CN206493325U - A kind of transfer robot - Google Patents
A kind of transfer robot Download PDFInfo
- Publication number
- CN206493325U CN206493325U CN201720200571.9U CN201720200571U CN206493325U CN 206493325 U CN206493325 U CN 206493325U CN 201720200571 U CN201720200571 U CN 201720200571U CN 206493325 U CN206493325 U CN 206493325U
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- motor
- control module
- head
- chassis
- trunk
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Abstract
The utility model is related to a kind of transfer robot, its head is provided with can carry out touch display screen, the speech enabled equipment of real-time interactive with user, thus during belongings are advanced with user, not only can be to the recreational audio-frequency information of user's broadcasting and video information, touching signals and sound control signal that user sends can be also received, come the speed and stopping/starting state of real time control machine device people.Compared to the machine of existing preset route, the utility model more focuses on the communication process with user, is unlikely to make user move ahead in order to which the speed for keeping up with robot is tired out.
Description
Technical field
The utility model is related to a kind of bio-robot technical field, particularly a kind of transfer robot.
Background technology
With the development of science and technology, the ratio that people are engaged in mental work increasingly is increased, cause the manpower of physical labourer into
This more and more higher.Especially for for the service trades such as hotel, it is necessary to sporadically small article is carried out repeatedly it is reciprocal carry, institute
The cost of labor being related to is difficult to be reduced by Optimizing Flow.Thus propose and replace artificial by intelligent robot, enter
Row not timing, route, Smaller load, the demand of multiple batches of carrying.
In addition, under the service location such as hotel, robot requires to carry out with user in addition to walking according to route, also
Interaction, such as user's needs are of short duration resident during traveling, then the interim instruction for stopping waiting is sent to robot, is sent out again afterwards
Go out the instruction moved on, robot is remained to according to predetermined route traveling, until directing the user to target location.
The content of the invention
The purpose of this utility model is to overcome the deficiencies in the prior art to be provided simultaneously with private and intelligence mutually there is provided one kind
Dynamic transfer robot.
The utility model its technical problem of determining is achieved through the following technical solutions：
A kind of transfer robot, it is characterised in that：It includes head, trunk, chassis, main freight house, and head is arranged on trunk
Top, chassis head end upper surface is connected with trunk bottom, chassis with trunk is L-shaped sets；Freight house is arranged on the upper table on chassis
Face；The head includes touch display screen, speech enabled equipment, card reader, eyeball mechanism and control module；The trunk includes
Hooks coupling universal coupling, neck motor, trunk shell；The upper surface on the chassis sets freight house electromagnetic lock, and lower surface sets electric drive
Wheel, preceding avoidance sensor, rear avoidance sensor and side avoidance sensor；
The eyeball mechanism includes outer framework, eyeball main body, image mechanism, left-right rotation mechanism, rotates upwardly and downwardly mechanism, institute
State outer framework to be connected with head, the eyeball main body is the hollow hemisphere for accommodating image mechanism, the eyeball main body
On pupil position windowing arrangement camera；The land portions of the eyeball main body are stretched out from outer framework, and can be in outer framework
In the range of rotate；The swinging of the left-right rotation mechanism controls eyeball main body, described rotate upwardly and downwardly mechanism controls eyeball
Main body is swung up and down；
Touching signals input, sound control signal input and the identification signal input of the control module connect institute respectively
Touch display screen, speech enabled equipment, the signal output part of card reader are stated, the control module connects center by communication module
Database；Audio signal output end, the frequency signal output part of the control module connect speech enabled equipment, touch display respectively
The signal input part of screen；The transducing signal input of the control module connects preceding avoidance sensor, rear avoidance sensor respectively
With side avoidance sensor；The drive signal output end difference connecting neck portion motor of the control module, driving wheel, left/right rotation motivation
Structure, the driving signal input for rotating upwardly and downwardly mechanism.
The left-right rotation mechanism includes the first driving gear, the first driven gear, the first motor, left/right rotation moving axis, institute
The center of circle for stating the first driving gear is connected with the output shaft of the first motor, and first driving gear is nibbled with the first driven gear
Close, the center of circle of first driven gear is fixed by left/right rotation moving axis with the eyeball main body, and first driven gear is
Sector gear；The driving signal input of first motor connects the drive signal output end of the control module.
