CN109773742B - Service robot with motion control device - Google Patents
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- CN109773742B CN109773742B CN201910217828.5A CN201910217828A CN109773742B CN 109773742 B CN109773742 B CN 109773742B CN 201910217828 A CN201910217828 A CN 201910217828A CN 109773742 B CN109773742 B CN 109773742B
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Abstract
The invention discloses a service robot with a motion control device, and particularly relates to the field of robots. According to the invention, the worm is connected through the first motor transmission and is meshed with the first gear, so that the driving shaft drives the driving wheel, when the steering mechanism is steered, the second motor drives the third gear to be meshed with the second gear, the rotating rod drives the supporting rod to rotate in the annular sliding rail, the direction of the steering mechanism is convenient to adjust, the first electric push rod pushes the frame plate to descend so that the sucking disc is contacted with the ground, the sucking disc is tightly sucked by the air pump when the air pump works, the fixing of the robot is facilitated, the telescopic platform is unfolded after the supporting plate is pushed out by the fourth gear meshed with the rack driven by the output shaft of the third motor, the placing tray is provided, and.
Description
Technical Field
The invention relates to the field of robots, in particular to a service robot with a motion control device.
Background
Nowadays, modern science and technology are developed day by day, the robot has become a novel production tool and appurtenance of human, it has all obtained the application in many aspects of daily life, is playing more and more important effect gradually, and it has shown great superiority in alleviating human intensity of labour, promoting human production efficiency etc..
Chinese patent application publication No. CN 108839030 a discloses a service robot, a head of which is vertically movably disposed at an upper end of a trunk; a perspective plate is arranged on the side wall of the shell, and a rotating shaft is arranged between the upper shaft seat and the lower shaft seat; an extension rod is fixedly connected to the side wall of the rotating shaft, a camera is fixedly connected to the end portion, far away from the rotating shaft, of the extension rod, and the shooting direction of the camera faces towards the perspective plate; the microphone array is electrically connected with a voice processing module arranged in the shell, and the voice processing module identifies a voice output position according to the voice information intensity acquired by the microphone array; still be provided with the 3D body that is used for catching user's limbs action on the outer wall of casing and feel the camera, be provided with extension interface panel on the truck, this service robot can 360 all-round directionalities, discernment user's sound and limbs increase and mutually interact and experience to more service interface obtains better experience is provided.
However, when the service robot provided in the above technical scheme is actually used, there are still many disadvantages, such as instability during robot movement, inconvenience in steering adjustment, few functions, and small bearing capacity.
Disclosure of Invention
In order to overcome the above defects in the prior art, embodiments of the present invention provide a service robot with a motion control device, a first motor drives a connecting worm to engage a first gear so that a driving shaft drives a driving wheel, when the service robot turns, a second motor drives a third gear to engage a second gear so that a rotating rod drives a supporting rod to rotate in an annular sliding rail, so as to facilitate adjustment of a direction of a steering mechanism, a first electric push rod pushes a frame plate to descend so that a sucker contacts the ground, an air pump works to make the sucker tightly suck the ground, so as to facilitate fixation of the robot, a first accommodating groove and a second accommodating groove provide accommodating spaces, a third motor output shaft drives a fourth gear to engage a rack so that a supporting plate is pushed out, a telescopic platform is unfolded to provide a placement tray, and a second electric push rod output shaft pushes out an accommodating drawer so as to.
