CN113440072A

CN113440072A - Home service robot

Info

Publication number: CN113440072A
Application number: CN202111008270.3A
Authority: CN
Inventors: 鲍玟浠
Original assignee: Beijing Yuanlai Shanshang Technology Co ltd
Current assignee: Beijing Yuanlai Shanshang Technology Co ltd
Priority date: 2021-08-31
Filing date: 2021-08-31
Publication date: 2021-09-28

Abstract

The invention provides a family service robot, and relates to the field of household robots. The radar robot comprises a main body, a radar arranged on the main body, a mechanical arm, a clamping structure arranged on the mechanical arm, a driving motor arranged in the main body and a traveling mechanism rotationally connected with the driving motor; the main part includes chassis, scissors formula lift and lift platform, and the chassis is connected with lift platform through scissors formula lift, and the radar sets up on the chassis, and the arm sets up on lift platform. It can utilize the formula lift of cutting to make lift platform can freely go up and down to reach and let this kind of family service robot clean wall, window, roof and the higher furniture of size.

Description

Home service robot

Technical Field

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

Background

In recent years, with the rapid development of robotics, service-type robots are increasingly incorporated into human lives. The robot is not only limited to the care of the old people staying at home, but also needs the service of corresponding docking given by the robot similar to a housekeeper from children to adults and even in the empty room without people at home. In particular, regarding the problem of room cleaning, a conventional home service robot, for example, a home service robot disclosed in application No. 201811003075.X, has only a function of floor cleaning and cannot clean other positions of a room, and thus a home service robot capable of cleaning other positions such as walls and windows of a room is required.

Disclosure of Invention

The invention aims to provide a home service robot, which can be freely lifted and lowered by using a scissor type lifter, so that the home service robot can clean walls, windows, roofs and furniture with high size.

The embodiment of the invention is realized by the following steps:

the embodiment of the application provides a family service robot, which comprises a main body, a radar arranged on the main body, a mechanical arm, a clamping structure arranged on the mechanical arm, a driving motor arranged in the main body and a traveling mechanism rotationally connected with the driving motor; the main part includes chassis, scissors formula lift and lift platform, and the chassis is connected with lift platform through scissors formula lift, and the radar sets up on the chassis, and the arm sets up on lift platform.

In some embodiments of the present invention, the lifting platform further includes a water pump, the chassis is provided with a clean water tank, a sewage tank and a line tank disposed between the clean water tank and the sewage tank, the lifting platform is provided with a cleaning tank, the cleaning tank is connected to the cleaning tank through the water pump, and the cleaning tank is connected to the sewage tank through a pipeline.

In some embodiments of the present invention, the cleaning tank includes a first tank and a second tank to which a cleaning agent is added.

In some embodiments of the invention, the chassis is further provided with an anti-toppling mechanism, the anti-toppling mechanism comprises a support member and a stabilizing member, one end of the support member is hinged with the chassis by using a ratchet wheel, and the other end of the support member is hinged with the stabilizing member by using a ratchet wheel.

In some embodiments of the invention, the side walls of the lift platform are provided with sleeves that fit the supports.

In some embodiments of the invention, the stabilizing member is provided with anti-slip bosses, which are serrated.

In some embodiments of the present invention, the anti-slip boss is made of rubber.

In some embodiments of the invention, the base pan is provided with a drain valve in communication with the sump.

In some embodiments of the invention, the robotic arm employs a six degree-of-freedom robotic arm.

In some embodiments of the invention, a placing groove for placing the scissor lift is further arranged on the chassis.

Compared with the prior art, the embodiment of the invention has at least the following advantages or beneficial effects:

a family service robot comprises a main body, a radar arranged on the main body, a mechanical arm, a clamping structure arranged on the mechanical arm, a driving motor arranged in the main body and a traveling mechanism rotationally connected with the driving motor; the main part includes chassis, scissors formula lift and lift platform, and the chassis is connected with lift platform through scissors formula lift, and the radar sets up on the chassis, and the arm sets up on lift platform.

