CN109773742A - A kind of service robot with motion control device - Google Patents
A kind of service robot with motion control device Download PDFInfo
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- CN109773742A CN109773742A CN201910217828.5A CN201910217828A CN109773742A CN 109773742 A CN109773742 A CN 109773742A CN 201910217828 A CN201910217828 A CN 201910217828A CN 109773742 A CN109773742 A CN 109773742A
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- fixedly connected
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- groove
- electric pushrod
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Abstract
The invention discloses a kind of service robots with motion control device, more particularly to robot field, including pedestal, the base top is fixedly connected with body housing, the body housing top is rotatably connected to head part, the base bottom is equipped with the first groove, and the base bottom is equipped with the second groove far from the side of the first groove.The present invention, which engages first gear by first motor transmission connection worm screw, makes drive shaft drive driving wheel, when steering, second motor drive third gear engages second gear, rotate bull stick in endless glide with support rod, convenient for adjusting steering mechanism direction, first electric pushrod pushes frame plate decline that sucker is made to contact ground, pumping pump work makes sucker suck ground, be conducive to the fixation of robot, after third motor output shaft the 4th gear pinion rack of transmission releases fagging, scaling platform is unfolded, placement tray is provided, second electric pushrod output shaft releases storage drawer and facilitates collection object.
Description
Technical field
The present invention relates to robot fields, it is more particularly related to a kind of service with motion control device
Robot.
Background technique
In today that modern science and technology are increasingly flourishing, robot have become the mankind the novel tool of production of one kind and
Auxiliary tool, it is all applied at many aspects of daily life, just gradually plays increasingly important role, and
It promotes production efficiency of the mankind etc. and shows great superiority in the labor intensity for mitigating the mankind.
The Chinese patent of 108839030 A of patent application publication CN discloses a kind of service robot, and head can erect
Directly actively it is set to the upper end of trunk；Perspective board is set on the side wall of shell, is provided with rotation between upper axle bed and lower axle bed
Axis；Extension rod is connected on the side wall of rotation axis, extension rod is connected with camera, the shooting of camera far from the end of rotation axis
Direction is towards perspective board；The bottom of the outer wall of shell is provided with microphone array, and microphone array, which is electrically connected with, is set to shell
Internal speech processing module, speech processing module voice messaging intensity according to acquired in microphone array identify voice output
Position；It is additionally provided with the 3D body-sensing camera for capturing user's limb action on the outer wall of shell, is provided with expansion on trunk
Interface panel is opened up, which can be directed toward with comprehensive 360 °, and it identifies that user's sound and limbs increase and mutually hands over experience,
And more service interfaces are provided and obtain preferably experience.
But still there is more disadvantage in practice in a kind of service robot provided in above-mentioned technical proposal,
It is unstable when such as robot motion, it is not easy to turn to adjusting, and function is few, bearing capacity is small.
Summary of the invention
In order to overcome the drawbacks described above of the prior art, the embodiment of the present invention provides a kind of clothes with motion control device
Be engaged in robot, engages first gear by the first motor worm screw that is sequentially connected drive shaft is made to drive driving wheel, when steering, the second electricity
Machine is driven third gear and engages second gear, rotates bull stick in endless glide with support rod, convenient for adjusting steering mechanism
Direction, the first electric pushrod push frame plate decline that sucker is made to contact ground, and pumping pump work makes sucker suck ground, is conducive to machine
The fixation of device people, the first accommodating groove and the second accommodating groove provide storage space, and third motor output shaft is driven the engagement of the 4th gear
After rack gear releases fagging, scaling platform is unfolded, placement tray is provided, the second electric pushrod output shaft releases storage drawer side
Just object is collected.
