CN109159132A - A kind of Liftable type service robot - Google Patents
A kind of Liftable type service robot Download PDFInfo
- Publication number
- CN109159132A CN109159132A CN201811167040.XA CN201811167040A CN109159132A CN 109159132 A CN109159132 A CN 109159132A CN 201811167040 A CN201811167040 A CN 201811167040A CN 109159132 A CN109159132 A CN 109159132A
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- China
- Prior art keywords
- fixedly connected
- shell
- positive
- support column
- robot
- Prior art date
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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
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
Abstract
The invention discloses a kind of Liftable type service robots, including shell, the left and right sides of the inner walls is fixedly connected by slide bar, the left and right sides on the slide bar surface is connected with sliding block, corner block is fixedly connected at the top of the sliding block, sliding slot is offered at the top of the corner block, the internal activity of the sliding slot is connected with pulley, and the top of the pulley, which is run through sliding slot and extended to, is fixedly connected with support column outside it.The present invention is cooperated by slide bar, sliding block, corner block, sliding slot, pulley, support column, rack gear, rolling bearing, driven spindle, gear, driven wheel of differential, positive and negative motor, positive and negative shaft and drive bevel gear, playing makes service robot have height-adjustable function, it can satisfy people of different heights group to use, improve the effect of human-computer interaction, improve the practicability of service robot, be conducive to businessman to promote, ensure the economic benefit of producer.
Description
Technical field
The present invention relates to robotic technology field, specially a kind of Liftable type service robot.
Background technique
In contemporary industry, robot refers to the man-made machine device that can execute task automatically, to replace or assist the mankind
Work, ideal in highly emulated robot be advanced integral traffic control opinion, mechano-electronic, computer and artificial intelligence, materialogy and
Bionic product, currently, service robot industry has obtained quick development, service robot is of wide application,
Welcome is mainly engaged in receive, guidance promotion, back work, explain the work such as publicity, guidance medical treatment, information inquiry and customization.
And common service robot does not have height-adjustable function, cannot according to the difference of different crowd height and
Corresponding height adjustment is carried out, is easy to cause the effect of human-computer interaction undesirable, makes service robot that there is certain limitation,
It is unfavorable for producer to be promoted on the market, has seriously affected the economic benefit of producer.
Summary of the invention
The purpose of the present invention is to provide a kind of Liftable type service robots, have height-adjustable advantage, solve
Common service robot does not have the problem of adjustable height function.
To achieve the above object, the invention provides the following technical scheme: a kind of Liftable type service robot, including shell
The left and right sides of body, the inner walls is fixedly connected by slide bar, and the left and right sides on the slide bar surface is connected with
Sliding block is fixedly connected with corner block at the top of the sliding block, sliding slot, the inside of the sliding slot is offered at the top of the corner block
It is connected with pulley, the top of the pulley, which is run through sliding slot and extended to, is fixedly connected with support column outside it, the support
The top of column is through shell and extends to outside it, and the top of two support columns is fixedly connected by robot body, the machine
Midpoint at the top of device human agent is fixedly connected with robot head, is fixedly connected at left and right sides of the robot body
Robot arm, the bottom of the sliding block are fixedly connected with the groove of rack gear, the inner walls front and rear sides and corresponding rack gear
It is inside fixedly connected to rolling bearing, is flexibly connected between two rolling bearings by driven spindle, the driven spindle surface
And the position of corresponding rack gear is fixedly connected with rack gear pitch wheel, the driven spindle surface and after gear
Side is fixedly connected with driven wheel of differential, the bottom and position of corresponding driven wheel of differential is fixedly connected at left and right sides of the shell
Positive and negative motor is fixedly connected with positive and negative shaft on the output shaft of the positive and negative motor, and the positive and negative shaft is far from positive and negative motor
One end, which is run through shell and extended to inside it, to be fixedly connected with and the intermeshing drive bevel gear of driven wheel of differential.