It is described rotate upwardly and downwardly mechanism including the second driving gear, the second driven gear, the second motor, rotate upwardly and downwardly axle, institute
The center of circle for stating the second driving gear is connected with the output shaft of the second motor, and the second driving gear is engaged with the second driven gear, institute
The center of circle for stating the second driven gear is fixed by rotating upwardly and downwardly axle with the eyeball main body, and second driven gear is sector
Wheel；The driving signal input of second motor connects the drive signal output end of the control module.
A neck motor is fixed by motor cabinet in the trunk shell, the output shaft connection of the neck motor is universal
The active terminal of axle device, the lower end of the passive terminal connector portion rotary shaft of Hooks coupling universal coupling, the upper end of end rotation axle passes through
The head of head connector and robot is fixed.
Two way damper, swivel bearing are additionally provided with the trunk shell, the end rotation axle sequentially passes through double
Connection head connector in the middle part of to damper, swivel bearing.
It is located at avoidance sensor before the leading edge of trunk one end is set below chassis, robot front region is covered,
Position and profile for recognizing front obstacle；The trailing edge of the other end sets charging device and rear avoidance sensing below chassis
Device, is covered to robot rear area, position and profile for recognizing rear obstacle.
During robot advance, the preceding avoidance sensor is defeated by the positional information and profile information of front obstacle
Enter in control module and calculated, the control module plans current path again according to positional information and profile information, and to
Electric driving wheel sends control signal, changes rotating speed and the steering of electric driving wheel；
In robot fallback procedures, the rear avoidance sensor is defeated by the positional information and profile information of rear obstacle
Enter in control module and calculated, control module plans current path again according to positional information and profile information, and is driven to electricity
Driving wheel sends control signal, changes rotating speed and the steering of electric driving wheel.
Chassis side sets side avoidance sensor, and robot side region is covered, when robot forward/rear inspection
Measure barrier, and after planning avoidance route, rear avoidance sensor is by the positional information and profile information of rear obstacle
Calculated in input control module；The whether thorough avoiding obstacles of robot are judged by control module；
After barrier disappears from the detection range of side avoidance sensor, control module sends control letter to electric driving wheel
Number, the rotating speed and steering for changing electric driving wheel adjust robot to original course.
The head sets head freight house, and the control module receives the subscriber identity information of the card reader input, led to
Head freight house and/or main freight house can be opened by crossing after the checking of the central database.
Advantage of the present utility model and have the beneficial effect that：
Conveying robot head part of the present utility model is provided with can carry out touch display screen, the audio of real-time interactive with user
Interactive device, thus during belongings are advanced with user, recreational audio-frequency information can be not only played to user
And video information, can also receive touching signals and sound control signal that user sends, come real time control machine device people speed and stopping/
Starting state.Compared to the machine of existing preset route, the utility model more focuses on the communication process with user, is unlikely to use
Family moves ahead in order to which the speed for keeping up with robot is tired out.
The head freight house and main freight house carried on transfer robot of the present utility model is both needed to by subscriber identity information
Carrying out checking can open, and on the one hand protect privacy of user not spied on by other people, on the other hand, due to all transfer robots
Outward appearance, it is to avoid user obscures robot, so falsely claim as one's own freight house in article.
Above and below the eyeball main body of eyeball mechanism of the present utility model, side-to-side movement is respectively by rotating upwardly and downwardly mechanism and left and right
Rotating mechanism is controlled, because the center of circle movement locus of the first driven gear and the second driven gear is arc, and then left/right rotation
Moving axis and to rotate upwardly and downwardly the movement locus of axle be also arc, after both are superimposed, the movement locus of the camera at pupil is one
Hemispherical curved surface, it is similar to the motion state of true eyeball.
Robot neck of the present utility model makes the output of out of line neck motor by Hooks coupling universal coupling
Axle and end rotation axle, two axle continuous rotaries can be realized in the case where there is axis angle.
