CN108656126A - Adaptive inductive charging auxiliary carrying robot - Google Patents
Adaptive inductive charging auxiliary carrying robot Download PDFInfo
- Publication number
- CN108656126A CN108656126A CN201810372090.5A CN201810372090A CN108656126A CN 108656126 A CN108656126 A CN 108656126A CN 201810372090 A CN201810372090 A CN 201810372090A CN 108656126 A CN108656126 A CN 108656126A
- Authority
- CN
- China
- Prior art keywords
- flexible trunk
- human body
- upper shell
- inductive charging
- adaptive inductive
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Classifications
-
- 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
-
- 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
-
- 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
-
- 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
Abstract
The invention discloses a kind of adaptive inductive charging auxiliary carrying robots, including：Face recognition module, human body induction module, head, controller, driving mechanism, flexible trunk, obstacle avoidance module, universal wheel mechanism and pedal；Wherein, the header shelf is set on the flexible trunk, and can be freely rotated on the flexible trunk；The face recognition module and human body induction module are all set on the head, in the case where sensing human body, start face recognition module, and the driving mechanism is controlled by the controller simultaneously, the flexible trunk is driven to execute stretching motion, until the face that the face recognition module recognizes human body stops the driving of the driving mechanism, one end of the pedal is articulated with the flexible trunk, and the other end, which can be received to be laminated on the flexible trunk to be formed to receive overlapping state or can keep being horizontally formed, can trample state.The adaptive inductive charging auxiliary carrying robot is realized reaches required height according to actual demand.
Description
Technical field
The present invention relates to auxiliary robots, and in particular, to a kind of adaptive inductive charging auxiliary carrying robot.
Background technology
Service robot is a younger members in family of robot, and up to the present still neither one is stringent determines
Justice.Country variant is different to the understanding of service robot.Professional domain service robot and individual/home services machine can be divided into
Device people, service robot are of wide application, and are mainly engaged in maintaining, repairing, transport, cleaning, security personnel, rescue, monitoring
Equal work.
Service robot structure at this stage is fixed, and the adjusting that can not carry out height according to actual needs is flexible, Wu Faman
Sufficient man face image acquiring or the operation that can not facilitate different height people, therefore, it is necessary to design a kind of adaptive inductive charging auxiliary carrying
Robot.
Invention content
The object of the present invention is to provide a kind of adaptive inductive charging auxiliary carrying robot, which assists carrying machine
Device people overcomes robot in the prior art and cannot achieve lifting, cannot be satisfied proprietary use at this stage, can not basis
Actual demand reaches required height.
To achieve the goals above, the present invention provides a kind of adaptive inductive charging auxiliary carrying robot, this is adaptively filled
Electricity auxiliary carries robot：Face recognition module, human body induction module, head, controller, driving mechanism, flexible trunk,
Obstacle avoidance module, universal wheel mechanism, pedal, braking vane, a key close button and automatic clamping component；Wherein, the header shelf is set to
On the flexible trunk, and it can be freely rotated on the flexible trunk；The face recognition module and human body induction module
It is all set on the head, in the case where sensing human body, starts face recognition module, and pass through the controller simultaneously
Controlling the driving mechanism drives the flexible trunk to execute stretching motion, until the face recognition module recognizes human body
Face stops the driving of the driving mechanism, and the universal wheel mechanism is set to the lower section of the flexible trunk, described in drive
Flexible trunk executes movement, and the obstacle avoidance module and the universal wheel mechanism are connected to the controller, are sensing human body
In the case of, the controller controls the position that the universal wheel mechanism drives the flexible trunk to be moved to the human body, and
Under the action of the obstacle avoidance module, urgent avoidance is executed；One end of the pedal is articulated with the flexible trunk, and the other end can
Receipts, which are laminated on the flexible trunk to be formed to receive overlapping state or can keep being horizontally formed, can trample state；The one key closing is pressed
Key is installed on the head, and a key closes button and is electrically connected to the controller, in the case where pressing, a key closes
The power supply of the controller is closed, the braking vane is set on the pedal, and the braking vane is set on the pedal, and
It is connected to the universal wheel mechanism, to realize the stopping of the universal wheel mechanism；The bottom of the flexible trunk is provided with charging
Interface, the automatic clamping component is set in the charging interface, in the case where sensing charging plug, the automatic fastening
Part executes automatic fastening, with the fixation charging plug.