Preferably, the bottom of the shell is fixedly connected with non-slipping block, and the surface of the non-slipping block offers anti-skid chequer.
Preferably, the midpoint of the inner walls bottom is fixedly connected with baffle, the top of the baffle and slide bar
Bottom contacts with each other.
Preferably, it is fixedly connected to limit plate at left and right sides of the support column and positioned at the position of case top, it is described
It contacts with each other at the top of the bottom of limit plate and shell.
Compared with prior art, beneficial effects of the present invention are as follows:
1, the present invention passes through slide bar, sliding block, corner block, sliding slot, pulley, support column, rack gear, rolling bearing, driven spindle, tooth
Wheel, driven wheel of differential, positive and negative motor, positive and negative shaft and drive bevel gear cooperate, play have service robot can
The function of adjusting height can satisfy people of different heights group and use, improves the effect of human-computer interaction, improve service-delivery machine
The practicability of people is conducive to businessman and promotes, and has ensured the economic benefit of producer.
2, the present invention avoids service robot from sliding because of external force by setting non-slipping block, is kept off by setting
Plate plays the position-limiting action to rack gear, limits the range of rack movement, by the way that limit plate is arranged, plays to support column
Position-limiting action, thus anti-limited slip wheel be detached from sliding slot.
3, by the in the same direction towards being arranged of corner block, it can greatly reduce in shell and two gear transmission structures are installed most
Small width, the furthermore fixation and transmission connection of two limit plates and arm, compound rubber bushing and arc is centrosymmetric engraves
Empty region, which to realize using same transmission mechanism, to wave, inclined lift, waves, has movement of waving before lifting action, can be with
Safer carry out synthetic job.
Detailed description of the invention
Fig. 1 is the cross-sectional view of the structure of front view of the present invention；
Fig. 2 is the cross-sectional view of the structure of top view of the present invention；
Fig. 3 is the partial enlarged view of A in Fig. 2 of the present invention.
In figure: 1 shell, 2 slide bars, 3 sliding blocks, 4 corner blocks, 5 sliding slots, 6 pulleys, 7 support columns, 8 robot bodies, 9 machines
Head part, 10 robot arms, 11 rack gears, 12 rolling bearings, 13 driven spindles, 14 gears, 15 driven wheel of differential, 16 positive and negative electricity
Machine, 17 positive and negative shafts, 18 drive bevel gears, 19 non-slipping blocks, 20 baffles, 21 limit plates.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
First embodiment: please referring to Fig. 1-3, as shown in claim 1, a kind of Liftable type service robot, and packet
Shell 1 is included, the left and right sides of 1 inner wall of shell is fixedly connected by slide bar 2, and the bottom of shell 1 is fixedly connected with non-slipping block 19, prevents
The surface of sliding block 19 offers anti-skid chequer, by setting non-slipping block 19, service robot is avoided to slide because of external force,
The left and right sides on 2 surface of slide bar is connected with sliding block 3, and the top of sliding block 3 is fixedly connected with corner block 4, the top of corner block 4
Portion offers sliding slot 5, and the internal activity of sliding slot 5 is connected with pulley 6, and the top of pulley 6 through sliding slot 5 and extends to its outside admittedly
Surely it is connected with support column 7,7 left and right sides of the support column and position for being located at 1 top of shell is fixedly connected to limit plate 21 limits