Brief description of the drawings
Fig. 1 is overall structure diagram of the present utility model
Fig. 2 is bionical eyeball structure schematic diagram of the present utility model
Fig. 3 is neck structure schematic diagram of the present utility model
Fig. 4 is chassis structure schematic diagram of the present utility model
Embodiment
Below by specific embodiment, the utility model is described in further detail, following examples be it is descriptive, no
It is limited, it is impossible to which protection domain of the present utility model is limited with this.
As shown in figure 1, transfer robot of the present utility model includes head, trunk, chassis, main freight house, head is arranged on
The top of trunk, chassis head end upper surface is connected with trunk bottom, chassis and the L-shaped setting of trunk；Freight house is arranged on chassis
Upper surface, charging device 37 is arranged on chassis tail end.Wherein head is set including head freight house 1, touch display screen 2, speech enabled
Standby 3, card reader 4, eyeball mechanism 5, control module 16；Trunk includes Hooks coupling universal coupling 6, neck motor 7, trunk shell 8；Main goods
Storehouse includes warehouse 9, storehouse lid 10, cap-opening mechanism 11；Chassis includes electric driving wheel 12, preceding avoidance sensor 13, rear avoidance sensor
14th, side avoidance sensor 36, freight house electromagnetic lock 15.
Head, touch display screen 2, eyeball mechanism 5 are arranged at user oriented front, and touch display screen 2 has concurrently tactile
The function of input and display is touched, the touching signals output end and video data input of touch display screen 2 connect control mould respectively
The touching signals input and video data output end of block 16.The video data that reception is sent from control module 16 is defeated to user
Go out, and in the touching signals input control module 16 that user is passed through into touch input.
Speech enabled equipment 3 include loudspeaker and microphone, respectively link control module 16 voice data output end and
Sound control signal input, loudspeaker receives the voice data sent from control module 16 and exported to user, and microphone receives user
Sound control signal input control module 16 in.
Card reader 4 is used to read the subscriber identity information in user's hand in radio-frequency card, and user profile input is controlled into mould
In block 16, control module 16 is received after subscriber identity information, central database is connected by wireless communication module, to central data
Storehouse confirms user identity.When user midway needs to open head freight house 1 and/or during main freight house, also need to first pass through card reader 4 and carry out
Authentication rear may indicate that cap-opening mechanism 11 opens storehouse lid 10, so fully ensure that the security and secret of user's articles for use
Property, during transport the article of different user will not be caused to obscure.
Control module 16 connects central database by wireless communication module, and subscriber identity information is inputted to database, and
Receive the destination returned from database.In the present embodiment, control module 16 plans the traveling of transfer robot according to destination
Route, sends control signal to the driving wheel 12 on chassis according to sound control signal or touching signals in midway, adjusts the row of robot
Enter mode, for example, adjust robot gait of march, midway pause waiting, subscriber authentication；And according to eyeball mechanism 5, front portion
The traffic information that sensor 13, rear sensor 14 are returned calculates control signal, and the barrier in route is hidden, and
Correct line is returned after hiding.
As shown in Fig. 2 eyeball mechanism 5 include outer framework 17, eyeball main body 18, image mechanism 19, left-right rotation mechanism, on
Lower rotating mechanism, support bar 20.Outer framework 17 is connected to simulate eye socket with head, and eyeball main body 18 is hollow hemisphere,
Form the chamber for accommodating image mechanism 19, pupil position windowing arrangement camera.The land portions of eyeball main body 18 are from outer
Stretch out, and can be rotated in the range of outer framework 17 in framework 17.
Left-right rotation mechanism controls eyeball main body 18 swings, rotates upwardly and downwardly mechanism controls eyeball main body about 18
Swing, left-right rotation mechanism includes support bar 20, the first driving gear 21, the first driven gear 22, the first motor 23, left/right rotation
Moving axis 24, rotate upwardly and downwardly mechanism including the second driving gear 25, the second driven gear 26, the second motor 27, rotate upwardly and downwardly axle 28.
