CN109986533B - Household service robot with mobile grabbing function - Google Patents
Household service robot with mobile grabbing function Download PDFInfo
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- CN109986533B CN109986533B CN201910375193.1A CN201910375193A CN109986533B CN 109986533 B CN109986533 B CN 109986533B CN 201910375193 A CN201910375193 A CN 201910375193A CN 109986533 B CN109986533 B CN 109986533B
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- 230000007246 mechanism Effects 0.000 claims abstract description 27
- 230000000712 assembly Effects 0.000 claims abstract description 6
- 238000000429 assembly Methods 0.000 claims abstract description 6
- 210000000078 claw Anatomy 0.000 claims description 7
- 230000001960 triggered effect Effects 0.000 claims description 3
- 230000006870 function Effects 0.000 abstract description 16
- 239000000428 dust Substances 0.000 description 3
- 238000013473 artificial intelligence Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000018109 developmental process Effects 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 230000032683 aging Effects 0.000 description 1
- 230000003321 amplification Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 239000011120 plywood Substances 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
Abstract
The invention discloses a home service robot with a mobile grabbing function, which comprises a chassis, a trunk main body and a head assembly, wherein the chassis comprises a first layer plate and a second layer plate, the bottom of the first layer plate is provided with travelling wheels and universal wheels, the second layer plate is provided with a laser radar and an ultrasonic sensor, and a plurality of anti-collision assemblies are also arranged on the first layer plate in the circumferential direction; the trunk main body comprises a third layer plate, a fourth layer plate, a main body support, a lifting plate and a mechanical arm, wherein a vertical guide rod is arranged in the main body support, the lifting plate is sleeved on the guide rod in a sliding way and can slide up and down along the guide rod, the mechanical arm is arranged on the lifting plate, the lifting plate is driven to lift along the vertical direction through a first driving mechanism, the mechanical arm is driven to lift, and a microphone and a loudspeaker are further arranged on the main body support; the head assembly comprises a head main body, and a touch screen and a machine vision camera are arranged on the front side of the head main body. The invention has the advantages that: can realize movable grabbing and has diversified functions.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a home service robot with a mobile grabbing function.
Background
In recent years, with the development of robotics and the rise of artificial intelligence technology, many service robots incorporating artificial intelligence technology are emerging in the field of view of people. The development of robotics is no longer limited to industrial robots, but is also gradually focusing on service robots. Common service robots include sweeping robots, welcome robots, housekeeping robots, business service robots used by hotels, banks, etc., while fewer service robots are used for the home. As is well known, in modern society, as the aging degree of population increases, more and more old people are living in home alone and have a single life; or the patient has inconvenient movement and needs special care; or some children are in a learning phase and parents do not have enough time to accompany. Most of the current home service robots are learning entertainment robots for children or home housekeeping robots corresponding to home equipment control centers, and do not have a function of grabbing objects.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a home service robot with a mobile grabbing function.
The invention is realized by the following technical scheme:
a home service robot with a mobile grabbing function comprises a chassis, a trunk main body and a head assembly which are sequentially arranged from bottom to top,
the chassis comprises a first layer of plates and a second layer of plates, the second layer of plates are arranged above the first layer of plates through a first layer of supporting rods, travelling wheels and universal wheels are arranged at the bottom of the first layer of plates, a battery and a main control board are further arranged on the first layer of plates, a laser radar and an ultrasonic sensor are arranged on the second layer of plates, and a plurality of anti-collision assemblies are further arranged on the first layer of plates in the circumferential direction;
the trunk main body comprises a third layer plate, a fourth layer plate, a main body support, a lifting plate and a mechanical arm, wherein the third layer plate is arranged above the second layer plate through a second layer of support rods, the fourth layer plate is arranged above the third layer plate through a third layer of support rods, the main body support is arranged on the fourth layer plate, a vertical guide rod is arranged in the main body support, the lifting plate is slidably sleeved on the guide rod and can slide up and down along the guide rod, the mechanical arm is arranged on the lifting plate, the lifting plate is driven to lift along the vertical direction through a first driving mechanism, the mechanical arm is driven to lift, and a microphone and a loudspeaker are further arranged on the main body support;
the head assembly is arranged at the top of the main body support and comprises a head main body, and a touch screen and a machine vision camera are arranged on the front side of the head main body.