To achieve the above object, the invention provides the following technical scheme: a kind of service-delivery machine with motion control device
People, including pedestal, the base top are fixedly connected with body housing, and the body housing top is rotatably connected to head part, institute
Base bottom is stated equipped with the first groove, the base bottom is equipped with the second groove far from the side of the first groove, and described first is recessed
It is equipped with third groove between slot and the second groove, drive shaft is equipped in first groove, the drive shaft both ends are fixed to be connected
It is connected to driving wheel, first gear is equipped in the middle part of the drive shaft, the chassis interior is equipped with cavity, is fixedly connected in the cavity
There is a first motor, the first motor output shaft is equipped with speed reducer, and the speed reducer output shaft is equipped with worm screw, the worm screw and the
The engagement connection of one gear, second groove inner wall are equipped with endless glide, are equipped with support rod, the support in the endless glide
Bar top is welded with bull stick, and the bull stick top is fixedly connected with second gear, and the support rod bottom is equipped with steering mechanism, institute
It states and is equipped with the second motor in cavity, second motor output shaft is equipped with third gear, and the second gear is nibbled with third gear
Connection is closed, the third inside grooves are fixedly connected with the first electric pushrod, and first output end of electric push rod is fixedly connected
There is frame plate, aspiration pump is fixedly connected at the top of the frame plate, the frame plate bottom is equipped with sucker, the aspiration pump input terminal and suction
Disk is connected by high-voltage tube；
The body housing two sides are equipped with emulation mechanical arm, and the emulation mechanical arm is equipped with emulation far from one end of body housing
Manipulator, body housing front bottom are equipped with the first accommodating groove, and the second accommodating groove is equipped at the top of first accommodating groove, described
First accommodating groove basal sliding is connected with fagging, is fixedly connected with scaling platform at the top of the fagging, the fagging two sides are all provided with
There is rack gear, first accommodating groove two sides of the bottom are fixedly connected to third motor, and the third motor output shaft is equipped with the 4th
Gear, two the 4th gears match with two articles of rack gears respectively, and storage drawer is equipped with inside second accommodating groove, described
It stores drawer bottom and is equipped with the second electric pushrod, second output end of electric push rod is fixedly connected with storage drawer bottom, institute
The second electric pushrod other end is stated to be fixedly connected with body housing；
Central controller is equipped with inside the head part, the central controller includes single-chip microcontroller, the single-chip microcontroller
Connecting pin is equipped with sensing circuit and driving circuit, is fixedly connected with third motor at the top of the body housing, the third motor is defeated
Shaft and head part are sequentially connected.
In a preferred embodiment, the steering mechanism includes driven wheel, the company of rotation at the driven wheel axle center
It is connected to connecting rod, the connecting rod two sides, which are run through, gag lever post, and the gag lever post top is fixedly connected with support rod, the gag lever post
Outer sheath is equipped with spring, and the spring is arranged between support rod and connecting rod, and the junction of the support rod and endless glide is set
There is ball.
In a preferred embodiment, first groove two sides are equipped with two symmetrical card slots, the drive
Bearing is equipped on the outside of moving axis, the bearing matches with card slot, and the card slot bottom is equipped with cutting ferrule, and the card slot passes through with cutting ferrule
Screw is fixedly connected.
In a preferred embodiment, the connecting pin of the sensing circuit is equipped with camera, speech recognition module, red
Outer sensor, optical sensor, proximity sensor and contact sensor, the head part two sides are equipped with lug, the camera shooting
The front of lug is arranged in head, and the side of lug is arranged in the speech recognition module, and the infrared sensor is arranged in pedestal
Positive Middle face, the optical sensor are arranged at the top of the second accommodating groove, and the proximity sensor and contact sensor are arranged at
On the inside of simulation manipulator；
The connecting pin of the driving circuit is equipped with LED lamp source, player and touch display screen, and the LED lamp source setting exists
Head part top, in head part bottom end, the touch display screen is arranged at the top of player, described for the player setting
Emulate mechanical arm, simulation manipulator, first motor, the second motor, third motor and the 4th motor, the first electric pushrod, second
Electric pushrod, hoistable platform and aspiration pump are electrically connected with driving circuit.
In a preferred embodiment, the base front surface is set there are two symmetrical anticollision wheel, the pedestal
The back side is set there are two symmetrical anticollision wheel, and the anticollision wheel is connect with base rotation.
In a preferred embodiment, power module, the central controller, sensing are equipped with inside the body housing
Circuit and driving circuit are electrically connected with power module.
In a preferred embodiment, second motor, third motor and the 4th motor are disposed as servo electricity
Machine.
