CN209999172U

CN209999172U - family robot

Info

Publication number: CN209999172U
Application number: CN201822201131.2U
Authority: CN
Inventors: 陈亚彬; 王诗尧; 颜旺; 刘伟; 王纪新; 刘泽宇; 梁东旭; 安旭斌; 高磊
Original assignee: Individual
Current assignee: Individual
Priority date: 2018-12-26
Filing date: 2018-12-26
Publication date: 2020-01-31
Anticipated expiration: 2028-12-26

Abstract

The utility model belongs to the technical field of the robot, concretely relates to family robot, including chassis and running gear, running gear sets up on the chassis, removes through running gear drive chassis, be equipped with gripper arm, sucking disc arm and image acquisition device on the chassis.

Description

family robot

Technical Field

The utility model belongs to the technical field of the robot, concretely relates to kinds of domestic robot.

Background

With the rapid development of economy in China, the living standard of people is continuously improved, and the requirements on the living quality are higher and higher. In which higher demands are made on the comfort of the living environment. But at present, due to the aging society and the busy work of young people, the domestic environment is not cleared up, and the quality of life is reduced. The problem becomes the problem to be solved urgently in the field of family life at present, and the family service robot is favored because the family service robot is convenient to use and can complete corresponding work without manual operation.

However, at present, the cleaning work of family hygiene can only be finished by using more intelligent household service robots, and the arrangement of larger family articles cannot be finished, so that the adaptability of the intelligent household service robots is , the existing sweeping robot function sheet in the market can only finish a simple cleaning task, and the vision-based intelligent household service robot positioning device with the authorization number of CN 205033224U can only realize the positioning function of a simple family, and cannot finish the arrangement work of the family articles.

SUMMERY OF THE UTILITY MODEL

To the technical problem mentioned above, the utility model provides an kinds of domestic robot, this robot can carry out simple arrangement to the family's article.

In order to solve the technical problem, the utility model discloses a technical scheme be:

family robot, including chassis and running gear, running gear sets up on the chassis, moves through running gear drive chassis, the chassis is connected with gripper arm, sucking disc arm and image acquisition device.

The sucker mechanical arm comprises a mechanical arm and a sucker mechanism, the sucker mechanism is arranged on the mechanical arm and comprises a sucker and a piston air extractor, and the sucker is communicated with the piston air extractor.

The piston air extractor comprises a cylinder body, a piston and a connecting rod mechanism, the cylinder body is communicated with the sucker, the piston is arranged in the cylinder body and connected with a piston rod, and the connecting rod mechanism is connected with the piston rod.

The traveling mechanism adopts a Mecanum wheel traveling mechanism.

The image acquisition device comprises a large supporting plate, a small supporting plate and a camera, wherein the small supporting plate is hinged to the large supporting plate, the camera is arranged on the small supporting plate, the large supporting plate is connected with the chassis, a driving mechanism connected with the small supporting plate is arranged on the large supporting plate, and the small supporting plate can be driven to rotate through the driving mechanism.

The small supporting plates are provided with two cameras, the cameras comprise digital cameras and analog cameras, and the digital cameras and the analog cameras are arranged on the small supporting plates respectively.

The large supporting plate is connected with the chassis through the rotating mechanism.

Compared with the prior art, the utility model, the beneficial effect who has is:

articles can be grabbed and sorted through the mechanical claw mechanical arm; articles can be sucked through the sucker mechanical arm; and collecting surrounding images through an image collecting device. Through the structure, articles in a family can be simply sorted and placed.

Drawings

Fig. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic structural view of the traveling mechanism of the present invention;

FIG. 3 is a schematic structural view of the gripper arm of the present invention;

fig. 4 is a schematic structural diagram of the image capturing device according to the present invention;

fig. 5 is a schematic structural diagram of the image capturing device of the present invention;

fig. 6 is a schematic view of a rack and pinion structure according to the present invention;

fig. 7 is a schematic structural view of the suction cup robot arm of the present invention;

FIG. 8 is a schematic structural view of the piston air extractor of the present invention;

wherein: the robot comprises a walking mechanism 1, a mecanum wheel 11, a direct-current gear motor 12, a motor support 13, a chassis 2, a gripper mechanical arm 3, a gripper steering engine 31, a gripper 32, an image acquisition device 4, a flange 40, a support rod 41, a rotary steering engine 42, a connecting rod 43, an adjusting steering engine 44, an analog camera 45, a large support plate 46, a hinge 47, a small support plate 48, a digital camera 49, a sucker mechanical arm 5, a link mechanism 51, a driving steering engine 52, a piston air extractor 53, a cylinder 531, a piston 532, a piston rod 533, a suction cup 54, a connecting frame 55, a base 6, a steering engine 7, a bending steering engine 8, a steering engine support 9, a gear-rack structure 10, a driving gear 101, a driving rack 102 and a sliding rail 103.

