CN207736296U - Intellectual education service robot - Google Patents
Intellectual education service robot Download PDFInfo
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- CN207736296U CN207736296U CN201721725955.9U CN201721725955U CN207736296U CN 207736296 U CN207736296 U CN 207736296U CN 201721725955 U CN201721725955 U CN 201721725955U CN 207736296 U CN207736296 U CN 207736296U
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- education service
- idler wheel
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Abstract
The utility model is related to a kind of intellectual education service robots.When intellectual education service robot is placed in horizontal plane, dead weight is so that idler wheel bounces back, and the first elastic component deformation is made to generate elastic force.And when passing through uneven terrain, once idler wheel is hanging, drive wheel assemblies can then rotate under the action of elastic force, so that idler wheel is stretched out to the direction perpendicular to ground, until idler wheel is contacted again ground.Therefore, under the action of the first elastic component, idler wheel can be kept in contact with ground always.It, can first rotary motion portion when adjusting the angle of rotation section.At this point, the edge of limiting section and limit hole squeezes, and since the surface of limiting section is smooth, therefore limiting section can be detached from limit hole when extruding force is more than threshold value and positioning column is made to retract.After being adjusted in place, positioning column stretches out under the action of the second elastic component restoring force, to make limiting section be caught in the fixation that corresponding limit hole realizes angle again.As it can be seen that above-mentioned intellectual education service robot is not necessarily to manual intervention during the adjustment of mobile and angle, thus it is easy to use.
Description
Technical field
The utility model is related to robotic technology field, more particularly to a kind of intellectual education service robot.
Background technology
With the development of intelligent equipment technology, service robot technology has been widely used for every field.Wherein, it imparts knowledge to students
Robot is a kind of common service robot, is generally used for the displaying content of courses or is carried out with user interactive.
Teaching robot needs to adjust position and angle in use, to obtain better teaching efficiency.Specifically,
It is provided with roll wheel assembly on the mobile chassis of existing teaching robot, drives entire robot to move by roller-coaster.This
Outside, the head of robot includes fixed part and rotation section, and rotation section is rotated relative to fixed part to realize the adjusting of angle.
But when, there are when rough structure, roll wheel assembly is easy to happen hanging and causes to skid, in turn on ground
The mobile route of teaching robot is caused to deviate.At this moment, it just needs to manually adjust route.Moreover, when carrying out angular adjustment, need
The angle of rotation section is fixed manually.Therefore, existing teaching robot is inconvenient to use.
Utility model content
Based on this, it is necessary to be directed to existing teaching robot's inconvenient problem with use, provide a kind of intelligence easy to use
It can education services robot.
A kind of intellectual education service robot, including：
Mobile chassis, the mobile chassis include：
Chassis pedestal, the bottom surface with receiving portion and backwards to the receiving portion；
Drive wheel assemblies, including actuator and the idler wheel with actuator drive connection, the side of the actuator is set
It is equipped with mounting plate, the mounting plate is rotatablely arranged in the receiving portion, so that the drive wheel assemblies are relative to described
Chassis pedestal is rotatable, and the shaft of the mounting plate is parallel with the shaft of the idler wheel；
First elastic component, one end are fixed in the receiving portion, and the other end is with the actuator backwards to the mounting plate
Side be fixedly connected, first elastic component is used to provide an elastic force for the drive wheel assemblies, and the elastic force
It is directed toward the bottom of the receiving portion in direction；
Robot body is installed on the side that the receiving portion is arranged in chassis pedestal；And
Robot head, the robot head include：
Fixed seat, including two journal stirrups being oppositely arranged form storage tank, the fixed seat peace between two journal stirrups
One end far from the chassis pedestal loaded on the robot body；
Rotation section is rotatablely arranged in the storage tank；
Positioning component, including limiting plate, positioning seat, positioning column and the second elastic component, the limiting plate circumferentially offer
Multiple limit holes, the surface of the positioning seat offer mounting hole, the positioning column be contained in the mounting hole and relative to
The mounting hole is extended or retracts, and the one end of the positioning column far from the mounting hole is provided with the smooth limiting section in surface,
Second elastic component is contained in the mounting hole and is abutted with the positioning column, and when positioning column retraction, and described second
Elastic component provides reversed restoring force for the positioning column；
Wherein, one in the limiting plate and the positioning seat is installed on the journal stirrup, another is installed on described
Rotation section, and when positioning column stretching, the limiting section can be contained in one in the multiple limit hole.
