CN110039509A - A kind of wired home robot and its method - Google Patents
A kind of wired home robot and its method Download PDFInfo
- Publication number
- CN110039509A CN110039509A CN201910398765.8A CN201910398765A CN110039509A CN 110039509 A CN110039509 A CN 110039509A CN 201910398765 A CN201910398765 A CN 201910398765A CN 110039509 A CN110039509 A CN 110039509A
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- China
- Prior art keywords
- robot
- arm
- gear
- charging connector
- gripper jaw
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- 238000000034 method Methods 0.000 title claims abstract description 21
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 21
- 230000007246 mechanism Effects 0.000 claims abstract description 18
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 38
- 230000005540 biological transmission Effects 0.000 claims description 21
- 239000007788 liquid Substances 0.000 claims description 15
- 230000001360 synchronised effect Effects 0.000 claims description 15
- 230000033001 locomotion Effects 0.000 claims description 8
- 239000007921 spray Substances 0.000 claims description 8
- 238000005406 washing Methods 0.000 claims description 5
- 230000008569 process Effects 0.000 claims description 4
- 230000009471 action Effects 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 3
- 230000002045 lasting effect Effects 0.000 claims description 3
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 238000005507 spraying Methods 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 10
- 230000002146 bilateral effect Effects 0.000 description 3
- 239000007787 solid Substances 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000003139 buffering effect Effects 0.000 description 1
- 230000001413 cellular effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000011017 operating method Methods 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
- B25J15/026—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by gears
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
- B25J9/0087—Dual arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of wired home robot and its method.It include robot ambulation pedestal, robot execution body and robot head the invention discloses one kind；The robot executes body and is fixed on above the robot ambulation pedestal by several support frames, and the robot head is installed on the upside that the robot executes body；The both sides that the robot executes body are symmetrically installed with two mechanical arms respectively, and the execution end of each mechanical arm is mounted on manipulator；Structure of the invention is simple, the multiple functions for being able to achieve watering humidification, fetching object, monitoring camera-shooting；And the device is additionally provided with charging head and leans out mechanism automatically, is in contracting state during robot work, the situations such as avoids being splashed and damages.
Description
Technical field
The invention belongs to robot fields.
Background technique
Smart home has goed deep into the family of people, but existing smart home can only often realize simple functions, such as
Sweeping robot can only be used to clean ground, can not achieve and user is helped to clamp the Premium Features such as article.
Summary of the invention
Goal of the invention: in order to overcome the deficiencies in the prior art, the present invention provides that a kind of to clamp article etc. advanced
A kind of wired home robot and its method of function.
Technical solution: to achieve the above object, a kind of wired home robot of the invention, including robot ambulation bottom
Seat, robot execute body and robot head；The robot executes body and is fixed on the machine by several support frames
Above people's walking basal seat, the robot head is installed on the upside that the robot executes body；The robot executes body
The both sides of body are symmetrically installed with two mechanical arms respectively, and the execution end of each mechanical arm is mounted on manipulator；The machine
The inside that device people executes body is equipped with water tank, and the installed in front that the robot executes body has camera unit, the machine
The back side that device people executes body is equipped with watering unit；The water inlet end of the watering unit is connected to the water tank.
Further, the back side that the robot executes body is provided with vertical washing head and leans out slot；The watering is single
Member includes being fixedly mounted on the robot to execute big first steering engine inside body, the synchronous setting of the output end of first steering engine
There is steering engine output gear, further include oscillating rod, the root of the oscillating rod is fixedly installed sector gear, the sector gear
Shaft is rotatably connected at axle center, the shaft is connected on the casing of first steering engine, the rotational energy of the output gear
Engagement drives the sector gear to rotate along the shaft；The end of the oscillating rod is fixedly installed with drawing liquid pump, the drawing liquid
The water inlet end of pump is connected to the water tank in the robot execution body by flexible aqueduct；It installs the water outlet of the drawing liquid pump
There is fountain head, the water outlet of the fountain head leans out the washing head and leans out slot.