In order to achieve the purpose, the invention provides the following technical scheme: a service robot with a motion control device comprises a base, wherein a body shell is fixedly connected to the top of the base, a head component is rotatably connected to the top of the body shell, a first groove is formed in the bottom of the base, a second groove is formed in one side, away from the first groove, of the bottom of the base, a third groove is formed between the first groove and the second groove, a driving shaft is arranged in the first groove, driving wheels are fixedly connected to two ends of the driving shaft, a first gear is arranged in the middle of the driving shaft, a cavity is formed in the base, a first motor is fixedly connected in the cavity, a speed reducer is arranged on an output shaft of the first motor, a worm is arranged on an output shaft of the speed reducer and meshed with the first gear, an annular slide rail is arranged on the inner wall of the second groove, a support rod is arranged in the annular slide rail, and, the top end of the rotating rod is fixedly connected with a second gear, the bottom of the supporting rod is provided with a steering mechanism, a second motor is arranged in the cavity, an output shaft of the second motor is provided with a third gear, the second gear is meshed with the third gear, a first electric push rod is fixedly connected inside the third groove, the output end of the first electric push rod is fixedly connected with a frame plate, the top of the frame plate is fixedly connected with an air pump, the bottom of the frame plate is provided with a sucker, and the input end of the air pump is connected with the sucker through a high-pressure pipe;
the machine body comprises a machine body shell, wherein simulation mechanical arms are arranged on two sides of the machine body shell, one end, away from the machine body shell, of each simulation mechanical arm is provided with a simulation mechanical arm, a first accommodating groove is formed in the bottom of the front face of the machine body shell, a second accommodating groove is formed in the top of the first accommodating groove, a supporting plate is connected to the bottom of the first accommodating groove in a sliding mode, a telescopic platform is fixedly connected to the top of the supporting plate, racks are arranged on two sides of the supporting plate, a third motor is fixedly connected to two sides of the bottom of the first accommodating groove, a fourth gear is arranged on an output shaft of the third motor, the two fourth gears are respectively matched with the two racks, an accommodating drawer is arranged in the second accommodating groove, a second electric push rod is arranged at the bottom of the accommodating drawer, the output end of the second electric push rod is fixedly connected with;
the machine head component is characterized in that a central controller is arranged inside the machine head component and comprises a single chip microcomputer, a sensing circuit and a driving circuit are arranged at the connecting end of the single chip microcomputer, a third motor is fixedly connected to the top of the machine body shell, and an output shaft of the third motor is in transmission connection with the machine head component.
In a preferred embodiment, the steering mechanism comprises a driven wheel, a connecting rod is rotatably connected to the axis of the driven wheel, limiting rods penetrate through two sides of the connecting rod, the top end of each limiting rod is fixedly connected with a supporting rod, a spring is sleeved on the outer side of each limiting rod and arranged between the supporting rod and the connecting rod, and balls are arranged at the connecting positions of the supporting rods and the annular sliding rails.
In a preferred embodiment, two symmetrically distributed clamping grooves are formed in two sides of the first groove, a bearing is arranged on the outer side of the driving shaft and matched with the clamping grooves, clamping sleeves are arranged at the bottoms of the clamping grooves, and the clamping grooves are fixedly connected with the clamping sleeves through screws.
In a preferred embodiment, the connecting end of the sensing circuit is provided with a camera, a voice recognition module, an infrared sensor, a light sensor, a proximity sensor and a contact sensor, the two sides of the head part are provided with lugs, the camera is arranged on the front surface of the lug, the voice recognition module is arranged on one side of the lug, the infrared sensor is arranged in the middle of the front surface of the base, the light sensor is arranged at the top of the second accommodating groove, and the proximity sensor and the contact sensor are arranged on the inner side of the simulation manipulator;
the simulation mechanical arm, the first motor, the second motor, the third motor, the fourth motor, the first electric push rod, the second electric push rod, the lifting platform and the air pump are all electrically connected with the driving circuit.
In a preferred embodiment, the front surface of the base is provided with two symmetrically distributed anti-collision wheels, and the back surface of the base is provided with two symmetrically distributed anti-collision wheels, and the anti-collision wheels are rotatably connected with the base.
In a preferred embodiment, a power module is disposed inside the body housing, and the central controller, the sensing circuit and the driving circuit are electrically connected to the power module.
In a preferred embodiment, the second motor, the third motor and the fourth motor are all provided as servo motors.
In a preferred embodiment, an a/D converter is arranged at an input end of the single chip microcomputer, a D/a converter is arranged at an output end of the single chip microcomputer, the camera, the voice recognition module, the infrared sensor, the optical sensor, the proximity sensor and the contact sensor are all electrically connected with the a/D converter, the touch display screen is electrically connected with the single chip microcomputer, the simulation mechanical arm, the simulation manipulator, the first motor, the second motor, the third motor, the fourth motor, the first electric push rod, the second electric push rod, the lifting platform and the air pump are all electrically connected with the D/a converter, and the LED light source, the player and the touch display screen are all electrically connected with the D/a converter.