The bottom of plate 21 and the top of shell 1 contact with each other, and by setting limit plate 21, play the position-limiting action to support column 7, from
And anti-limited slip wheel 6 is detached from sliding slot 5, the top of support column 7 through shell 1 and extends to outside it, and the top of two support columns 7 is logical
It crosses robot body 8 to be fixedly connected, the midpoint at 8 top of robot body is fixedly connected with robot head 9, robot body
8 left and right sides is fixedly connected to robot arm 10, and the bottom of sliding block 3 is fixedly connected with rack gear 11,1 inner wall bottom of shell
Midpoint be fixedly connected with baffle 20, the top of baffle 20 and the bottom of slide bar 2 contact with each other, by be arranged baffle 20, rise
The position-limiting action to rack gear 11 has been arrived, has limited the range of the movement of rack gear 11,1 inner wall front and rear sides of shell and corresponding rack gear 11
It is fixedly connected to rolling bearing 12 in groove, is flexibly connected between two rolling bearings 12 by driven spindle 13, from turn
13 surface of axis and the position of corresponding rack gear 11 be fixedly connected with 11 pitch wheel 14 of rack gear, 13 surface of driven spindle and
Driven wheel of differential 15 is fixedly connected with positioned at the rear side of gear 14,1 left and right sides bottom of shell and corresponding driven wheel of differential 15
Position is fixedly connected to positive and negative motor 16, and positive and negative shaft 17, positive and negative shaft are fixedly connected on the output shaft of positive and negative motor 16
17 one end far from positive and negative motor 16 are fixedly connected with through shell 1 and extending to inside it and driven wheel of differential 15 is intermeshed
Drive bevel gear 18, by slide bar 2, sliding block 3, corner block 4, sliding slot 5, pulley 6, support column 7, rack gear 11, rolling bearing 12,
Driven spindle 13, gear 14, driven wheel of differential 15, positive and negative motor 16, positive and negative shaft 17 and drive bevel gear 18 cooperate, and rise
To making service robot have height-adjustable function, it can satisfy people of different heights group and use, improve man-machine friendship
Mutual effect improves the practicability of service robot, is conducive to businessman and promotes, and has ensured the economic benefit of producer.
In use, forward direction starts positive and negative motor 16, by positive and negative 16 band of motor when needing to be promoted the height of service robot
It moves positive and negative shaft 17 to rotate, positive and negative shaft 17 drives drive bevel gear 18 to rotate, and drive bevel gear 18 drives driven wheel of differential 15
Rotation, driven wheel of differential 15 drive driven spindle 13 to rotate, and driven spindle 13 is rotated with moving gear 14, thus successively band carry-over bar
11, sliding block 3 and corner block 4 are moved to the direction of baffle 20, since corner block 4 and pulley 6 cooperate, to successively drive branch
Dagger 7 and robot body 8 move upwards, until closing positive and negative motor 16 i.e. after robot body 8 rises to suitable height
Can, similarly, when needing to reduce the height of service robot, only need the positive and negative motor 16 of reverse starting.
In summary: the Liftable type service robot passes through slide bar 2, sliding block 3, corner block 4, sliding slot 5, pulley 6, branch
Dagger 7, rack gear 11, rolling bearing 12, driven spindle 13, gear 14, driven wheel of differential 15, positive and negative motor 16, positive and negative shaft 17
It cooperates with drive bevel gear 18, solves the problems, such as that common service robot does not have adjustable height function.