Further, the mechanical arm includes mechanical arm seat, and the machinery arm seat is fixedly mounted on the robot and executes
The waist location of body, the mechanical arm include the first arm, the second arm and third arm, and the root of first arm is fixed on described
On mechanical arm seat, the end of first arm is rotatablely connected one end of second arm, the driving device energy on first arm
Drive second arm swing；One end of the third arm is rotatablely connected the other end of second arm, on second arm
Driving device can drive the third arm swing；The other end of the third arm is fixedly installed with the second steering engine, the manipulator
It is mounted on the output shaft end of second steering engine.
Further, the manipulator includes manipulator support, and the manipulator support is fixedly mounted on second rudder
The output shaft end of machine；The manipulator support bilateral symmetry has been engaged left gear and right gear；It further include bilateral symmetry
Left driving lever and right driving lever；The root of the left driving lever and right driving lever is respectively fixedly connected with the left gear and right tooth
Wheel, the rotation of the left gear and right gear can distinguish left driving lever described in synchronous drive and right driving lever is swung；The machinery
Third steering engine is also equipped on hand bracket, the third servo driving connects the left gear or right gear；It further include left and right pair
What is claimed is left by lever and right by lever, described left by lever and right to be respectively parallel to the left driving lever and right driving lever by lever
Front side, it is described left by lever and right to be hingedly connected on the manipulator support by the inner end of lever；It further include a left side
The tail end of right symmetrical left gripper jaw and right gripper jaw, the left gripper jaw and right gripper jaw is hingedly connected the left active
The end of bar and right driving lever；It is hingedly connected in the middle part of the left gripper jaw and right gripper jaw described left by lever and right quilt
The outboard end of lever；The nip side of the left gripper jaw and right gripper jaw front end has been symmetrically arranged clamping cancave cambered surface, and each
The both ends of clamping cancave cambered surface are respectively arranged with serrated face.
Further, the front end of the robot ambulation pedestal is provided with charging connector and leans out window；The robot ambulation
The inside of pedestal is equipped with charging connector and leans out mechanism；
It includes mechanism base that the charging connector, which leans out mechanism, and output motor is equipped on the mechanism base, described defeated
Bearing block is fixedly installed on the upside of the electric machine casing of motor out；It is synchronized on the motor shaft of the output motor and gear is installed；Also
Including screw thread interlocking bar and transmission gear, the transmission gear engages connection with the gear；At the axle center of the transmission gear
Concentric perforation is provided with screw-driven hole, and the external screw thread of the screw thread interlocking bar is threadedly engaged with the screw-driven hole；Institute
It states transmission gear and one end integrated coaxial heart of the bearing block is provided with cylinder, the internal diameter of the cylinder is greater than the spiral shell
The outer diameter of line interlocking bar；Rotation is provided with bearing, the outer wall close-fitting of the inner ring of the bearing and the cylinder in the bearing block；
The screw thread interlocking bar is connected with buffer spring, the buffer spring close to one end that the charging connector leans out window
One end concentric be connected with charging connector；The described one end of screw thread interlocking bar far from the charging connector is concentric to be fixedly connected
Having section is in the guide post of regular hexagon；Guide pillar seat, the top setting of the guide pillar seat are also fixedly installed on the mechanism base
There is the hexagon guide hole of lateral direction penetrating, the guide post slides through the hexagon guide hole；In the screw thread interlocking bar and guide post
Concentric perforation is provided with wire channel.