Detailed Description

The technical solutions in the embodiments of the present invention are described below clearly and completely, and it is obvious that the described embodiments are only some embodiments, not all embodiments, of , and all other embodiments obtained by a person of ordinary skill in the art without creative work belong to the protection scope of the present invention.

As shown in FIGS. 1 and 2, kinds of domestic robots comprise a chassis 2 and a traveling mechanism 1, wherein the traveling mechanism 1 is arranged at the bottom of the chassis 2, and the chassis 2 is driven to move by the traveling mechanism 1. the traveling mechanism 1 can be implemented by various structures in the prior art, such as a wheel type traveling mechanism, a track type traveling mechanism or other adaptive structures, and preferably by a Mecanum wheel type traveling mechanism in the prior art.

The Mecanum wheel traveling mechanism is composed of four Mecanum wheel sets arranged on the chassis 2, each Mecanum wheel set comprises a Mecanum wheel 11 and a direct current speed reducing motor 12 connected with the Mecanum wheel 11, a motor support 13 is arranged on the direct current speed reducing motor 12, and the direct current speed reducing motor is connected with the chassis 2 through bolts through the motor support 13.

The upper part of the chassis 2 is provided with a mechanical claw mechanical arm 3, a sucker mechanical arm 5 and an image acquisition device 4. Gripper robot arm 3 is mainly used for gripping items such as: plastic water bottles, etc.; the sucker mechanical arm 5 is mainly used for sucking articles which are smooth in surface and not easy to clamp. The image acquisition device 4 is used for acquiring images, identifying and positioning the articles by combining a robot vision system in the prior art, returning and analyzing the acquired images to determine the attributes of the articles, and clamping the articles by the mechanical claw and mechanical arm 3 when the articles are suitable for clamping; when the object is suitable for suction, suction of the object is accomplished by the suction cup robot arm 5.

As shown in fig. 3 and 7, the gripper-robot arm 3 may adopt a structure of the prior art; the sucker mechanical arm 5 is preferably realized by adopting the following structure: including arm and sucking disc mechanism, sucking disc mechanism sets up on the arm, and sucking disc mechanism includes sucking disc 54 and piston air exhaust device 53, and sucking disc 54 and piston air exhaust device 53 UNICOM take out the air in sucking disc 54 through piston air exhaust device 53, adsorb article through atmospheric pressure.

Specifically, the method comprises the following steps: the mechanical claw mechanical arm 3 consists of a mechanical arm and a mechanical claw; the sucker mechanical arm 5 consists of a mechanical arm and a sucker mechanism. The structure of the gripper arm 3 is the same as that of the chuck arm 5, and is well known to those skilled in the art, and will be briefly described here.

The mechanical arm is structurally characterized by comprising a base 6, a steering engine 7 and two bending steering engines 8 fixedly connected with a steering engine support 9, wherein the number of the bending steering engines 8 is , the number of the bending steering engines is , the number of the second bending steering engines is , the base 6 is fixed on a chassis 2, the steering engine 7 is arranged on the base 6, an output shaft of the steering engine 7 is connected with a bogie, an output shaft of the bending steering engine 8 is connected with the bogie, and an output shaft of the second bending steering engine 8 is connected with the steering engine support 9 of the bending steering engine.

The th bending steering engine and the second bending steering engine can be driven to rotate through the steering engine 7, clamping at different angles is achieved, and a double-joint structure is formed through the th bending steering engine and the second bending steering engine.

The two mechanical claws 32 are connected through gears, mechanical claws 32 are connected with claw steering gears 31, the claw steering gears 31 realize the movement of the two mechanical claws 32, the claw steering gears 31 are also connected with rotating steering gears, the output shafts of the rotating steering gears are connected with the shells of the claw steering gears 31, and the shells of the rotating steering gears are fixed on steering gear supports 9 of the second bending steering gears.

As shown in FIGS. 7 and 8, at step , the piston air extractor 53 comprises a cylinder 531, a piston 532 and a linkage 51, the cylinder is connected to the suction cup 54, the piston 531 is disposed in the cylinder 531 and connected to the piston rod 533, the linkage 51 is connected to the piston rod 533, and the piston rod 533 is driven to move by the linkage 51. the cylinder 531, the piston 532 and the piston rod 533 form a syringe structure similar to the prior art.

The connecting rod mechanism 51 is connected with a corresponding steering engine, the connecting rod mechanism 51 comprises an th connecting rod and a second connecting rod, the end of the th connecting rod is hinged with the end of the second connecting rod, the other end of the th connecting rod is fixedly connected with an output shaft of the driving steering engine 52, the other end of the second connecting rod is hinged with a piston rod 533, the piston rod 533 is driven to move by the rotation of the driving steering engine 52, and the piston air extracting device 53 is arranged on a steering engine support 9 of the second bending steering engine.

