CN210678724U

CN210678724U - Household service robot

Info

Publication number: CN210678724U
Application number: CN201921068098.9U
Authority: CN
Inventors: 田春来; 陈其灯; 董江云; 熊飞洋; 张红钢
Original assignee: Pingxiang University
Current assignee: Pingxiang University
Priority date: 2019-07-09
Filing date: 2019-07-09
Publication date: 2020-06-05
Anticipated expiration: 2029-07-09

Abstract

The utility model discloses a household service robot, which comprises a chassis and a rocking car module, wherein the rocking car module comprises a frame, a foot support and a sheave clutch; the frame is arranged above the chassis in a fork frame connection mode, and a steel plate for bearing and installing other modules is welded on the frame; the front end and the rear end of the frame are respectively provided with a foot support, and the fixed ends of the foot supports are fixed at the front end and the rear end of the chassis; the sheave type clutch comprises a connector, a sheave, a sliding block, a shifting fork and a rotating block connected with the tail end of a spring connector, the connector can drive the rotating block to rotate, a rear eccentric column is arranged on the outer side of the rotating block, and a bottom support of the frame is erected on the rear eccentric column; the chassis is also provided with an inertia wheel at the front wheel, the outer side of the inertia wheel is provided with a front eccentric column, and a bottom support of the frame is erected on the front eccentric column; the utility model aims at designing a domestic service robot to satisfy young parents' demand.

Description

Household service robot

Technical Field

The utility model belongs to the robot field, concretely relates to domestic service robot.

Background

With the opening of the "second birth" policy, many families have had "second children". The first child mostly grows under the care of grandparents; when the second child comes, the young parents have to consider hiring a nurse or even the couple has sacrificed work and development to take care of the second child for various reasons such as the body of the elderly. Thus, for young parents, the birth of two births means more time and effort investments. In addition, modern intelligent robots are rapidly developed in technology, the living standard of people is continuously improved, and intelligent robots also enter the home service industry.

In order to solve the problem that some families have two children, relieve the life pressure of young parents and respond to the era characteristics of smart cities, a household service robot needs to be designed.

SUMMERY OF THE UTILITY MODEL

The utility model aims at designing a domestic service robot to satisfy young parents' demand.

The utility model provides a technical scheme is: a household service robot comprises a chassis and a rocking car module, wherein the rocking car module comprises a frame, a foot support and a sheave clutch;

the frame is arranged above the chassis in a fork frame connection mode, and a steel plate for bearing and installing other modules is welded on the frame;

the front end and the rear end of the frame are respectively provided with the foot supports, and the fixed ends of the foot supports are fixed at the front end and the rear end of the chassis; the foot support comprises a fixedly arranged cylinder, a piston of the cylinder is hinged with a bilaterally symmetrical connecting rod mechanism, the connecting rod mechanism comprises a first connecting rod, one end of the first connecting rod is rotatably connected to the piston of the cylinder, the other end of the first connecting rod is hinged to the rod body of a second connecting rod, one end, close to the first connecting rod, of the second connecting rod is hinged to the end surface of the chassis, the other end of the second connecting rod is hinged with one end of a third connecting rod, one end of the third connecting rod is hinged with one end of a fourth connecting rod, the other end of the fourth connecting rod is hinged with a top block capable of supporting the ground, a hinged part of the third connecting rod and the fourth connecting rod is further hinged with a fifth connecting rod, and the other end of the fifth connecting rod is hinged to the;

the grooved pulley type clutch comprises a connector, a grooved pulley, a sliding block, a shifting fork and a spring, wherein the center of the grooved pulley is connected with a rear wheel main shaft of the chassis, and the grooved pulley can rotate along with the rear wheel main shaft of the chassis; the connector is sleeved on the other side surface of the sheave connected with the rear wheel main shaft in an empty way; the connector is provided with a sliding groove facing the grooved wheel, the grooved wheel is provided with a notch at a position matched with the sliding groove, one end of the spring is fixedly connected in the sliding groove, and the other end of the spring is connected with the sliding block; the shifting fork is of a hook-shaped structure, the straight edge of the shifting fork is hinged to the chassis, and the arc edge of the shifting fork can rotate to the sliding groove and abut against the sliding block; the bottom of the shifting fork is also hinged with a driving connecting rod, the tail end of the driving connecting rod is provided with a waist-shaped hole, one end of the fifth connecting rod, which is hinged with the chassis, is also provided with a cylinder, and the driving connecting rod is inserted into the cylinder through the waist-shaped hole at the tail end;

