CN206501120U - One kind service humanoid robot - Google Patents
One kind service humanoid robot Download PDFInfo
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- CN206501120U CN206501120U CN201621478391.9U CN201621478391U CN206501120U CN 206501120 U CN206501120 U CN 206501120U CN 201621478391 U CN201621478391 U CN 201621478391U CN 206501120 U CN206501120 U CN 206501120U
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- mechanical arm
- rocking arm
- servomotor
- arm
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- 238000012545 processing Methods 0.000 claims description 9
- 238000009434 installation Methods 0.000 claims description 3
- 230000006870 function Effects 0.000 abstract description 4
- 230000003993 interaction Effects 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 6
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- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
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Abstract
Humanoid robot, including two groups of mechanical arm mechanisms, walking mechanism, man-machine communication mechanism, the trunk mechanism for connecting each mechanism and the power sector for power supply are serviced the utility model discloses one kind；Two groups of mechanical arm mechanisms are arranged on trunk mechanism both sides, and walking mechanism is arranged on below drive mechanism, and man-machine communication's arrangement of mechanism is in front of trunk mechanism, and it is in-house that power module is arranged on trunk.The service humanoid robot, which can be realized, to be moved in the range of designated area, carries out man-machine interaction by camera, loudspeaker or touch screen, carries out the functions such as product introduction by the execution end of mechanical arm, has certain practicality and convenience in terms of product introduction.
Description
Technical field
The utility model is related to robot field, more particularly to a kind of service humanoid 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
The work such as maintaining, repairing, transport, cleaning, security personnel, rescue, monitoring.
For the application scenarios of exhibition room product introduction, traditional methods of exhibiting be by papery promotional pamphlet, brochure or
Play propaganda film to realize by screen, lack interactive；If it is intended to having more understandings to product, except existing by consulting
Outside the approach of field personnel, information can be obtained without other effective ways.
Utility model content
In order to solve the above-mentioned technical problem, the utility model provides a kind of service humanoid robot, can pass through man-machine interaction
System produces interactive, acquisition more products information with robot；Robot can be moved, and be backhauled in setting range
It is dynamic, meet products propaganda demand；Mechanical arm can carry out simple rocker motion, operator is preferably operated, and can be with
A variety of functions are realized by changing execution end structure.
Humanoid robot, including two groups of mechanical arm mechanisms, walking mechanism, man-machine communications are serviced the utility model discloses one kind
Mechanism, the trunk mechanism for connecting each mechanism and the power sector for power supply；
Trunk mechanism is a hollow shell, and two relative side is provided with the mounting hole stretched out for mechanical arm mechanism；
Mechanical arm mechanism includes connector, the rocking arm that can be rotated around itself one end, can perform end around what itself one end rotated
End, the rocking arm drive device of driving rocking arm rotation, the execution drive device of driving execution end rotation；
The fixing end of rocking arm drive device is in-house positioned at trunk, and movable end stretches out trunk machine through the mounting hole
Structure；Connector one end is fixed on the inside of trunk mechanism, and the other end is fixed with the fixing end of rocking arm drive device；One end with
The movable end connection of rocking arm drive device, the other end is connected with performing the fixing end of drive device；Perform the activity of drive device
End is connected with performing end；
Walking mechanism is arranged on the lower section of trunk mechanism；
Man-machine communication mechanism includes microphone, loudspeaker, touch-screen, camera, infrared inductor and circuit board；Microphone,
Loudspeaker, touch-screen, camera are arranged in the front of the trunk mechanism, are disposed with the central processing circuit plate of message processing module
It is in-house installed in trunk, mechanical arm mechanism, infrared inductor, camera, microphone, loudspeaker, touch screen respectively with letter
Cease processing module connection；
Battery module is in-house installed in trunk, connects respectively with mechanical arm mechanism, walking mechanism, man-machine communication mechanism
Connect.
Preferred embodiment, rocking arm drive device includes rocking arm servomotor harmonic gearing speed-reducer, the connection
Part is that L-type connector side plate is fixed in the trunk mechanism, another with two L-type connectors for being mutually perpendicular to side plate
Side plate is fixed with rocking arm servomotor body；The rigid gear of harmonic wave drive speed reducer is fixed on L-type interface unit rocker arm servo electricity
On the opposite face of machine stationary plane；The rotating shaft of rocking arm servomotor passes through L-type connector, the wave producer with harmonic wave drive speed reducer
Endoporus is connected；The flexible gear of rocking arm harmonic wave drive speed reducer is fixed on the root end of rocking arm.