Further, a kind of working method of wired home robot:
Watering air-humidification method: then robot ambulation to designated position starts drawing liquid pump, and then drawing liquid pump is led by flexibility
Water pipe extract water tank in water, and then by the water extracted by fountain head to the rear of robot spray, fountain head backward
During ejection, robot slowly walks forward, and then the place for realizing that robot walked is sprayed humidification；Machine
Walking avoids robot in the bottom surface walking sprayed, the phenomenon that having skidded forward while device people sprays water backward；With this
Swing up and down oscillating rod in lasting by controlling the first steering engine simultaneously；And then the area coverage for the water for spraying fountain head
It is bigger；
The method of gripping objects: control third steering engine rotates in the forward direction, and left gear and right gear is made to do gear motion, until left
Opened completely between gripper jaw and right gripper jaw, make left gripper jaw clamping cancave cambered surface and right gripper jaw clamping cancave cambered surface it
Between spacing be greater than the object to be clamped；Near robot ambulation to the object to be clamped, then pass through the first arm, the
The cooperation of two arms and third arm adjusts the posture of manipulator, make gripped object be in manipulator left gripper jaw and right gripper jaw it
Between；Then control third steering engine reversely rotates, and left gear and right gear is made to do gear motion, until the clamping concave arc of left gripper jaw
The inward-facing clamping article of clamping concave arc in face and right gripper jaw；Then pass through the cooperation tune of the first arm, the second arm and third arm
The posture of the picked up object of manipulator is saved, then robot drives to specified position；
Charging connector leans out method:
In robot use process, charging connector is located at the inside that charging connector leans out window, if robot is self-contained
When electricity block is completely depleted, control robot ambulation to specified charging jack position, and make filling on robot ambulation pedestal
Electric connection leans out the charging jack outside window alignment；Then start output motor, output motor band moving gear rotates at this time, in turn
Gear band nutating gear under the action of engagement rotates, and transmission gear cannot under the constraint of cylinder and the bearing of close-fitting state
Along axial-movement；Screw thread interlocking bar cannot rotate under the constraint of the guide post and hexagon guide hole of regular hexagon at the same time, but
The movement along axis can be done；Since the screw-driven hole on the external screw thread and transmission gear of screw thread interlocking bar is threadedly engaged, in turn
Transmission gear drives screw thread interlocking bar along axis shift by screw-driven, and then makes the charging connector of screw thread interlocking bar front end
Synchronous shift until charging connector leans out charging connector outward and leans out window, and then leans out the charging connector that charging connector leans out window
In charging jack outside insertion；Inverted running output motor is only needed when needing to retract charging connector.
The utility model has the advantages that structure of the invention is simple, the multiple functions for being able to achieve watering humidification, fetching object, monitoring camera-shooting；
And the device is additionally provided with charging head and leans out mechanism automatically, is in contracting state during robot work, avoids being splashed
Etc. situations and damage.
Detailed description of the invention
Attached drawing 1 is robot front schematic view；
Attached drawing 2 is the back side schematic diagram of robot；
Attached drawing 3 is mechanical arm structural schematic diagram；
Attached drawing 4 is robot manipulator structure schematic diagram；
Attached drawing 5 is manipulator internal drive structural schematic diagram；
Attached drawing 6 is robot ambulation base schematic diagram；
Attached drawing 7 is that the charging head of robot ambulation pedestal leans out the partial enlargement diagram at window；
Attached drawing 8 is the capstan drive schematic diagram in robot ambulation pedestal；
Attached drawing 9 is watering cellular construction schematic diagram；
Attached drawing 10 is that charging connector leans out mechanism structure schematic diagram.
Attached drawing 11 is the cut-away diagram of charging connector.
Specific embodiment
The present invention will be further explained with reference to the accompanying drawing.
A kind of introduction about the construction of this programme wired home robot as shown in attached drawing 1 to 11, including robot ambulation bottom
Seat 42, robot execute body 49 and robot head 47；It is fixed by several support frames 108 that the robot executes body 49
Above the robot ambulation pedestal 42, the robot head 47 is installed on the upside that the robot executes body 49；
The both sides that the robot executes body 49 are symmetrically installed with two mechanical arms 48, the execution end of each mechanical arm 48 respectively
It is mounted on manipulator 16；The inside that the robot executes body 49 is equipped with water tank, and the robot executes body 49
Installed in front has camera unit 50, and the back side that the robot executes body 49 is equipped with watering unit；The watering unit
Water inlet end be connected to the water tank.