the tail end of the connector is connected with a rotating block, the connector can drive the rotating block to rotate, a rear eccentric column is arranged on the outer side of the rotating block, and a bottom support of the frame is erected on the rear eccentric column; the chassis still is provided with the flywheel in front wheel department, the outside of flywheel is provided with preceding eccentric column, preceding eccentric column erects the bottom sprag of frame.

As an improvement of the utility model, the end of spout is provided with the stopper that prevents that the slider from removing the screens point that surpasss the shift fork.

As an improvement of the utility model, a seat support is arranged on the steel plate of the frame, and a bevel gear transmission mechanism is arranged at the bottom of the seat support; the inboard rotation of seat support is connected with the seat, the outside of seat is provided with one section incomplete gear, the incomplete gear meshing of seat has drive gear.

As an improvement of the utility model, a humanoid robot is arranged at the rear end of the seat support and is fixed on the chassis through bolts; the head of the humanoid robot is provided with a visual positioning system, and the hand of the humanoid robot is provided with a multi-degree-of-freedom manipulator.

As an improvement of the utility model, the chassis adopts the rear wheel to start, the rear wheel on chassis passes through the motor and connects planetary differential mechanism connection drive, the front wheel on chassis adopts rack and pinion steering mechanism.

Has the advantages that:

(1) the design of the foot support, the grooved pulley type clutch and the driving connecting rod between the foot support and the grooved pulley type clutch reflects that the robot is compact in structure, two requirements of one power completion are achieved at two positions of the foot support and the grooved pulley type clutch, namely the foot support cylinder power achieves the folding and unfolding of the foot support and the loosening and clamping of the clutch.

(2) The driven crank is designed into an inertia wheel, so that the problem that the position of the parallelogram mechanism is uncertain is solved, and the rotation direction of the crank is kept unchanged.

(3) The design of the balance mechanism of the child seat realizes that the inclination angle of the seat can be regulated and controlled when the robot goes up and down a slope.

Drawings

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

FIG. 2 is a schematic view of the frame structure of the present invention;

FIG. 3 is a schematic structural view of the welded frame steel plate of the present invention;

FIG. 4 is a schematic view of the foot support mechanism of the present invention;

FIG. 5 is a schematic view illustrating a position where the footrest mechanism of the present invention stops operating;

FIG. 6 is a schematic structural view of the sheave clutch in a non-operating state;

FIG. 7 is a schematic side view of the sheave clutch in a non-operating state;

FIG. 8 is a schematic structural view of the sheave clutch in an operating state;

FIG. 9 is a schematic side view of the sheave clutch in an operating state;

FIG. 10 is a schematic view of a stop block mounted on the chute;

FIG. 11 is a schematic view of the position structure of the driving link;

FIG. 12 is an exploded view of the seat holder and seat;

FIG. 13 is a schematic structural view of the humanoid robot;

fig. 14 is a driving schematic diagram of the chassis.

In the figure: 1-chassis, 2-frame, 3-cylinder, 4-first connecting rod, 5-second connecting rod, 6-third connecting rod, 7-fourth connecting rod, 8-top block, 9-fifth connecting rod, 10-connector, 11-grooved wheel, 12-sliding block, 13-shifting fork, 14-spring, 15-driving connecting rod, 16-rotating block, 17-rear eccentric column, 18-limiting block, 19-seat support, 20-bevel gear transmission mechanism, 21-seat, 22-driving gear, 23-humanoid robot, 24-visual positioning system and 25-multi-degree-of-freedom manipulator.

Detailed Description

The embodiments of the present invention will be further explained with reference to the drawings.