Second embodiment: a kind of Liftable type service robot, including shell 1, the left and right sides of 1 inner wall of shell
It is fixedly connected by slide bar 2, the left and right sides on 2 surface of slide bar is connected with sliding block 3, the top of each sliding block 3
Portion is fixedly connected to a corner block 4, and the top of the corner block 4 offers sliding slot 5, the internal activity connection of the sliding slot 5
There is pulley 6, the top of the pulley 6 through sliding slot 5 and extends to behind its outside by connecting by the way that an inclined connecting rod is fixed
It is connected to support column 7, the top of the support column 7 is extended through to outside it by two through-holes on shell 1, two support columns
7 top and robot body 8, which rotate, to be connected, and the midpoint at 8 top of robot body is fixedly connected with robot head
9, the left and right sides of the robot body 8 is hingedly connected with robot arm 10, and robot arm 10 runs through robot master
It is deep into the main body after body 8 and by guide rod extension, the inclined side of two corner blocks 4 towards the same side of shell 1, makes
The sliding slot 5 obtained on two corner blocks is parallel to each other, and two inclined connecting rods are parallel to each other, and run through on shell 1 for support column 7
Two through-holes inner wall on be provided with a hollow and annular rubber bushing, which coats support column 7, on robot body 8
The bottom of shell 1 is provided with two sections of symmetrical arc hollowed out areas, the concyclic heart of two of them segmental arc, two support columns 7
The end on the guide rod on robot arm 10 behind two hollowed out areas with the inside of robot body 8 is passed through respectively
It is fixedly connected, wherein being fixedly connected to the first limit at left and right sides of the support column 7 and positioned at the position in 1 top inner wall face of shell
Position plate, the top of first limit plate and the top of shell 1 contact with each other, and are protruding from 7 cylinder of support column outside shell 1
Second limit plate 21 is set at the upper and close shell 1；
The bottom of the sliding block 3 is fixedly connected with rack gear 11, in the groove of the 1 inner wall front and rear sides of shell and corresponding rack gear 11
It is fixedly connected to rolling bearing 12, is flexibly connected between two rolling bearings 12 by driven spindle 13.The driven spindle
The 13 surfaces and position of corresponding rack gear 11 is fixedly connected with and 11 pitch wheel 14 of rack gear, 13 surface of driven spindle
And the rear side for being located at gear 14 is fixedly connected with driven wheel of differential 15,1 left and right sides bottom of shell and correspondence from mantle tooth
The position of wheel 15 is fixedly connected to positive and negative motor 16, is fixedly connected with positive and negative shaft on the output shaft of the positive and negative motor 16
17, the one end of the positive and negative shaft 17 far from positive and negative motor 16 through shell 1 and extending to inside it be fixedly connected with it is driven
The intermeshing drive bevel gear 18 of bevel gear 15.
Further, the through-hole wall inner wall in the limit plate inside the shell 1 does smooth milled processed, rubber bushing
Inner wall do coarse processing.
Further, the bottom of the shell 1 is fixedly connected with non-slipping block 19, and the surface of the non-slipping block 19 offers anti-
Sliding line.
Further, the midpoint of the 1 inner wall bottom of shell is fixedly connected with baffle 20, the top of the baffle 20 with
The bottom of slide bar 2 contacts with each other.
21 position of limit plate in embodiment one is moved in 1 top inner wall of shell in the embodiment, and two
New limit plate is increased in a support column main body 7, by the in the same direction towards setting of corner block, can be greatly reduced in shell
The minimum widith of two gear transmission structures is installed, furthermore the fixation and transmission connection of two limit plates and arm, cooperation rubber
Glue bushing and the centrosymmetric hollowed out area of arc, which to realize using same transmission mechanism, waves, inclined lift, waves, simultaneously
Wave movement so that having before carrying out lifting action, can be safer need multiple degrees of freedom to operate, especially rise
Need to carry out before drop early warning wave movement signal synthetic job.The course of work of the embodiment is as follows:
When only need that robot arm wave operation when, forward direction starts positive and negative motor 16, is driven just by positive and negative motor 16
Reversing shaft 17 rotates, and positive and negative shaft 17 drives drive bevel gear 18 to rotate, and drive bevel gear 18 drives driven wheel of differential 15 to rotate,
Driven wheel of differential 15 drives driven spindle 13 to rotate, and driven spindle 13 is rotated with moving gear 14, thus successively band carry-over bar 11, sliding
Block 3 and left side corner block 4 are moved towards the direction of baffle 20, and the corner block on the right is moved far from 20 direction of baffle, due to triangle
Block 4 and pulley 6 cooperate, to successively support column 7 be driven to move upwards, support column 7 slides in house type hollowed out area, and
And drive and be deep into guide rod in ontology 8 on arm 10, drive the guide rod to move upwards so that arm 10 with this
Run-off the straight is swung at the articulated connection of body 8, until the second limit plate on the support column 7 abuts the bottom surface of ontology 8, is cut at this time
The direction of rotation for changing motor 16 drives the corner block 4 on the left side to move far from the direction of baffle 20, and the corner block on the right is towards baffle
The movement of 20 directions drives the guide rod to move downward, to make so that driving the guide rod being deep into ontology 8 on arm 10
Arm 10 is obtained to swing with run-off the straight at the articulated connection of ontology 8, moves in circles and realizes the swing of arm.
