CN208592853U - A kind of service robot - Google Patents
A kind of service robot Download PDFInfo
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- CN208592853U CN208592853U CN201821001132.6U CN201821001132U CN208592853U CN 208592853 U CN208592853 U CN 208592853U CN 201821001132 U CN201821001132 U CN 201821001132U CN 208592853 U CN208592853 U CN 208592853U
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- wheel group
- wheel
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- robot
- service robot
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Abstract
The utility model discloses a kind of service robots, including robot base and wheel group, side is equipped with wheel group below the device people pedestal, and wheel group side is connected with transmission shaft, one side surface of transmission shaft is equipped with synchronous pulley, and synchronous pulley is connected with servo motor by toothed belt transmission.In the utility model, multiple groups wheel group is equipped with below service robot's pedestal, and every group of wheel group is by small synchronous motor, Athey wheel and crawler belt composition, when walking, Athey wheel rotation is driven by small synchronous motor, to drive crawler belt to rotate, the crawler type vehicle wheel group of this triangle, on the one hand the contact area on robot and ground is increased by crawler belt, improve the stability of robot, avoid the drawback of robot fast running stability difference, on the other hand the small synchronous motor in every group of wheel group can individually control the rotation of wheel group, facilitate the steering of robot.
Description
Technical field
The utility model relates to robotic technology field more particularly to a kind of service robots.
Background technique
Service robot is a younger members in family, robot, and up to the present still none stringent is determined
Justice.Country variant is different to the understanding of service robot.Professional domain service robot and individual/home services machine can be divided into
Device people, service robot are of wide application, and are mainly engaged in maintenance, repairing, transport, cleaning, security personnel, rescue, monitoring
Equal work.
Some service robot bottoms generally use common wheel walking at present, and this common wheel can only be smooth
Ground run can only take the method for detouring or artificially interfering to cross barrier if encountering threshold or step makes not travelling past
Hinder, while the usual low running speed of this robot, if when fast running, it cannot be guaranteed that the stability of robot, greatly drops
The efficiency of service of Di Liao robot.
Utility model content
Purpose of the utility model is to solve disadvantages existing in the prior art, and a kind of service machine proposed
People.
To achieve the goals above, the utility model adopts the technical scheme that a kind of service robot, including machine
Device people pedestal and wheel group, device people pedestal lower section side is equipped with wheel group, and wheel group side is connected with transmission shaft, institute
It states one side surface of transmission shaft and synchronous pulley is installed, and synchronous pulley is connected with servo motor, the vehicle by toothed belt transmission
Wheel group interior side is equipped with Athey wheel, and small synchronous motor is equipped with inside Athey wheel, and the Athey wheel surface drive connects
It is connected to crawler belt, the device people chassis interior middle position is equipped with lifting motor, and lifting motor side passes through driving axis connection
There is bevel gear, ball-screw is connected with above the bevel gear, and be sequentially connected with screw, the device people above ball-screw table
Fuselage is connected with by lifting tube above pedestal.
Preferably, there are two the screw is set altogether, and screw is mounted on fuselage bottom surface two sides.
Preferably, front fuselage surface middle position is embedded with touch screen, and one upper side of fuselage is equipped with
Bionic arm.
Preferably, the body upper is equipped with head, and head front-end surface is embedded with camera, the head upper
Surface side is equipped with WiFi receiver, and one side surface of head is equipped with voice case.
Preferably, the wheel group is equipped with multiple groups altogether, and in triangular form structure distribution, there are three carry out inside every group of wheel group
Belt wheel.
Preferably, the synchronous belt is intertwined and connected by synchronous pulley triangular shape.
Preferably, the bevel gear is equipped with two groups altogether, and every group of bevel gear is using 90 degree of shaft angle transmission connections.
Compared with prior art, the utility model has the beneficial effects that；Firstly, being equipped with below service robot's pedestal
Multiple groups wheel group, and every group of wheel group is made of small synchronous motor, Athey wheel and crawler belt when walking, passes through miniature synchronization
The rotation of motor-driven caterpillar tracks wheel, so that crawler belt be driven to rotate, on the one hand the crawler type vehicle wheel group of this triangle passes through crawler belt
The contact area on robot and ground is increased, the stability of robot is improved, avoids robot fast running stability
The drawback of difference, on the other hand the small synchronous motor in every group of wheel group can individually control the rotation of wheel group, facilitate machine
The steering of people, secondly, transmission of the servo motor of setting by driving synchronous belt and synchronous pulley, and then transmission shaft is driven to turn
It is dynamic, to realize the whole overturning of wheel group, can have a certain degree with opposite shape when wheel group is integrally overturn, in conjunction with shoe
Band rotation walking, by this overturning of wheel group, walking manner, can make robot stabilized crossing over blockage, avoid machine
Device people reduces the efficiency of service of robot because obstacle can not be gone beyond, finally, the lifting tube of setting can be with adjust automatically machine
The height of people, drives bevel-gear rotating by opening lifting motor, drives the screw on ball-screw to be driven by bevel gear, thus
Realize the lifting of fuselage, therefore robot can be adjusted to suitable height according to demand, be adapted to and people of different heights
Group links up, and embodies the human oriented design of robot.