Further, the first actuating mechanism includes driving motor, lead screw, nut, driving motor sets up in fourth plywood bottom, the vertical setting of lead screw, just the upper and lower both ends of lead screw rotate respectively and set up on the main part support, the lower extreme of lead screw is connected with driving motor's output shaft, the screw thread cover is equipped with on the lead screw the nut, the nut with lifter plate fixed connection, through driving motor drive lead screw rotation, and then drive nut and lifter plate lift.
Further, an electric mechanical claw is arranged at the front end of the mechanical arm, and a camera is arranged on the electric mechanical claw.
Further, the trunk main body further comprises a trunk shell, the trunk shell is covered on the periphery of the main body support, a vertically extending avoiding groove is formed in the front side of the trunk shell, the outer end of the lifting plate extends forwards from the avoiding groove, the mechanical arm is arranged at the outer end of the lifting plate, a loudspeaker amplifying hole is formed in the trunk shell at a position corresponding to the loudspeaker, and a microphone hole is formed in the trunk shell at a position corresponding to the microphone.
Further, the two travelling wheels are driven to operate by the respective travelling motors.
Further, the anti-collision assembly comprises a collision strip and a collision sensor, the chassis further comprises a chassis shell which is covered on the peripheries of the first layer plate and the second layer plate, the bottom of the chassis shell is outwards protruded to form an annular flange, the collision strip is an arc-shaped strip and is positioned on the outer side of the annular flange, a sliding groove extending along the radial direction is arranged on the annular flange, a sliding block protruding inwards along the radial direction is arranged on the inner side of the collision strip, the sliding block of the collision strip penetrates through the sliding groove from the outer side to the inner side, the limiting position of the sliding block is limited by a limiting strip inserted into a limiting hole at the inner end of the sliding block, and a spring is arranged between the inner end of the sliding block and the outer side wall of the chassis shell and is used for propping the limiting strip against the inner end face of the sliding groove; the impact sensor is arranged on the annular flange, and the impact sensor can be triggered when the impact strip is pressed.
Further, the slider is disposed at an inner middle section of the collision bar, and each anti-collision assembly includes two collision sensors, which are respectively located at two ends of the inner side of the collision bar.
Further, the head assembly further comprises a head rotation mechanism and a head pitch mechanism;
the head rotating mechanism comprises a head rotating base, a rotating motor, a rotating driving gear, a rotating driven gear and a rotating shaft, wherein the head rotating base is fixedly arranged at the top of the main body support, the rotating motor is arranged on the head rotating base, an output shaft of the rotating motor extends vertically upwards and is fixedly sleeved with the rotating driving gear, the rotating shaft is rotatably arranged on the head rotating base and is vertically arranged, the rotating driven gear is fixedly sleeved on the rotating shaft, the rotating driven gear is meshed with the rotating driving gear, and a fixed disc is arranged at the top end of the rotating shaft;
the head pitching mechanism comprises a head pitching base, a pitching motor, a pitching driving gear, a pitching driven gear and a pitching shaft, wherein the head pitching base is installed on a fixed disc at the top end of the rotating shaft, the pitching motor is fixedly installed on the head pitching base, an output shaft of the pitching motor extends along the left-right direction and is fixedly sleeved with the pitching driving gear, the pitching shaft is rotatably arranged on the head pitching base and extends along the left-right direction, the pitching driven gear is fixedly sleeved on the pitching shaft, the pitching driving gear is meshed with the pitching driven gear, two ends of the pitching shaft are fixedly sleeved with head mounting brackets respectively, and the head main body is installed on the two head mounting brackets.
Compared with the prior art, the invention has the following advantages:
the household service robot with the mobile grabbing function provided by the invention has the advantages that the whole robot comprises the chassis, the trunk main body and the head assembly which are sequentially arranged from bottom to top, the design of the tower structure is good in stability, the functions of mobile grabbing, automatic obstacle avoidance, man-machine interaction and the like can be realized, the lifting plate can be driven to lift by the first driving mechanism, the mechanical arm is driven to lift, the moving range of the mechanical arm is enlarged, objects at high positions can be grabbed, and the practicability is enhanced; the head component can realize head rotation and pitching motions, so that the machine vision camera is driven to synchronously act, and is used for detecting information such as faces, images and the like, and the scanning range of the machine vision camera is enlarged.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a schematic view of the chassis structure of the present invention.
Fig. 3 is a schematic view of the bottom structure of the chassis of the present invention.
Fig. 4 is a front view of the chassis of the present invention with the chassis housing removed.
Fig. 5 is a perspective view of a first laminate of the present invention.
Fig. 6 is a perspective view of the anti-collision assembly of the present invention after assembly with the chassis housing.