The back side that the robot executes body 49 is provided with vertical washing head and leans out slot 29；The watering unit includes
It is fixedly mounted on the robot and executes 49 big first steering engine 22 in inside of body, the synchronous setting of the output end of first steering engine 22
There is steering engine output gear 24, further include oscillating rod 26, the root of the oscillating rod 26 is fixedly installed sector gear 23, the fan
Shaft 25 is rotatably connected at the axle center of shape gear 23, the shaft 25 is connected on the casing of first steering engine 22, described
The rotational energy engagement of output gear 24 drives the sector gear 23 to rotate along the shaft 25；The end of the oscillating rod 26 is solid
Dingan County is equipped with drawing liquid pump 28, and the water inlet end of the drawing liquid pump 28 is connected to the robot by flexible aqueduct 27 and executes body 49
Interior water tank；The water outlet of the drawing liquid pump 28 is equipped with fountain head 29, and the water outlet of the fountain head 29 leans out the watering
Head leans out slot 29.
The mechanical arm 48 includes mechanical arm seat 21, and the machinery arm seat 21 is fixedly mounted on the robot and executes body
49 waist location, the mechanical arm 48 include the first arm 20, the second arm 19 and third arm 17, and the root of first arm 20 is solid
It is scheduled on the mechanical arm seat 21, the end of first arm 20 is rotatablely connected one end of second arm 19, first arm
Driving device on 20 can drive second arm 19 to swing；One end of the third arm 17 is rotatablely connected second arm 19
The other end, the driving device on second arm 19 can drive the third arm 17 to swing；The other end of the third arm 17 is solid
Dingan County is equipped with the second steering engine 019, and the manipulator 16 is mounted on the output shaft end of second steering engine 019.
Side is separately installed with two universal wheels 43, the robot ambulation bottom before and after the bottom end of the robot ambulation pedestal 42
Left driving wheel 44.1 and right driving wheel 44.2 are separately installed at left and right sides of the bottom end of seat 42；In the robot ambulation pedestal 42
The front and back side in portion is separately installed with the first driver motor 104 and the second driver motor 103；First driver motor
104 pass through the first synchronous drive connection of tape cell 101 synchronous with second of tape cell 102 institute with the second driver motor 103 respectively
State right driving wheel 44.2 and left driving wheel 44.1.
The manipulator 16 includes manipulator support 46, and the manipulator support 46 is fixedly mounted on second steering engine
019 output shaft end；46 bilateral symmetry of manipulator support has been engaged left gear 33 and right gear 32；It further include a left side
Right symmetrical left driving lever 34 and right driving lever 304；The root of the left driving lever 34 and right driving lever 304 is respectively fixedly connected with
The left gear 33 and right gear 32, the rotation of the left gear 33 and right gear 32 can distinguish left driving lever described in synchronous drive
34 and right driving lever 304 swing；Third steering engine 30 is also equipped on the manipulator support 46, the driving of third steering engine 30 connects
Connect the left gear 33 or right gear 32；Further include it is symmetrical left by lever 38 and right by lever 39, it is described left by lever
38 and the right front side that the left driving lever 34 and right driving lever 304 are respectively parallel to by lever 39, it is described left by lever 38 and the right side
It is hingedly connected on the manipulator support 46 by the inner end of lever 39；It further include symmetrical 35 He of left gripper jaw
The tail end of right gripper jaw 40, the left gripper jaw 35 and right gripper jaw 40 is hingedly connected the left driving lever 34 and right active
The end of bar 304；The middle part of the left gripper jaw 35 and right gripper jaw 40 is hingedly connected described left by lever 38 and right quilt
The outboard end of lever 39；The nip side of 40 front end of the left gripper jaw 35 and right gripper jaw has been symmetrically arranged clamping cancave cambered surface
36, and the both ends of each clamping cancave cambered surface 36 are respectively arranged with serrated face 37.
