CN203696998U - Household aged-assisted robot - Google Patents
Household aged-assisted robot Download PDFInfo
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- CN203696998U CN203696998U CN201320884242.2U CN201320884242U CN203696998U CN 203696998 U CN203696998 U CN 203696998U CN 201320884242 U CN201320884242 U CN 201320884242U CN 203696998 U CN203696998 U CN 203696998U
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- movable chassis
- elderly
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Abstract
The utility model relates to a household aged-assisted robot. The household aged-assisted robot comprises a movable chassis mechanism and power mechanisms for driving the movable chassis mechanism, wherein the movable chassis mechanism comprises a triangular plate frame and three omnidirectional wheels installed on the triangular plate frame at an angle of 120 degrees respectively; the power mechanisms are three brushed motors corresponding to the omnidirectional wheels respectively, and the three brushed motors are fixedly installed on the triangular plate frame at an angle of 120 degrees respectively; the omnidirectional wheels are connected with the corresponding brushed motors respectively. The robot disclosed by the utility model has the advantages of being omnidirectional in movement, flexible in running, stable and not liable to tip over, as well as is free from an arc-shaped turning phenomenon during travelling, capable of effectively avoiding and going through obstacles, with intelligent functions to a certain extent, and completely adaptive to environments with narrow space and many obstacles, such as households.
Description
Technical field
The utility model belongs to Robotics field, particularly the robot that helps the elderly of a kind of family.
Background technology
The at present robot that has mobile matrix of application, that its move mode is generally is legged, crawler type, wheeled construction.Movable structure is in stability and have the place of barrier to be difficult to give full play to its effectiveness.Crawler-type mobile structure is turned dumb, and volume is bigger than normal.Common wheel type mobile structure fluctuation of service, kinematic accuracy is not high, and direction inconvenience is controlled.
Utility model content
The purpose of this utility model is to provide the robot that helps the elderly of a kind of family, and this robot has Omni-mobile, flexible operation, the stable and feature of not prone to tip over.
The technical scheme that the utility model addresses the above problem is:
The robot that helps the elderly of a kind of family, comprises movable chassis mechanism and for driving the actuating unit of movable chassis mechanism, and described movable chassis mechanism comprises that triangle grillage and three are mutually 120 degree and are arranged on the omni-directional wheel on triangle grillage; Described actuating unit is three corresponding with omni-directional wheel respectively brush motors, and three brush motors are mutually 120 degree angles and are fixedly mounted on triangle flat plate steelframe; Described omni-directional wheel connects with the axle of corresponding brush motor respectively.
Press such scheme, described omni-directional wheel is two double-deckers that identical plate wheel axle connects to form; In described plate wheel outer peripheral line, be evenly intervally distributed with the rubber wheel of multiple cydariforms, each rubber wheel is socketed in plate wheel outer peripheral line and take outer peripheral line as axle, is upwards in staggered distribution each other in week; Between two plate wheels, axially leave gap along wheel disc.
Press such scheme, described actuating unit is for there being brush GPG-05SC type motor.
Press such scheme, the robot that helps the elderly of described family also comprises the electrical control gear being connected with actuating unit and the host computer being connected with electrical control gear; Described electrical control gear is arranged on movable chassis mechanism, comprises ARM controller, lcd touch panel type display, crash sensor, photoelectric sensor, temperature sensor, human body heat-releasing electric transducer, Smoke Sensor and dropproof sensor, wireless module, camera, actuating unit driver module; Lcd touch panel type display, each sensor, actuating unit driver module, wireless module and camera are electrically connected with ARM controller respectively.
Press such scheme, described electrical control gear and host computer communicate by wireless data link.
The beneficial effect that the utility model device brings is:
The movable chassis mechanism part of this robot adopts the Omni-mobile structure of precision machinery technology, have Omni-mobile, flexible operation, stablize and the advantage of not prone to tip over, walking is without arc turning phenomenon, can effectively avoid and go beyond obstacle, thering is certain intelligent function; Solve legged structure and be difficult to give full play to its effectiveness in the place that has barrier; Track structure volume is large, turns dumb; There is fluctuation of service in Universal wheel type structure, direction inconvenience is controlled, the problem that kinematic accuracy is not high; Adapt to the environment that this narrow space obstacle of family is many completely.
Accompanying drawing explanation
Fig. 1 is the structural representation of the movable chassis mechanism of an embodiment of the utility model;
Fig. 2 is the structural representation of the device of an embodiment of the utility model.
The specific embodiment
In order to make the purpose of this utility model, technical scheme and advantage clearer, below in conjunction with embodiment, the utility model is further elaborated.Should be appreciated that specific embodiment described herein is only in order to explain the utility model, and be not used in restriction the utility model.