In a preferred embodiment, the input terminal of the single-chip microcontroller be equipped with A/D converter, the single-chip microcontroller it is defeated
Outlet is equipped with D/A converter, the camera, speech recognition module, infrared sensor, optical sensor, proximity sensor and connects
Sensor is touched to be electrically connected with A/D converter, the touch display screen and single-chip microcontroller are electrically connected, the emulation mechanical arm,
Simulation manipulator, first motor, the second motor, third motor, the 4th motor, the first electric pushrod, the second electric pushrod, lifting
Platform and aspiration pump, LED lamp source, player and touch display screen are electrically connected with D/A converter.
Technical effect and advantage of the invention:
1, it engages first gear by the first motor worm screw that is sequentially connected drive shaft is made to drive driving wheel, when steering, second
Motor drive third gear engages second gear, rotates bull stick in endless glide with support rod, convenient for adjusting turning machine
Structure direction, the first electric pushrod push frame plate decline that sucker is made to contact ground, and pumping pump work makes sucker suck ground, is conducive to
The fixation of robot, the first accommodating groove and the second accommodating groove provide storage space, and third motor output shaft is driven the 4th gear and nibbles
After conjunction rack gear releases fagging, scaling platform is unfolded, placement tray is provided, the second electric pushrod output shaft releases storage drawer
Facilitate collection object；
2, by two driven wheels of setting, the stability of robot motion, the junction of support rod and endless glide are improved
Equipped with ball, friction is reduced, allows the robot to flexibly turn to, gag lever post runs through connecting rod, and cooperates spring, is conducive to buffering and subtracts
Shake, improves the stationarity of robot motion, and 34 output shaft of the 4th motor transmission connection head part facilitates camera to turn to, increases
Big observation visual angle, anticollision wheel protection robot avoid front and back from colliding, when optical sensor 44 senses illuminance information and sends monolithic
Machine, when light source is darker, single-chip microcontroller opens LED lamp source, is conducive to protection and convenience in device actual use；
3, mechanical arm and simulation manipulator, proximity sensor and contact sensor sensing object position are emulated by setting,
It improves robot and controls precision, infrared sensor sensing object position, and cooperate two cameras for being symmetrically distributed in two sides, to
Single-chip microcontroller transmits road conditions, and single-chip microcontroller controls the rotation of the second motor, facilitates robot steering and avoiding obstacles, is conducive to robot
It realizes high-intelligentization, realizes popularization of the robot in service trade.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention.
Fig. 2 is whole left view of the invention.
Fig. 3 is bottom substance schematic diagram of the present invention.
Fig. 4 is the drive mechanism schematic diagram of first motor of the present invention.
Fig. 5 is the drive mechanism schematic diagram of second motor Fig. 1 of the present invention.
Fig. 6 is the attachment structure schematic diagram of aspiration pump of the present invention.
The portion the A schematic enlarged-scale view of the invention of Fig. 7.
Fig. 8 is the attachment structure schematic diagram of sensing circuit of the present invention and driving circuit.
Fig. 9 is control system architecture schematic diagram of the invention.
Appended drawing reference are as follows: 1 pedestal, 2 body housings, 3 head parts, 4 drive shafts, 5 driving wheels, 6 first gears, 7 power supply moulds
Block, 8 first motors, 9 speed reducers, 10 worm screws, 11 endless glides, 12 support rods, 13 bull sticks, 14 second gears, 15 second motors,
16 third gears, 17 first electric pushrods, 18 frame plates, 19 aspiration pumps, 20 suckers, 21 emulation mechanical arms, 22 simulation manipulators, 23
Fagging, 24 scaling platforms, 25 rack gears, 26 third motors, 27 the 4th gears, 28 storage drawers, 29 second electric pushrods, 30 centers
Controller, 31 single-chip microcontrollers, 32 sensing circuits, 33 driving circuits, 34 the 4th motors, 35 driven wheels, 36 connecting rods, 37 gag lever posts, 38
Spring, 39 bearings, 40 cutting ferrules, 41 cameras, 42 speech recognition modules, 43 infrared sensors, 44 optical sensors, 45 close sensings
Device, 46 contact sensors, 47 LED lamp sources, 48 players, 49 touch display screens, 50 anticollision wheels.
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.