The front end of the robot ambulation pedestal 42 is provided with charging connector and leans out window 1；The robot ambulation pedestal 42
Inside charging connector be installed lean out mechanism；
It includes mechanism base 0107 that the charging connector, which leans out mechanism, is equipped with output motor on the mechanism base 0107
9, the electric machine casing upside of the output motor 9 is fixedly installed with bearing block 5；It is synchronous on the motor shaft 15 of the output motor 9
Gear 8 is installed；It further include screw thread interlocking bar 3 and transmission gear 4, the transmission gear 4.1 engages connection with the gear 8；
Concentric perforation is provided with screw-driven hole 4.1 at the axle center of the transmission gear 4, the external screw thread of the screw thread interlocking bar 3 with
The screw-driven hole 4.1 is threadedly engaged；The transmission gear 4 is arranged close to one end integrated coaxial heart of the bearing block 5
There is cylinder 12, the internal diameter of the cylinder 12 is greater than the outer diameter of the screw thread interlocking bar 3；Rotation is provided with axis in the bearing block 5
11 are held, the outer wall close-fitting of the inner ring of the bearing 11 and the cylinder 12；
The screw thread interlocking bar 3 is connected with buffer spring 2, the buffering close to one end that the charging connector leans out window 1
One end of spring 2 is concentric to be connected with charging connector 1；The one end of the screw thread interlocking bar 3 far from the charging connector 1 is concentric
It is fixedly connected with the guide post 6 that section is in regular hexagon；Guide pillar seat 10 is also fixedly installed on the mechanism base 0107, it is described to lead
The top of column base 10 is provided with the hexagon guide hole 7 of lateral direction penetrating, and the guide post 6 slides through the hexagon guide hole 7；It is described
Concentric perforation is provided with wire channel 13 in screw thread interlocking bar 3 and guide post 6.
Operating method, process and the technological progress of robot arrange as follows:
Robot ambulation method: if desired straight line is walked, and passes through the first driver motor 104 and the second driver motor
103, which synchronize the tape cell 101 synchronous with second of tape cell 102 by first respectively, drives right driving wheel 44.2 and left driving wheel 44.1
It is synchronous to rotate forward or synchronize reversion；If desired pivot stud controls the oppositely oriented of right driving wheel 44.2 and left driving wheel 44.1, turns
The equal pivot stud that robot can be realized of speed；If desired interim turning, controls right driving wheel 44.2 and left driving wheel respectively
44.1 rotational speed difference, and then realize the amplitude of control turning, if desired restore straight line walking states, it only need to be by right driving wheel 44.2
It is identical for readjusting with the revolving speed of left driving wheel 44.1；
Sprinkle water air-humidification method: then robot ambulation to designated position starts drawing liquid pump 28, and then drawing liquid pump 28 is by soft
Property aqueduct 27 extract water tank in water, and then by the water extracted by fountain head 29 to the rear of robot spray, spraying
During head 29 sprays backward, robot slowly walks forward, and then realizes the place quilt that robot walked
Sprinkling humidification；Walking avoids robot in the bottom surface walking sprayed forward while robot sprays water backward, has skidded
The phenomenon that；Swing up and down oscillating rod 26 in lasting by controlling the first steering engine 22 at the same time；And then make fountain head 29
The area coverage of the water of ejection is bigger；
The method of gripping objects: control third steering engine 30 rotates in the forward direction, and left gear 33 and right gear 32 is made to do gear motion,
Until opening completely between left gripper jaw 35 and right gripper jaw 40, make the clamping cancave cambered surface 36 and right gripper jaw 40 of left gripper jaw 35
Clamping cancave cambered surface 36 between spacing be greater than the object to be clamped；Robot ambulation is attached to the object to be clamped
Closely, the posture that manipulator 16 is then adjusted by the cooperation of the first arm 20, the second arm 19 and third arm 17, is in gripped object
Between the left gripper jaw 35 and right gripper jaw 40 of manipulator 16；Then control third steering engine 30 reversely rotates, and makes 33 He of left gear
Right gear 32 does gear motion, until left gripper jaw 35 clamping cancave cambered surface 36 and right gripper jaw 40 clamping cancave cambered surface 36 to
Interior clamping article；Then the picked up object of manipulator 16 is adjusted by the cooperation of the first arm 20, the second arm 19 and third arm 17