The robot that helps the elderly of a kind of family, comprises robot body and host computer, and robot body comprises movable chassis mechanism, actuating unit and electrical control gear, and movable chassis mechanism is driven by actuating unit, and actuating unit is by electrical control gear control;
As shown in Figure 1, movable chassis mechanism comprises that triangle grillage 1 and three are mutually 120 degree and are arranged on the omni-directional wheel on triangle grillage; Described actuating unit 4 is three corresponding with omni-directional wheel respectively brush motors, and three brush motors are mutually 120 degree angles and are fixedly mounted on triangle flat plate steelframe; Described omni-directional wheel connects with the axle of corresponding brush motor respectively;
Omni-directional wheel is two double-deckers that identical plate wheel axle 17 connects to form; In described plate wheel outer peripheral line, be evenly intervally distributed with the rubber wheel 2 of multiple cydariforms, each rubber wheel is socketed in plate wheel outer peripheral line and take outer peripheral line as axle, is upwards in staggered distribution each other in week; Between two plate wheels, axially leave gap along wheel disc.
Wherein, actuating unit has been preferably brush GPG-05SC type motor;
As shown in Figure 2, electrical control gear is arranged on movable chassis mechanism 3, for ease of multiple installation of sensors and expansion in the future, and makes sensor have better acquisition precision, and three layers of triangle flat plate steelframe are set on movable chassis mechanism.
Comprise ARM controller, lcd touch panel type display 10, crash sensor 11, photoelectric sensor 13, temperature sensor 9, human body heat-releasing electric transducer 12, Smoke Sensor 5 and dropproof sensor 16, wireless module, camera, actuating unit driver module 4; Lcd touch panel type display, each sensor, actuating unit driver module, wireless module and camera are electrically connected with ARM controller respectively;
Host computer comprises wireless module, and electrical control gear is communicated by letter by wireless module with host computer.
The principle of this robot work is:
Host controller is responsible for according to control instruction, user command being sent to the ARM master controller of electrical control gear, ARM master controller response user command, the running of control brush motor, omni-directional wheel is connected with the axle of brush motor respectively, motor is accepted the control command of electrical control mechanism, completes the advancing of robot, stops, lock and unlock task, makes robot at indoor autokinetic movement, automatic dodging barrier, realizes unmanned intervention and independently patrols and examines; Supervisory controller receives by ARM master controller the heat transfer agent that the each sensor feedback of movable chassis mechanism is returned simultaneously, and heat transfer agent is carried out to analyzing and processing, thereby forms FEEDBACK CONTROL and Based Intelligent Control to movable chassis mechanism.
The movable chassis mechanism of this robot has intelligent function, can be used as the mobile vehicle of the professional robot in each field.
Should be understood that, for those of ordinary skills, can be improved according to the above description or convert, and all these improvement and conversion all should belong to the protection domain of claims of the present invention.
Claims (5)
1. the robot that helps the elderly of family, is characterized in that, comprises movable chassis mechanism and for driving the actuating unit of movable chassis mechanism, and described movable chassis mechanism comprises that triangle grillage and three are mutually 120 degree and are arranged on the omni-directional wheel on triangle grillage; Described actuating unit is three corresponding with omni-directional wheel respectively brush motors, and three brush motors are mutually 120 degree angles and are fixedly mounted on triangle flat plate steelframe; Described omni-directional wheel connects with the axle of corresponding brush motor respectively.
2. the robot that helps the elderly of family according to claim 1, is characterized in that, described omni-directional wheel is two double-deckers that identical plate wheel axle connects to form; In described plate wheel outer peripheral line, be evenly intervally distributed with the rubber wheel of multiple cydariforms, each rubber wheel is socketed in plate wheel outer peripheral line and take outer peripheral line as axle, is upwards in staggered distribution each other in week; Between two plate wheels, axially leave gap along wheel disc.
3. the robot that helps the elderly of family according to claim 1, is characterized in that, described brush motor is for there being brush GPG-05SC type motor.
4. the robot that helps the elderly of family according to claim 1, is characterized in that, the robot that helps the elderly of described family also comprises the electrical control gear being connected with actuating unit and the host computer being connected with electrical control gear; Described electrical control gear is arranged on movable chassis mechanism, comprises ARM controller, lcd touch panel type display, crash sensor, photoelectric sensor, temperature sensor, human body heat-releasing electric transducer, Smoke Sensor and dropproof sensor, wireless module, camera, actuating unit driver module; Lcd touch panel type display, each sensor, actuating unit driver module, wireless module and camera are electrically connected with ARM controller respectively.