The actuator includes in one of the embodiments,：
Motor cabinet, is in hollow columnar structures, and the mounting plate is set to the side wall of the motor cabinet；
Driving motor is accommodated and is fixed in the motor cabinet；
Shaft coupling, the idler wheel are sequentially connected by the shaft coupling and the driving motor；And
Axis pin is arranged in the mounting plate and is installed in the receiving portion, and the shaft of the axis pin and the idler wheel is flat
Row.
Stop zone is provided in the receiving portion in one of the embodiments, the actuator is set to the limit
It is in the region of position and rotatable in the range of the stop zone.
The bottom of the receiving portion is vertically set there are two mounting post in one of the embodiments, and the chassis pedestal is also
Including pressing plate, the both ends of the pressing plate are respectively arranged in described two mounting posts, described two mounting posts, the pressing plate and institute
It states and forms the stop zone between the bottom of receiving portion.
The robot body includes in one of the embodiments,：
Support frame, is fixed on the chassis pedestal, and the fixed part is fixed on the support frame far from the chassis
One end of pedestal；
Front housing and rear shell are fixed on the support frame, and the front housing and the rear shell surround and form accommodating chamber.
The positioning component further includes guide sleeve in one of the embodiments, and the guide sleeve is fixed on the installation
The edge in hole, the positioning column are slideably arranged in the guide sleeve.
The robot head further includes damp hinge in one of the embodiments, one end of the damp hinge with
The journal stirrup is fixedly connected, and the other end is fixedly connected with the rotation section.
The limiting plate is installed on the journal stirrup in one of the embodiments, and the positioning seat is installed on the rotation
Hollow the first mounting post and the second mounting post, the resistance are respectively arranged on portion, the inner wall of the journal stirrup and the positioning seat
The both ends of Buddhist nun's hinge are fastened in respectively in first mounting post and second mounting post.
The limiting plate is annular in shape in one of the embodiments, and is sheathed in first mounting post.
There are two spaced limit protrusion, the rotation sections for setting on the journal stirrup in one of the embodiments,
Upper setting finite place piece, the locating part are set between two limit protrusions.
Above-mentioned intellectual education service robot, when drive wheel assemblies are relative to chassis base rotation, idler wheel can be the bottom of relative to
Face is flexible.When intellectual education service robot is placed in horizontal plane, dead weight is so that idler wheel bounces back, and makes the first elastic component deformation
Generate elastic force.And when passing through uneven terrain, once idler wheel is hanging, drive wheel assemblies can then turn under the action of elastic force
It is dynamic, so that idler wheel is stretched out to the direction perpendicular to ground, until idler wheel is contacted again ground.Therefore, in the work of the first elastic component
Under, idler wheel can be kept in contact with ground always, to avoid skidding caused by due to idler wheel is hanging.Further, it adjusts and turns
It, can first rotary motion portion when the angle in dynamic portion.At this point, the edge of limiting section and limit hole squeezes, and due to the surface of limiting section
It is smooth, therefore limiting section can be detached from limit hole when extruding force is more than threshold value and positioning column is made to retract.After being adjusted in place, positioning column
It is stretched out under the action of the second elastic component restoring force, consolidating for angle is realized to make limiting section be caught in corresponding limit hole again
It is fixed.As it can be seen that above-mentioned intellectual education service robot is not necessarily to manual intervention during the adjustment of mobile and angle, thus it is easy to use.