As shown in fig. 1 to 14, the home service robot in the present embodiment includes a chassis 1, and further includes a rocking car module, where the rocking car module includes a frame 2, a foot support, and a sheave clutch;

the frame 2 is arranged above the chassis 1 in a fork frame connection mode, and a steel plate for bearing and installing other modules is welded on the frame 2;

the front end and the rear end of the frame 2 are respectively provided with the foot supports, and the fixed ends of the foot supports are fixed at the front end and the rear end of the chassis 1; the foot support comprises a fixedly arranged cylinder 3, a piston of the cylinder 3 is hinged with a bilaterally symmetrical connecting rod mechanism, the connecting rod mechanism comprises a first connecting rod 4, one end of the first connecting rod 4 is rotatably connected to the piston of the cylinder 3, the other end of the first connecting rod 4 is hinged to the rod body of a second connecting rod 5, one end, close to the first connecting rod 4, of the second connecting rod 5 is hinged to the end surface of the chassis 1, the other end of the second connecting rod 5 is hinged with one end of a third connecting rod 6, one end of the third connecting rod 6 is hinged with one end of a fourth connecting rod 7, the other end of the fourth connecting rod 7 is hinged with a top block 8 capable of supporting the ground, the hinged part of the third connecting rod 6 and the fourth connecting rod 7 is further hinged with a fifth connecting rod 9, and the other end of the fifth connecting rod 9 is hinged to the;

the sheave type clutch comprises a connector 10, a sheave 11, a sliding block 12, a shifting fork 13 and a spring 14, wherein the center of the sheave 11 is connected with a rear wheel spindle of the chassis 1, and the sheave 11 can rotate along with the rear wheel spindle of the chassis 1; the connector 10 is sleeved on the other side surface of the sheave 11 connected with the rear wheel main shaft in an empty way; the connector 10 is provided with a sliding groove facing the grooved pulley 11, the grooved pulley 11 is provided with a notch at a position matching the sliding groove, one end of the spring 14 is fixedly connected in the sliding groove, and the other end of the spring 14 is connected with the sliding block 12; the shifting fork 13 is of a hook-shaped structure, the straight edge of the shifting fork 13 is hinged to the chassis 1, and the arc edge of the shifting fork 13 can rotate to the sliding groove and abut against the sliding block 12; a driving connecting rod 15 is hinged to the bottom of the shifting fork 13, a waist-shaped hole is formed in the tail end of the driving connecting rod 15, a cylinder is further arranged at one end of the fifth connecting rod 9 hinged to the chassis 1, and the driving connecting rod 15 is sleeved on the cylinder through the waist-shaped hole in the tail end;

the tail end of the connector 10 is connected with a rotating block 16, the connector 10 can drive the rotating block 16 to rotate, a rear eccentric column 17 is arranged on the outer side of the rotating block 16, and a bottom support of the frame 2 is erected on the rear eccentric column 17; the chassis 1 is further provided with an inertia wheel at the front wheel, the outer side of the inertia wheel is provided with a front eccentric column, and the bottom support of the frame 2 is erected on the front eccentric column.

In this embodiment, the end of the sliding groove is provided with a limiting block 18 for preventing the sliding block from moving beyond the clamping point of the shifting fork 13, a seat support 19 is installed on the steel plate of the frame 2, and a bevel gear transmission mechanism 20 is installed at the bottom of the seat support 19; a seat 21 is rotatably connected to the inner side of the seat support 19, a section of incomplete gear is arranged on the outer side of the seat 21, and a driving gear 22 is meshed with the incomplete gear of the seat 21; a humanoid robot 23 is arranged at the rear end of the seat support 19, and the humanoid robot 23 is fixed on the chassis 1 through bolts; the head of the humanoid robot 23 is provided with an existing visual positioning system 24, and the hand of the humanoid robot 23 is provided with an existing multi-degree-of-freedom manipulator 25; the chassis 1 is driven by a rear wheel, the rear wheel of the chassis 1 is connected with a planetary differential mechanism through a motor and is driven, and the front wheel of the chassis 1 adopts a rack-and-pinion steering mechanism.