The household service robot in the prior art still has great defects in the aspect of room cleaning, and the main reason is that the cleaning function of the conventional household service robot can only clean the ground, but cannot clean other areas of the room. Therefore, the cleaning brush is clamped by the clamping mechanism on the mechanical arm, wherein the clamping mechanism adopts a rotary connecting rod lever type clamping mechanism, and the cleaning brush with different sizes or shapes can be clamped by utilizing the V-shaped clamping mode of the rotary connecting rod lever type clamping mechanism, so that the application occasions of the clamping mechanism can be obviously expanded. Meanwhile, various corners can be well cleaned by using the flexibility of the mechanical arm, and the household service robot can freely lift by using the scissor lift, so that the household service robot can clean walls, windows, roofs and furniture with high size. The specific embodiment is that the driving motor is used for driving the travelling mechanism, so that the family service robot can move freely, and cleaning tasks in different areas can be handled more easily. The traveling mechanism adopts crawler wheels, and the crawler is made of rubber, so that the traveling stability of the family service robot can be improved, and the floor can be prevented from being damaged. In addition, the scissor type lifter is arranged on the chassis to lift the lifting platform in the vertical direction, so that the lifting platform can be lifted to a designated position, and the cleaning brush clamped by the mechanical arm on the lifting platform is used for cleaning, the purpose of cleaning a window, a wall or a roof is achieved, the cleaning of all positions of a room is achieved, and the convenience and the application range of the family service robot are improved.

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 a schematic structural diagram of a home service robot according to the present invention;

FIG. 2 is a schematic structural view of an anti-toppling mechanism of a home service robot lifting platform when the lifting platform is lifted;

fig. 3 is a schematic structural view of an anti-toppling mechanism when a home service robot lifting platform is lowered.

Icon: 1. a main body; 11. a chassis; 111. a clear water tank; 112. a sewage tank; 113. a placement groove; 12. a scissor lift; 13. a lifting platform; 131. a cleaning tank; 1311. a first water tank; 1312. a second water tank; 132. a sleeve; 2. a radar; 3. a mechanical arm; 4. a traveling mechanism; 5. cleaning brushes; 6. a water pump; 7. a drain valve; 8. an anti-toppling mechanism; 81. a support member; 82. and (5) a fixing piece.

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.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the embodiments of the present invention, it should be noted that, if the terms "upper", "lower", "vertical", "horizontal", "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 usually put out when in use, the orientations or positional relationships are only used for convenience of describing the present invention and simplifying the description, but the terms do not indicate or imply that the devices or elements that are referred to must have specific orientations, be constructed and operated in specific orientations, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.

Furthermore, the terms "horizontal", "vertical" and the like do not require that the components be absolutely horizontal or overhanging, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.

In the description of the embodiments of the present invention, "a plurality" represents at least 2.

In the description of the embodiments of the present invention, it should be further noted that unless otherwise explicitly stated or limited, the terms "disposed," "mounted," and "connected" should be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

Example 1

Referring to fig. 1, fig. 1 shows a home service robot provided in this embodiment, which includes a main body 1, a radar 2 disposed on the main body 1, a robot arm 3, a clamping structure disposed on the robot arm 3, a driving motor disposed in the main body 1, and a traveling mechanism 4 rotatably connected to the driving motor; the main body 1 comprises a chassis 11, a scissor type lifter 12 and a lifting platform 13, wherein the chassis 11 is connected with the lifting platform 13 through the scissor type lifter 12, a radar 2 is arranged on the chassis 11, and a mechanical arm 3 is arranged on the lifting platform 13.