Preferably, the flexible trunk includes：Upper shell, lower housing and telescopic rod, the telescopic rod are set on described
Between shell and lower housing, and the driving mechanism is installed on the lower housing, and is connected to the upper shell, to drive
It states upper shell and lower housing is done close to movement or far from movement；The telescopic rod can allow the movement of the upper shell and lower housing
Direction is kept fixed.
Preferably, the driving mechanism is cylinder, and the shell of the cylinder is fixed on the lower housing, the cylinder
Telescopic rod be fixed in the upper shell.
Preferably, the quantity of the telescopic rod is multiple, and is uniformly distributed between the upper shell and lower housing.
Preferably, seal pipe is provided between the lower housing and the upper shell, one end of the seal pipe is communicated in
The upper shell, the other end are communicated in the lower housing.
Preferably, it is provided with the accommodating chamber with opening on the upper shell, certification machine is provided in the accommodating chamber
Structure, and the opening is provided with induction sealing lid, in the case where the face recognition module recognizes the face of human body,
The induction sealing lid automatically opens, and carries out authentication by the certification authority.
Preferably, LED display, the LED display electricity are provided on end face of the induction sealing lid outside
It is connected to the controller, to receive the signal of the controller, shows authentication result.
Preferably, the certification authority is finger print identifying mechanism or authentication ids mechanism.
Preferably, the obstacle avoidance module includes：Obstacle sensor and adaptive navigation system, the obstacle sensor
It is set on the flexible trunk, to incude the barrier in the flexible trunk travel direction, and is sensing the obstacle
In the case of object, adaptive navigation system programme path again is controlled, and according to again under the drive of universal wheel mechanism
Programme path executes movement.
Preferably, the quantity of the obstacle sensor is multiple, and is uniformly arranged on the circumferential direction side of the flexible trunk
Upwards.
Preferably, it is provided with anti-skid bulge on the end face of the pedal.
Preferably, it is provided with handle on the upper shell.
Preferably, it is provided with clump weight on the lower housing, to keep the balance of the flexible trunk.
Preferably, the automatic clamping component includes：Contact sensor and clamp button of the spring；Wherein, the contact sensor is set
It is placed in the charging interface, in the case where touching charging plug, the clamp button of the spring engages the charging plug, is filling
In the case that electricity is full of, the clamp button of the spring unclamps the charging plug.
By above-mentioned embodiment, robot can be allowed with the adjusting for needing to carry out height so that robot can be with
The adjusting of random carry out height.And the mode adjusted is fairly simple, is convenient for controlling.Utilize the adaptive inductive charging of design
Auxiliary carrying robot, may be implemented the induction of human body, the height of trunk can be arbitrarily adjusted according to the height of human body, so as to
To allow robot preferably to be serviced, it is not more convenient to operate operating with for person yet.Utilize above-mentioned obstacle avoidance module and universal wheel
Avoidance and automatic movement may be implemented in mechanism, can adapt to position and the height of human body automatically.Pass through above-mentioned mode, the present invention
Robot can also realize the carrying of personage, human body can be carried to required place.Robot loses control in order to prevent
System ensures the safety in robot driving process.By the above-mentioned means, the automatic fastening of charging plug may be implemented.
Other features and advantages of the present invention will be described in detail in subsequent specific embodiment part.
Description of the drawings
Attached drawing is to be used to provide further understanding of the present invention, an and part for constitution instruction, with following tool
Body embodiment is used to explain the present invention together, but is not construed as limiting the invention.In the accompanying drawings：
Fig. 1 is the structural representation for the adaptive inductive charging auxiliary carrying robot for illustrating a kind of preferred embodiment of the present invention
Figure；
Fig. 2 is the structural schematic diagram for the lower housing for illustrating a kind of preferred embodiment of the present invention.
Reference sign
1 face recognition module, 2 head
3 flexible trunk, 4 upper shell
5 lower housing, 6 telescopic rod
7 obstacle avoidance module, 8 universal wheel mechanism
9 pedal, 10 handle
11 1 keys close 12 braking vane of button
13 charging interfaces
Specific implementation mode
The specific implementation mode of the present invention is described in detail below in conjunction with attached drawing.It should be understood that this place is retouched
The specific implementation mode stated is merely to illustrate and explain the present invention, and is not intended to restrict the invention.