Description of the drawings
Fig. 1 is the structural schematic diagram of intellectual education service robot in the utility model preferred embodiment；
Fig. 2 is the explosive view of intellectual education service robot shown in Fig. 1；
Fig. 3 is the structural schematic diagram of mobile chassis in intellectual education service robot shown in Fig. 1；
Fig. 4 is the structural schematic diagram of robot head in intellectual education service robot shown in Fig. 1；
Fig. 5 is the structural schematic diagram of positioning component in robot head shown in Fig. 4.
Specific implementation mode
The utility model is more fully retouched below with reference to relevant drawings for the ease of understanding the utility model,
It states.The preferred embodiment of the utility model is given in attached drawing.But the utility model can come in many different forms
It realizes, however it is not limited to embodiment described herein.Make to the utility model on the contrary, purpose of providing these embodiments is
The understanding of disclosure is more thorough and comprehensive.
It should be noted that when element is referred to as " being fixed on " another element, it can be directly on another element
Or there may also be elements placed in the middle.When an element is considered as " connection " another element, it can be directly connected to
To another element or it may be simultaneously present centering elements.Term as used herein " vertical ", " horizontal ", " left side ",
" right side " and similar statement are for illustrative purposes only.
Unless otherwise defined, all of technologies and scientific terms used here by the article is led with the technology for belonging to the utility model
The normally understood meaning of technical staff in domain is identical.Terminology used in the description of the utility model herein only be
The purpose of description specific embodiment, it is not intended that in limitation the utility model.Term " and or " used herein includes
Any and all combinations of one or more relevant Listed Items.
It please refers to Fig.1 and Fig. 2, the intellectual education service robot 10 in the utility model preferred embodiment includes mobile bottom
Disk 100, robot body 200 and robot head 300.
Mobile chassis 100 moves convenient for intellectual education service robot 10.Robot body 200 is installed on mobile chassis
On 100.Wherein, the components such as navigation system, power supply module are provided in robot body 200.Robot head 300 is installed on
The one end of robot body 200 far from mobile chassis 100.Robot head 300 is provided with display screen, sensing element etc., is used for
It carries out the displaying of content or obtains the interactive operation of user.
Also referring to Fig. 3, mobile chassis 100 includes chassis pedestal 110, drive wheel assemblies 120 and the first elastic component
130。
Chassis pedestal 110 plays a supportive role, and is generally made from a metal, and has higher mechanical strength.Wherein, chassis pedestal
110 have receiving portion 111.Multiple installation points are provided in receiving portion 111, for installing remaining component.In addition, chassis pedestal
110 and be bottom surface (figure do not mark) backwards to the side of receiving portion 111.Intellectual education service robot 10 is in use, bottom surface direction ground
Face.
Drive wheel assemblies 120 are installed on chassis pedestal 110, for driving chassis pedestal 110 to move.Specifically, driving
Wheel assembly 120 includes actuator 121 and idler wheel 123, and idler wheel 123 is sequentially connected with actuator 121.Actuator 121 provides driving
Power, idler wheel 123 with ground for contacting.Specifically in the present embodiment, idler wheel 123 including wheel hub 1231 and is sheathed on wheel hub 1231
On rubber sleeve 1233.Rubber sleeve 1233 can play the role of damping.
In the present embodiment, it is offered on chassis pedestal 110 and keeps away a hole 113, idler wheel 123, which is located at, to be kept away in a hole 113.Cause
This, idler wheel 123 will not protrude from the edge of chassis pedestal 110, to avoid colliding in moving process.
Further, the side of actuator 121 is provided with mounting plate 1212.Mounting plate 1212 is rotatablely arranged at receiving portion
In 111, so that drive wheel assemblies 120 are rotatable relative to chassis pedestal 110.Wherein, the shaft of mounting plate 1212 and idler wheel 123
Shaft it is parallel.When the rotation in receiving portion 111 of mounting plate 1212, the length that idler wheel 123 stretches out bottom surface also changes therewith.