In some embodiments of the present invention, a great disadvantage of the prior art home service robot in cleaning a room still exists, and the main reason is that the prior art home service robot has a cleaning function, which is only capable of cleaning the floor, but is not capable of cleaning other areas of the room. Therefore, the cleaning brush 5 is clamped by the clamping mechanism on the mechanical arm 3, wherein the clamping mechanism adopts a rotary connecting rod lever type clamping mechanism, and the cleaning brush 5 with different sizes or shapes can be clamped by utilizing the V-shaped clamping mode of the clamping mechanism, so that the application occasions of the clamping mechanism can be obviously expanded. Meanwhile, various corners can be well cleaned by using the flexibility of the mechanical arm 3, and the home service robot can be freely lifted by using the scissor type lifter 12, so that the home service robot can clean walls, windows, roofs and furniture with high size. The specific embodiment is that the traveling mechanism 4 is driven by a driving motor, so that the home service robot can move freely, and cleaning tasks in different areas can be handled more easily. The traveling mechanism 4 adopts crawler wheels, and the crawler is made of rubber, so that the traveling stability of the family service robot can be improved, and the floor can be prevented from being damaged. In addition, the scissor type lifter 12 is arranged on the chassis 11, the lifting platform 13 is lifted in the vertical direction, so that the lifting platform 13 can be lifted to a specified position, the cleaning brush 5 clamped by the mechanical arm 3 on the lifting platform 13 is used for cleaning, the purpose of cleaning a window, a wall or a roof is achieved, the cleaning of all positions of a room is achieved, and the convenience and the application range of the family service robot are improved.

Example 2

Referring to fig. 1, the present embodiment is provided based on the technical solution of embodiment 1, and further includes a water pump 6, a clean water tank 111, a sewage tank 112 and a line tank disposed between the clean water tank 111 and the sewage tank 112 are disposed on the chassis 11, a cleaning tank 131 is disposed on the lifting platform 13, the cleaning tank 131 is connected to the cleaning tank 131 through the water pump 6, and the cleaning tank 131 is connected to the sewage tank 112 through a pipeline.

In some embodiments of the present invention, in the cleaning process of the home service robot, after the cleaning brush is used for a certain period of time, water on the cleaning brush becomes less, so that the cleaning effect becomes poor, and therefore the cleaning brush needs to be cleaned. In addition, since the cleaning tank 131 has a small volume and can be cleaned less frequently, the clean water tank 111 is provided on the base plate 11, and the clean water in the clean water tank 111 is supplied to the cleaning tank 131 by the suction pump 6. And the sewage in the cleaning tank 131 is discharged to the sewage tank 112 arranged on the chassis 11 through a pipeline by utilizing gravitational potential energy, thereby improving the cleaning times and the cleaning efficiency. Meanwhile, in order to separate the clean water tank 111 and the sewage tank 112 as much as possible and facilitate connection of an electric circuit, a line tank is provided between the clean water tank 111 and the sewage tank 112.

Example 3

Referring to fig. 1, the present embodiment proposes that the cleaning tank 131 includes a first water tank 1311 and a second water tank 1312 to which a cleaning agent is added based on the technical solution of embodiment 2.

In some embodiments of the present invention, a cleaning agent needs to be added for stains which are difficult to clean, such as oil stains, etc., so the present embodiment divides the cleaning tank 131 into a first water tank 1311 and a second water tank 1312, wherein the first water tank 1311 is used for placing clean water, the second water tank 1312 is used for adding the cleaning agent, and meanwhile, by utilizing the high flexibility of the mechanical arm 3, whether clean water or the cleaning agent is used can be freely selected, so that the cleaning effect of the home service robot is improved, and meanwhile, since the cleaning brush 5 is mostly rectangular, the first water tank 1311 and the second water tank 1312 are both configured as rectangular tanks for being matched with the cleaning brush 5.

Example 4

Referring to fig. 2 and 3, the present embodiment provides based on the technical solution of embodiment 1 that the chassis 11 is further provided with an anti-toppling mechanism 8, the anti-toppling mechanism 8 includes a supporting member 81 and a stabilizing member 82, one end of the supporting member 81 is hinged to the chassis 11 by using a ratchet, and the other end of the supporting member 81 is hinged to the stabilizing member 82 by using a ratchet.