The center of circle of first driving gear 21 is connected with the output shaft of the first motor 23, the center of circle of the second driving gear 25 and the second motor 27
Output shaft connection, the first driving gear 21 engages with the first driven gear 22, the second driving gear 25 and the second driven gear
26 engagements.The center of circle of first driven gear 22 is fixed by left/right rotation moving axis 24 with eyeball main body 18, the second driven gear 26
The center of circle is fixed by rotating upwardly and downwardly axle 28 with eyeball main body 18, and both are sector gear.Due to left/right rotation moving axis 24 and up and down
The movement locus of rotary shaft 28 is arc, after both are superimposed, and the movement locus of the camera at pupil is bent for a hemispherical
Face, it is similar to the motion state of true eyeball.
As shown in figure 3, fixing a neck motor 7 by motor cabinet 33 in trunk shell 8, the output shaft of neck motor 7 connects
The active terminal 29 of Hooks coupling universal coupling 6 is connect, the passive terminal 30 of Hooks coupling universal coupling 6 connects the lower end of head rotary shaft 31, head
The upper end of rotary shaft 31 is fixed by the head of head connector 32 and robot.Made not in same axle by Hooks coupling universal coupling 6
The output shaft of neck motor 7 on line and end rotation axle 31, can realize that two axles are continuously returned in the case where there is axis angle
Turn.
In order to control head rotary speed and rotation smoothness, be additionally provided with trunk shell 8 two way damper 34,
Swivel bearing 35, end rotation axle 31 sequentially passes through two way damper 34, the middle part of swivel bearing 35 connection head connector 32.
The upper surface on chassis is used to carry main freight house, and the bottom of warehouse 9 is fixed on chassis upper table by freight house electromagnetic lock 15
Face.As shown in figure 4, setting electric driving wheel 12 below chassis, the leading edge positioned at trunk one end sets multiple preceding avoidance sensors 13,
Robot front region is covered, the position of cognitive disorders thing and profile.During robot advance, preceding avoidance sensing
Device 13 will be calculated in the positional information of front obstacle and profile information input control module 16, and control module 16 is according to position
Confidence ceases and profile information plans current path again, and sends control signal to electric driving wheel 12, changes electric driving wheel 12
Rotating speed and steering.
The trailing edge of chassis opposite side sets charging device 37 and multiple rear avoidance sensors 14, to robot rear area
Covered, the position of cognitive disorders thing and profile.In robot fallback procedures, rear avoidance sensor 14 is by rear obstacle
Positional information and profile information input control module 16 in calculated, control module 16 is according to positional information and profile information
Again current path is planned, and control signal is sent to electric driving wheel 12, changes rotating speed and the steering of electric driving wheel 12.
Chassis side sets multiple side avoidance sensors 36, and robot side region is covered, in front of robot/
Rear detects barrier, and after planning avoidance route, rear avoidance sensor 14 by the positional information of rear obstacle and
Calculated in profile information input control module 16, the whether thorough avoiding obstacles of robot are judged by control module 16.
After barrier disappears from the detection range of side avoidance sensor 36, control module 16 sends control signal to electric driving wheel 12,
Change the rotating speed of electric driving wheel 12 and turn to and adjust robot to original course.
Preceding avoidance sensor 13, rear avoidance sensor 14, side avoidance sensor 36 include avoiding obstacles by supersonic wave sensor and summer
General avoidance sensor.
Although disclosing embodiment of the present utility model and accompanying drawing for the purpose of illustration, those skilled in the art can be with
Understand：Do not departing from the utility model and spirit and scope of the appended claims, it is various replace, change and modifications all be can
Can, therefore, scope of the present utility model is not limited to embodiment and accompanying drawing disclosure of that.