Detailed description of the invention
Fig. 1 be the utility model proposes a kind of service robot structural schematic diagram；
Fig. 2 be the utility model proposes a kind of service robot wheel group structural schematic diagram；
Fig. 3 be the utility model proposes a kind of service robot wheel group side view；
Fig. 4 be the utility model proposes a kind of service robot wheel group obstacle-overpass schematic diagram；
Fig. 5 be the utility model proposes a kind of service robot fuselage propradation schematic diagram.
Marginal data:
1- robot base, 2- fuselage, 3- bionic arm, 4- touch screen, 5- head, 6- voice case, 7- camera, 8-
WiFi receiver, 9- wheel group, 10- transmission shaft, 11- synchronous pulley, 12- synchronous belt, 13- servo motor, 14- is miniature synchronizes electricity
Machine, 15- Athey wheel, 16- crawler belt, 17- lifting motor, 18- bevel gear, 19- ball-screw, 20- screw, 21- lifting tube.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work
Every other embodiment obtained, fall within the protection scope of the utility model.
It is in the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", " perpendicular
Directly ", the orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, and is only
For ease of description the utility model and simplify description, rather than the device or element of indication or suggestion meaning must have it is specific
Orientation, be constructed and operated in a specific orientation, therefore should not be understood as limiting the present invention；Term " first ", " the
Two ", " third " is used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance；In addition, unless otherwise specific
Regulation and restriction, term " installation ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, be also possible to
It is detachably connected, or is integrally connected；It can be mechanical connection, be also possible to be electrically connected；It can be directly connected, can also lead to
It crosses intermediary to be indirectly connected, can be the connection inside two elements.It for the ordinary skill in the art, can be with
Concrete condition understands the concrete meaning of above-mentioned term in the present invention.
Please refer to Fig. 1-5, a kind of service robot, including robot base 1 and wheel group 9,1 lower section one of device people pedestal
Side is equipped with wheel group 9, and 9 side of wheel group is connected with transmission shaft 10, and 10 1 side surface of transmission shaft is equipped with synchronous pulley 11,
And synchronous pulley 11 is sequentially connected with servo motor 13 by synchronous belt 12,9 interior side of wheel group is equipped with Athey wheel 15, and
Small synchronous motor 14 is installed, 15 surface drive of Athey wheel is connected with crawler belt 16, in 1 inside of device people pedestal inside Athey wheel 15
Between position lifting motor 17 is installed, and 17 side of lifting motor is connected with bevel gear 18,18 top of bevel gear by drive shaft
It is connected with ball-screw 19, and is sequentially connected with screw 20 above 19 table of ball-screw, passes through lifting tube 21 above device people pedestal 1
It is connected with fuselage 2.
There are two screw 20 is set altogether, and screw 20 is mounted on 2 bottom surface two sides of fuselage, and such ball-screw 19 can be
Under the driving of lifting motor 17, the lifting of fuselage 2 is realized, 2 front-end surface middle position of fuselage is embedded with touch screen 4, fuselage 2
One upper side is equipped with bionic arm 3, head 5 is equipped with above fuselage 2, and 5 front-end surface of head is embedded with camera 7, machine
First 5 overhead surface side is equipped with WiFi receiver 8, and 5 one side surface of head is equipped with voice case 6, and voice case 6 can be linked up with people
Exchange, camera 7 make identification judgement for observing ambient enviroment, and by processor, and WiFi receiver 8 is for receiving, passing
Up to signal, wheel group 9 is equipped with multiple groups altogether, and in triangular form structure distribution, there are three Athey wheels 15 inside every group of wheel group 9, synchronous
Band 12 is intertwined and connected by 11 triangular shape of synchronous pulley, and bevel gear 18 is equipped with two groups altogether, and every group of bevel gear 18 uses 90
Shaft angle transmission connection is spent, there are two voice case 6 is set altogether, and voice case 6 is symmetrical about 5 horizontal central line of head.