In some embodiments of the present invention, since the usage environment of the home service robot is indoors and is basically applied to a residential room, the volume of the home service robot is set to be small so as not to affect the residential environment of the user. When it is desired to clean a roof or a higher area, the home service robot is susceptible to toppling due to the limitations of the chassis 11 as the scissor lift 12 is raised, thereby providing one or more toppling mechanisms. The specific implementation mode is as follows: the supporting member 81 is hinged to the chassis 11 by using a ratchet wheel, so that the supporting member 81 can only rotate in one direction under the limitation of the ratchet wheel, and therefore, after the supporting member 81 contacts the ground, the supporting member cannot rotate to the original position, and forms a triangle with the ground and the chassis 11, and the chassis 11 is fixed by using the triangle with higher stability. Wherein the supporting member 81 can be an aluminum alloy or a stainless steel, and the supporting member 81 is located on the chassis 11, and the heavier the weight of the chassis 11 is, the stability of the home service robot can be effectively improved, so that the supporting member 81 of the embodiment is made of the stainless steel. The firm member 82 is arranged, the friction force between the firm member 82 and the ground is increased, when the firm member 82 and the ground are kept in a horizontal state, the firm member is made of stainless steel, the weight of the firm member is increased, the friction force is increased, and therefore the slipping of the family service robot is avoided, and the safety is improved.

Example 5

Referring to fig. 2 and fig. 3, the present embodiment proposes that a sleeve 132 adapted to the supporting member 81 is disposed on a sidewall of the lifting platform 13 based on the technical solution of embodiment 4.

In some embodiments of the present invention, since during use, if the anti-toppling mechanism 8 is manually installed, it is likely that the old or the young will forget the procedure during the operation, a sleeve 132 fitted to the support 81 is provided on the side wall of the lifting platform 13, and the sleeve 132 is fitted on the support 81 when the home service robot is not lifted; after the lifting platform 13 is lifted, the sleeve 132 and the supporting piece 81 fall off, and the supporting piece 81 automatically falls down under the action of gravity and is fixed under the limitation of the ratchet wheel, so that the purpose of automatically supporting is achieved, and the safety and the convenience are improved.

Example 6

The present embodiment proposes based on the technical solution of embodiment 4 that the fixing member 82 is provided with an anti-slip boss, and the anti-slip boss is serrated.

In some embodiments of the present invention, the friction between the serrated bosses and the ground is greater than the friction between a simple plane and the ground, so that the pressure that the stabilizing member 82 can bear is greater, thereby providing better support for the home service robot, preventing the home service robot from sliding or toppling, and improving safety. Meanwhile, in addition to the serrated anti-slip bosses, spaced anti-slip bosses may be used, that is, anti-slip bosses are provided on the fixing member 82 at intervals.

Example 7

The present embodiment proposes based on the technical solution of embodiment 6 that the anti-slip boss is made of rubber.

In some embodiments of the present invention, since the service environment of the home service robot is a home house, the floor is fragile and expensive to replace, the anti-slip boss may be made of plastic or rubber, and since rubber is elastic at room temperature and can deform greatly under the action of a small external force, and can recover to its original shape after the external force is removed, during use, the friction force between rubber and the ground is greater than the friction force between plastic and the ground, and the elasticity of rubber can provide a good cushion for the fixing member 82, so that the anti-slip boss of this embodiment is made of rubber.

Example 8

Referring to fig. 2, the present embodiment proposes that the chassis 11 is provided with a drain valve 7 communicated with the wastewater tank 112 based on the technical solution of embodiment 2.

In some embodiments of the present invention, a drain valve 7 is disposed in the wastewater tank 112 to drain wastewater therein, wherein the drain valve 7 may be an electric valve or a manual valve.