Embodiment 1:
A kind of service robot with motion control device according to shown in Fig. 1-8, including pedestal 1, the pedestal 1 push up
Portion is fixedly connected with body housing 2, and 2 top of body housing is rotatably connected to head part 3, and 1 bottom of pedestal is equipped with first
Groove, 1 bottom of pedestal are set far from the side of the first groove there are two the second symmetrical groove, first groove with
It is equipped with third groove between second groove, is equipped with drive shaft 4 in first groove, 4 both ends of drive shaft are fixedly connected with
There is driving wheel 5, first gear 6 is equipped in the middle part of the drive shaft 4, cavity, fixed company in the cavity are equipped with inside the pedestal 1
It is connected to first motor 8,8 output shaft of first motor is equipped with speed reducer 9, and 9 output shaft of speed reducer is equipped with worm screw 10, described
Worm screw 10 engages connection with first gear 6, and second groove inner wall is equipped with endless glide 11, is equipped in the endless glide 11
Support rod 12,12 top of support rod are welded with bull stick 13, and 13 top of bull stick is fixedly connected with second gear 14, described
12 bottom of support rod is equipped with steering mechanism, is equipped with the second motor 15 in the cavity, and 15 output shaft of the second motor is equipped with the
Three gears 16, the second gear 14 engage connection with third gear 16, and the third inside grooves are fixedly connected with the first electricity
Dynamic push rod 17,17 output end of the first electric pushrod are fixedly connected with frame plate 18, are fixedly connected with pumping at the top of the frame plate 18
Air pump 19,18 bottom of frame plate are equipped with sucker 20, and 19 input terminal of aspiration pump is connect with sucker 20 by high-voltage tube；
2 two sides of body housing are equipped with emulation mechanical arm 21, and the emulation mechanical arm 21 is set far from one end of body housing 2
There is simulation manipulator 22, the positive bottom of the body housing 2 is equipped with the first accommodating groove, is equipped with second at the top of first accommodating groove and receives
Receive slot, the first accommodating groove basal sliding is connected with fagging 23, scaling platform 24, institute are fixedly connected at the top of the fagging 23
It states 23 two sides of fagging and is equipped with rack gear 25, first accommodating groove two sides of the bottom are fixedly connected to third motor 26, and described
Three motors, 26 output shaft is equipped with the 4th gear 27, and two the 4th gears 27 match with two articles of rack gears 25 respectively, and described the
Storage drawer 28 is equipped with inside two accommodating grooves, 28 bottom of storage drawer is equipped with the second electric pushrod 29, and described second is electronic
29 output end of push rod is fixedly connected with storage 28 bottom of drawer, 29 other end of the second electric pushrod and the fixed company of body housing 2
It connects；
Central controller 30 is equipped with inside the head part 3, the central controller 30 includes single-chip microcontroller 31, the list
The connecting pin of piece machine 31 is equipped with sensing circuit 32 and driving circuit 33, is fixedly connected with the 4th motor 34 at the top of the body housing 2,
26 output shaft of third motor and head part 3 are sequentially connected；
It engages first gear 6 by the worm screw 10 that is sequentially connected of first motor 8 drive shaft 4 is made to drive driving wheel 5, when steering,
Second motor 15 is driven third gear 16 and engages second gear 14, turns bull stick 13 in endless glide 11 with support rod 12
Dynamic, convenient for adjusting steering mechanism direction, the first electric pushrod 17 pushes the decline of frame plate 18 that sucker 20 is made to contact ground, aspiration pump 19
Work makes sucker 20 suck ground, is conducive to the fixation of robot, and the first accommodating groove and the second accommodating groove provide storage space, the
After three motors, 26 output shaft transmission 27 pinion rack 25 of the 4th gear releases fagging 23, scaling platform 24 is unfolded, provides and puts
Tray, 29 output shaft of the second electric pushrod release storage drawer 28 and facilitate collection object.