Posture, then robot drives to specified position；
Charging connector leans out method:
In robot use process, charging connector 1 is located at the inside that charging connector leans out window 1, if robot is self-contained
Electricity block when being completely depleted, control robot ambulation to specified charging jack position, and making on robot ambulation pedestal 42
Charging connector lean out window 1 and be directed at external charging jack；Then start output motor 9, output motor 9 is with moving gear 8 at this time
Rotation, and then the band nutating gear 4 under the action of engagement of gear 8 rotates, axis of the transmission gear in cylinder 12 and close-fitting state
Holding cannot be along axial-movement under 11 constraint；Guide post 6 and hexagon guide hole 7 of the screw thread interlocking bar 3 in regular hexagon at the same time
Constraint under cannot rotate, but the movement along axis can be done；Due to the spiral shell on the external screw thread and transmission gear 4 of screw thread interlocking bar 3
Line driving hole 4.1 is threadedly engaged, so transmission gear 4 by screw-driven drive screw thread interlocking bar 3 along axis shift, in turn
Make 1 synchronous shift of charging connector of 3 front end of screw thread interlocking bar, until charging connector 1 leans out charging connector outward and leans out window 1, into
And it leans out charging connector and leans out the charging connector 1 of window 1 and be inserted into external charging jack；Only when needing to retract charging connector 1
Need inverted running output motor 9.
The above is only a preferred embodiment of the present invention, it should be pointed out that: for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (6)
1. a kind of wired home robot, it is characterised in that: execute body (49) including robot ambulation pedestal (42), robot
With robot head (47)；The robot executes body (49) and is fixed on the robot row by several support frames (108)
It walks above pedestal (42), the robot head (47) is installed on the upside that the robot executes body (49)；The machine
The both sides that people executes body (49) are symmetrically installed with two mechanical arms (48) respectively, and the execution end of each mechanical arm (48) is equal
Manipulator (16) are installed；The inside that the robot executes body (49) is equipped with water tank, and the robot executes body
(49) installed in front has camera unit (50), and the back side that the robot executes body (49) is equipped with watering unit；Institute
The water inlet end for stating watering unit is connected to the water tank.
2. a kind of wired home robot according to claim 2, it is characterised in that: the robot executes body (49)
Back side be provided with vertical washing head and lean out slot (29)；The watering unit includes being fixedly mounted on the robot to execute body
Internal big first steering engine (22) of body (49), the output end of first steering engine (22) are synchronously arranged with steering engine output gear (24),
It further include oscillating rod (26), the root of the oscillating rod (26) is fixedly installed sector gear (23), the sector gear (23)
Axle center at be rotatably connected to shaft (25), the shaft (25) is connected on the casing of first steering engine (22), described defeated
The rotational energy engagement of gear (24) drives the sector gear (23) to rotate along the shaft (25) out；The oscillating rod (26)
End is fixedly installed with drawing liquid pump (28), and the water inlet end of the drawing liquid pump (28) is connected to the machine by flexible aqueduct (27)
People executes the water tank in body (49)；The water outlet of the drawing liquid pump (28) is equipped with fountain head (29), the fountain head (29)
Water outlet lean out the washing head and lean out slot (29).
3. a kind of wired home robot according to claim 2, it is characterised in that: the mechanical arm (48) includes machinery
Arm seat (21), the machinery arm seat (21) are fixedly mounted on the waist location that the robot executes body (49), the machinery
Arm (48) includes that the first arm (20), the second arm (19) and third arm (17), the root of first arm (20) are fixed on the machine
On tool arm seat (21), the end of first arm (20) is rotatablely connected one end of second arm (19), first arm (20)
On driving device second arm (19) can be driven to swing；One end of the third arm (17) is rotatablely connected second arm
(19) the other end, the driving device on second arm (19) can drive the third arm (17) to swing；The third arm
(17) the other end is fixedly installed with the second steering engine (019), and the manipulator (16) is mounted on the defeated of second steering engine (019)
Shaft end out.
