallel motion platform |
| CN111842307A (en) * | 2020-08-25 | 2020-10-30 | 泉州朔康工业设计服务有限公司 | Computer-controlled mechanical arm industrial cleaning device |
| CN113440072A (en) * | 2021-08-31 | 2021-09-28 | 北京源来善尚科技有限公司 | Home service robot |
| US20240116173A1 (en) * | 2022-10-07 | 2024-04-11 | Kubota Corporation | Robotic arm mount assembly including rack and pinion |
| US11981028B2 (en) * | 2022-10-07 | 2024-05-14 | Kubota Corporation | Robotic arm mount assembly including rack and pinion |
| EP4349549A3 (en) * | 2022-10-07 | 2024-06-12 | Kubota Corporation | Robotic arm mount assembly including rack and pinion |
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Application publication date: 20171124 |