First elastic component 130 can be the structures such as spring, elastic string, shrapnel.Receipts are fixed in one end of first elastic component 130
In appearance portion 111, the other end is fixedly connected with actuator 121 backwards to the side of mounting plate 1212.First elastic component 130 is used to drive
Drive wheel assemblies 120 provide an elastic force.Wherein, it is directed toward the bottom of receiving portion 111 in the direction for the elastic force that the first elastic component 130 provides
Portion.
Specifically in the present embodiment, the first elastic component 130 is extension spring, and extension spring is relative to receiving portion 111
Bottom angled is arranged.Extension spring has the advantages that intensity is high, is hardly damaged.Moreover, the first elastic component 130 and mounting plate 1212
Support is provided to actuator 121 from both sides respectively, so as to make drive wheel assemblies 120 be more easy to keep stablizing in rotation process.
Intellectual education service robot 10 needs to be placed in ground when using.At this point, may make rolling under the action of its dead weight
123 retraction of wheel, 130 deformation of the first elastic component generate elastic force, and the length that idler wheel 123 stretches out bottom surface reduces.Moreover, in elastic force
Under the action of, idler wheel 123 can be kept preferably being bonded with ground.
When intellectual education service robot 10 by uneven terrain and it is hanging once idler wheel 123 when, drive wheel assemblies 120
Supporting for ground is lost, will be rotated under the action of elastic force, so that idler wheel 123 is stretched out to the direction perpendicular to ground, directly
It is contacted again ground to idler wheel 123.It can be seen that under the action of the first elastic component 130, idler wheel 123 can be protected with ground always
Contact is held, to avoid skidding caused by due to idler wheel 123 is hanging.
In the present embodiment, actuator 121 includes motor cabinet 1211, driving motor 1213, shaft coupling 1215 and axis pin
1217。
Motor cabinet 1211 is in hollow columnar structures, is made of the higher material of metal equal strength.Wherein, mounting plate 1212 is set
It is placed in the side wall of motor cabinet 1211.Driving motor 1213 is accommodated and is fixed in motor cabinet 1211.Idler wheel 123 passes through shaft coupling
1215 are sequentially connected with driving motor 1213.
Axis pin 1217 is arranged in mounting plate 1212 and is installed in receiving portion 111, so that mounting plate 1212 is rotationally pacified
Loaded in receiving portion 111.Wherein, axis pin 1217 is parallel with the shaft of idler wheel 123.
In the present embodiment, stop zone (not shown) is provided in receiving portion 111, actuator 121 is set to spacing zone
It is in domain and rotatable in the range of stop zone.
Specifically, the amplitude that actuator 121 rotates is related with the stretching of idler wheel 123 length of bottom surface.When intellectual education service
When robot 10 is placed in ground, Gravitative Loads cause actuator 121 to rotate, and then idler wheel 123 is driven to rise perpendicular to ground.
If dead weight is excessive, idler wheel 123 is possible to retract concordant in bottom surface, and intellectual education service robot 10 will be unable to move at this time
It is dynamic.And the slewing area of actuator 121 is limited by stop zone, then idler wheel 123 can be prevented to be retracted to flat with bottom surface
Together, ensure normal work.
Further, in the present embodiment, the bottom of receiving portion 111 is vertically set there are two mounting post 115, chassis pedestal
110 further include pressing plate 117.The both ends of pressing plate 117 are respectively arranged in two mounting posts 115, two mounting posts 115, pressing plate 117
And form stop zone between the bottom of receiving portion 111.
Specifically, actuator 121 is set between two mounting posts 115, and pressing plate 117 is located at 121 top of actuator simultaneously
It is spaced apart.In 121 rotation process of actuator, pressing plate 117 can be abutted with it, to play limit to actuator 121
Effect.
In the present embodiment, mobile chassis 100 further includes deflecting roller 140.Deflecting roller 140 is set to bottom surface.Deflecting roller 140
It can be one or two, be moved easily chassis 100 and realize steering.Specifically in the present embodiment, deflecting roller 140 is universal wheel.