4. a kind of wired home robot according to claim 3, it is characterised in that: the manipulator (16) includes machinery
Hand bracket (46), the manipulator support (46) are fixedly mounted on the output shaft end of second steering engine (019)；The machinery
Hand bracket (46) has symmetrically been engaged left gear (33) and right gear (32)；It further include symmetrical left driving lever
(34) and right driving lever (304)；The root of the left driving lever (34) and right driving lever (304) is respectively fixedly connected with the left tooth
Wheel (33) and right gear (32), the rotation of the left gear (33) and right gear (32) can distinguish left driving lever described in synchronous drive
(34) it is swung with right driving lever (304)；It is also equipped with third steering engine (30) on the manipulator support (46), the third steering engine
(30) left gear (33) or right gear (32) are drivingly connected；It further include symmetrical left by lever (38) and right by lever
(39), described left by lever (38) and right the left driving lever (34) and right driving lever (304) to be respectively parallel to by lever (39)
Front side, it is described left to be hingedly connected by lever (38) and the right inner end by lever (39) in the manipulator support (46)
On；It further include symmetrical left gripper jaw (35) and right gripper jaw (40), the left gripper jaw (35) and right gripper jaw (40)
Tail end be hingedly connected the end of the left driving lever (34) and right driving lever (304)；The left gripper jaw (35) and the right side
It is hingedly connected in the middle part of gripper jaw (40) described left by lever (38) and the right outboard end by lever (39)；The left clamping
The nip side of pawl (35) and right gripper jaw (40) front end has been symmetrically arranged clamping cancave cambered surface (36), and respectively clamps cancave cambered surface
(36) both ends are respectively arranged with serrated face (37).
5. a kind of wired home robot according to claim 4, it is characterised in that: the robot ambulation pedestal (42)
Front end be provided with charging connector and lean out window (1)；The inside of the robot ambulation pedestal (42) is equipped with charging connector and leans out
Mechanism；
It includes mechanism base (0107) that the charging connector, which leans out mechanism, is equipped with output motor on the mechanism base (0107)
(9), bearing block (5) are fixedly installed on the upside of the electric machine casing of the output motor (9)；The motor shaft of the output motor (9)
(15) it is synchronized on and gear (8) is installed；Further include screw thread interlocking bar (3) and transmission gear (4), the transmission gear (4.1) with
Gear (8) the engagement connection；Concentric perforation is provided with screw-driven hole (4.1), institute at the axle center of the transmission gear (4)
The external screw thread and the screw-driven hole (4.1) for stating screw thread interlocking bar (3) are threadedly engaged；The transmission gear (4) is close to described
One end integrated coaxial heart of bearing block (5) is provided with cylinder (12), and the internal diameter of the cylinder (12) links greater than the screw thread
The outer diameter of bar (3)；Rotation is provided with bearing (11) in the bearing block (5), the inner ring and the cylinder of the bearing (11)
(12) outer wall close-fitting；
The screw thread interlocking bar (3) is connected with buffer spring (2) close to one end that the charging connector leans out window (1), described slow
The one end for rushing spring (2) concentric is connected with charging connector (1)；The screw thread interlocking bar (3) is far from the charging connector (1)
One end is concentric to be fixedly connected with the guide post (6) that section is in regular hexagon；It is also fixedly installed on the mechanism base (0107)
Guide pillar seat (10) is provided with the hexagon guide hole (7) of lateral direction penetrating, guide post (6) sliding at the top of the guide pillar seat (10)
Across the hexagon guide hole (7)；Concentric perforation is provided with wire channel in the screw thread interlocking bar (3) and guide post (6)
(13)。
6. a kind of working method of wired home robot according to claim 5, it is characterised in that:
Watering air-humidification method: robot ambulation to designated position, then starting drawing liquid pump (28), and then drawing liquid pump (28) pass through soft
Property aqueduct (27) extract water tank in water, and then by the water extracted by fountain head (29) to the rear of robot spray,