In the present invention, in the absence of explanation to the contrary, the noun of locality used such as " upper and lower, left and right " typically refers to
It is as shown in Figure 1 up and down." inside and outside " refer in specific profile it is interior with it is outer." remote, close " refers to relative to some component
Far with closely.
The present invention provides a kind of adaptive inductive charging auxiliary carrying robot, the adaptive inductive charging auxiliary carrying robot packet
It includes：Face recognition module, human body induction module, head, controller, driving mechanism, flexible trunk, obstacle avoidance module, universal turbine
Structure, pedal, braking vane, a key close button and automatic clamping component；Wherein, the header shelf is set on the flexible trunk, and
It can be freely rotated on the flexible trunk；The face recognition module and human body induction module are all set to the head
On, in the case where sensing human body, start face recognition module, and the driving mechanism is controlled by the controller simultaneously
The flexible trunk is driven to execute stretching motion, until the face that the face recognition module recognizes human body stops the driving
The driving of mechanism, the universal wheel mechanism are set to the lower section of the flexible trunk, to drive the flexible trunk to execute movement,
The obstacle avoidance module and the universal wheel mechanism are connected to the controller, in the case where sensing human body, the controller
The position that the universal wheel mechanism drives the flexible trunk to be moved to the human body is controlled, and in the effect of the obstacle avoidance module
Under, execute urgent avoidance；One end of the pedal is articulated with the flexible trunk, and the other end, which can be received, is laminated on the flexible trunk
Upper formation, which receives overlapping state or can keep being horizontally formed, can trample state；One key closes button and is installed on the head,
And a key closes button and is electrically connected to the controller, in the case where pressing, a key closes the confession of the controller
Electricity, the braking vane are set on the pedal, and the braking vane is set on the pedal, and are connected to the universal wheel
Mechanism, to realize the stopping of the universal wheel mechanism；The bottom of the flexible trunk is provided with charging interface, the automatic fastening
Part is set in the charging interface, and in the case where sensing charging plug, the automatic clamping component executes automatic fastening, with
The fixed charging plug.
By above-mentioned embodiment, robot can be allowed with the adjusting for needing to carry out height so that robot can be with
The adjusting of random carry out height.And the mode adjusted is fairly simple, is convenient for controlling.Utilize the adaptive inductive charging of design
Auxiliary carrying robot, may be implemented the induction of human body, the height of trunk can be arbitrarily adjusted according to the height of human body, so as to
To allow robot preferably to be serviced, it is not more convenient to operate operating with for person yet.Utilize above-mentioned obstacle avoidance module and universal wheel
Avoidance and automatic movement may be implemented in mechanism, can adapt to position and the height of human body automatically.Pass through above-mentioned mode, the present invention
Robot can also realize the carrying of personage, human body can be carried to required place.Robot loses control in order to prevent
System ensures the safety in robot driving process.Button is closed using a key, the stopping driving of driving mechanism may be implemented,
Coordinate braking vane to realize that the movement of whole device stops, ensureing the safety of whole device.By the above-mentioned means, may be implemented to charge
The automatic fastening of plug.
The present invention is further detailed below in conjunction with attached drawing 1, in the present invention, in order to improve being applicable in for the present invention
Range is especially realized using following specific implementation modes.
In a kind of specific implementation mode of the present invention, the flexible trunk may include：Upper shell, lower housing and flexible
Bar, the telescopic rod are set between the upper shell and lower housing, and the driving mechanism is installed on the lower housing, and
It is connected to the upper shell, to drive the upper shell and lower housing to do close to movement or far from movement；The telescopic rod can
The direction of motion of the upper shell and lower housing is allowed to be kept fixed.
By above-mentioned embodiment, the stretching motion of trunk may be implemented, and the direction of motion can be allowed to be maintained at one
On a straight line.
In this kind of embodiment, in order to realize the flexible of upper shell and the lower housing, and realizes and automatically control, it is described
Driving mechanism is cylinder, and the shell of the cylinder is fixed on the lower housing, and the telescopic rod of the cylinder is fixed in described
Upper shell.
In this kind of embodiment, in order to realize the flexible of upper shell and lower housing, the quantity of the telescopic rod be it is multiple,
And it is uniformly distributed between the upper shell and lower housing.
In this kind of embodiment, in order to realize the conducting of circuit, allow the circuit on top that can be transmitted to lower half portion, institute
It states and is provided with seal pipe between lower housing and the upper shell, one end of the seal pipe is communicated in the upper shell, the other end
It is communicated in the lower housing.
