CN111203898A

CN111203898A - Service robot

Info

Publication number: CN111203898A
Application number: CN202010155858.0A
Authority: CN
Inventors: 付国强; 饶勇建; 陶春; 鲁彩江; 高宏力; 郭亮; 谢云鹏
Original assignee: Southwest Jiaotong University
Current assignee: Southwest Jiaotong University
Priority date: 2020-03-09
Filing date: 2020-03-09
Publication date: 2020-05-29

Abstract

The invention discloses a service robot, which has three states of welcoming, object conveying and security protection, and comprises a robot body, a robot base, a battery assembly and a control panel assembly, wherein the robot base is provided with a wheel set for walking; the robot base is provided with an ultrasonic component and a camera component I; the mechanical arm assembly comprises a fixed frame and an arm body, the fixed frame comprises an upper fixed plate fixed with the machine body, a lower fixed plate fixed with the machine body and a mechanical arm Z shaft connected between the upper fixed plate and the lower fixed plate, the arm body comprises a shoulder body, a large arm, a small arm and a wrist tool interface piece which are sequentially connected in a transmission manner, and the shoulder body is mounted on the mechanical arm Z shaft and can move up and down along the mechanical arm Z shaft through a longitudinal moving mechanism; the interactive screen assembly, the smoke sensor, the longitudinal moving mechanism, the ultrasonic assembly and the camera assembly I are electrically connected with the control panel assembly.

Description

Service robot

Technical Field

The invention relates to the technical field of robots, in particular to a service robot.

Background

With the development of multiple subjects such as machinery, electronics, control, materials, computers, sensors, and the like, robotics has been developed and widely used in various aspects of production and life. Robots are generally classified into two types, industrial robots and service robots, and the industrial robots participate in industrial production; the service robot is engaged in service work for people and units, such as home service, maintenance, transportation, monitoring, office work and the like, which is not in industrial production. The service robot in the office field is used in many environments, for example, in the scenes of banks, hospitals, government departments, enterprises, exhibition halls and the like, and can complete the work of welcoming, business introduction, information consultation, self-service business handling, file transfer, security protection and the like. In the office field, the problems of large human flow, large space, multiple departments, complicated information, inconvenience in human-human interaction and the like often exist, and the existing service robot has too few functional structures and cannot meet the requirements.

Disclosure of Invention

The present invention aims to provide a service robot which can alleviate the above problems.

In order to alleviate the above problems, the technical scheme adopted by the invention is as follows:

the invention provides a service robot which comprises a robot body, a robot base, a battery assembly and a control panel assembly, wherein the robot body is provided with a mechanical arm assembly, the robot body is supported and mounted on the robot base, the robot base is provided with a wheel set for walking, and the robot body is provided with an object conveying cabinet, an object placing table, a smoke sensor and an interactive screen assembly; the robot base is provided with an ultrasonic component and a camera component I; the ultrasonic assemblies are arranged uniformly around the robot base; the mechanical arm assembly comprises a fixing frame and an arm body, the fixing frame comprises an upper fixing plate fixed with the machine body, a lower fixing plate fixed with the machine body and a mechanical arm Z shaft connected between the upper fixing plate and the lower fixing plate, the arm body comprises a shoulder body, a large arm, a small arm and a wrist tool interface piece which are sequentially connected in a transmission manner, and the shoulder body is mounted on the mechanical arm Z shaft and can move up and down along the mechanical arm Z shaft through a longitudinal moving mechanism; the interactive screen assembly, the smoke sensor, the longitudinal moving mechanism, the ultrasonic assembly and the camera assembly I are electrically connected with the control panel assembly.

The technical effect of the technical scheme is as follows: the guest welcoming and article conveying and security protection can be realized, the services of identifying, registering, information guiding, self-service business handling, document conveying, water sending and hospitalizing and the like can be performed on visitors, and the guest handling process is simplified; the autonomous patrol can be realized, and the safety of office places is improved; finally, the purposes of reducing the burden of workers, improving the office efficiency, improving the customer experience and increasing the security strength are achieved.

Furthermore, the article conveying cabinet is of a hollow structure embedded in the machine body, and the article placing platform is of a flat plate structure positioned above the article conveying cabinet; the interactive screen assembly is located above the object placing table.

The technical effect of the technical scheme is as follows: the structure of the article-conveying cabinet and the article-placing table is simple and easy to assemble.

Furthermore, the battery pack, the camera assembly I, the ultrasonic assembly and the control board assembly are all detachably fixed on the bottom board of the robot base.