Embodiment 2:
A kind of service robot with motion control device, the steering mechanism include driven according to shown in Fig. 1-6
35 are taken turns, is rotatably connected to connecting rod 36 at 35 axle center of driven wheel, 36 two sides of connecting rod, which are run through, gag lever post 37, the limit
Position 37 top of bar is fixedly connected with support rod 12, and 37 outer sheath of gag lever post is equipped with spring 38, and the setting of spring 38 is being propped up
Between strut 12 and connecting rod 36, the support rod 12 and the junction of endless glide 11 are equipped with ball, driven by setting two
Wheel, improves the stability of robot motion, and support rod 12 and the junction of endless glide 11 are equipped with ball, reduce friction, make machine
Device people can flexibly turn to, and gag lever post 37 runs through connecting rod 36, and cooperates spring 38, be conducive to bumper and absorbing shock, improve robot fortune
Dynamic stationarity；
Further, first groove two sides are equipped with two symmetrical card slots, are equipped with axis on the outside of the drive shaft 4
39 are held, the bearing 39 matches with card slot, and it is solid by screw that the card slot bottom is equipped with cutting ferrule 40, the card slot and cutting ferrule 40
Fixed connection, fast and easy installation and maintenance replace component；
Further, the connecting pin of the sensing circuit 32 is equipped with camera 41, speech recognition module 42, infrared sensor
43, optical sensor 44, proximity sensor 45 and contact sensor 46,3 two sides of head part are equipped with lug, the camera shooting
First 41 are arranged in the front of lug, and the side of lug is arranged in the speech recognition module 42, and the infrared sensor 43 is arranged
In the positive Middle face of pedestal 1, the optical sensor 44 is arranged at the top of the second accommodating groove, the proximity sensor 45 and sensing contact
Device 46 is arranged at 22 inside of simulation manipulator, and the connecting pin of the driving circuit 33 is equipped with LED lamp source 47, player 48 and touching
Display screen 49 is touched, on 3 top of head part, the player 48 is arranged in 3 bottom end of head part for the setting of LED lamp source 47,
The touch display screen 49 setting is at 48 top of player, the emulation mechanical arm 21, simulation manipulator 22, first motor 8, the
Two motors 15, third motor 26 and the 4th motor 34, the first electric pushrod 17, the second electric pushrod 29, hoistable platform and pumping
Pump 19 is electrically connected with driving circuit 33；
Further, 1 front of pedestal is set there are two symmetrical anticollision wheel 50, and 1 back side of pedestal is equipped with two
A symmetrical anticollision wheel 50, the anticollision wheel 50 are rotatablely connected with pedestal 1,；
Further, power module 7, the central controller 30, sensing circuit 32 and drive are equipped with inside the body housing 2
Dynamic circuit 33 is electrically connected with power module 7；
Further, second motor 15, third motor 26 and the 4th motor 34 are disposed as servo motor；
Further, the input terminal of the single-chip microcontroller 31 is equipped with A/D converter, and the output end of the single-chip microcontroller 31 is equipped with D/
A converter, the camera 41, speech recognition module 42, infrared sensor 43, optical sensor 44, proximity sensor 45 and connects
It touches sensor 46 to be electrically connected with A/D converter, the touch display screen 49 is electrically connected with single-chip microcontroller 31, the replicating machine
Tool arm 21, simulation manipulator 22, first motor 8, the second motor 15, third motor 26, the 4th motor 34, the first electric pushrod
17, the second electric pushrod 29, hoistable platform 24 and aspiration pump 19, LED lamp source 47, player 48 and touch display screen 49 are and D/
A converter is electrically connected；
Further, the model of the single-chip microcontroller 31 is set as M68HC16, and the model of the infrared sensor 43 is set as
SW-E60, the model of the optical sensor 44 are set as HANB30, and the model of the proximity sensor 45 is set as M18A10N,
The model of the contact sensor 46 is set as JFU-77.