When needing to be implemented the height for promoting service robot and the operation for the early warning movement that needs to wave before lifting, then just
To positive and negative motor 16 is started, positive and negative shaft 17 is driven to rotate by positive and negative motor 16, positive and negative shaft 17 drives drive bevel gear 18 to revolve
Turn, drive bevel gear 18 drives driven wheel of differential 15 to rotate, and driven wheel of differential 15 drives driven spindle 13 to rotate, driven spindle 13
Band moving gear 14 rotates, to successively move with carry-over bar 11, sliding block 3 and left side corner block 4 towards the direction of baffle 20, the right
Corner block moved far from 20 direction of baffle, since corner block 4 and pulley 6 cooperate, to successively drive support column 7 upward
Movement, support column 7 slides in arc hollowed out area, and drives the guide rod being deep into ontology 8 on arm 10, and driving should
Guide rod moves upwards, so that arm 10 is with run-off the straight at the articulated connection of ontology 8 to swing, until the support column 7
On the second limit plate abut ontology 8 bottom surface, then motor works on so that the second limit plate on support column 7 pushes away
The bottom surface of mobile robot main body 8, as motor continues to rotate, to push robot theme 8 integrally to move upwards, until machine
After human agent 8 rises to suitable height, positive and negative motor 16 is closed, similarly, when the height for needing to reduce service robot
When, only need the positive and negative motor 16 of reverse starting.
In above-mentioned two operation process, two corner blocks 4 move in the same direction, will not occur such as two in first embodiment
A corner block deviates from the movement of baffle 20 simultaneously, when moving out at the same time so as to avoid the rack gear 11 of two corner blocks of carrying
The minimum for needing to occupy longer width, therefore reducing shell 1 needs to install and design width, saves material and space.
When need to robot carry out Integral swinging when, then can with the positive and negative motor 17 under two corner blocks 4 of independent control,
It keeps revolving speed identical first, when the second limit plate 21 on two support columns 7 abuts to the bottom surface of ontology 8 simultaneously, is switched to
The revolving speed of two motors is different, so that the rate of climb of the support column 7 of a side is faster than another party, so that ontology direction rises
Slower 7 side of support column inclination, the rubber annular bushing that two support columns 7 coat in the through-hole in shell 1 make straight
The vertical state that support column 7 is kept when line lift work, occurs elastically-deformable expansive force then when needing to tilt operation to protect
That demonstrate,proves support column 7 stablizes inclination without unstable irregular collision occurs in the through-hole in shell 1 again.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (4)
1. a kind of Liftable type service robot, including shell (1), it is characterised in that: the left and right sides of shell (1) inner wall
It is fixedly connected by slide bar (2), the left and right sides on slide bar (2) surface is connected with sliding block (3), each sliding block
(3) it is fixedly connected at the top of a corner block (4), is offered sliding slot (5) at the top of the corner block (4), the sliding slot (5)
Internal activity be connected with pulley (6), the top of the pulley (6) passes through through sliding slot (5) and after extending to its outside
One inclined connecting rod is fixedly attached to support column (7), and the top of the support column (7) passes through two through-holes on shell (1)
It extends through to outside it, the midpoint at the top of the robot body (18) is fixedly connected with robot head (9), the machine
The left and right sides of device human agent (8) is hingedly connected with robot arm (10), and robot arm (10) runs through robot body
(8) it is deep into the main body (8) afterwards and by guide rod extension, the inclined side of two corner blocks (4) is towards the same of shell (1)
Side, so that the sliding slot (5) on two corner blocks is parallel to each other, two inclined connecting rods are parallel to each other, and supply on shell (1)