Therefore, turning efficiency is more preferable.
Further, in the present embodiment, drive wheel assemblies 120 are two, and two interval of drive wheel assemblies 120 settings
In on chassis pedestal 110.Deflecting roller 140 is located between two drive wheel assemblies 120.
Since two spaced drive wheel assemblies 120 can play chassis pedestal 110 stable supporting role, therefore turn
It is smaller to the weight carried needed for wheel 140.Therefore, deflecting roller 140 is more advantageous to chassis pedestal 110 and keeps stablizing when turning to.
Robot body 200 includes accommodating chamber, for accommodating electronic component.Specifically, robot body 200 is installed on
The side of receiving portion 111 is arranged in chassis pedestal 110.Wherein, the material of robot body 200 can be metal, plastics etc..
In the present embodiment, robot body 200 includes support frame 210, front housing 220 and rear shell 230.
Support frame 210 plays a supportive role, and is generally supported by metal.Support frame 210 is fixed on chassis pedestal 110.Before
Shell 220 and rear shell 230 are fixed on support frame 210, and front housing 220 and rear shell 230 surround and form accommodating chamber.
Specifically, front housing 220 and rear shell 230 can be by being clamped, screwing togather or anchor ear achieves a fixed connection.Support frame
Multiple mounting brackets are provided on 210, for installing the electronic components such as switch, power supply.In addition, electronic component also packet function is grasped
Control key, ultrasonic module, optoelectronic switch, laser radar, emergency stop switch, power switch, charging electrode, charge port, charging support
Seat etc..
Also referring to Fig. 4, robot head 300 includes fixed seat 310, rotation section 320 and positioning component 330.
Fixed seat 310 can be made of metal, plastic or other material, for being connect with robot body 200.Specifically in this implementation
In example, fixed seat 310 is fixed on the one end of support frame 210 far from chassis pedestal 110.Wherein, fixed seat 310 includes opposite sets
Two journal stirrups 311 set form storage tank 313 between two journal stirrups 311.Specifically, storage tank 313 takes the shape of the letter U.
Rotation section 320 is rotatablely arranged in storage tank 313.Specifically, rotation section 320 can be pacified by shaft, bolt
Loaded on two journal stirrups 311.The elements such as display screen, panel are provided on rotation section 320.In addition, rotation section 320 has cavity
(figure is not marked), can be used for accommodating electric element.
Please refer to fig. 5, positioning component 330 includes limiting plate 331, positioning seat 333, positioning column 335 and the second elasticity
Part 337.
Limiting plate 331 can be made of metal, and have higher intensity.The edge contour of limiting plate 331 can be rectangular, circle
Shape is unsetting.Specifically in the present embodiment, limiting plate 331 is rounded.In addition, limiting plate 331 circumferentially offers multiple limits
Position hole 3312.The setting of the interval of multiple limit holes 3312, and mutual line is arc-shaped.Wherein, limit hole 3312 can be with
It is blind hole or through hole.
333 plate-like structure of positioning seat, material are identical as limiting plate 331.Further, the surface of positioning seat 333 is opened
Equipped with mounting hole 3332.Wherein, one in limiting plate 331 and positioning seat 333 is installed on journal stirrup 311, another is installed on
Rotation section 320.Specifically in the present embodiment, limiting plate 331 is installed on journal stirrup 311, and positioning seat 333 is installed on rotation section 320.And
And limiting plate 331 is oppositely arranged with positioning seat 333.
Positioning column 335 is in rod-shaped, is generally made of the material of the high intensity such as metal.Positioning column 335 is contained in mounting hole
It is in 3332 and extended relative to mounting hole 3332 or retract.Further, the one end of positioning column 335 far from mounting hole 3332 is set
It is equipped with the smooth limiting section 3352 in surface.Specifically in the present embodiment, limiting section 3352 is rounded.