The technical effect of the technical scheme is as follows: the position layout is reasonable, and the parts can be conveniently separated and maintained.

Furthermore, the bottom plate of the robot base is of a plane plate-shaped structure, a plurality of notches are formed in the side edge portion of the bottom plate, and the wheel sets are correspondingly arranged on the notches one to one.

Furthermore, the battery assembly is positioned at the center of the bottom plate of the robot base and comprises a battery fixing frame and three groups of storage batteries arranged on the battery fixing frame, and the battery fixing frame is formed by splicing sectional materials and plates; the number of the ultrasonic wave components is 8, and the ultrasonic wave components are uniformly arranged on the front side, the rear side, the left side and the right side of the robot base through L-shaped supporting plates.

The technical effect of the technical scheme is as follows: battery pack and ultrasonic wave subassembly are rationally distributed, and the ultrasonic wave subassembly can detect the obstacle environmental information all around the robot.

Furthermore, the fuselage is installed and is used for the charging device who charges for battery pack, is used for the remote control module of wireless receiving instruction, the remote control module all with control panel subassembly electric connection.

The technical effect of the technical scheme is as follows: the intelligent service robot can be charged under the condition that the battery assembly is not detached, and the intelligent service robot has the functions of remote control and smoke sensing.

Further, the top of fuselage is provided with the robot head, the robot head is equipped with speaker, cloud platform, installs in the camera subassembly II of cloud platform, the speaker cloud platform and camera subassembly II all with control panel subassembly electric connection.

Furthermore, the cameras of the camera component II and the camera component I are binocular stereo cameras; and the camera component II is fixed right in front of the robot base.

Further, the shoulder body comprises a shoulder body main frame, a large arm rotating motor and a synchronous belt transmission mechanism I, the large arm comprises a large arm main frame, a small arm rotating motor and a synchronous belt transmission mechanism II, and the small arm comprises a small arm main frame, a wrist rotating motor and a synchronous belt transmission mechanism III; the shoulder body main frame is in transmission connection with the large arm main frame through a synchronous belt transmission mechanism I, and a torque output shaft of the large arm rotating motor is connected with a torque input shaft of the synchronous belt transmission mechanism I; the large arm main frame is in transmission connection with the small arm rotating motor through a synchronous belt transmission mechanism II, and a torque output shaft of the small arm rotating motor is connected with a torque input shaft of the synchronous belt transmission mechanism II; the forearm rotating motor is in transmission connection with the wrist tool interface piece through a synchronous belt transmission mechanism III, and a torque output shaft of the wrist rotating motor is connected with a torque input shaft of the synchronous belt transmission mechanism III.

The technical effect of the technical scheme is as follows: relative rotation can easily be realized between the three-terminal structure of arm front-middle back, the dead condition of card can not appear, and synchronous drive mechanism reliability is high.

Furthermore, the shoulder body main frame, the large arm main frame and the small arm main frame are strip-shaped groove plates and are provided with hole grooves for installing a rotating motor and a synchronous belt transmission system.

The technical effect of the technical scheme is as follows: the design of the strip-shaped groove plate structure is easy to arrange a transmission structure.

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

Fig. 1 is an overall structural diagram of a service robot;

FIG. 2 is a schematic view of a service robot base structure;

FIG. 3 is a schematic view of a service robot arm assembly;

FIG. 4 is a schematic diagram of the service robot arm configuration;

in the figure: 101. the robot comprises a robot base, 102 a material conveying cabinet, 103 a mechanical arm assembly, 104 a robot head, 105 an interactive screen assembly, 106 a storage table, 201 a camera assembly, 202 a battery assembly, 203 a wheel set, 204 a control plate assembly, 205 an ultrasonic assembly, 301 an upper fixing plate, 302 a mechanical arm Z axis, 303 a big arm, 304 a lower fixing plate, 305 a wrist tool interface, 306 a small arm, 307 a shoulder body, 401 a small arm main frame, 402 a wrist rotating motor, 403 a big arm main frame, 404 a small arm rotating motor and 405 a shoulder body main frame.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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 some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. 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.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or the orientations or positional relationships that the products of the present invention are usually placed in when used, and are only used for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements referred to must have specific orientations, be constructed in specific orientations, and be operated, and thus, should not be construed as limiting the present invention.