Preferred embodiment, performing drive device includes performing servomotor, and execution servomotor body, which is fixed on, to be held
On row end, rotating shaft is connected with rocking arm end.
Preferred embodiment, walking mechanism is three-wheel mechanism, including two groups of main driving wheel devices and one group of universal wheel
Device, the main driving wheel device includes shift servo motor and driving wheel；Universal wheel unit includes universal joint and driven pulley；Two groups
The main driving wheel device lower section parallel to each other installed in trunk mechanism；Universal wheel unit is arranged on the lower section of trunk mechanism, installation position
Put not on the driving wheel line of two groups of main driving wheel devices；The driving wheel, universal wheel bottom surface are in same level.
Preferred embodiment, in the top of trunk mechanism, the head shell on simulated humanbody head, the loudspeaker are also equipped with
, camera, infrared inductor be arranged on head shell in.
Preferred embodiment, microphone, which is arranged on, touches inside screen, touch screen one group of machine installed therein
On the execution end of tool arm mechanism.
Preferred embodiment, perform and end turning arm is installed on end, the end mechanical arm includes end servo
Motor, end mechanical arm, end connectors, end servomotor body are fixed on execution end, end mechanical arm root end
It is connected with servomotor rotating shaft, the end connectors that can be rotated around end mechanical arm overhanging end end are arranged on outside the mechanical arm of end
Stretch end end.
The service humanoid robot has the functions such as mobile, man machine language's interaction, touch screen control display interaction, displaying product,
Suitable for exhibition room usage scenario, with good interactive and practicality.
Brief description of the drawings
, below will be to embodiment in order to illustrate more clearly of the utility model embodiment or technical scheme of the prior art
Or the accompanying drawing used required in description of the prior art is briefly described, it should be apparent that, drawings in the following description are only
It is some embodiments of the present utility model, for those of ordinary skill in the art, is not paying the premise of creative work
Under, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is the service type robot three-dimensional schematic diagram of the utility model embodiment；
Fig. 2 is the trunk mechanism cross section view of the utility model embodiment；
Fig. 3 is the rocker arm body schematic three dimensional views of the utility model embodiment；
Fig. 4 is the rocker arm body part explosive view of the utility model embodiment；
Fig. 5 is the schematic diagram of the harmonic reduction driver of the utility model embodiment；
Fig. 6 is travel mechanism's perspective elevation of the utility model embodiment；
Fig. 7 is the structural representation of the driving wheel apparatus of the utility model embodiment；
Fig. 8 is the structural representation of the universal wheel unit of the utility model embodiment；
Fig. 9 is the head mechanism perspective three dimensional schematic diagram of the utility model embodiment；
Figure 10 is the mechanism annexation schematic diagram of the utility model embodiment；
Figure 11 is the rocker arm body schematic diagram for installing end mechanical arm additional of the utility model embodiment；
Embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the utility model embodiment is carried out
Clearly and completely describe, it is clear that described embodiment is only a part of embodiment of the utility model, rather than whole
Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are not under the premise of creative work is made
The all other embodiment obtained, belongs to the scope of the utility model protection.
Fig. 1 shows the service type robot three-dimensional figure of the present embodiment, and the service humanoid robot includes trunk mechanism
101st, first mechanical arm 104, second mechanical arm 102, head shell 103, walking mechanism 105.
Fig. 2 shows the trunk mechanism sectional view of the present embodiment, and trunk structure 101 is a hollow shell structure, material
It can be assembled from aluminium sheet, steel plate, the interior lower end of trunk structure 101 is fixed with power module 204, and power module is arranged in
The benefit of lower section is can to reduce the center of gravity of the robot, improves stability.
It is fixed with the inwall of trunk mechanism 101 on circuit board 202, upper end inwall and is fixed with L-type connecting plate 201, rocking arm
Servomotor 203 is the rocking arm servomotor of second mechanical arm 102；The body of rocking arm servomotor 203 is fixed on the L-type
In the one side of connecting plate, and inside trunk mechanism 101, rotating shaft stretches out trunk by the perforate of the side plate of trunk mechanism 101
Mechanism 101 is external.