Fig. 7 is an enlarged view at a of fig. 6.
Fig. 8 is a top view of the anti-collision assembly of the present invention after assembly with the chassis housing.
Fig. 9 is a split view of the connection between the anti-collision assembly and the chassis housing of the present invention.
Fig. 10 is an enlarged view at B of fig. 9.
Fig. 11 is a perspective view of the torso body of the present invention.
Figure 12 is a perspective view of the torso body of the present invention with the torso casing removed.
Fig. 13 is a perspective view of the robot arm of the present invention.
Fig. 14 is a perspective view of the head assembly of the present invention.
Fig. 15 is an exploded view of the head rotation mechanism of the present invention.
Fig. 16 is an exploded view of the head pitch mechanism of the present invention.
Reference numerals in the drawings: the head comprises a chassis, a first layer plate, a second layer plate, a first layer support rod, a travelling wheel, a universal wheel, a travelling motor, a battery 17, a main control plate 18, a laser radar 19, an ultrasonic sensor 110, a collision bar 111, a collision sensor 112, a chassis housing 113, an annular flange 114, a sliding chute 115, a sliding block 116, a limit bar 117, a spring 118, a dust cover 119, an anti-collision component 120, a trunk main body 2, a third layer plate 21, a fourth layer plate 22, a main body support 23, a lifting plate 24, a mechanical arm 25, a second layer support rod 26, a guide rod 27, a mechanical claw 28, a camera 29, a microphone 210, a loudspeaker 211, a trunk housing 213 avoidance slot 214, a loudspeaker amplification hole 215, a microphone hole 216, a driving motor, a screw 21, a screw 218 nut 219, a top cover 3 head component 31 head main body, a touch screen 33 machine vision camera, a head rotation base 34, a rotation motor 35, a rotation driving gear 36 rotation driving gear 37 rotation driven gear 38 rotation shaft 39 fixed disc, a head elevation base 310, an elevation motor 312 elevation driving gear 313 elevation driving gear, a rotation driven gear 313, an elevation motor 314, an elevation shaft 315, an elevation mounting head mechanism 315, an elevation mechanism 315 head rotation.
Detailed Description
The following describes in detail the examples of the present invention, which are implemented on the premise of the technical solution of the present invention, and detailed embodiments and specific operation procedures are given, but the scope of protection of the present invention is not limited to the following examples.
Referring to fig. 1 to 16, the present embodiment discloses a home service robot having a mobile gripping function, including a chassis 1, a trunk body 2, and a head assembly 3, which are sequentially disposed from bottom to top.
The chassis 1 comprises a first layer 11 and a second layer 12, the second layer 12 is arranged above the first layer 11 through a first layer supporting rod 13, the bottom of the first layer 11 is provided with two travelling wheels 14 and universal wheels 15, and each travelling wheel 14 is driven to run through a respective travelling motor 16. The first layer 11 is also provided with a battery 17 and a main control board 18, and each electric device is powered by the battery 17. The second layer plate 12 is provided with a laser radar 19 and an ultrasonic sensor 110, the ultrasonic sensor 110 is used for ranging and obstacle avoidance, the laser radar 19 has a 360-degree omnibearing laser ranging scanning function and is used for navigation positioning and mapping of a robot, and therefore path planning is achieved.
The first deck 11 is also circumferentially provided with a plurality of anti-collision assemblies 120. Each anti-collision assembly 120 comprises a collision strip 111 and two collision sensors 112, the chassis 1 further comprises a chassis shell 113 covered on the peripheries of the first layer plate 11 and the second layer plate 12, the bottom of the chassis shell 113 protrudes outwards to form an annular flange 114, the collision strip 111 is an arc-shaped strip and is positioned on the outer side of the annular flange 114, a sliding groove 115 extending along the radial direction is arranged on the annular flange 114, a sliding block 116 protruding inwards along the radial direction is arranged on the inner side of the collision strip 111, the sliding block 116 of the collision strip 111 penetrates through the sliding groove 115 from the outside to the inside, the limiting position of the sliding block 116 is limited by a limiting strip 117 inserted into a limiting hole at the inner end of the sliding block 116, a spring 118 is arranged between the inner end of the sliding block 116 and the outer side wall of the chassis shell 113, and the limiting strip 117 is propped against the inner end face of the sliding groove 115 by the spring 118; the spring 118 is used for automatically resetting after the middle part of the collision strip 111 is collided. A dust cover 119 is provided over each of the impact bars 111 for dust prevention. The crash sensor 112 is disposed on the annular flange 114, and the crash bar 111 is pressed to trigger the crash sensor 112. The sliding block 116 is disposed at the middle section of the inner side of the collision strip 111, and the two collision sensors 112 are respectively located at two ends of the inner side of the collision strip 111. The collision bar 111 has certain elasticity, when the two ends of the collision bar 111 are collided, the collision sensor 112 on the inner side is triggered, the system detects the collision, the main control board 18 controls the robot to retreat and adjusts the walking direction to walk again, and therefore the automatic obstacle avoidance is achieved. Preferably, four anti-collision assemblies 120 are circumferentially arranged on the first layer plate 11, and the four anti-collision assemblies 120 are uniformly arranged around the chassis 1, so that omnibearing collision detection can be realized. The anti-collision assembly 120 of the robot is arranged on the periphery of the chassis 1, the position is low, and even if the robot is a relatively short obstacle, obstacle avoidance can be realized.