During fountain head (29) sprays backward, robot slowly walks forward, and then realizes the ground that robot walked
Fang Jun is sprayed humidification；Walking avoids robot in the bottom surface walking sprayed, out forward while robot sprays water backward
The phenomenon that now skidding；Swing up and down oscillating rod (26) in lasting by controlling the first steering engine (22) at the same time；In turn
The area coverage for the water for spraying fountain head (29) is bigger；
The method of gripping objects: control third steering engine (30) rotates in the forward direction, and left gear (33) and right gear (32) is made to do engagement fortune
It is dynamic, until opening completely between left gripper jaw (35) and right gripper jaw (40), make the clamping cancave cambered surface (36) of left gripper jaw (35)
Spacing between the clamping cancave cambered surface (36) of right gripper jaw (40) is greater than the object to be clamped；Robot ambulation is to being wanted
Near the object of clamping, manipulator is then adjusted by the cooperation of the first arm (20), the second arm (19) and third arm (17)
(16) posture is in gripped object between the left gripper jaw (35) of manipulator (16) and right gripper jaw (40)；Then it controls
Third steering engine (30) reversely rotates, and left gear (33) and right gear (32) is made to do gear motion, until the folder of left gripper jaw (35)
Hold clamping cancave cambered surface (36) inside clamping article of cancave cambered surface (36) Yu right gripper jaw (40)；Then by the first arm (20),
The cooperation of second arm (19) and third arm (17) adjusts the posture of manipulator (16) picked up object, and then robot drives to finger
Fixed position；
Charging connector leans out method:
In robot use process, charging connector (1) is located at the inside that charging connector leans out window (1), if robot is self-contained
Electricity block when being completely depleted, control robot ambulation to specified charging jack position, and make robot ambulation pedestal (42)
On charging connector lean out window (1) alignment outside charging jack；Then start output motor (9), at this time output motor (9) band
Moving gear (8) rotation, and then gear (8) band nutating gear (4) under the action of engagement rotates, transmission gear is in cylinder (12)
It cannot be along axial-movement under constraint with the bearing (11) of close-fitting state；Screw thread interlocking bar (3) is in regular hexagon at the same time
It cannot be rotated under the constraint of guide post (6) and hexagon guide hole (7), but the movement along axis can be done；Due to screw thread interlocking bar (3)
External screw thread is threadedly engaged with the screw-driven hole (4.1) on transmission gear (4), and then transmission gear (4) passes through screw-driven
It drives screw thread interlocking bar (3) along axis shift, and then makes charging connector (1) synchronous shift of screw thread interlocking bar (3) front end, until
Charging connector (1) leans out charging connector and leans out window (1) outward, and then leans out charging connector and lean out the charging connector (1) of window (1) and insert
Enter in external charging jack；Inverted running output motor (9) are only needed when needing to retract charging connector (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201910398765.8A CN110039509A (en) | 2019-05-14 | 2019-05-14 | A kind of wired home robot and its method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910398765.8A CN110039509A (en) | 2019-05-14 | 2019-05-14 | A kind of wired home robot and its method |
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ID=67281914
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| CN112171704A (en) * | 2020-08-25 | 2021-01-05 | 武汉船用机械有限责任公司 | Clamping device |
| CN112809655A (en) * | 2021-02-02 | 2021-05-18 | 无锡江锦自动化科技有限公司 | Asymmetric double-arm cooperative robot system and modeling and working method thereof |
| CN112975922A (en) * | 2021-02-08 | 2021-06-18 | 浙江百世技术有限公司 | Inspection robot based on thing networking |
| CN114347099A (en) * | 2021-12-31 | 2022-04-15 | 北京信通泰克科技有限公司 | Intelligent robot home security monitoring system |
| CN114434426A (en) * | 2022-03-09 | 2022-05-06 | 武昌工学院 | Building site robot that intelligence was built |
| CN117260793A (en) * | 2023-11-22 | 2023-12-22 | 北京曾益慧创科技有限公司 | A fixed manipulator for computer spare part processing |
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