The invention has the technical effects and advantages that:
1. the first motor drives the connecting worm to engage with the first gear so that the driving shaft drives the driving wheel, when the steering mechanism is steered, the second motor drives the third gear to engage with the second gear so that the rotating rod drives the supporting rod to rotate in the annular sliding rail, the direction of the steering mechanism is convenient to adjust, the first electric push rod pushes the frame plate to descend so that the sucker is contacted with the ground, the air pump works to enable the sucker to tightly absorb the ground, the robot is favorably fixed, the first accommodating groove and the second accommodating groove provide accommodating spaces, the third motor output shaft drives the fourth gear to engage with the rack so that the supporting plate is pushed out, the telescopic platform is unfolded to provide a placing tray, and the second electric push rod output shaft pushes out the accommodating drawer to facilitate collection of;
2. the two driven wheels are arranged, so that the motion stability of the robot is improved, the ball bearings are arranged at the connecting positions of the supporting rods and the annular slide rails, friction is reduced, the robot can flexibly steer, the limiting rods penetrate through the connecting rods and are matched with the springs, buffering and shock absorption are facilitated, and the motion stability of the robot is improved;
3. through setting up emulation arm and emulation manipulator, proximity sensor and contact sensor sensing object position improve the robot control precision, infrared sensor sensing object position to two symmetric distributions are in the cooperation, to the singlechip transmission road conditions, and the rotation of single chip microcomputer control second motor makes things convenient for the robot to turn to and avoid the barrier, is favorable to the robot to realize high intellectuality, realizes the popularization of robot in the service industry.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is an overall left side view of the present invention.
FIG. 3 is a schematic bottom structure of the present invention.
Fig. 4 is a schematic view of the transmission structure of the first motor of the present invention.
Fig. 5 is a schematic view of the transmission structure of fig. 1 of a second motor of the present invention.
Fig. 6 is a schematic view of a connection structure of the air pump of the present invention.
Fig. 7 is an enlarged view of the structure of part a of the present invention.
FIG. 8 is a schematic diagram of a connection structure of a sensing circuit and a driving circuit according to the present invention.
Fig. 9 is a schematic structural diagram of a control system of the present invention.
The reference signs are: 1 base, 2 machine body shell, 3 machine head component, 4 driving shaft, 5 driving wheel, 6 first gear, 7 power module, 8 first motor, 9 speed reducer, 10 worm, 11 annular slide rail, 12 supporting rod, 13 rotating rod, 14 second gear, 15 second motor, 16 third gear, 17 first electric push rod, 18 frame plate, 19 air pump, 20 sucker, 21 simulation mechanical arm, 22 simulation mechanical arm, 23 supporting plate, 24 telescopic platform, 25 rack, 26 third motor, 27 fourth gear, 28 storage drawer, 29 second electric push rod, 30 central controller, 31 single chip microcomputer, 32 sensing circuit, 33 driving circuit, 34 fourth motor, 35 driven wheel, 36 connecting rod, 37 limiting rod, 38 spring, 39 bearing, 40 clamping sleeve, 41 camera, 42 voice recognition module, 43 infrared sensor, 44 optical sensor, 45 proximity sensor, 46 contact sensor, 47 LED lamp source, 48 player, 49 touch screen, 50 crashproof wheel.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1:
the service robot with the motion control device shown in fig. 1-8 comprises a base 1, wherein a body shell 2 is fixedly connected to the top of the base 1, a head part 3 is rotatably connected to the top end of the body shell 2, a first groove is formed in the bottom of the base 1, two second grooves which are symmetrically distributed are formed in one side of the bottom of the base 1 away from the first groove, a third groove is formed between the first groove and the second groove, a driving shaft 4 is arranged in the first groove, driving wheels 5 are fixedly connected to two ends of the driving shaft 4, a first gear 6 is arranged in the middle of the driving shaft 4, a cavity is formed in the base 1, a first motor 8 is fixedly connected in the cavity, a speed reducer 9 is arranged on an output shaft of the first motor 8, a worm 10 is arranged on an output shaft of the speed reducer 9, and the worm 10 is engaged with the first gear 6, an annular slide rail 11 is arranged on the inner wall of the second groove, a support rod 12 is arranged in the annular slide rail 11, a rotating rod 13 is welded at the top end of the support rod 12, a second gear 14 is fixedly connected to the top end of the rotating rod 13, a steering mechanism is arranged at the bottom of the support rod 12, a second motor 15 is arranged in the cavity, a third gear 16 is arranged on an output shaft of the second motor 15, the second gear 14 is meshed with the third gear 16, a first electric push rod 17 is fixedly connected to the inside of the third groove, a frame plate 18 is fixedly connected to the output end of the first electric push rod 17, an air suction pump 19 is fixedly connected to the top of the frame plate 18, a suction cup 20 is arranged at the bottom of the frame plate 18, and the input end of;
the two sides of the machine body shell 2 are both provided with simulation mechanical arms 21, one end of each simulation mechanical arm 21 far away from the machine body shell 2 is provided with a simulation manipulator 22, the bottom of the front surface of the machine body shell 2 is provided with a first accommodating groove, the top of the first accommodating groove is provided with a second accommodating groove, a supporting plate 23 is connected to the bottom of the first containing groove in a sliding manner, a telescopic platform 24 is fixedly connected to the top of the supporting plate 23, racks 25 are arranged on both sides of the supporting plate 23, a third motor 26 is fixedly connected on both sides of the bottom of the first accommodating groove, the output shaft of the third motor 26 is provided with a fourth gear 27, two fourth gears 27 are respectively matched with the two racks 25, a storage drawer 28 is arranged in the second storage groove, a second electric push rod 29 is arranged at the bottom of the storage drawer 28, the output end of the second electric push rod 29 is fixedly connected with the bottom of the storage drawer 28, and the other end of the second electric push rod 29 is fixedly connected with the machine body shell 2;
a central controller 30 is arranged inside the nose part 3, the central controller 30 includes a single chip microcomputer 31, a sensing circuit 32 and a driving circuit 33 are arranged at a connection end of the single chip microcomputer 31, a fourth motor 34 is fixedly connected to the top of the nose part 2, and an output shaft of the third motor 26 is in transmission connection with the nose part 3;
the driving shaft 4 drives the driving wheel 5 by the driving of the first motor 8 and the worm 10 meshed with the first gear 6, when the steering is performed, the second motor 15 drives the third gear 16 to be meshed with the second gear 14, the rotating rod 13 drives the supporting rod 12 to rotate in the annular sliding rail 11, the direction of the steering mechanism is convenient to adjust, the first electric push rod 17 pushes the frame plate 18 to descend to enable the sucking disc 20 to be in contact with the ground, the sucking disc 20 is tightly sucked by the suction pump 19 when the suction pump works, the fixing of the robot is facilitated, the first accommodating groove and the second accommodating groove provide accommodating spaces, the third motor 26 outputs the shaft, the fourth gear 27 is meshed with the rack 25 to enable the supporting plate 23 to be pushed out, the telescopic platform 24 is unfolded, the placing tray is provided, and the second electric push rod 29 outputs the pushing.