Working principle: multiple groups wheel group 9 is equipped with below service robot's pedestal 1, and every group of wheel group 9 is by miniature
Synchronous motor 14, Athey wheel 15 and crawler belt 16 form, and when walking, drive Athey wheel 15 to rotate by small synchronous motor 14, from
And crawler belt 16 is driven to rotate, on the one hand the crawler type vehicle wheel group 9 of this triangle increases robot and ground by crawler belt 16
The contact area in face improves the stability of robot, and on the other hand the small synchronous motor 14 in every group of wheel group 9 can be single
The solely rotation of control wheel group 9, facilitates the steering of robot, when encountering step obstacle, passes through the servo motor 13 of setting
The transmission of synchronous belt 12 and synchronous pulley 11 is driven, and then transmission shaft 10 is driven to rotate, to realize that the entirety of wheel group 9 is turned over
Turn, 9 entirety of wheel group can have a certain degree when overturning with opposite shape, rotate and walk in conjunction with crawler belt 16, pass through wheel group 9
This overturning, walking manner, robot stabilized crossing over blockage can be made, while the lifting tube 21 being arranged can be with adjust automatically
The height of robot drives bevel gear 18 to rotate, is driven on ball-screw 19 by bevel gear 18 by opening lifting motor 17
Screw 20 is driven, to realize the lifting of fuselage 2, therefore robot can be adjusted to suitable height, Ke Yishi according to demand
It should be linked up with people of different heights group, embody the human oriented design of robot.
The preferable specific embodiment of the above, only the utility model, but the protection scope of the utility model is not
It is confined to this, anyone skilled in the art is within the technical scope disclosed by the utility model, practical according to this
Novel technical solution and its utility model design are subject to equivalent substitution or change, should all cover the protection model in the utility model
Within enclosing.
Claims (7)
1. a kind of service robot, including robot base (1) and wheel group (9), which is characterized in that the device people pedestal
(1) lower section side is equipped with wheel group (9), and wheel group (9) side is connected with transmission shaft (10), transmission shaft (10) side
Surface is equipped with synchronous pulley (11), and synchronous pulley (11) is sequentially connected with servo motor (13), institute by synchronous belt (12)
It states wheel group (9) interior side to be equipped with Athey wheel (15), and small synchronous motor (14), institute is installed inside Athey wheel (15)
It states Athey wheel (15) surface drive to be connected with crawler belt (16), device people pedestal (1) the bosom position is equipped with lifting motor
(17), and lifting motor (17) side is connected with bevel gear (18) by drive shaft, is connected with rolling above the bevel gear (18)
Ballscrew (19), and be sequentially connected with screw (20) above ball-screw (19) table, pass through lifting above the device people pedestal (1)
Cylinder (21) is connected with fuselage (2).
2. a kind of service robot according to claim 1, which is characterized in that there are two the screw (20) sets altogether,
And screw (20) is mounted on fuselage (2) bottom surface two sides.
3. a kind of service robot according to claim 1, which is characterized in that among fuselage (2) front-end surface
It is embedded at position touch screen (4), (2) one upper side of fuselage is equipped with bionic arm (3).
4. a kind of service robot according to claim 1, which is characterized in that installation is organic above the fuselage (2)
Head (5), and head (5) front-end surface is embedded with camera (7), head (5) the overhead surface side is equipped with WiFi receiver
(8), (5) one side surface of head is equipped with voice case (6).
5. a kind of service robot according to claim 1, which is characterized in that the wheel group (9) is equipped with multiple groups altogether,
And in triangular form structure distribution, there are three Athey wheel (15) inside every group of wheel group (9).
6. a kind of service robot according to claim 1, which is characterized in that the synchronous belt (12) passes through synchronous belt
Wheel (11) triangular shape is intertwined and connected.
7. a kind of service robot according to claim 1, which is characterized in that the bevel gear (18) is equipped with two altogether
Group, and every group of bevel gear (18) is using 90 degree of shaft angle transmission connections.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821001132.6U CN208592853U (en) | 2018-06-27 | 2018-06-27 | A kind of service robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821001132.6U CN208592853U (en) | 2018-06-27 | 2018-06-27 | A kind of service robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208592853U true CN208592853U (en) | 2019-03-12 |
Family
ID=65602060
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821001132.6U Active CN208592853U (en) | 2018-06-27 | 2018-06-27 | A kind of service robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208592853U (en) |
-
2018
- 2018-06-27 CN CN201821001132.6U patent/CN208592853U/en active Active
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