Working principle of the present invention:
Referring to Figure of description 1-6, engaging first gear 6 by the transmission connection worm screw 10 of first motor 8 makes 4 band of drive shaft
Dynamic driving wheel 5, when steering, the second motor 15 is driven third gear 16 and engages second gear 14, makes bull stick 13 with support rod 12
It is rotated in endless glide 11, convenient for adjusting steering mechanism direction, the first electric pushrod 17 pushes the decline of frame plate 18 to make sucker 20
Ground is contacted, the work of aspiration pump 19 makes sucker 20 suck ground, is conducive to the fixation of robot, the first accommodating groove and the second storage
Slot provides storage space will stretch after 26 output shaft of third motor transmission 27 pinion rack 25 of the 4th gear releases fagging 23
Platform 24 is unfolded, and provides placement tray, and 29 output shaft of the second electric pushrod releases storage drawer 28 and facilitates collection object；
The stability of robot motion, support rod 12 are improved by the way that two driven wheels are arranged referring to Figure of description 1-9
It is equipped with ball with the junction of endless glide 11, friction is reduced, allows the robot to flexibly turn to, gag lever post 37 runs through connecting rod
36, and cooperate spring 38, be conducive to bumper and absorbing shock, improve the stationarity of robot motion, the transmission of 34 output shaft of the 4th motor connects
The head part that picks 3 facilitates camera 41 to turn to, and increases observation visual angle, and anticollision wheel 50 protects robot that front and back is avoided to collide, works as light
Sensor 44 senses illuminance information and sends single-chip microcontroller 31, and when light source is darker, single-chip microcontroller 31 opens LED lamp source 47, favorably
Protection and convenience in device actual use；
Referring to Figure of description 1-9, by setting emulation mechanical arm and simulation manipulator 22, proximity sensor 45 and contact
46 sensing object position of sensor improves robot and controls precision, 43 sensing object position of infrared sensor, and cooperation two is right
Claim the camera 41 for being distributed in two sides, transmits road conditions to single-chip microcontroller 31, single-chip microcontroller 31 controls the rotation of the second motor 15, facilitates machine
People turns to and avoiding obstacles, is conducive to robot and realizes high-intelligentization, realizes popularization of the robot in service trade.
The several points that should finally illustrate are: firstly, in the description of the present application, it should be noted that unless otherwise prescribed and
It limits, term " installation ", " connected ", " connection " shall be understood in a broad sense, can be mechanical connection or electrical connection, be also possible to two
Connection inside element, can be directly connected, and "upper", "lower", "left", "right" etc. are only used for indicating relative positional relationship, when
The absolute position for being described object changes, then relative positional relationship may change；
Secondly: the present invention discloses in embodiment attached drawing, relates only to the structure being related to the embodiment of the present disclosure, other knots
Structure, which can refer to, to be commonly designed, and under not conflict situations, the same embodiment of the present invention and different embodiments be can be combined with each other；
Last: the foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, all in the present invention
Spirit and principle within, any modification, equivalent replacement, improvement and so on, should be included in protection scope of the present invention it
It is interior.
Claims (8)
1. a kind of service robot with motion control device, including pedestal (1), it is characterised in that: at the top of the pedestal (1)
It is fixedly connected with body housing (2), body housing (2) top is rotatably connected to head part (3), and pedestal (1) bottom is set
There is the first groove, pedestal (1) bottom is set far from the side of the first groove there are two the second symmetrical groove, and described the
It is equipped with third groove between one groove and the second groove, is equipped with drive shaft (4) in first groove, the drive shaft (4) two
End is fixedly connected to driving wheel (5), is equipped with first gear (6) in the middle part of the drive shaft (4), is equipped with inside the pedestal (1)
Cavity is fixedly connected with first motor (8) in the cavity, and first motor (8) output shaft is equipped with speed reducer (9), described
Speed reducer (9) output shaft is equipped with worm screw (10), and the worm screw (10) engages connection with first gear (6), in second groove
Wall is equipped with endless glide (11), is equipped with support rod (12) in the endless glide (11), support rod (12) top is welded with
Bull stick (13), bull stick (13) top are fixedly connected with second gear (14), and support rod (12) bottom is equipped with turning machine
Structure, the cavity is interior to be equipped with the second motor (15), and the second motor (15) output shaft is equipped with third gear (16), and described second
Gear (14) engages connection with third gear (16), and the third inside grooves are fixedly connected with the first electric pushrod (17), institute
It states the first electric pushrod (17) output end to be fixedly connected with frame plate (18), is fixedly connected with aspiration pump at the top of the frame plate (18)
(19), frame plate (18) bottom is equipped with sucker (20), and aspiration pump (19) input terminal and sucker (20) are connected by high-voltage tube
It connects；
Body housing (2) two sides, which are equipped with, emulates mechanical arm (21), and the one of emulation mechanical arm (21) separate body housing (2)
End is equipped with simulation manipulator (22), and the positive bottom of the body housing (2) is equipped with the first accommodating groove, sets at the top of first accommodating groove
There is the second accommodating groove, the first accommodating groove basal sliding is connected with fagging (23), is fixedly connected at the top of the fagging (23)
Scaling platform (24), fagging (23) two sides are equipped with rack gear (25), and first accommodating groove two sides of the bottom are fixedly connected with
Have third motor (26), third motor (26) output shaft is equipped with the 4th gear (27), two the 4th gears (27) point
Do not match with two rack gears (25), storage drawer (28), storage drawer (28) bottom are equipped with inside second accommodating groove
Portion is equipped with the second electric pushrod (29), and the second electric pushrod (29) output end is fixedly connected with storage drawer (28) bottom,
Second electric pushrod (29) other end is fixedly connected with body housing (2)；
Central controller (30) are equipped with inside the head part (3), the central controller (30) includes single-chip microcontroller (31), institute
The connecting pin for stating single-chip microcontroller (31) is equipped with sensing circuit (32) and driving circuit (33), is fixedly connected at the top of the body housing (2)
There is the 4th motor (34), third motor (26) output shaft and head part (3) are sequentially connected.