Example 2:
according to the service robot with the motion control device shown in fig. 1-6, the steering mechanism includes a driven wheel 35, a connecting rod 36 is rotatably connected to the axis of the driven wheel 35, two sides of the connecting rod 36 are both penetrated by a limiting rod 37, the top end of the limiting rod 37 is fixedly connected with the supporting rod 12, a spring 38 is sleeved outside the limiting rod 37, the spring 38 is arranged between the supporting rod 12 and the connecting rod 36, a ball is arranged at the joint of the supporting rod 12 and the annular slide rail 11, the stability of the robot motion is improved by arranging two driven wheels, the ball is arranged at the joint of the supporting rod 12 and the annular slide rail 11, the friction is reduced, the robot can flexibly steer, the limiting rod 37 penetrates through the connecting rod 36 and cooperates with the spring 38, the damping is facilitated, and the stability of the robot motion is improved;
furthermore, two clamping grooves are symmetrically distributed on two sides of the first groove, a bearing 39 is arranged on the outer side of the driving shaft 4, the bearing 39 is matched with the clamping grooves, a clamping sleeve 40 is arranged at the bottom of each clamping groove, and the clamping grooves and the clamping sleeves 40 are fixedly connected through screws, so that parts can be conveniently and quickly installed, maintained and replaced;
further, a camera 41, a voice recognition module 42, an infrared sensor 43, a light sensor 44, a proximity sensor 45 and a contact sensor 46 are arranged at a connection end of the sensing circuit 32, lugs are arranged at both sides of the head component 3, the camera 41 is arranged at the front of the lugs, the voice recognition module 42 is arranged at one side of the lugs, the infrared sensor 43 is arranged at the middle of the front of the base 1, the light sensor 44 is arranged at the top of the second accommodating groove, the proximity sensor 45 and the contact sensor 46 are arranged at the inner side of the simulation manipulator 22, an LED light source 47, a player 48 and a touch display screen 49 are arranged at a connection end of the driving circuit 33, the LED light source 47 is arranged at the top end of the head component 3, the player 48 is arranged at the bottom end of the head component 3, the touch display screen 49 is arranged at the top of the player 48, the simulation manipulator 21 and the contact sensor, The simulation manipulator 22, the first motor 8, the second motor 15, the third motor 26, the fourth motor 34, the first electric push rod 17, the second electric push rod 29, the lifting platform and the air pump 19 are all electrically connected with a driving circuit 33;
further, the front surface of the base 1 is provided with two symmetrically distributed anti-collision wheels 50, the back surface of the base 1 is provided with two symmetrically distributed anti-collision wheels 50, and the anti-collision wheels 50 are rotatably connected with the base 1;
further, a power module 7 is arranged inside the machine body shell 2, and the central controller 30, the sensing circuit 32 and the driving circuit 33 are all electrically connected with the power module 7;
further, the second motor 15, the third motor 26 and the fourth motor 34 are all set as servo motors;
further, an a/D converter is arranged at an input end of the single chip microcomputer 31, a D/a converter is arranged at an output end of the single chip microcomputer 31, the camera 41, the voice recognition module 42, the infrared sensor 43, the optical sensor 44, the proximity sensor 45 and the contact sensor 46 are electrically connected with the a/D converter, the touch display screen 49 is electrically connected with the single chip microcomputer 31, the simulation mechanical arm 21, the simulation manipulator 22, the first motor 8, the second motor 15, the third motor 26, the fourth motor 34, the first electric push rod 17, the second electric push rod 29, the lifting platform 24 and the air pump 19 are electrically connected, and the LED lamp source 47, the player 48 and the touch display screen 49 are electrically connected with the D/a converter;
further, the model of the single chip microcomputer 31 is set to be M68HC16, the model of the infrared sensor 43 is set to be SW-E60, the model of the optical sensor 44 is set to be HANB30, the model of the proximity sensor 45 is set to be M18A10N, and the model of the contact sensor 46 is set to be JFU-77.
The working principle of the invention is as follows:
referring to the attached drawings 1-6 of the specification, a first motor 8 is used for driving a connecting worm 10 to be meshed with a first gear 6, so that a driving shaft 4 drives a driving wheel 5, when the steering is performed, a second motor 15 is used for driving a third gear 16 to be meshed with a second gear 14, so that a rotating rod 13 drives a supporting rod 12 to rotate in an annular sliding rail 11, the direction of a steering mechanism is convenient to adjust, a first electric push rod 17 pushes a frame plate 18 to descend, so that a sucker 20 is contacted with the ground, an air pump 19 works to enable the sucker 20 to tightly suck the ground, the robot is convenient to fix, a first accommodating groove and a second accommodating groove provide accommodating spaces, an output shaft of a third motor 26 drives a fourth gear 27 to be meshed with a rack 25, so that a supporting plate 23 is pushed out, a telescopic platform 24 is unfolded, a placing tray is provided;
referring to the attached drawings 1-9 of the specification, the stability of the robot movement is improved by arranging two driven wheels, balls are arranged at the joint of the support rod 12 and the annular slide rail 11 to reduce friction, so that the robot can flexibly turn, the limiting rod 37 penetrates through the connecting rod 36 and is matched with the spring 38, so that the buffering and shock absorption are facilitated, and the stability of the robot movement is improved, the output shaft of the fourth motor 34 is in transmission connection with the head component 3, so that the camera 41 can conveniently turn, the observation visual angle is increased, the anti-collision wheel 50 protects the robot from front and back collision, when the light sensor 44 senses the light intensity information and sends the single chip microcomputer 31, and when the light source is dark, the single chip microcomputer 31 turns on the LED light source 47, so that the protection;
referring to the attached drawings 1-9 of the specification, the simulation mechanical arm and the simulation manipulator 22 are arranged, the proximity sensor 45 and the contact sensor 46 sense the position of an object, the control precision of the robot is improved, the infrared sensor 43 senses the position of the object and is matched with the two cameras 41 which are symmetrically distributed on two sides to transmit road conditions to the single chip microcomputer 31, the single chip microcomputer 31 controls the second motor 15 to rotate, the robot can conveniently turn and avoid obstacles, the robot is beneficial to realizing high intelligence, and popularization of the robot in the service industry is realized.