In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," and "connected" are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integrally connected; either mechanically or electrically. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Examples

Referring to fig. 1 to 4, the present embodiment provides a service robot, including a robot body, a robot base 101, a battery assembly 202 and a control panel assembly 204, wherein the robot body is provided with a mechanical arm assembly 103, the robot body is supported and mounted on the robot base 101, the robot base 101 is provided with a wheel set 203 for walking, and the robot body is provided with a delivery cabinet 102, a storage table 106 and an interactive screen assembly 105; the robot base 101 is provided with an ultrasonic component 205 and a camera component I201; the ultrasonic wave assemblies 205 are multiple and are uniformly arranged around the robot base 101; the mechanical arm assembly 103 is of a SCARA type structure and comprises a fixed frame and an arm body, wherein the fixed frame comprises an upper fixed plate 301 fixed with the machine body, a lower fixed plate 304 fixed with the machine body and a mechanical arm Z shaft 302 connected between the upper fixed plate 301 and the lower fixed plate 304, the arm body comprises a shoulder body 307, a large arm 303, a small arm 306 and a wrist tool interface piece 305 which are sequentially connected in a transmission manner, and the shoulder body 307 is installed on the mechanical arm Z shaft 302 and can move up and down along the mechanical arm Z shaft 302 through a longitudinal moving mechanism; the interactive screen assembly 105, the longitudinal moving mechanism, the ultrasonic assembly 205 and the camera assembly i 201 are electrically connected to the control panel assembly 204.

In this embodiment, the longitudinal moving mechanism includes a driving motor, a ball screw, a deep groove ball bearing, a thrust ball bearing, and a photoelectric switch, and the up-down position information of the shoulder 307 on the Z-axis 302 of the robot arm is fed back to the control board assembly 204 through the photoelectric switch, and the control board assembly 204 controls the driving motor of the longitudinal moving mechanism to operate, so as to drive the ball screw to rotate until the shoulder 307 reaches the target position on the Z-axis 302 of the robot arm.

In this embodiment, the article-conveying cabinet 102 is a hollow structure embedded in the machine body, and the article-placing table 106 is a flat plate structure located above the article-conveying cabinet 102; the interactive screen assembly 105 is positioned above the stand 106.

The material conveying cabinet 102 is used for storing large files, materials and the like, and the material conveying cabinet 102 is positioned in a framework built by sectional materials above the robot base 101; the cabinet 102 is packaged by a thin plate, and the thin plate on the front side of the robot is exposed out of the robot shell and can be opened; the back of the material conveying cabinet 102 is used for wiring of a control board assembly, a motor, a loudspeaker, a screen and a camera, and the wiring is longitudinal wiring.

In the present embodiment, the battery module 202, the camera module i 201, the ultrasonic module 205, and the control board module 204 are detachably fixed on the bottom plate of the robot base 101. The control panel component 204 is used for coordinating and controlling various parts of the robot, running an interactive system program and a patrol monitoring system algorithm, the control panel component 204 is positioned at the rear parts of the robot base 101 and the object conveying cabinet 102, the control panel component 204 comprises a single chip microcomputer and a single board computer and is responsible for instruction control of a camera, a wheel set motor, a mechanical arm motor, a holder motor, a loudspeaker and an interactive screen, and the control panel component is responsible for running the interactive system program and the patrol monitoring system algorithm. The patrol monitoring algorithm is responsible for autonomous patrol and monitoring, environment monitoring and abnormal alarming, and the interactive program is responsible for recording visitors, service introduction and article transmission.

In this embodiment, the bottom plate of robot base 101 is plane platelike structure, and its side portion is equipped with three breach, and installing in each breach portion of three wheelset 203 one-to-one, wheelset 203 are used for the robot walking, and it includes driving motor, bearing frame, wheel, driving motor and control panel subassembly 204 electric connection, and it is standing east through control panel subassembly 204 control driving motor, drives the rotation of wheels, realizes the robot walking then.

In this embodiment, the battery assembly 202 is located at the center of the bottom plate of the robot base 101, and includes a battery holder and three sets of storage batteries mounted on the battery holder, where the battery holder is formed by splicing sectional materials and plates. The battery assembly 202 is used to power the various electrical components of the robot.

In this embodiment, the robot is equipped with a charging device, a smoke sensor, a WiFi/remote control module for charging the battery pack 202 without disassembly; the smoke sensor is used for sensing smoke concentration when the robot patrols and giving an alarm in time when a fire possibly occurs; the WiFi/remote control module is used for receiving operation instructions and system updates of the background and sending running state information to the background.