2. a kind of service robot with motion control device according to claim 1, it is characterised in that: the steering
Mechanism includes driven wheel (35), is rotatably connected to connecting rod (36) at driven wheel (35) axle center, and connecting rod (36) two sides are equal
Through having gag lever post (37), gag lever post (37) top is fixedly connected with support rod (12), gag lever post (37) outer sheath
Equipped with spring (38), the spring (38) is arranged between support rod (12) and connecting rod (36), the support rod (12) and annular
The junction of sliding rail (11) is equipped with ball.
3. a kind of service robot with motion control device according to claim 1, it is characterised in that: described first
Groove two sides are equipped with two symmetrical card slots, are equipped with bearing (39) on the outside of the drive shaft (4), the bearing (39) and card
Slot matches, and the card slot bottom is equipped with cutting ferrule (40), and the card slot is fixed by screws with cutting ferrule (40).
4. a kind of service robot with motion control device according to claim 1, it is characterised in that: the sensing
The connecting pin of circuit (32) be equipped with camera (41), speech recognition module (42), infrared sensor (43), optical sensor (44),
Proximity sensor (45) and contact sensor (46), head part (3) two sides are equipped with lug, and the camera (41) sets
It sets in the front of lug, the side of lug is arranged in the speech recognition module (42), and infrared sensor (43) setting exists
Pedestal (1) positive Middle face, the optical sensor (44) are arranged at the top of the second accommodating groove, the proximity sensor (45) and contact
Sensor (46) is arranged on the inside of simulation manipulator (22)；
The connecting pin of the driving circuit (33) is equipped with LED lamp source (47), player (48) and touch display screen (49), described
LED lamp source (47) setting is arranged in head part (3) top, the player (48) in head part (3) bottom end, the touch
Display screen (49) setting at the top of the player (48), the emulation mechanical arm (21), simulation manipulator (22), first motor (8),
Second motor (15), third motor (26) and the 4th motor (34), the second electric pushrod (29), rise the first electric pushrod (17)
Platform and aspiration pump (19) is dropped to be electrically connected with driving circuit (33).
5. a kind of service robot with motion control device according to claim 1, it is characterised in that: the pedestal
(1) front is set there are two symmetrical anticollision wheel (50), and pedestal (1) back side sets that there are two symmetrical anticollision wheels
(50), the anticollision wheel (50) and pedestal (1) are rotatablely connected.
6. a kind of service robot with motion control device according to claim 1, it is characterised in that: the fuselage
Power module (7) are equipped with inside shell (2), the central controller (30), sensing circuit (32) and driving circuit (33) with electricity
Source module (7) is electrically connected.
7. a kind of service robot with motion control device according to claim 1, it is characterised in that: described second
Motor (15), third motor (26) and the 4th motor (34) are disposed as servo motor.