Example 9

Referring to fig. 1, the present embodiment proposes that the robot arm 3 adopts a six-degree-of-freedom robot arm 3 based on the technical solution of embodiment 1.

In some embodiments of the present invention, the six-degree-of-freedom robot arm 3 grips, cleans, and otherwise operates the cleaning brush 5 using a rotating shaft (or a live joint). It is repositioned using a linear axis and can be made to act as flexibly as a human. It has six degrees of freedom and the robot arm 3 can execute the operator's instructions. Most of the operations, cleaning from the various positions of the washing brush 5, from the rotation of the washing brush 5 to the complex washing brush 5, can be carried out. It also has the advantage of being programmable: the six-degree-of-freedom mechanical arm 3 is mainly characterized by flexible starting and is an important component in a flexible manufacturing system. The industrial robot can be reprogrammed along with the change of the working environment and the change of a machined part, has an anthropomorphic effect when being used, and improves the self-adaptive capacity of the industrial robot to the surrounding environment by adding the sensor.

Example 10

Referring to fig. 1, the present embodiment proposes that based on the technical solution of embodiment 1, a placing groove 113 for placing the scissor lift 12 is further disposed on the chassis 11.

In some embodiments of the present invention, since the chassis 11 is provided with the clean water tank 111 and the dirty water tank 112, the scissor lift 12 is prevented from being damaged by the circuit or rusted by the metal parts due to water splashing into the scissor lift 12. The present embodiment further provides a placement groove 113 for placing the scissor lift 12 on the chassis 11.

In summary, the embodiment of the present invention provides a home service robot, which includes a main body 1, a radar 2 disposed on the main body 1, a robot arm 3, a clamping structure disposed on the robot arm 3, a driving motor disposed in the main body 1, and a traveling mechanism 4 rotatably connected to the driving motor; the main body 1 comprises a chassis 11, a scissor type lifter 12 and a lifting platform 13, wherein the chassis 11 is connected with the lifting platform 13 through the scissor type lifter 12, a radar 2 is arranged on the chassis 11, and a mechanical arm 3 is arranged on the lifting platform 13.

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 family service robot is characterized by comprising a main body, a radar arranged on the main body, a mechanical arm, a clamping structure arranged on the mechanical arm, a driving motor arranged in the main body and a traveling mechanism rotationally connected with the driving motor; the main body comprises a chassis, a scissor type lifter and a lifting platform, the chassis is connected with the lifting platform through the scissor type lifter, the radar is arranged on the chassis, and the mechanical arm is arranged on the lifting platform.

2. The home service robot as claimed in claim 1, further comprising a water pump, wherein the chassis is provided with a clean water tank, a sewage tank and a line tank disposed between the clean water tank and the sewage tank, the lifting platform is provided with a cleaning tank, the cleaning tank is connected with the cleaning tank through the water pump, and the cleaning tank is connected with the sewage tank through a pipeline.

3. A home service robot as claimed in claim 2, wherein the wash tank comprises a first tank and a second tank to which a detergent is added.

4. The home service robot as claimed in claim 1, wherein the chassis is further provided with an anti-toppling mechanism, the anti-toppling mechanism comprises a support member and a steady member, one end of the support member is hinged with the chassis by a ratchet, and the other end of the support member is hinged with the steady member by a ratchet.

5. A home service robot as claimed in claim 4, wherein the lift platform side wall is provided with a sleeve adapted to the support.

6. A home service robot as claimed in claim 4, wherein the stabilizing member is provided with anti-slip projections, said anti-slip projections being serrated.

7. The home service robot as claimed in claim 6, wherein the anti-slip bosses are made of rubber.

8. A home service robot as claimed in claim 2, wherein the base pan is provided with a drain valve in communication with the sump.

9. The home service robot as claimed in claim 1, wherein the robot arm is a six-degree-of-freedom robot arm.

10. The home service robot as claimed in claim 1, wherein a placing groove for placing the scissor lift is further provided on the chassis.