First mechanical arm 104 is consistent with the structure of second mechanical arm 102, is arranged symmetrically in the two sides of trunk mechanism 101
On, Fig. 3 shows the schematic three dimensional views of mechanical arm, and Fig. 4 shows the part exploded perspective view of mechanical arm, for clearer table
Up to structural relation, fastener is omitted in figure.Mechanical arm 102 includes rocking arm servomotor 203, L-type connecting plate 201, connecting plate
One 402, harmonic wave drive speed reducer 402, connecting plate 2 404, transmission arm 405, connecting plate 3 406, connecting plate 4 407, perform end
End 408, execution servomotor 409.
Fig. 5 shows the structural representation of harmonic wave drive speed reducer, and harmonic wave drive speed reducer includes firm with ring gear
Property gear 501, the flexible gear 503 with external toothing, wave producer 502；Operation principle is to make flexible gear according to wave producer
Controlled elasticity deformation is produced, and is meshed to transmit the gear drive of motion and power with rigid gear；Used as decelerator
When, generally using wave producer actively, firm gear fix, flexbile gear output form, with speed reducing ratio height, precision height, simple installation,
The features such as small volume, high lightweight torque capacity.
The annexation of each part of mechanical arm is as follows：L-type connecting plate 401 has two orthogonal side plates, side plate
On the inwall for being fixed on the trunk mechanism 101, the driving body of servomotor 203 is fixed with another side plate；Connecting plate one
402 fasten one with L-type connecting plate 401, and the rotating shaft of rocking arm servomotor 203 passes through L-type connecting plate 401 and connecting plate 1,
It is connected with the wave producer of harmonic wave drive speed reducer 403, the rigid gear of rocking arm harmonic wave drive speed reducer 403 is fixed on connecting plate
In one 402 one side, connecting plate 1 fastens one with Rocker arm 4 05；The two sides of securing plate 403 is respectively with connecting plate 1 with shaking
The flexible gear of arm harmonic wave drive speed reducer 402 is integrally connected；Connecting plate 2 406 fastens one, connecting plate four with Rocker arm 4 05
407 are connected with performing end 408, the rotating shaft of servomotor 409 are performed through end 408 and connecting plate 4 407 is performed, with connecting
Fishplate bar 3 406 is integrally connected, and is performed the body of servomotor 409 and is fixed on execution end 408.
During work, Rocker arm 4 05 can be rotated around L-type connecting plate 401；Performing end 408 can be around the overhanging of Rocker arm 4 05
End is held to rotate.
Fig. 6 shows the front view of walking mechanism, and Fig. 7 shows the structural representation of main driving wheel device, and Fig. 8 is shown
The structural representation of universal wheel, walking mechanism includes main driving wheel device 1, main driving wheel device 2 602, universal wheel unit 603,
Main driving wheel device 1 and main driving wheel device 2 602 include mobile motor 701, driving wheel 702；Universal wheel unit 603 is wrapped
Include universal joint 801, driven pulley 802；The body of mobile motor 701 is fixed on walking mechanism enclosure, rotating shaft and master
Driving wheel 702 is connected；The root of the universal joint 801 is fixed on above walking mechanism shell, and overhanging divergent ends pass through driven pulley 802
Rotating shaft hole site.
During work, two groups of main driving wheel devices are used for control machine people movement velocity and the direction of motion, and universal wheel unit plays branch
Support load balance effect.
Fig. 9 shows the perspective view of head mechanism, and head shell 103 is fixed on the top of trunk structure 101, is provided with two
The hole position of individual artificial eye and face, inside is fixed with header circuit plate 902, header circuit plate 902 and is provided with camera
901 and infrared inductor 903, camera 901 is mainly used in catching picture in front of the robot, and infrared inductor 903 is then used for
Preceding object situation is sensed, for avoidance；Header circuit plate 902, which is further fixed on a loudspeaker 904, is used for sounding.
As shown in the three dimensional structure diagram of Fig. 1 embodiment robots, touch screen 106 and be fixed on mechanical arm 102
Perform on end, the execution end of mechanical arm 104 is used to show product.Touching screen 106 has three functions, and one is to be used for
Display information, two be the operation for carrying out robot, and three be for being operated according to the program of setting to product.By taking the photograph
Picture first 901 catches the position for being located at user in front of robot, and mechanical arm will touch screen and be adjusted to what suitable user used
Proper height and angle, user can carry out related operational order by touch-screen according to demand；Can also with voice with
The embodiment robot is exchanged.