The trunk main body 2 comprises a third layer 21, a fourth layer 22, a main body support 23, a lifting plate 24 and a mechanical arm 25, wherein the third layer 21 is arranged above the second layer 12 through a second layer support rod 26, the fourth layer 22 is arranged above the third layer 21 through a third layer support rod, the main body support 23 is arranged on the fourth layer 22, a vertical guide rod 27 is arranged in the main body support 23, the lifting plate 24 is slidably sleeved on the guide rod 27 and can slide up and down along the guide rod 27, the mechanical arm 25 is arranged on the lifting plate 24, the mechanical arm 25 adopts a three-degree-of-freedom mechanical arm 25, an electric mechanical claw 28 is arranged at the front end of the mechanical arm 25, and a camera 29 is arranged on the electric mechanical claw 28 and used for identifying objects to be grabbed more accurately. The main body bracket 23 is also provided with a microphone 210 and a loudspeaker 211, the loudspeaker 211 is used for outputting the voice of the robot, and the microphone 210 is used for inputting external voice information to realize the functions of voice control, hearing and position discrimination.
The trunk main body 2 further comprises a trunk shell 212, the trunk shell 212 is covered on the periphery of the main body support 23, a vertically extending avoiding groove 213 is formed in the front side of the trunk shell 212, the outer end of the lifting plate 24 extends forwards from the avoiding groove 213, the mechanical arm 25 is arranged at the outer end of the lifting plate 24, a loudspeaker amplifying hole 214 is formed in the trunk shell 212 at a position corresponding to the loudspeaker 211, and a microphone hole 215 is formed in the trunk shell 212 at a position corresponding to the microphone 210.
The lifting plate 24 is driven to lift along the vertical direction by the first driving mechanism, so as to drive the mechanical arm 25 to lift. The first driving mechanism comprises a driving motor 216, a screw rod 217 and a nut 218, wherein the driving motor 216 is arranged at the bottom of the fourth layer plate 22, the screw rod 217 is vertically arranged, the upper end and the lower end of the screw rod are respectively and rotatably arranged on the main body support 23, the lower end of the screw rod 217 is connected with an output shaft of the driving motor 216, the screw rod 217 is sleeved with the nut 218 in a threaded manner, the nut 218 is fixedly connected with the lifting plate 24, the screw rod 217 is driven to rotate through the driving motor 216, so that the nut 218 and the lifting plate 24 are driven to lift, and the mechanical arm 25 arranged on the lifting plate is driven to lift, so that the automatic grabbing of objects with different heights is realized.
The head assembly 3 is disposed on a top cover 219 on top of the body bracket 23, and the head assembly 3 includes a head main body 31, a head rotation mechanism 316, and a head pitch mechanism 317, and a touch screen 32 and a machine vision camera 33 are provided on the front side of the head main body 31. The head rotating mechanism 316 comprises a head rotating base 34, a rotating motor 35, a rotating driving gear 36, a rotating driven gear 37 and a rotating shaft 38, wherein the head rotating base 34 is fixedly arranged at the top of the main body support 23, the rotating motor 35 is arranged on the head rotating base 34, an output shaft of the rotating motor 35 vertically extends upwards and is fixedly sleeved with the rotating driving gear 36, the rotating shaft 38 is rotatably arranged on the head rotating base 34 and is vertically arranged, the rotating driven gear 37 is fixedly sleeved on the rotating shaft 38, the rotating driven gear 37 is meshed with the rotating driving gear 36, and a fixed disc 39 is arranged at the top end of the rotating shaft 38.
