CN206357243U - A kind of service robot - Google Patents
A kind of service robot Download PDFInfo
- Publication number
- CN206357243U CN206357243U CN201621282028.XU CN201621282028U CN206357243U CN 206357243 U CN206357243 U CN 206357243U CN 201621282028 U CN201621282028 U CN 201621282028U CN 206357243 U CN206357243 U CN 206357243U
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- upper arm
- arm
- trunk
- head
- chassis
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Abstract
The utility model provides a kind of service robot, including head (1), arm (2), trunk (3) and chassis (4), the head (1) is connected on the head fixed bearing block (12) on the trunk (3) by head fixing axle, the arm (2) is connected to the trunk (3) both sides, and trunk (3) bottom is arranged on chassis (4)；Arm (2) includes upper arm one (21), upper arm two (22) and underarm (23), and trunk (3) includes PC control circuit chamber (31), slave computer control circuit chamber (32) and driver and power control room (33) successively from top to bottom；Chassis (4) includes chassis body, two be arranged in the chassis body are oppositely arranged driving wheel (46) and two universal wheels (44) being oppositely arranged.The utility model robot has mobilizable arm structure, and each arm has four frees degree, can simulate human limb's action.
Description
Technical field
The utility model belongs to robot field, more particularly, to a kind of service robot.
Background technology
Service robot is the robot of a kind of semi-autonomous or full utonomous working, and being of wide application for it can be engaged in
Guiding, welcome, accompany and attend to, information consultation, speech exchange, the work such as monitoring.As economic continues to develop, some low-end service rows
Industry, and need the service industry for consuming a large amount of personnel also increasingly to strengthen service-delivery machine Man's Demands.Therefore a kind of energy is needed
Enough apply to the service robot of specific environment, some necessary services can be provided in specific environment, including
Guide guests, conveying articles, man-machine interaction and auxiliary amusement etc..
The content of the invention
In view of this, the utility model is directed to a kind of service robot, it is intended to which auxiliary carries out bank, market, exhibition room
The work such as welcome, information consultation, guiding introduction are carried out Deng place.
To reach above-mentioned purpose, what the technical solution of the utility model was realized in：
A kind of service robot, including head (1), arm (2), trunk (3) and chassis (4), the head (1) pass through head
Portion's fixing axle is connected on the head fixed bearing block (12) on the trunk (3), and the arm (2) passes through arm fixing axle
On the shoulder bearing block (27) for being connected to the trunk (3) both sides, trunk (3) bottom is arranged on chassis (4)；Head
(1) driven by head motor (13)；Arm (2) includes upper arm one (21), upper arm two (22) and underarm (23), upper arm one
(21) motor (211) and the arm water being arranged in upper arm one (21) before and after the arm level being arranged in trunk (3)
The driving of flat lateral movement motor (24), upper arm one (21) and upper arm two (22) pass through the upper arm that is driven by upper arm electric rotating machine (25)
Connecting shaft is connected, and upper arm two (22) is with underarm (23) by being connected by ancon motor (26)；Trunk (3) is wrapped successively from top to bottom
Include PC control circuit chamber (31), slave computer control circuit chamber (32) and driver and power control room (33)；Wrap on chassis (4)
Include chassis body, the driving wheel (46) and two ten thousand be oppositely arranged that be arranged in the chassis body two are oppositely arranged
To wheel (44), the driving wheel (46) is connected by shaft coupling (42) with driving wheel motor (45).
Further, head (1) is provided with mechanical stop limiter, and head fixed bearing block is deep groove ball bearing, head (1) top
End sets camera.
Further, connecting plate (28), the connecting plate (28) and the arm in trunk (3) are set on the outside of upper arm one (21)
Connected between the lateral motion motor of level (24) by shoulder connecting shaft, the shoulder connecting shaft is externally provided with shoulder bearing block
(27)；The upper arm electric rotating machine (25) is arranged in upper arm two (22), by setting the adpting flange in upper arm two (22)
(29) it is connected with the connecting plate (28) of upper arm one (21)；Bracket panel is set between ancon motor (26) side and underarm (23)
Bearing block (210).
Further, driver (37), transformation Voltage stabilizing module (35) and electricity are provided with driver and power control room (33)
Source (36).
Further, driving wheel (46) is fixed in chassis body by bearing fixed seat (47).
Further, driving wheel (46) is connected with decelerator (43).