Figure 10 shows the annexation between central processing circuit plate, power sector and each mechanism.Central processing circuit
Message processing module, mechanical arm mechanism 102, infrared inductor 903, camera 904, microphone, loudspeaker are disposed with plate 202
904th, screen 106 is touched to be connected with message processing module respectively；Power module 204 and respectively it is attached between electrical accessory.
The working distal tip that Figure 11 shows installs the structural representation of end mechanical arm additional, in real work, may also need to one
Individual rotary freedom is used for product introduction, and end mechanical arm includes performing end 408, servomotor 1001, mechanical arm 1002, end
End connection 1003, servomotor 1001 is fixed on execution end 408, for driving mechanical arm 1002 to rotate around the shaft
Motion, end connectors 1003 can rotate around one end of mechanical arm 1002, the angle for adjusting displaying product.
In actual applications, for the difference of displaying product, executor tail end can also install the machine of various control products
Tool arm or connector.
The service robot motion process of the utility model embodiment is as follows：After setting program is finished, device people can be
Moved back and forth in specified range, in motion process, even if infrared inductor monitors motion preceding object and controls vehicle with walking machine at any time
The state of structure；When there is user to need to use, the motion of walking mechanism is automatically stopped, it is true by camera and infrared inductor
Determine user position, touch-screen and product space are adjusted by mechanical arm, the use demand of user is complied with；User can
To be interacted by touching screen and voice system with the embodiment robot, robot is fed back by touching screen and loudspeaker
Information；Execution end on the program that user can also set, control another mechanical arm, carries out the operation and exhibition of product
Show.
It is described above, only the utility model preferably embodiment, but protection domain of the present utility model is not
This is confined to, any one skilled in the art is in the technical scope that the utility model is disclosed, according to this practicality
New technical scheme and its utility model design are subject to equivalent substitution or change, should all cover in protection model of the present utility model
Within enclosing.
Claims (7)
1. one kind service humanoid robot, it is characterised in that：Including two groups of mechanical arm mechanisms, walking mechanism, man-machine communication mechanism, use
In the trunk mechanism for connecting each mechanism and power sector for power supply；
Trunk mechanism is a hollow shell, and two relative side is provided with the mounting hole stretched out for mechanical arm mechanism；
Mechanical arm mechanism includes connector, the rocking arm that can be rotated around itself one end, the execution end that can be rotated around itself one end, drive
The rocking arm drive device of motion rocker arm rotation, driving perform the execution drive device of end rotation；
The fixing end of rocking arm drive device is in-house positioned at trunk, and movable end stretches out trunk mechanism through the mounting hole；Even
Fitting one end is fixed on the inside of trunk mechanism, and the other end is fixed with the fixing end of rocking arm drive device；One end and rocking arm
The movable end connection of drive device, the other end is connected with performing the fixing end of drive device；Perform drive device movable end with
Perform end connection；
Walking mechanism is arranged on the lower section of trunk mechanism；
Man-machine communication mechanism includes microphone, loudspeaker, touch-screen, camera, infrared inductor and circuit board；Microphone, loudspeaker,
Touch-screen, camera are arranged in the front of the trunk mechanism, and the central processing circuit plate for being disposed with message processing module is installed
It is in-house in trunk, mechanical arm mechanism, infrared inductor, camera, microphone, loudspeaker, touch screen respectively with information
Manage module connection；
Battery module is in-house installed in trunk, is connected respectively with mechanical arm mechanism, walking mechanism, man-machine communication mechanism.
2. humanoid robot is serviced as claimed in claim 1, it is characterised in that：Rocking arm drive device include rocking arm servomotor and
Harmonic wave drive speed reducer, the connector is that, with two L-type connectors for being mutually perpendicular to side plate, L-type connector side plate is consolidated
It is scheduled in the trunk mechanism, another side plate is fixed with rocking arm servomotor body；The rigid gear of harmonic wave drive speed reducer is consolidated
On the opposite face for being scheduled on L-type interface unit rocker arm servomotor stationary plane；The rotating shaft of rocking arm servomotor passes through L-type connector, and humorous
The wave producer endoporus connection of ripple gearing speed-reducer；The flexible gear of rocking arm harmonic wave drive speed reducer is fixed on the root end of rocking arm
On.