In this embodiment, there are 8 ultrasonic assemblies 205, and the ultrasonic assemblies 205 are uniformly installed on the front, rear, left and right sides of the robot base 101 through L-shaped supporting plates, two in each direction, and the ultrasonic assemblies 205 are used for robot distance measurement and obstacle avoidance.

In this embodiment, the top of fuselage is provided with robot head 104, and robot head 104 is equipped with speaker, cloud platform, installs in the camera subassembly II of cloud platform, and speaker, cloud platform and camera subassembly II all with control panel subassembly 204 electric connection. The loudspeaker is used for voice interaction and abnormal alarm; the interactive screen component 105 is used for displaying service introduction and consultation interaction; the shelf 106 is used for holding documents, mineral water, and the like. The holder comprises a holder motor, a deflection platform and a pitching platform, and can realize the deflection and pitching actions of the camera component II. The camera component I201 and the camera component II are used for photographing, recording, face recognition, object recognition and environment monitoring.

In this embodiment, the cameras of the camera component ii and the camera component i 201 are both binocular stereo cameras; the camera assembly II is fixed right in front of the robot base 101.

In this embodiment, the shoulder 307 includes a shoulder main frame 405, a large arm rotation motor and a synchronous belt transmission mechanism i, the large arm 303 includes a large arm main frame 403, a small arm rotation motor 404 and a synchronous belt transmission mechanism ii, and the small arm 306 includes a small arm main frame 401, a wrist rotation motor 402 and a synchronous belt transmission mechanism iii; the shoulder body main frame 405 is in transmission connection with the large arm main frame 403 through a synchronous belt transmission mechanism I, and a torque output shaft of a large arm rotating motor is connected with a torque input shaft of the synchronous belt transmission mechanism I; the large arm main frame 403 is in transmission connection with the small arm rotating motor 404 through a synchronous belt transmission mechanism II, and a torque output shaft of the small arm rotating motor 404 is connected with a torque input shaft of the synchronous belt transmission mechanism II; the forearm rotating motor 404 is in transmission connection with the wrist tool interface piece 305 through a synchronous belt transmission mechanism III, and a torque output shaft of the wrist rotating motor 402 is connected with a torque input shaft of the synchronous belt transmission mechanism III. The shoulder body main frame 405, the large arm main frame 403 and the small arm main frame 401 are strip-shaped groove plates, and are provided with hole grooves for installing a rotating motor and a synchronous belt transmission system, each synchronous belt transmission mechanism is a speed reduction transmission mechanism,

in this embodiment, the wrist tool interface 305 is provided with a pneumatic quick connector and an electrical interface; the wrist tool interface 305 is connected to the tail end of the small arm main frame 401 through a synchronous pulley, a bearing seat, a tapered roller bearing, a hollow flange shaft and a bolt, and the mechanical arm assembly 103 is used for grabbing, clamping and the like of articles.

The service robot in this embodiment mainly has three states, which are a welcome state, an article transfer state and a security state. In the welcome state, the intelligent service robot identifies the client and automatically meets the client, welcomes the client through an interactive screen and voice representation, and guides the client to register information; the interactive screen displays all selectable functions: propagandizing videos, service introduction, handling processes, department navigation and the like, and giving corresponding responses after waiting for feedback of clients; and automatically switching to the security state after the no-client state exceeds a certain time limit. In the article transmission state, the intelligent service robot transmits articles between the client and each working department according to the interaction with the client or background instructions; the delivery cabinet 102 can be used for placing client files, meeting data, financial files and the like, and the storage table 106 can be used for placing brochures, mineral water and the like; in the state, the mechanical arm assembly 103 is matched with an object conveying cabinet 102 and an object placing table (06, the object is automatically prevented from being blocked, a positioning navigation system is matched to convey the object to a specified place, a worker or a client is reminded through a screen and voice after the object is conveyed, in the security state, the intelligent service robot automatically patrols in a preset or artificially set area of the robot, environment information is obtained through an ultrasonic assembly and a binocular stereo camera assembly, automatic obstacle prevention is achieved according to the information, the environment smoke concentration is monitored in real time through a smoke sensor, the environment safety condition is monitored through the binocular stereo camera and preset index thresholds, after an early warning event occurs, the alarm is given through a loudspeaker, the alarm information is sent to a background through a WiFi module, and the alarm information is displayed on an interactive screen.