In this kind of embodiment, in order to carry out the certification of personage, and the identification of human body is realized, the upper casing
It is provided with the accommodating chamber with opening on body, certification authority is provided in the accommodating chamber, and be provided in the opening
Induction sealing lid, in the case where the face recognition module recognizes the face of human body, the induction sealing lid automatically opens,
And authentication is carried out by the certification authority.
In this kind of embodiment, in order to carry out display alarm, allows authentication result to be conveyed directly to tester, avoid voice
Signal is influenced not receiving by environment, and the induction sealing lid is provided with LED display on the end face outside, described
LED display is electrically connected to the controller, to receive the signal of the controller, shows authentication result.
In this kind of embodiment, in order to realize the identification of finger print identifying and identity card, the certification authority is recognized for fingerprint
Demonstrate,prove mechanism or authentication ids mechanism.
In this kind of embodiment, in order to realize that avoidance, the obstacle avoidance module include：It obstacle sensor and adaptively leads
Boat system, the obstacle sensor are set on the flexible trunk, to incude the barrier in the flexible trunk travel direction
Hinder object, and in the case where sensing the barrier, controls adaptive navigation system programme path again, and universal
It takes turns and executes movement according to programme path again under the drive of mechanism.
In this kind of embodiment, in order to preferably carry out avoidance, the quantity of the obstacle sensor is multiple, and
It is even to be set in the circumferential direction of the flexible trunk.
In this kind of embodiment, user is skidded above in order to prevent, is provided on the end face of the pedal anti-skidding
Protrusion.
It in this kind of embodiment, is driven in order to facilitate driver, allows it that can ensure safety, on the upper shell
It is provided with handle.
In this kind of embodiment, in order to ensure the balance of device so that driver can keep balancing in robot,
It is provided with clump weight on the lower housing, to keep the balance of the flexible trunk.
In this kind of embodiment, in order to realize that the automatic fastening of charging plug, the automatic clamping component include：Contact passes
Sensor and clamp button of the spring；Wherein, the contact sensor is set in the charging interface, the case where touching charging plug
Under, the clamp button of the spring engages the charging plug, and in the case where charging is full of, the clamp button of the spring unclamps the charging and inserts
Head.
The preferred embodiment of the present invention is described in detail above in association with attached drawing, still, the present invention is not limited to above-mentioned realities
The detail in mode is applied, within the scope of the technical concept of the present invention, a variety of letters can be carried out to technical scheme of the present invention
Monotropic type, these simple variants all belong to the scope of protection of the present invention.
It is further to note that specific technical features described in the above specific embodiments, in not lance
In the case of shield, can be combined by any suitable means, in order to avoid unnecessary repetition, the present invention to it is various can
The combination of energy no longer separately illustrates.
In addition, various embodiments of the present invention can be combined randomly, as long as it is without prejudice to originally
The thought of invention, it should also be regarded as the disclosure of the present invention.
Claims (10)
1. a kind of adaptive inductive charging auxiliary carrying robot, which is characterized in that the adaptive inductive charging auxiliary carries robot and includes：
Face recognition module (1), human body induction module, head (2), controller, driving mechanism, flexible trunk (3), obstacle avoidance module (7),
Universal wheel mechanism (8), pedal (9), braking vane (12), a key close button (11) and automatic clamping component；Wherein, the head
(2) it is set up on the flexible trunk (3), and can be freely rotated on the flexible trunk (3)；The face recognition module
(1) it is all set on the head (2) with human body induction module, in the case where sensing human body, starts face recognition module
(1), and controlling the driving mechanism by the controller simultaneously drives the flexible trunk (3) to execute stretching motion, until
The face that the face recognition module (1) recognizes human body stops the driving of the driving mechanism, and the universal wheel mechanism (8) sets
It is placed in the lower section of the flexible trunk (3), to drive the flexible trunk (3) to execute movement, the obstacle avoidance module (7) and described
Universal wheel mechanism (8) is connected to the controller, and in the case where sensing human body, the controller controls the universal turbine
Structure (8) drives the flexible trunk (3) to be moved to the position of the human body, and under the action of the obstacle avoidance module (7), executes
Urgent avoidance；One end of the pedal (9) is articulated with the flexible trunk (3), and the other end, which can be received, is laminated on the flexible trunk
(3) it is formed to receive overlapping state or can keep being horizontally formed on and can trample state；One key closes button (11) and is installed on institute
Head (2) is stated, and a key closes button (11) and is electrically connected to the controller, in the case where pressing, a key is closed
The power supply of the controller, the braking vane (12) are set on the pedal (9), and the braking vane (12) be set to it is described
On pedal (9), and it is connected to the universal wheel mechanism (8), to realize the stopping of the universal wheel mechanism (8)；The flexible body
The bottom of dry (3) is provided with charging interface (13), and the automatic clamping component is set in the charging interface (13), is sensing
In the case of charging plug, the automatic clamping component executes automatic fastening, with the fixation charging plug.