The piston air extractor 53 can be fixed on the steering engine bracket 9 through a connecting frame 55, and the cylinder body 531 and the driving steering engine 52 (shell) are both fixed on the connecting frame 55. Of course, the cylinder body 531 can also be directly connected with the steering engine bracket 9, and the driving steering engine 52 is fixed on the cylinder body 531, which can be specifically adjusted according to the actual situation.

As shown in fig. 4 to 6, the image capturing apparatus includes a large support plate 46, a small support plate 48, and a camera, and the small support plate 48 is hinged to the large support plate 46. Specifically, the method comprises the following steps: the small support plate 48 may be hinged to the large support plate 46 by a hinge 47 as is known in the art.

The camera sets up on little backup pad 48, and big backup pad 46 couples with the chassis, is equipped with the actuating mechanism who couples with little backup pad 48 on the big backup pad 46, can drive little backup pad 48 through actuating mechanism and rotate, and when little backup pad 48 rotated, can drive camera and rotate with each other.

The driving structure can be realized by adopting various structures, for example, a connecting rod structure (a connecting rod mechanism 51 in a piston air extraction device 53 can be used for reference), the adjusting steering gear 44 is arranged on the large supporting plate 46, the shell of the adjusting steering gear 44 is fixedly connected with the large supporting plate 46, and the adjusting steering gear 44 is connected with the small supporting plate 48 through the connecting rod mechanism.

Of course, the drive structure could also be a rack and pinion structure 10 or other suitable structure. The gear rack structure 10 comprises a driving gear 101 and a driving rack 102, the driving rack 102 is connected with the large support plate 46 in a sliding mode, the sliding connection can be achieved by arranging a T-shaped sliding rail 103 and other structures, the sliding rail 103 is fixed with the large support plate 46, the driving gear 101 is meshed with the driving rack 102, an output shaft of the adjusting steering engine 44 is meshed with the driving gear 101, the front end of the driving rack 102 is connected with the small support plate 48 through a connecting rod 43, and two ends of the connecting rod 43 are hinged with the driving rack 102 and the small support plate 48 respectively.

And , the cameras comprise a digital camera 49 and an analog camera 45, two small support plates 48 are correspondingly arranged, and the digital camera 49 and the analog camera 45 are respectively arranged on the small support plates 48.

, the large support plate 46 is connected with the chassis 2 through a rotating mechanism, the rotation of the large support plate 46 can be realized through the rotating mechanism, the rotating mechanism specifically comprises a rotating steering engine 42 and a support rod 41, the shell of the rotating steering engine 42 is connected with the large support plate 46, the output shaft of the rotating steering engine 42 is connected with the support rod 41, and the support rod 41 is fixedly connected with the chassis 2 through a flange plate 40.

The above description has been made in detail only for the preferred embodiment of the present invention, but the present invention is not limited to the above embodiment, and various changes can be made without departing from the spirit of the present invention within the knowledge scope of those skilled in the art, and all such changes are intended to be encompassed by the present invention.

Claims

The family robot is characterized by comprising a chassis (2) and a traveling mechanism (1), wherein the traveling mechanism (1) is arranged on the chassis (2), the chassis (2) is driven to move through the traveling mechanism (1), and the chassis (2) is connected with a mechanical claw mechanical arm (3), a sucker mechanical arm (5) and an image acquisition device (4).
2. family robot according to claim 1, characterized in that the sucker mechanical arm (5) comprises a mechanical arm and a sucker mechanism, the sucker mechanism is arranged on the mechanical arm, the sucker mechanism comprises a sucker (54) and a piston air extractor (53), the sucker (54) is communicated with the piston air extractor (53).
3. The family robot of claim 2, wherein the piston suction device (53) comprises a cylinder (531), a piston (532) and a linkage (51), the cylinder (531) is communicated with the suction cup (54), the piston (532) is arranged in the cylinder (531) and connected with the piston rod (533), and the linkage (51) is connected with the piston rod (533).
4. family robot according to claim 1, characterized in that the running gear (1) is a Mecanum wheel running gear.
5. The family robot of claim 1, wherein the image capturing device includes a large support plate (46), a small support plate (48), and a camera, the small support plate (48) is hinged to the large support plate (46), the camera is disposed on the small support plate (48), the large support plate (46) is coupled to the chassis (2), the large support plate (46) is provided with a driving mechanism coupled to the small support plate (48), and the small support plate (48) can be driven to rotate by the driving mechanism.
6. family robot according to claim 5, wherein there are two small support plates (48), the cameras include a digital camera (49) and an analog camera (45), the digital camera (49) and the analog camera (45) are respectively arranged on the small support plates (48).
7. family robot according to claim 5, characterized in that the large support plate (46) is coupled with the chassis (2) by a rotation mechanism.