Specifically, when positioning column 335 stretches out, limiting section 3352 can be contained in one in multiple limit holes 3312.Limit
It, can be by rotation section 320 and fixed seat by positioning column 335 and the cooperation of limit hole 3312 when position portion 3352 is contained in limit hole 3312
310 lockings, to keep angle between the two.And when the retraction of positioning column 335, limiting section 3352 takes off from limit hole 3312
From rotation section 320 is unlocked with fixed seat 310, so as to further adjust angle between the two.
And rotation section 320 can be then fixed on different angles when being contained in different limit holes 3312 by limiting section 3352
Degree.
Specifically in the present embodiment, positioning component 330 further includes guide sleeve 339.Guide sleeve 339 is fixed on mounting hole 3332
Edge, positioning column 335 is slideably arranged in guide sleeve 339.
Guide sleeve 339 can be fixed on the surface of positioning seat 333 by the modes such as welding, screwing togather.Wherein, guide sleeve 339 is right
Positioning column 335 can play guiding role, so that the telescopic process of guide post 335 is more stable.
Second elastic component 337 is contained in mounting hole 3332 and is abutted with positioning column 335.Moreover, when positioning column 335 is retracted,
Second elastic component 337 is that positioning column 335 provides reversed restoring force.Specifically in the present embodiment, the second elastic component 337 is bullet
Spring, spring are contained in mounting hole 3332 and are held between the bottom of mounting hole 3332 and positioning column 335.When positioning column 335
When retraction, spring is compressed, to apply an elastic force to positioning column 335, so that positioning column 335 has the trend stretched out.
It, can first rotary motion portion 320 when adjusting the angle of rotation section 320.At this point, limiting section 3352 and limit hole 3312
Edge squeeze, and since the surface of limiting section 3352 is smooth, therefore limiting section 3352 can be with limit when extruding force is more than threshold value
Hole 3312 is detached from.Moreover, limiting section 3352 can be squeezed after being detached from limit hole 3312 by 331 surface of limiting plate, to drive
Positioning column 335 is set to retract.Further, when rotation section 320 is rotated to required angle, limiting section 3352 and corresponding limit hole
3312 alignment.At this point, positioning column 335 stretches out under the action of the second 337 restoring force of elastic component, to make limiting section 3352 be caught in
Limit hole 3312 realizes the fixation of angle.
In the present embodiment, robot head 300 further includes damp hinge 340.One end of damp hinge 340 and journal stirrup
311 are fixedly connected, and the other end is fixedly connected with rotation section 320.
Specifically, rotation section 320 is rotatably installed on by damp hinge 340 in storage tank 313.It revolves rotation section 320
When turning, the resistance for overcoming damp hinge 340 is needed.Therefore, damp hinge 340 can realize that rotation section 320 is adjusted at any angle.
Specifically in the present embodiment, the inner wall of journal stirrup 311 is provided with the first mounting post 3112, is provided on positioning seat 333
Second mounting post 3334.Wherein, the first mounting post 3112 and the second mounting post 3334 are hollow structure.Damp hinge 340
Both ends are fastened in respectively in the first mounting post 3112 and the second mounting post 3334.
Further, in the present embodiment, limiting plate 331 is annular in shape and is sheathed in the first mounting post 3112.Therefore, it limits
Position plate 331 and the installation site of the first mounting post 3112 can partly overlap, so as to make the more compact structure in fixed seat 310.
In the present embodiment, setting is set on rotation section 320 there are two spaced limit protrusion 3114 on journal stirrup 311
It is equipped with locating part (not shown), locating part is set between two limit protrusions 3114.
Specifically, locating part can be mounted to the screw on 320 surface of rotation section.When rotation section 320 rotates, locating part can
It is moved between two limit protrusions 3114 with rotation section 320.And when locating part is abutted with any of which limit protrusion 3114
When, then rotation section 320 can not continue to rotate.Therefore, limit protrusion 3114 can play limitation rotation section 130 with locating part cooperation and revolve
The effect of gyration.