3. as claimed in claim 1 service humanoid robot, its feature with：Performing drive device includes performing servomotor,
Perform servomotor body to be fixed on execution end, rotating shaft is connected with rocking arm end.
4. humanoid robot is serviced as claimed in claim 1, it is characterised in that walking mechanism is three-wheel mechanism, including two
Group main driving wheel device and one group of universal wheel unit, the main driving wheel device include shift servo motor and driving wheel；Universal wheel is filled
Put including universal joint and driven pulley；Two groups of main driving wheel devices lower section parallel to each other installed in trunk mechanism；Universal wheel unit is pacified
Mounted in the lower section of trunk mechanism, installation site is not on the driving wheel line of two groups of main driving wheel devices；The driving wheel, universal wheel
Bottom surface is in same level.
5. servicing humanoid robot as claimed in claim 1, it is characterised in that in the top of trunk mechanism, emulation is also equipped with
The head shell of human body head, the loudspeaker, camera, infrared inductor are arranged in head shell.
6. humanoid robot is serviced as claimed in claim 1, it is characterised in that microphone, which is arranged on, touches inside screen, described
On the execution end for touching screen one group of mechanical arm mechanism installed therein.
7. humanoid robot is serviced as claimed in claim 1, it is characterised in that end rotation is also equipped with the execution end
Arm, the end mechanical arm includes end servomotor, end mechanical arm, end connectors, and end servomotor body is fixed
On end is performed, end mechanical arm root end is connected with servomotor rotating shaft, can be rotated around end mechanical arm overhanging end end
End connectors be arranged on end mechanical arm overhanging end end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621478391.9U CN206501120U (en) | 2016-12-30 | 2016-12-30 | One kind service humanoid robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621478391.9U CN206501120U (en) | 2016-12-30 | 2016-12-30 | One kind service humanoid robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206501120U true CN206501120U (en) | 2017-09-19 |
Family
ID=59840118
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621478391.9U Expired - Fee Related CN206501120U (en) | 2016-12-30 | 2016-12-30 | One kind service humanoid robot |
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| Country | Link |
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| CN (1) | CN206501120U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107627310A (en) * | 2017-10-16 | 2018-01-26 | 华勤通讯技术有限公司 | A kind of service robot |
| CN108582109A (en) * | 2018-05-15 | 2018-09-28 | 熊光宇 | One kind is from treads infrared detection robot |
| CN110509283A (en) * | 2019-07-19 | 2019-11-29 | 烟台南山学院 | A kind of leaflet dispensing machines people |
| CN111673760A (en) * | 2020-06-11 | 2020-09-18 | 四川大学 | Following type balloon robot |
| JPWO2020031289A1 (en) * | 2018-08-08 | 2021-06-03 | 株式会社安川電機 | robot |
| CN113075956A (en) * | 2021-02-23 | 2021-07-06 | 广州城市职业学院 | Map robot for rural tourism |
-
2016
- 2016-12-30 CN CN201621478391.9U patent/CN206501120U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107627310A (en) * | 2017-10-16 | 2018-01-26 | 华勤通讯技术有限公司 | A kind of service robot |
| CN108582109A (en) * | 2018-05-15 | 2018-09-28 | 熊光宇 | One kind is from treads infrared detection robot |
| JPWO2020031289A1 (en) * | 2018-08-08 | 2021-06-03 | 株式会社安川電機 | robot |
| JP7028330B2 (en) | 2018-08-08 | 2022-03-02 | 株式会社安川電機 | robot |
| CN110509283A (en) * | 2019-07-19 | 2019-11-29 | 烟台南山学院 | A kind of leaflet dispensing machines people |
| CN111673760A (en) * | 2020-06-11 | 2020-09-18 | 四川大学 | Following type balloon robot |
| CN111673760B (en) * | 2020-06-11 | 2023-02-17 | 四川大学 | Following type balloon robot |
| CN113075956A (en) * | 2021-02-23 | 2021-07-06 | 广州城市职业学院 | Map robot for rural tourism |
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