2. adaptive inductive charging auxiliary carrying robot according to claim 1, which is characterized in that the flexible trunk (3)
Including：Upper shell (4), lower housing (5) and telescopic rod (6), the telescopic rod (6) are set to the upper shell (4) and lower housing
(5) between, and the driving mechanism is installed on the lower housing (5), and is connected to the upper shell (4), described in drive
Upper shell (4) and lower housing (5) are done close to movement or far from movement；The telescopic rod (6) can allow the upper shell (4) and under
The direction of motion of shell (5) is kept fixed.
3. adaptive inductive charging auxiliary carrying robot according to claim 2, which is characterized in that the driving mechanism is gas
Cylinder, and the shell of the cylinder is fixed on the lower housing (5), the telescopic rod (6) of the cylinder is fixed in the upper shell
(4)。
4. adaptive inductive charging auxiliary carrying robot according to claim 2, which is characterized in that the lower housing (5) and
Seal pipe is provided between the upper shell (4), one end of the seal pipe is communicated in the upper shell (4), other end connection
In the lower housing (5).
5. adaptive inductive charging auxiliary carrying robot according to claim 2, which is characterized in that on the upper shell (4)
It is provided with the accommodating chamber with opening, certification authority is provided in the accommodating chamber, and the opening is provided with induction
Sealing cover, in the case where the face recognition module (1) recognizes the face of human body, the induction sealing lid automatically opens,
And authentication is carried out by the certification authority.
6. adaptive inductive charging auxiliary carrying robot according to claim 5, which is characterized in that induction sealing lid court
It is provided with LED display on external end face, the LED display is electrically connected to the controller, to receive the control
The signal of device shows authentication result.
7. adaptive inductive charging auxiliary carrying robot according to claim 1, which is characterized in that the obstacle avoidance module (7)
Including：Obstacle sensor and adaptive navigation system, the obstacle sensor are set on the flexible trunk (3), with
Incude the barrier in flexible trunk (3) travel direction, and in the case where sensing the barrier, control is described certainly
Navigation system programme path again is adapted to, and movement is executed according to programme path again under the drive of universal wheel mechanism (8)；Institute
The quantity for stating obstacle sensor is multiple, and is uniformly arranged in the circumferential direction of the flexible trunk (3).
8. adaptive inductive charging auxiliary carrying robot according to claim 2, which is characterized in that on the upper shell (4)
It is provided with handle (10).
9. adaptive inductive charging auxiliary carrying robot according to claim 2, which is characterized in that on the lower housing (5)
It is provided with clump weight, to keep the balance of the flexible trunk (3).
10. adaptive inductive charging auxiliary carrying robot according to claim 2, which is characterized in that the automatic clamping component
Including：Contact sensor and clamp button of the spring；Wherein, the contact sensor is set in the charging interface (13), is being contacted
In the case of charging plug, the clamp button of the spring engages the charging plug, in the case where charging is full of, the Spring Card
Button unclamps the charging plug.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810372090.5A CN108656126A (en) | 2018-04-24 | 2018-04-24 | Adaptive inductive charging auxiliary carrying robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810372090.5A CN108656126A (en) | 2018-04-24 | 2018-04-24 | Adaptive inductive charging auxiliary carrying robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108656126A true CN108656126A (en) | 2018-10-16 |
Family
ID=63780119
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810372090.5A Withdrawn CN108656126A (en) | 2018-04-24 | 2018-04-24 | Adaptive inductive charging auxiliary carrying robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108656126A (en) |
-
2018
- 2018-04-24 CN CN201810372090.5A patent/CN108656126A/en not_active Withdrawn
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| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20181016 |
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| WW01 | Invention patent application withdrawn after publication |