In the present embodiment, through-hole 3116 is offered on journal stirrup 311.Robot head 300 further include light-emitting component 350 and
Sounding component 360, and light-emitting component 350 and sounding component 360 are located in through-hole 3116.
Specifically, light-emitting component 350 and sounding component 360 complete multimedia content for sending out acousto-optic, cooperation display screen
Displaying.Moreover, because light-emitting component 350 and sounding component 360 are located in through-hole 3116, therefore it can be effectively saved space, made
Obtain the more compact structure of robot head 300.
Further, in the present embodiment, robot head 300 further includes mounting bracket 370.Mounting bracket 370 includes
Two side plates 371 being oppositely arranged.Therefore, mounting bracket 370 is similar to the shape of fixed seat 310, takes the shape of the letter U.Mounting bracket 370
Be contained in storage tank 313 and between fixed seat 310 and rotation section 320, two side plates 371 respectively with two journal stirrups 311
It is fixedly connected.Moreover, light-emitting component 350 and sounding component 360 are installed on side plate 371.
Specifically, light-emitting component 350 and sounding component 360 are installed on by light bearing 351 and sound equipment bearing 361 respectively
On side plate 371.Wherein, sound equipment bearing 361 is annular in shape, and sounding component 360 can be fastened in the middle part of sound equipment bearing 361.Light branch
Seat 351 is laminated with sound equipment bearing 361, to save space
Above-mentioned intellectual education service robot 10, when drive wheel assemblies 120 are rotated relative to chassis pedestal 110, idler wheel 123
It can be flexible relative to bottom surface.When intellectual education service robot 10 is placed in horizontal plane, dead weight makes idler wheel 123 bounce back, and
130 deformation of the first elastic component is set to generate elastic force.And when passing through uneven terrain, once idler wheel 123 is hanging, drive wheel assemblies
120 can rotate under the action of elastic force so that idler wheel 123 to perpendicular to ground direction stretching, until idler wheel 123 again
Contact ground.Therefore, under the action of the first elastic component 130, idler wheel 123 can be kept in contact with ground always, to avoid because
Idler wheel 123 it is hanging and caused by skid.It further, can first rotary motion portion 320 when adjusting the angle of rotation section 320.This
When, limiting section 3352 and the edge of limit hole 3312 squeeze, and since the surface of limiting section 3352 is smooth, therefore limiting section 3352 exists
Extruding force can be detached from limit hole 3312 when being more than threshold value and positioning column 335 is made to retract.After being adjusted in place, positioning column 335 is
It is stretched out under the action of two elastic components, 337 restoring force, angle is realized to make limiting section 3352 be caught in corresponding limit hole 3312 again
The fixation of degree.As it can be seen that intellectual education service robot 10 is adjusted in mobile and angle is not necessarily to manual intervention in the process, therefore user
Just.
Each technical characteristic of embodiment described above can be combined arbitrarily, to keep description succinct, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, it is all considered to be the range of this specification record.
Above-described embodiments merely represent several embodiments of the utility model, the description thereof is more specific and detailed,
But therefore it can not be interpreted as the limitation to utility model patent range.It should be pointed out that for the common skill of this field
For art personnel, without departing from the concept of the premise utility, various modifications and improvements can be made, these are belonged to
The scope of protection of the utility model.Therefore, the protection domain of the utility model patent should be determined by the appended claims.