The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A service robot comprises a robot body, a robot base (101), a battery assembly (202) and a control panel assembly (204), wherein the robot body is provided with a mechanical arm assembly (103), the robot body is supported and mounted on the robot base (101), the robot base (101) is provided with a wheel set (203) for walking, and the service robot is characterized in that the robot body is provided with an object conveying cabinet (102), an object placing table (106), a smoke sensor and an interactive screen assembly (105); the robot base (101) is provided with an ultrasonic component (205) and a camera component I (201); the ultrasonic assemblies (205) are arranged uniformly around the robot base (101); the mechanical arm assembly (103) comprises a fixed frame and an arm body, the fixed frame comprises an upper fixed plate (301) fixed with a machine body, a lower fixed plate (304) fixed with the machine body and a mechanical arm Z shaft (302) connected between the upper fixed plate (301) and the lower fixed plate (304), the arm body comprises a shoulder body (307), a large arm (303), a small arm (306) and a wrist tool interface piece (305) which are sequentially connected in a transmission manner, and the shoulder body (307) is mounted on the mechanical arm Z shaft (302) and can move up and down along the mechanical arm Z shaft (302) through a longitudinal moving mechanism; the interactive screen component (105), the smoke sensor, the longitudinal moving mechanism, the ultrasonic component (205) and the camera component I (201) are electrically connected with the control board component (204).

2. The service robot as recited in claim 1, wherein the delivery cabinet (102) is a hollow structure embedded in the body, and the object table (106) is a flat plate structure located above the delivery cabinet (102); the interactive screen assembly (105) is located above the stand (106).

3. The service robot as recited in claim 1, characterized in that the battery assembly (202), the camera assembly i (201), the ultrasonic assembly (205), and the control board assembly (204) are all detachably fixed on a bottom board of the robot base (101).

4. The service robot as claimed in claim 3, wherein the bottom plate of the robot base (101) is a planar plate structure, the side edge portion of the bottom plate is provided with a plurality of notches, and the wheel sets (203) are correspondingly mounted in the notches.

5. The service robot as claimed in claim 3, wherein the battery assembly (202) is located at the center of the bottom plate of the robot base (101) and comprises a battery holder and three groups of storage batteries mounted on the battery holder, and the battery holder is formed by splicing sectional materials and plates; the number of the ultrasonic wave components (205) is 8, and the ultrasonic wave components are uniformly arranged on the front side, the rear side, the left side and the right side of the robot base (101) through L-shaped supporting plates.

6. The service robot as recited in claim 1, wherein the body is equipped with a charging device for charging the battery assembly (202), a remote control module for wirelessly receiving commands, the remote control module being electrically connected to the control board assembly (204).

7. The service robot as recited in claim 1, wherein a robot head (104) is disposed on a top of the body, the robot head (104) is provided with a speaker, a pan-tilt and a camera assembly ii mounted on the pan-tilt, and the speaker, the pan-tilt and the camera assembly ii are electrically connected to the control board assembly (204).

8. The service robot as recited in claim 7, wherein the cameras of the camera component ii and the camera component i (201) are binocular stereo cameras; the camera component II is fixed right in front of the robot base (101).

9. The service robot according to claim 1, wherein the shoulder body (307) includes a shoulder body main frame (405), a large arm rotating motor, and a synchronous belt transmission mechanism i, the large arm (303) includes a large arm main frame (403), a small arm rotating motor (404), and a synchronous belt transmission mechanism ii, and the small arm (306) includes a small arm main frame (401), a wrist rotating motor (402), and a synchronous belt transmission mechanism iii; the shoulder body main frame (405) is in transmission connection with the large arm main frame (403) through a synchronous belt transmission mechanism I, and a torque output shaft of the large arm rotating motor is connected with a torque input shaft of the synchronous belt transmission mechanism I; the large arm main frame (403) is in transmission connection with the small arm rotating motor (404) through a synchronous belt transmission mechanism II, and a torque output shaft of the small arm rotating motor (404) is connected with a torque input shaft of the synchronous belt transmission mechanism II; the forearm rotating motor (404) is in transmission connection with the wrist tool interface piece (305) through a synchronous belt transmission mechanism III, and a torque output shaft of the wrist rotating motor (402) is connected with a torque input shaft of the synchronous belt transmission mechanism III.

10. The service robot as recited in claim 9, wherein the shoulder body main frame (405), the large arm main frame (403), and the small arm main frame (401) are strip-shaped groove plates, and are provided with hole grooves for installing a rotation motor and a synchronous belt drive system.