The points to be finally explained are: first, in the description of the present application, it should be noted that, unless otherwise specified and limited, the terms "mounted," "connected," and "connected" should be understood broadly, and may be a mechanical connection or an electrical connection, or a communication between two elements, and may be a direct connection, and "upper," "lower," "left," and "right" are only used to indicate a relative positional relationship, and when the absolute position of the object to be described is changed, the relative positional relationship may be changed;
secondly, the method comprises the following steps: in the drawings of the disclosed embodiments of the invention, only the structures related to the disclosed embodiments are referred to, other structures can refer to common designs, and the same embodiment and different embodiments of the invention can be combined with each other without conflict;
and finally: the above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that are within the spirit and principle of the present invention are intended to be included in the scope of the present invention.
Claims (8)
1. A service robot with a motion control device, comprising a base (1), characterized in that: the top of the base (1) is fixedly connected with a machine body shell (2), the top end of the machine body shell (2) is rotatably connected with a machine head component (3), the bottom of the base (1) is provided with a first groove, one side of the bottom of the base (1), which is far away from the first groove, is provided with two symmetrically distributed second grooves, a third groove is arranged between the first groove and the second groove, a driving shaft (4) is arranged in the first groove, both ends of the driving shaft (4) are fixedly connected with driving wheels (5), the middle part of the driving shaft (4) is provided with a first gear (6), a cavity is arranged in the base (1), a first motor (8) is fixedly connected in the cavity, an output shaft of the first motor (8) is provided with a speed reducer (9), an output shaft of the speed reducer (9) is provided with a worm (10), and the worm (10) is meshed with, the inner wall of the second groove is provided with an annular slide rail (11), a support rod (12) is arranged in the annular slide rail (11), a rotating rod (13) is welded at the top end of the supporting rod (12), a second gear (14) is fixedly connected at the top end of the rotating rod (13), a steering mechanism is arranged at the bottom of the supporting rod (12), a second motor (15) is arranged in the cavity, the output shaft of the second motor (15) is provided with a third gear (16), the second gear (14) is meshed with the third gear (16), a first electric push rod (17) is fixedly connected inside the third groove, a frame plate (18) is fixedly connected with the output end of the first electric push rod (17), the top of the frame plate (18) is fixedly connected with an air pump (19), the bottom of the frame plate (18) is provided with a suction cup (20), the input end of the air pump (19) is connected with the sucker (20) through a high-pressure pipe;
the machine body shell (2) is provided with simulation mechanical arms (21) on two sides, one end of each simulation mechanical arm (21) far away from the machine body shell (2) is provided with a simulation mechanical arm (22), the front bottom of the machine body shell (2) is provided with a first storage groove, the top of the first storage groove is provided with a second storage groove, the bottom of the first storage groove is connected with a supporting plate (23) in a sliding manner, the top of the supporting plate (23) is fixedly connected with a telescopic platform (24), two sides of the supporting plate (23) are provided with racks (25), two sides of the bottom of the first storage groove are fixedly connected with a third motor (26), an output shaft of the third motor (26) is provided with fourth gears (27), two fourth gears (27) are respectively matched with the two racks (25), a storage drawer (28) is arranged in the second storage groove, and a second electric push rod (29) is arranged at the bottom of the storage drawer (28), the output end of the second electric push rod (29) is fixedly connected with the bottom of the storage drawer (28), and the other end of the second electric push rod (29) is fixedly connected with the machine body shell (2);
the aircraft nose spare (3) is inside to be equipped with central controller (30), central controller (30) include singlechip (31), the link of singlechip (31) is equipped with sensing circuit (32) and drive circuit (33), fuselage shell (2) top fixedly connected with fourth motor (34), third motor (26) output shaft and aircraft nose spare (3) transmission are connected.