A hollow and annular rubber bushing is provided on the inner wall of perforative two through-holes of support column (7), which coats support column (7),
The bottom of shell (1) is provided with two sections of centrosymmetric arc hollowed out areas, two of them arc on robot body (8)
The concyclic heart of shape section, two support columns (7) are passed through behind two hollowed out areas with the inside of robot body (8) respectively positioned at machine
The end on guide rod in human arm (10) is fixedly connected, wherein at left and right sides of the support column (7) and being located at shell (1) top
The position of portion's inner wall is fixedly connected to the first limit plate, and the top of first limit plate and the top of shell (1) are mutual
The second limit plate (21) are arranged on protruding from external support column (7) cylinder of shell (1) and at the shell (1) in contact；
The bottom of the sliding block (3) is fixedly connected with rack gear (1), shell (1) the inner wall front and rear sides and correspondence rack gear (11)
Groove in be fixedly connected to rolling bearing (12), between two rolling bearings (12) by driven spindle (13) activity even
It connects, the position of driven spindle (13) surface and corresponding rack gear (11) is fixedly connected with and rack gear (11) pitch wheel
(14), driven spindle (13) surface and be located at gear (14) on rear side of be fixedly connected with driven wheel of differential (15), the shell
The position of bottom and corresponding driven wheel of differential (15) is fixedly connected to positive and negative motor (16) at left and right sides of body (1), described positive and negative
It is fixedly connected on the output shaft of motor (16) positive and negative shaft (17), the one of the positive and negative shaft (17) separate positive and negative motor (16)
End, which is run through shell (1) and extended to inside it, to be fixedly connected with and driven wheel of differential (15) intermeshing drive bevel gear
(18).
2. a kind of Liftable type service robot according to claim 1, it is characterised in that: the bottom of the shell (1)
It is fixedly connected with non-slipping block (19), the surface of the non-slipping block (19) offers anti-skid chequer.
3. a kind of Liftable type service robot according to claim 1, it is characterised in that: shell (1) the inner wall bottom
The midpoint in portion is fixedly connected with barrier plate (20), and the top of the baffle (20) and the bottom of slide bar (2) contact with each other.
4. a kind of Liftable type service robot according to claim 1, it is characterised in that: shell (1) inside
Through-hole wall inner wall in limit plate does smooth milled processed, and the inner wall of rubber bushing does coarse processing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811167040.XA CN109159132B (en) | 2018-10-08 | 2018-10-08 | Liftable formula service robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811167040.XA CN109159132B (en) | 2018-10-08 | 2018-10-08 | Liftable formula service robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109159132A true CN109159132A (en) | 2019-01-08 |
| CN109159132B CN109159132B (en) | 2021-12-17 |
Family
ID=64877408
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811167040.XA Active CN109159132B (en) | 2018-10-08 | 2018-10-08 | Liftable formula service robot |
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|---|---|
| CN (1) | CN109159132B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109893378A (en) * | 2019-02-22 | 2019-06-18 | 高娟 | A kind of doctor patient communication emergency care platform |
| CN112265016A (en) * | 2020-10-16 | 2021-01-26 | 苏州龙骐自动化科技有限公司 | Industrial robot base convenient to angle of adjustment |
| CN112919093A (en) * | 2021-01-19 | 2021-06-08 | 李冬生 | Lifting structure and high-altitude building feeding device |
| CN112959303A (en) * | 2021-02-07 | 2021-06-15 | 曲阜师范大学 | Shell structure of service robot based on 5G |
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| CN112959303A (en) * | 2021-02-07 | 2021-06-15 | 曲阜师范大学 | Shell structure of service robot based on 5G |
| CN112959303B (en) * | 2021-02-07 | 2023-08-01 | 曲阜师范大学 | 5G-based shell structure of service robot |
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