Claims (7)
1. a kind of transfer robot, it is characterised in that：It includes head, trunk, chassis, main freight house, and head is arranged on trunk
Top, chassis head end upper surface is connected with trunk bottom, chassis and the L-shaped setting of trunk；Freight house is arranged on the upper surface on chassis；
The head includes touch display screen, speech enabled equipment, card reader, eyeball mechanism and control module；The trunk includes ten thousand
To shaft coupling, neck motor, trunk shell；The upper surface setting freight house electromagnetic lock on the chassis, lower surface setting electric driving wheel,
Preceding avoidance sensor, rear avoidance sensor and side avoidance sensor；
The eyeball mechanism includes outer framework, eyeball main body, image mechanism, left-right rotation mechanism, rotates upwardly and downwardly mechanism, described outer
Framework is connected with head, and the eyeball main body is in the hollow hemisphere for accommodating image mechanism, the eyeball main body
Pupil position windowing arrangement camera；The land portions of the eyeball main body are stretched out from outer framework, and can outer framework model
Enclose interior rotation；The swinging of the left-right rotation mechanism controls eyeball main body, described rotate upwardly and downwardly mechanism controls eyeball main body
Swing up and down；
Touching signals input, sound control signal input and the identification signal input of the control module connect described touch respectively
Display screen, speech enabled equipment, the signal output part of card reader are touched, the control module connects central data by communication module
Storehouse；Audio signal output end, the frequency signal output part of the control module connects speech enabled equipment, touch display screen respectively
Signal input part；The transducing signal input of the control module connects preceding avoidance sensor, rear avoidance sensor and side respectively
Avoidance sensor；The drive signal output end difference connecting neck portion motor of the control module, driving wheel, left-right rotation mechanism,
Rotate upwardly and downwardly the driving signal input of mechanism.
2. a kind of transfer robot as claimed in claim 1, it is characterised in that：The left-right rotation mechanism includes first actively
Gear, the first driven gear, the first motor, left/right rotation moving axis, the center of circle of first driving gear and the output of the first motor
Axle is connected, and first driving gear is engaged with the first driven gear, and the center of circle of first driven gear passes through left-right rotation
Axle is fixed with the eyeball main body, and first driven gear is sector gear；The driving signal input of first motor
Connect the drive signal output end of the control module.
3. a kind of transfer robot as claimed in claim 1, it is characterised in that：The mechanism that rotates upwardly and downwardly includes the second active
Gear, the second driven gear, the second motor, rotate upwardly and downwardly axle, the center of circle of second driving gear and the output of the second motor
Axle is connected, and the second driving gear engages with the second driven gear, the center of circle of second driven gear by rotate upwardly and downwardly axle and
The eyeball main body is fixed, and second driven gear is sector gear；The driving signal input connection of second motor
The drive signal output end of the control module.
4. a kind of transfer robot as claimed in claim 2 or claim 3, it is characterised in that：Pass through motor cabinet in the trunk shell
Fix a neck motor, the output shaft of the neck motor connects the active terminal of Hooks coupling universal coupling, Hooks coupling universal coupling it is passive
Terminal connects the lower end of head rotary shaft, and the upper end of end rotation axle is fixed by the head of head connector and robot.
5. a kind of transfer robot as claimed in claim 4, it is characterised in that：It is additionally provided with the trunk shell two-way
Damper, swivel bearing, the end rotation axle sequentially pass through two way damper, swivel bearing middle part connection head connector.
6. a kind of transfer robot as described in claim 1 or 2 or 3 or 5, it is characterised in that：It is located at trunk one below chassis
Avoidance sensor before the leading edge at end is set；The trailing edge of the other end sets charging device and rear avoidance sensor below chassis.
7. a kind of transfer robot as claimed in claim 6, it is characterised in that：Chassis side sets side avoidance sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720200571.9U CN206493325U (en) | 2017-03-03 | 2017-03-03 | A kind of transfer robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720200571.9U CN206493325U (en) | 2017-03-03 | 2017-03-03 | A kind of transfer robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206493325U true CN206493325U (en) | 2017-09-15 |
Family
ID=59806023
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720200571.9U Expired - Fee Related CN206493325U (en) | 2017-03-03 | 2017-03-03 | A kind of transfer robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206493325U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106826853A (en) * | 2017-03-03 | 2017-06-13 | 游尔（北京）机器人科技股份有限公司 | A kind of transfer robot |
-
2017
- 2017-03-03 CN CN201720200571.9U patent/CN206493325U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106826853A (en) * | 2017-03-03 | 2017-06-13 | 游尔（北京）机器人科技股份有限公司 | A kind of transfer robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| 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: 20170915 |