The head pitching mechanism 317 comprises a head pitching base 310, a pitching motor 311, a pitching driving gear 312, a pitching driven gear 313 and a pitching shaft 314, the head pitching base 310 is mounted on a fixed disk 39 at the top end of the rotating shaft 38, the pitching motor 311 is fixedly mounted on the head pitching base 310, an output shaft of the pitching motor 311 extends along the left-right direction and is fixedly sleeved with the pitching driving gear 312, the pitching shaft 314 is rotatably arranged on the head pitching base 310 and extends along the left-right direction, the pitching driven gear 313 is fixedly sleeved on the pitching shaft 314, the pitching driving gear 312 is meshed with the pitching driven gear 313, two ends of the pitching shaft 314 are fixedly sleeved with head mounting brackets 315 respectively, and the head main body 31 is mounted on the two head mounting brackets 315.
The rotation driving gear 36 is driven to rotate by the rotating motor 35 of the head rotating mechanism 316, so as to drive the rotation driven gear 37, the rotating shaft 38 and the fixed disc 39 to rotate, and further drive the whole head pitching mechanism 317 and the head main body 31 to rotate, thereby realizing the rotation of the head main body 31 in the horizontal plane. The pitching motor 311 of the head pitching mechanism 317 drives the pitching driving gear 312 to rotate, thereby driving the pitching driven gear 313 and the pitching shaft 314 to rotate, and further driving the two head mounting brackets 315 to rotate in the vertical plane, and finally driving the head main body 31 to realize the pitching function. The robot is provided with the head rotating and pitching functions, so that the omnibearing visual information capturing of the machine vision camera 33 is realized, the nodding and head shaking functions of similar people are realized, and the interactive experience interestingness is enhanced.
The robot that this embodiment provided wholly adopts tower structural design, installs simply, and reliable and stable, and the inner space is big, is convenient for the installation of the components and parts that follow-up function upgrade needs.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (6)
1. A home service robot with mobile grabbing function, which is characterized in that: comprises a chassis, a trunk main body and a head component which are sequentially arranged from bottom to top,
the chassis comprises a first layer of plates and a second layer of plates, the second layer of plates are arranged above the first layer of plates through a first layer of supporting rods, travelling wheels and universal wheels are arranged at the bottom of the first layer of plates, a battery and a main control board are further arranged on the first layer of plates, a laser radar and an ultrasonic sensor are arranged on the second layer of plates, and a plurality of anti-collision assemblies are further arranged on the first layer of plates in the circumferential direction;
the trunk main body comprises a third layer plate, a fourth layer plate, a main body support, a lifting plate and a mechanical arm, wherein the third layer plate is arranged above the second layer plate through a second layer of support rods, the fourth layer plate is arranged above the third layer plate through a third layer of support rods, the main body support is arranged on the fourth layer plate, a vertical guide rod is arranged in the main body support, the lifting plate is slidably sleeved on the guide rod and can slide up and down along the guide rod, the mechanical arm is arranged on the lifting plate, the lifting plate is driven to lift along the vertical direction through a first driving mechanism, the mechanical arm is driven to lift, and a microphone and a loudspeaker are further arranged on the main body support;
the head assembly is arranged at the top of the main body bracket and comprises a head main body, and a touch screen and a machine vision camera are arranged on the front side of the head main body;
the anti-collision assembly comprises a collision strip and a collision sensor, the chassis also comprises a chassis shell which is covered on the peripheries of the first layer plate and the second layer plate, the bottom of the chassis shell is outwards protruded to form an annular flange, the collision strip is an arc-shaped strip and is positioned on the outer side of the annular flange, a sliding groove extending along the radial direction is arranged on the annular flange, a sliding block protruding inwards along the radial direction is arranged on the inner side of the collision strip, the sliding block of the collision strip penetrates through the sliding groove from the outside to the inside, the outer limit position of the sliding block is limited by a limiting strip inserted into a limiting hole at the inner end of the sliding block, and a spring is arranged between the inner end of the sliding block and the outer side wall of the chassis shell and is used for propping the limiting strip against the inner end face of the sliding groove; the collision sensor is arranged on the annular flange, and the collision sensor can be triggered when the collision strip is extruded;
the head assembly further includes a head rotation mechanism and a head pitch mechanism,
the head rotating mechanism comprises a head rotating base, a rotating motor, a rotating driving gear, a rotating driven gear and a rotating shaft, wherein the head rotating base is fixedly arranged at the top of the main body support, the rotating motor is arranged on the head rotating base, an output shaft of the rotating motor extends vertically upwards and is fixedly sleeved with the rotating driving gear, the rotating shaft is rotatably arranged on the head rotating base and is vertically arranged, the rotating driven gear is fixedly sleeved on the rotating shaft, the rotating driven gear is meshed with the rotating driving gear, and a fixed disc is arranged at the top end of the rotating shaft;
the head pitching mechanism comprises a head pitching base, a pitching motor, a pitching driving gear, a pitching driven gear and a pitching shaft, wherein the head pitching base is installed on a fixed disc at the top end of the rotating shaft, the pitching motor is fixedly installed on the head pitching base, an output shaft of the pitching motor extends along the left-right direction and is fixedly sleeved with the pitching driving gear, the pitching shaft is rotatably arranged on the head pitching base and extends along the left-right direction, the pitching driven gear is fixedly sleeved on the pitching shaft, the pitching driving gear is meshed with the pitching driven gear, two ends of the pitching shaft are fixedly sleeved with head mounting brackets respectively, and the head main body is installed on the two head mounting brackets.