5. the robot that helps the elderly of family according to claim 1, is characterized in that, described electrical control gear and host computer communicate by wireless data link.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320884242.2U CN203696998U (en) | 2013-12-31 | 2013-12-31 | Household aged-assisted robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320884242.2U CN203696998U (en) | 2013-12-31 | 2013-12-31 | Household aged-assisted robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203696998U true CN203696998U (en) | 2014-07-09 |
Family
ID=51047494
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320884242.2U Expired - Fee Related CN203696998U (en) | 2013-12-31 | 2013-12-31 | Household aged-assisted robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203696998U (en) |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104656653A (en) * | 2015-01-15 | 2015-05-27 | 长源动力（北京）科技有限公司 | Interactive system and method based on robot |
| CN104999454A (en) * | 2015-07-10 | 2015-10-28 | 黑龙江大学 | Remote-controlled omnidirectional mobile manipulator and control method thereof |
| CN105276348A (en) * | 2015-10-19 | 2016-01-27 | 中山大学 | Paralleling stabilization enhancing omnidirectional moving platform |
| CN105620570A (en) * | 2016-02-05 | 2016-06-01 | 李良杰 | Wall surface walking machine |
| CN105922234A (en) * | 2016-06-27 | 2016-09-07 | 四川阿泰因机器人智能装备有限公司 | Mobile robot triangular chassis assembly |
| CN105946547A (en) * | 2016-04-28 | 2016-09-21 | 上海钛米机器人科技有限公司 | Omni wheel |
| CN106002911A (en) * | 2016-04-28 | 2016-10-12 | 上海钛米机器人科技有限公司 | Mobile robot universal chassis |
| CN106078671A (en) * | 2016-07-18 | 2016-11-09 | 山西迪迈沃科光电工业有限公司 | A kind of intelligent robot omnidirectional driving means |
| CN106864652A (en) * | 2017-04-25 | 2017-06-20 | 健芮智能科技（昆山）有限公司 | It is suitable to the Interesting body-building bicycle that many people ride |
| CN107088871A (en) * | 2017-05-19 | 2017-08-25 | 深圳市优必选科技有限公司 | Robot interior stepped construction and robot |
| CN107891413A (en) * | 2017-05-16 | 2018-04-10 | 烟台市迈高机器人科技有限公司 | Laminated, compact type Two-wheeled intelligent carriage |
| CN108438095A (en) * | 2018-03-19 | 2018-08-24 | 合肥工业大学 | A kind of omnidirectional's nursing mobile robot platform |
| CN109367653A (en) * | 2018-11-01 | 2019-02-22 | 华南智能机器人创新研究院 | A kind of 4 wheel driven robot chassis of the floating type avoidance in interior |
-
2013
- 2013-12-31 CN CN201320884242.2U patent/CN203696998U/en not_active Expired - Fee Related
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104656653A (en) * | 2015-01-15 | 2015-05-27 | 长源动力（北京）科技有限公司 | Interactive system and method based on robot |
| CN104999454A (en) * | 2015-07-10 | 2015-10-28 | 黑龙江大学 | Remote-controlled omnidirectional mobile manipulator and control method thereof |
| CN105276348A (en) * | 2015-10-19 | 2016-01-27 | 中山大学 | Paralleling stabilization enhancing omnidirectional moving platform |
| CN105276348B (en) * | 2015-10-19 | 2019-01-04 | 中山大学 | Parallel connection increases steady Omni-mobile platform |
| CN105620570A (en) * | 2016-02-05 | 2016-06-01 | 李良杰 | Wall surface walking machine |
| CN106002911A (en) * | 2016-04-28 | 2016-10-12 | 上海钛米机器人科技有限公司 | Mobile robot universal chassis |
| CN105946547A (en) * | 2016-04-28 | 2016-09-21 | 上海钛米机器人科技有限公司 | Omni wheel |
| CN105922234A (en) * | 2016-06-27 | 2016-09-07 | 四川阿泰因机器人智能装备有限公司 | Mobile robot triangular chassis assembly |
| CN106078671A (en) * | 2016-07-18 | 2016-11-09 | 山西迪迈沃科光电工业有限公司 | A kind of intelligent robot omnidirectional driving means |
| CN106864652A (en) * | 2017-04-25 | 2017-06-20 | 健芮智能科技（昆山）有限公司 | It is suitable to the Interesting body-building bicycle that many people ride |
| CN107891413A (en) * | 2017-05-16 | 2018-04-10 | 烟台市迈高机器人科技有限公司 | Laminated, compact type Two-wheeled intelligent carriage |
| CN107088871A (en) * | 2017-05-19 | 2017-08-25 | 深圳市优必选科技有限公司 | Robot interior stepped construction and robot |
| CN107088871B (en) * | 2017-05-19 | 2023-08-04 | 深圳市优必选科技有限公司 | Robot inside lamination structure and robot |
| CN108438095A (en) * | 2018-03-19 | 2018-08-24 | 合肥工业大学 | A kind of omnidirectional's nursing mobile robot platform |
| CN109367653A (en) * | 2018-11-01 | 2019-02-22 | 华南智能机器人创新研究院 | A kind of 4 wheel driven robot chassis of the floating type avoidance in interior |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C41 | Transfer of patent application or patent right or utility model | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20170223 Address after: 430205 Wuhan Province, East Lake Development Zone, No. four, No. 1, high tech, Vanke charm of the city of Patentee after: Wuhan science and Technology Co., Ltd. Address before: 430074 Wuhan, Hongshan Province District, hung Chu street, No. 693 Patentee before: Wuhan Institute of Technology |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140709 Termination date: 20191231 |