Further, magnetic navigation sensor (41) is set in chassis body.
Further, the slave computer control circuit chamber (32) is provided with expansion interface (38).
Further, chassis (4) each part junction is equipped with rubber blanket.
Further, two auxiliary universal wheels are set on chassis (4).
Relative to prior art, the quantitative paint finishing of automatic cycle described in the utility model has the advantage that：
(1) robot of the present invention has mobilizable arm structure, and each arm has four frees degree, can simulate the mankind
Limb action.
(2) present invention has two-wheel differential driving structure, can be flexibly movable and realizes pivot stud.
(3) robot of the present invention can realize autonomous localization and navigation function；
(4) robot of the present invention increases rubber blanket by chassis structure junction, plays certain buffering and cushioning effect,
Improve stability during walking.
(5) the robotically-driven wheel of the present invention uses duplex bearing bearing seat supports, auxiliary wheel is set up if necessary, its axle center is also adopted
It is supported with duplex bearing, improves overall carrying load ability.
Brief description of the drawings
Constitute a part of accompanying drawing of the present utility model to be used for providing further understanding to of the present utility model, this practicality is new
The schematic description and description of type is used to explain the utility model, does not constitute to improper restriction of the present utility model.
In accompanying drawing：
Fig. 1 is front view of the present utility model；
Fig. 2 is arm close-up schematic view；
Fig. 3 is side view of the present utility model；
Fig. 4 is upward view of the present utility model；
Fig. 5 is circuit control principle figure of the present utility model.
Description of reference numerals：
1- heads；2- arms；3- trunks；4- chassis；
11- cameras；12- heads fixed bearing block；13- heads motor；
21- upper arm one；22- upper arm two；23- underarms；The lateral motion motor of 24- arm levels；25- upper arm electric rotating machines；
26- ancon motors；27- shoulder bearing blocks；28- connecting plates；29- adpting flanges；210- bracket panel bearing blocks；Before 211- arm levels
Motor afterwards；
31- PC control circuit chambers；32- slave computers control circuit chamber；33- drivers and power control room；34- swashs
Optical radar；35- transformation Voltage stabilizing modules；36- power supplys；37- drivers；38- expansion interfaces；
41- magnetic navigation sensors；42- shaft couplings；43- decelerators；44- universal wheels；45- driving wheel motors；46- drives
Wheel；47- bearing fixed seats.
Embodiment
It should be noted that in the case where not conflicting, the feature in embodiment and embodiment in the utility model can
To be mutually combined.
In description of the present utility model, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", " on ", " under ",
The orientation or position relationship of the instruction such as "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom ", " interior ", " outer " are
Based on orientation shown in the drawings or position relationship, it is for only for ease of description the utility model and simplifies description, rather than indicate
Or imply that the device or element of meaning must have specific orientation, with specific azimuth configuration and operation, therefore be not understood that
For to limitation of the present utility model.In addition, term " first ", " second " etc. are only used for describing purpose, and it is not intended that indicating
Or imply relative importance or the implicit quantity for indicating indicated technical characteristic.Thus, " first ", " second " etc. are defined
Feature can express or implicitly include one or more this feature.In description of the present utility model, unless separately
It is described, " multiple " are meant that two or more.
, it is necessary to which explanation, unless otherwise clearly defined and limited, term " are pacified in description of the present utility model
Dress ", " connected ", " connection " should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integratedly
Connection；Can be mechanical connection or electrical connection；Can be joined directly together, can also be indirectly connected to by intermediary,
It can be the connection of two element internals.For the ordinary skill in the art, on being understood by concrete condition
State concrete meaning of the term in the utility model.
Describe the utility model in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
A kind of service robot, including head 1, arm 2, trunk 3 and chassis 4.
Head 1 is connected on the head fixed bearing block 12 on the trunk 3 by head fixing axle.Head 1 is provided with machine
Tool stopping means, head fixed bearing block is deep groove ball bearing.Head 1 has one degree of freedom, and horizontal revolving motion can be achieved,
And high-definition camera is installed, realize the collection and identification of image.