Claims (10)
1. a kind of intellectual education service robot, which is characterized in that including：
Mobile chassis, the mobile chassis include：
Chassis pedestal, the bottom surface with receiving portion and backwards to the receiving portion；
Drive wheel assemblies, including actuator and the idler wheel with actuator drive connection, the side of the actuator is provided with
Mounting plate, the mounting plate are rotatablely arranged in the receiving portion, so that the drive wheel assemblies are relative to the chassis
Pedestal is rotatable, and the shaft of the mounting plate is parallel with the shaft of the idler wheel；
First elastic component, one end are fixed in the receiving portion, and the other end is with the actuator backwards to the one of the mounting plate
Side is fixedly connected, and first elastic component is used to provide an elastic force, and the direction of the elastic force for the drive wheel assemblies
It is directed toward the bottom of the receiving portion；
Robot body is installed on the side that the receiving portion is arranged in chassis pedestal；And
Robot head, the robot head include：
Fixed seat, including two journal stirrups being oppositely arranged form storage tank between two journal stirrups, and the fixed seat is installed on
The one end of the robot body far from the chassis pedestal；
Rotation section is rotatablely arranged in the storage tank；
Positioning component, including limiting plate, positioning seat, positioning column and the second elastic component, the limiting plate circumferentially offer multiple
The surface of limit hole, the positioning seat offers mounting hole, and the positioning column is contained in the mounting hole and relative to described
Mounting hole is extended or retracts, and the one end of the positioning column far from the mounting hole is provided with the smooth limiting section in surface, described
Second elastic component is contained in the mounting hole and is abutted with the positioning column, and when positioning column retraction, second elasticity
Part provides reversed restoring force for the positioning column；
Wherein, one in the limiting plate and the positioning seat is installed on the journal stirrup, another is installed on the rotation
Portion, and when positioning column stretching, the limiting section can be contained in one in the multiple limit hole.
2. intellectual education service robot according to claim 1, which is characterized in that the actuator includes：
Motor cabinet, is in hollow columnar structures, and the mounting plate is set to the side wall of the motor cabinet；
Driving motor is accommodated and is fixed in the motor cabinet；
Shaft coupling, the idler wheel are sequentially connected by the shaft coupling and the driving motor；And
Axis pin is arranged in the mounting plate and is installed in the receiving portion, and the axis pin is parallel with the shaft of the idler wheel.
3. intellectual education service robot according to claim 1, which is characterized in that be provided with limit in the receiving portion
Region, it is interior and rotatable in the range of the stop zone that the actuator is set to the stop zone.
4. intellectual education service robot according to claim 3, which is characterized in that the bottom of the receiving portion is vertically set
There are two mounting posts, and the chassis pedestal further includes pressing plate, and the both ends of the pressing plate are respectively arranged in described two mounting posts,
The stop zone is formed between the bottom of described two mounting posts, the pressing plate and the receiving portion.
5. intellectual education service robot according to claim 1, which is characterized in that the robot body includes：
Support frame, is fixed on the chassis pedestal, and the fixed part is fixed on the support frame far from the chassis pedestal
One end；
Front housing and rear shell are fixed on the support frame, and the front housing and the rear shell surround and form accommodating chamber.
6. intellectual education service robot according to claim 1, which is characterized in that the positioning component further includes being oriented to
Set, the guide sleeve are fixed on the edge of the mounting hole, and the positioning column is slideably arranged in the guide sleeve.
7. intellectual education service robot according to claim 1, which is characterized in that the robot head further includes resistance
Buddhist nun's hinge, one end of the damp hinge are fixedly connected with the journal stirrup, and the other end is fixedly connected with the rotation section.
8. intellectual education service robot according to claim 7, which is characterized in that the limiting plate is installed on the branch
Ear, the positioning seat are installed on the rotation section, and hollow is respectively arranged on the inner wall of the journal stirrup and the positioning seat
The both ends of one mounting post and the second mounting post, the damp hinge are fastened in first mounting post and second installation respectively
In column.
9. intellectual education service robot according to claim 8, which is characterized in that the limiting plate is annular in shape and is arranged
In in first mounting post.
10. intellectual education service robot according to claim 8, which is characterized in that on the journal stirrup there are two settings
Finite place piece is arranged on the rotation section in spaced limit protrusion, and the locating part is set to two limit protrusions
Between.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721725955.9U CN207736296U (en) | 2017-12-12 | 2017-12-12 | Intellectual education service robot |
Applications Claiming Priority (1)
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| CN201721725955.9U CN207736296U (en) | 2017-12-12 | 2017-12-12 | Intellectual education service robot |
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