2. A home service robot having a mobile grabbing function as claimed in claim 1, wherein: the first driving mechanism comprises a driving motor, a screw rod and a nut, wherein the driving motor is arranged at the bottom of the fourth layer plate, the screw rod is vertically arranged, the upper end and the lower end of the screw rod are respectively and rotatably arranged on the main body support, the lower end of the screw rod is connected with an output shaft of the driving motor, the screw rod is sleeved with the nut, the nut is fixedly connected with the lifting plate, and the screw rod is driven to rotate through the driving motor so as to drive the nut and the lifting plate to lift.
3. A home service robot having a mobile grabbing function as claimed in claim 1, wherein: the front end of the mechanical arm is provided with an electric mechanical claw, and the electric mechanical claw is provided with a camera.
4. A home service robot having a mobile grabbing function as claimed in claim 1, wherein: the trunk main body further comprises a trunk shell, the trunk shell is covered on the periphery of the main body support, a vertically extending avoiding groove is formed in the front side of the trunk shell, the outer end of the lifting plate extends forwards from the avoiding groove, the mechanical arm is arranged at the outer end of the lifting plate, a loudspeaker amplifying hole is formed in the trunk shell at a position corresponding to the loudspeaker, and a microphone hole is formed in the trunk shell at a position corresponding to the microphone.
5. A home service robot having a mobile grabbing function as claimed in claim 1, wherein: the two travelling wheels are driven to run by the respective travelling motors.
6. A home service robot having a mobile grabbing function as claimed in claim 1, wherein: the sliding block is arranged at the middle section of the inner side of the collision strip, each anti-collision assembly comprises two collision sensors, and the two collision sensors are respectively positioned at the two ends of the inner side of the collision strip.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910375193.1A CN109986533B (en) | 2019-05-07 | 2019-05-07 | Household service robot with mobile grabbing function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910375193.1A CN109986533B (en) | 2019-05-07 | 2019-05-07 | Household service robot with mobile grabbing function |
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| Publication Number | Publication Date |
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| CN109986533A CN109986533A (en) | 2019-07-09 |
| CN109986533B true CN109986533B (en) | 2024-01-30 |
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| CN201910375193.1A Active CN109986533B (en) | 2019-05-07 | 2019-05-07 | Household service robot with mobile grabbing function |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110355770A (en) * | 2019-08-05 | 2019-10-22 | 昆山市工研院智能制造技术有限公司 | A kind of service robot of accompanying and attending to operational capacity |
| CN112441158A (en) * | 2019-08-30 | 2021-03-05 | 北京京东乾石科技有限公司 | Sensor assembly, chassis and robot |
| CN110488249A (en) * | 2019-09-06 | 2019-11-22 | 深圳市银星智能科技股份有限公司 | A kind of laser radar apparatus and mobile robot |
| CN110509861A (en) * | 2019-09-12 | 2019-11-29 | 扬州航盛科技有限公司 | Intelligent robot electric structure based on vehicle-mounted voice assistant |
| CN111113446B (en) * | 2020-01-07 | 2022-08-09 | 深圳银星智能集团股份有限公司 | Self-moving robot |
| CN111360848A (en) * | 2020-04-17 | 2020-07-03 | 重庆慧居智能电子有限公司 | Intelligent household service robot |
| CN113516983B (en) * | 2021-06-23 | 2023-06-30 | 江苏威尔曼科技有限公司 | Holographic robust recognition intelligent voice interaction device |
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