Arm 2 is connected to by arm fixing axle on the shoulder bearing block 27 of the both sides of trunk 3, the bottom of trunk 3
It is arranged on chassis 4；Head 1 is driven by head motor 13；Arm 2 includes upper arm 1, upper arm 2 22 and underarm 23, on
Arm 1 motor 211 and the arm horizontal side being arranged in upper arm 1 before and after the arm level being arranged in trunk 3
Driven to motion motor 24, upper arm 1 is connected with upper arm 2 22 by the upper arm connecting shaft driven by upper arm electric rotating machine 25,
Upper arm 2 22 is with underarm 23 by being connected by ancon motor 26.The outside of upper arm 1 sets connecting plate 28, the connecting plate 28 with
Connected between the lateral motion motor 24 of arm level in trunk 3 by shoulder connecting shaft, the shoulder connecting shaft is externally provided with shoulder
Portion's bearing block 27；The upper arm electric rotating machine 25 is arranged in upper arm 2 22, by setting the adpting flange 29 in upper arm 2 22
It is connected with the connecting plate 28 of upper arm 1；Bracket panel bearing block 210 is set between the side of ancon motor 26 and underarm 23.
Two four-degree-of-freedom mechanical arms of robot, can realize that level is laterally lifted respectively, be lifted before and after level, ancon is curved
Song, and upper arm rotate 4 motions, it is possible to achieve greet etc. acting with people exchanges, and realizes the actions such as horizontal ends act.
Each motor that arm 2 is installed all is driven using steering wheel, reduces electrical system wiring, simplifies wiring
Complexity.Steering wheel is fixed in robot body mechanical mounting hole by the fixing hole on housing.Wherein, arm 2 is by bearing
Seat is fixed in the structure of trunk 3, and arm 2 is moved forward and backward to be driven by bearing block central shaft；The lateral movement of arm 2 is by arm water
Flat lateral movement motor 24 directly drives；Upper arm electric rotating machine 25 is driven by adpting flange 29.Adpting flange 29 connects with upper arm
Fishplate bar connection 28；Ancon motor 26 directly drives underarm 23, and bracket panel bearing block 210 plays Auxiliary support effect.
Trunk 3 include successively from top to bottom PC control circuit chamber 31, slave computer control circuit chamber 32 and driver and
Power control room 33.Driver 37, transformation Voltage stabilizing module 35 and power supply 36 are provided with driver and power control room 33.Slave computer
Circuit chamber 32 is controlled to be provided with expansion interface 38.
Trunk 3 is provided with the sensors such as laser scanner, it is possible to achieve autonomous localization and navigation, and installs and people's intertrough
Logical equipment.Each position of trunk 3 is fixed with control circuit, realizes vision, sound and Multi-sensor fusion.
Chassis 4 includes chassis body, two be arranged in the chassis body are oppositely arranged driving wheel 46 and two
The universal wheel 44 being oppositely arranged, the driving wheel 46 is connected by shaft coupling 42 and decelerator 43 with driving wheel motor 45, driving
Turbin generator axle only transmits moment of torsion.Driving wheel motor 45 is direct current speed-down servo motor, preferably closed loop stepper motor.
Driving wheel 46 is fixed in chassis body by bearing fixed seat 47.Chassis portion has 2 driving wheels, can also install
2 auxiliary universal wheels, can be achieved the motion of horizontal direction.In chassis body set magnetic navigation sensor 41, and install power supply and
Drive circuit, it is possible to achieve route selection is navigated, it is ensured that the accuracy in robot motion direction.To reduce the abrasion that friction of motion is brought
And shock-absorbing capacity is improved, each part junction in chassis 4 is equipped with rubber blanket.
Control method of the present utility model is, controller from be arranged on a position sensor (including：Laser scanning
Instrument, ultrasonic sensor, camera and human body sensor etc.) feedback signal is obtained, control signal is passed into correspondence phase
The driver that should be acted, makes its corresponding servomotor lead agency execution of driver control, and the mechanism of execution is same
When by feedback signal back to controller.
Preferred embodiment of the present utility model is the foregoing is only, it is all at this not to limit the utility model
Within the spirit and principle of utility model, any modification, equivalent substitution and improvements made etc. should be included in the utility model
Protection domain within.