2. Service robot with motion control device according to claim 1, characterized in that: steering mechanism is including following driving wheel (35), it is connected with connecting rod (36) to rotate from driving wheel (35) axle center department, connecting rod (36) both sides have all been run through gag lever post (37), gag lever post (37) top and bracing piece (12) fixed connection, gag lever post (37) outside cover is equipped with spring (38), spring (38) set up between bracing piece (12) and connecting rod (36), bracing piece (12) are equipped with the ball with the junction of annular slide rail (11).
3. Service robot with motion control device according to claim 1, characterized in that: two clamping grooves which are symmetrically distributed are formed in two sides of the first groove, a bearing (39) is arranged on the outer side of the driving shaft (4), the bearing (39) is matched with the clamping grooves, clamping sleeves (40) are arranged at the bottoms of the clamping grooves, and the clamping grooves are fixedly connected with the clamping sleeves (40) through screws.
4. Service robot with motion control device according to claim 1, characterized in that: a camera (41), a voice recognition module (42), an infrared sensor (43), an optical sensor (44), a proximity sensor (45) and a contact sensor (46) are arranged at the connecting end of the sensing circuit (32), lugs are arranged on two sides of the head part (3), the camera (41) is arranged on the front face of the lug, the voice recognition module (42) is arranged on one side of the lug, the infrared sensor (43) is arranged in the middle of the front face of the base (1), the optical sensor (44) is arranged at the top of the second accommodating groove, and the proximity sensor (45) and the contact sensor (46) are arranged on the inner side of the simulation manipulator (22);
the LED lamp source (47), the player (48) and the touch display screen (49) are arranged at the connecting end of the driving circuit (33), the LED lamp source (47) is arranged at the top end of the nose component (3), the player (48) is arranged at the bottom end of the nose component (3), the touch display screen (49) is arranged at the top of the player (48), and the simulation mechanical arm (21), the simulation mechanical arm (22), the first motor (8), the second motor (15), the third motor (26), the fourth motor (34), the first electric push rod (17), the second electric push rod (29), the lifting platform and the air suction pump (19) are all electrically connected with the driving circuit (33).
5. Service robot with motion control device according to claim 1, characterized in that: the anti-collision device is characterized in that the base (1) is provided with two symmetrically distributed anti-collision wheels (50) on the front side, the base (1) is provided with two symmetrically distributed anti-collision wheels (50) on the back side, and the anti-collision wheels (50) are rotatably connected with the base (1).
6. Service robot with motion control device according to claim 1, characterized in that: the aircraft body shell (2) is internally provided with a power module (7), and the central controller (30), the sensing circuit (32) and the driving circuit (33) are all electrically connected with the power module (7).
7. Service robot with motion control device according to claim 1, characterized in that: the second motor (15), the third motor (26) and the fourth motor (34) are all set to be servo motors.
8. Service robot with motion control device according to claim 4, characterized in that: the input end of the singlechip (31) is provided with an A/D converter, the output end of the singlechip (31) is provided with a D/A converter, the camera (41), the voice recognition module (42), the infrared sensor (43), the optical sensor (44), the proximity sensor (45) and the contact sensor (46) are all electrically connected with the A/D converter, the LED lamp comprises a touch display screen (49), a single chip microcomputer (31), a simulation mechanical arm (21), a simulation manipulator (22), a first motor (8), a second motor (15), a third motor (26), a fourth motor (34), a first electric push rod (17), a second electric push rod (29), a lifting platform (24) and an air pump (19), wherein the LED lamp source (47), a player (48) and the touch display screen (49) are all electrically connected with a D/A converter.
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)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910217828.5A CN109773742B (en) | 2019-03-21 | 2019-03-21 | Service robot with motion control device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109773742A CN109773742A (en) | 2019-05-21 |
| CN109773742B true CN109773742B (en) | 2020-01-17 |
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Family Applications (1)
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