8. a kind of service robot with motion control device according to claim 4, it is characterised in that: the monolithic
The input terminal of machine (31) is equipped with A/D converter, and the output end of the single-chip microcontroller (31) is equipped with D/A converter, the camera
(41), speech recognition module (42), infrared sensor (43), optical sensor (44), proximity sensor (45) and contact sensor
(46) it is electrically connected with A/D converter, the touch display screen (49) and single-chip microcontroller (31) are electrically connected, and the emulation is mechanical
Arm (21), simulation manipulator (22), first motor (8), the second motor (15), third motor (26), the 4th motor (34), first
Electric pushrod (17), the second electric pushrod (29), hoistable platform (24) and aspiration pump (19), LED lamp source (47), player (48)
It is electrically connected with D/A converter with touch display screen (49).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910217828.5A CN109773742B (en) | 2019-03-21 | 2019-03-21 | Service robot with motion control device |
Applications Claiming Priority (1)
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| CN110236649A (en) * | 2019-07-01 | 2019-09-17 | 中南大学湘雅医院 | A kind of accurate punching machine of intelligence skin |
| CN110292331A (en) * | 2019-07-05 | 2019-10-01 | 兰杰 | A kind of watering robot |
| CN110543120A (en) * | 2019-08-29 | 2019-12-06 | 南京禹智智能科技有限公司 | Indoor self-monitoring robot and monitoring method thereof |
| CN110877341A (en) * | 2019-05-23 | 2020-03-13 | 哈尔滨理工大学 | Video recording monitoring robot for operating room |
| CN111366212A (en) * | 2020-05-09 | 2020-07-03 | 河北省地质环境监测院 | Unattended underground water level detector |
| CN112388642A (en) * | 2019-08-15 | 2021-02-23 | 江苏神工智能科技有限公司 | Shop shopping guide service robot |
| CN113044496A (en) * | 2019-12-27 | 2021-06-29 | 沈阳新松机器人自动化股份有限公司 | Storage mechanism who opens door |
| CN113276078A (en) * | 2021-04-22 | 2021-08-20 | 国网浙江省电力有限公司嘉兴供电公司 | Parking device of robot |
| CN113353170A (en) * | 2021-07-07 | 2021-09-07 | 黄建军 | AI robot based on 5G technique |
| CN114714532A (en) * | 2022-03-11 | 2022-07-08 | 宿迁澳中玻璃股份有限公司 | Fixing device for glass processing |
| CN115126838A (en) * | 2022-08-09 | 2022-09-30 | 重庆大学 | Double-freedom-degree mechanical arm with adjustable backlash based on conical worm transmission |
| CN115972227A (en) * | 2023-01-18 | 2023-04-18 | 哈尔滨师范大学 | Intelligent patrol robot for park |
| CN110236649B (en) * | 2019-07-01 | 2024-05-03 | 中南大学湘雅医院 | Intelligent accurate perforating device of skin |
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| CN110877341A (en) * | 2019-05-23 | 2020-03-13 | 哈尔滨理工大学 | Video recording monitoring robot for operating room |
| CN110039560A (en) * | 2019-06-03 | 2019-07-23 | 马鞍山南马智能制造研究所有限公司 | A kind of intelligently guiding robot |
| CN110236649A (en) * | 2019-07-01 | 2019-09-17 | 中南大学湘雅医院 | A kind of accurate punching machine of intelligence skin |
| CN110236649B (en) * | 2019-07-01 | 2024-05-03 | 中南大学湘雅医院 | Intelligent accurate perforating device of skin |
| CN110292331A (en) * | 2019-07-05 | 2019-10-01 | 兰杰 | A kind of watering robot |
| CN112388642A (en) * | 2019-08-15 | 2021-02-23 | 江苏神工智能科技有限公司 | Shop shopping guide service robot |
| CN110543120A (en) * | 2019-08-29 | 2019-12-06 | 南京禹智智能科技有限公司 | Indoor self-monitoring robot and monitoring method thereof |
| CN110543120B (en) * | 2019-08-29 | 2021-06-11 | 南京禹智智能科技有限公司 | Indoor self-monitoring robot and monitoring method thereof |
| CN113044496A (en) * | 2019-12-27 | 2021-06-29 | 沈阳新松机器人自动化股份有限公司 | Storage mechanism who opens door |
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| CN113353170A (en) * | 2021-07-07 | 2021-09-07 | 黄建军 | AI robot based on 5G technique |
| CN114714532A (en) * | 2022-03-11 | 2022-07-08 | 宿迁澳中玻璃股份有限公司 | Fixing device for glass processing |
| CN115126838A (en) * | 2022-08-09 | 2022-09-30 | 重庆大学 | Double-freedom-degree mechanical arm with adjustable backlash based on conical worm transmission |
| CN115972227A (en) * | 2023-01-18 | 2023-04-18 | 哈尔滨师范大学 | Intelligent patrol robot for park |
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