Claims (10)
1. a kind of service robot, including head (1), arm (2), trunk (3) and chassis (4), it is characterised in that：The head
(1) it is connected to by head fixing axle on the head fixed bearing block (12) on the trunk (3), the arm (2) passes through hand
Arm fixing axle is connected on the shoulder bearing block (27) of the trunk (3) both sides, and trunk (3) bottom is arranged on chassis (4)
On；Head (1) is driven by head motor (13)；Arm (2) includes upper arm one (21), upper arm two (22) and underarm (23),
Upper arm one (21) motor (211) and is arranged in upper arm one (21) before and after the arm level being arranged in trunk (3)
The lateral motion motor of arm level (24) drives, and upper arm one (21) is with upper arm two (22) by being driven by upper arm electric rotating machine (25)
Upper arm connecting shaft connection, upper arm two (22) is with underarm (23) by being connected by ancon motor (26)；Trunk (3) from top to bottom according to
It is secondary to control circuit chamber (32) and driver and power control room (33) including PC control circuit chamber (31), slave computer；Chassis
(4) include chassis body, be arranged in the chassis body two driving wheels (46) that are oppositely arranged and two to be oppositely arranged
Universal wheel (44), the driving wheel (46) is connected by shaft coupling (42) with driving wheel motor (45).
2. service robot according to claim 1, it is characterised in that：The head (1) is provided with mechanical stop limiter, head
Portion's fixed bearing block is deep groove ball bearing, and head (1) top sets camera.
3. service robot according to claim 1 or 2, it is characterised in that：Connection is set on the outside of the upper arm one (21)
Pass through shoulder connecting shaft between the lateral motion motor of arm level (24) in plate (28), the connecting plate (28) and trunk (3)
Connection, the shoulder connecting shaft is externally provided with shoulder bearing block (27)；The upper arm electric rotating machine (25) is arranged on upper arm two (22)
It is interior, by setting the adpting flange (29) in upper arm two (22) to be connected with the connecting plate (28) of upper arm one (21)；The ancon electricity
Bracket panel bearing block (210) is set between machine (26) side and underarm (23).
4. service robot according to claim 3, it is characterised in that：Set in the driver and power control room (33)
There are driver (37), transformation Voltage stabilizing module (35) and power supply (36).
5. service robot according to claim 4, it is characterised in that：The driving wheel (46) is by bearing fixed seat (47)
It is fixed in chassis body.
6. service robot according to claim 5, it is characterised in that：The driving wheel (46) is connected with decelerator
(43)。
7. the service robot according to claim 4-6 any one, it is characterised in that：Magnetic is set in the chassis body
Navigation sensor (41).
8. the service robot according to claim 4-6 any one, it is characterised in that：The slave computer controls circuit chamber
(32) it is provided with expansion interface (38).
9. the service robot according to claim 4-6 any one, it is characterised in that：Each part of chassis (4) connects
The place of connecing is equipped with rubber blanket.
10. the service robot according to claim 4-6 any one, it is characterised in that：Two are set on the chassis (4)
Individual auxiliary universal wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621282028.XU CN206357243U (en) | 2016-11-28 | 2016-11-28 | A kind of service robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621282028.XU CN206357243U (en) | 2016-11-28 | 2016-11-28 | A kind of service robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206357243U true CN206357243U (en) | 2017-07-28 |
Family
ID=59372907
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621282028.XU Active CN206357243U (en) | 2016-11-28 | 2016-11-28 | A kind of service robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206357243U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106737714A (en) * | 2016-11-28 | 2017-05-31 | 清研华宇智能机器人（天津）有限责任公司 | A kind of service robot |
| CN107577235A (en) * | 2017-09-27 | 2018-01-12 | 安徽硕威智能科技有限公司 | Bank self-help robot mobile base |
-
2016
- 2016-11-28 CN CN201621282028.XU patent/CN206357243U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106737714A (en) * | 2016-11-28 | 2017-05-31 | 清研华宇智能机器人（天津）有限责任公司 | A kind of service robot |
| CN107577235A (en) * | 2017-09-27 | 2018-01-12 | 安徽硕威智能科技有限公司 | Bank self-help robot mobile base |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20180925 Address after: 300300 3, 202 Building 5, Chuang Hui Valley Park, Hong Shun Road, Huaming street, Dongli, Tianjin. Patentee after: Qing Hua Hua Yi (Tianjin) Education Technology Co., Ltd. Address before: 300300, 2 floor, building 4, Chuang Hui Valley, Huaming high tech Industrial Zone, Dongli, Tianjin. Patentee before: Qing Yu Advantech intelligent robot (Tianjin) Co., Ltd. |
|
| TR01 | Transfer of patent right |