In the embodiment, the chassis 1 adopts a motion mode of rear wheel driving and front wheel steering, the rear wheel is driven by a motor connected with a planetary differential mechanism, the planetary differential mechanism is applied to the walking of the robot, has better stability and stronger bearing capacity, plays an important role in the stability of the robot motion, and the front wheel steering adopts a gear and rack steering mechanism; the rocking car module comprises a frame 2, a foot support, a sheave clutch and the like, and is connected with a chassis 1 in a fork frame manner by using a compression bolt for limiting and fixing in order to facilitate mounting and dismounting; a child seat and a humanoid robot 23 need to be installed on the rocking car body, and steel plates are welded on the basis of the car frame 2, so that the rocking car has a space for bearing and installing other modules; the function of the foot support is that when the robot mode is switched to the rocking car mode, the foot support supports the whole machine, the whole machine leaves the ground, and the working process is similar to the process that the cement pump car is supported by four sets of cylinders of the cement pump car when the cement pump car conveys cement to a high place, so that the stability of the rocking car in working is ensured, and the safety of the robot in use is improved; the foot supports are arranged on the chassis 1, and the foot supports are arranged on the front side and the rear side of the chassis 1 like a cement pump truck as the whole machine needs to be supported; the sheave type clutch is a pivot for connecting the power of the rocking car and a rear wheel main shaft of the chassis, after the whole machine is supported by a foot support, the rear wheel is suspended, the rocking car module is connected with the main shaft by using the sheave type clutch to operate, the sheave 11 is connected with the rear wheel main shaft and can rotate along with the rear wheel main shaft, the spring 14 is pressed under the action of limiting the sliding block 12 by the shifting fork 13, and the connector 10 is sleeved on the sheave 11 in an empty mode and cannot rotate along with the sheave 11; when the rocking car module is started, the shifting fork 13 is pulled downwards to be separated from the sliding block 12, the spring 14 which is pressed before is released to push the sliding block 12 to be close to the grooved wheel 11, and after the sliding block 12 is clamped in the notch of the grooved wheel 11, the grooved wheel 11 can drive the connector 10 to rotate together, so that the rocking car is started along with the rotation; in order to prevent the slide block 12 from moving beyond the clamping point of the shifting fork 13, a limiting block 18 is arranged at the tail end of the sliding groove of the connector 10 to limit the stroke of the slide block; in order to reduce the introduction of motive power, the power of the action of a shifting fork 13 of the sheave type clutch is derived from a cylinder 3 of a foot support, the sheave type clutch and the foot support are connected together by skillful connection of a driving connecting rod 15, and when a rocking car module is started, a fifth connecting rod 9 drives the shifting fork 13 to simultaneously move downwards through the driving connecting rod 15 in the downward rotating process, so that a spring 14 pushes a sliding block 12 to be inserted into a notch, a connecting block 10 starts to rotate, a rotating block 16 also starts to rotate, and a rear eccentric column 17 on the rotating block drives a car frame 2 to start to rock; when the foot support is retracted, the fifth connecting rod 9 drives the shifting fork 13 to be inserted upwards into the sliding block 12 through the driving connecting rod 15 in the process of upwards rotating, the sliding block 12 is pushed back to the compression spring 14, and at the moment, the connecting block 10 stops rotating; a section of incomplete gear is designed on the periphery of the seat 21 and is driven by the driving gear 22, and mainly aims at the situation that when the robot goes up a slope, the inclination angle of the seat 21 can be regulated and controlled, so that the balance of the seat when the robot walks on a slope road section is ensured, meanwhile, the safety and reliability of the robot are also proved, and the safety of children is protected; the whole child seat is arranged on the rocking car body, in order to realize the convenience of getting on the car by children, the seat 21 can rotate left and right integrally, the seat support 19 is connected with the rocking car body, the seat is driven to rotate by a conventional bevel gear transmission mechanism 20, and the space of the car body is reasonably utilized; the humanoid robot 23 utilizes the support frame of bottom to be connected with frame 2, and humanoid robot 23 head has vision positioning system 24, can carry out real-time supervision and navigation when walking to children, and two multi freedom manipulators 25 can accomplish functions such as getting the thing.

For convenience of description, the descriptions of directions such as "up", "down", "left", "right", "front", "back", etc. referred to herein are consistent with the left-right direction of the drawings, but do not limit the structure of the present invention; the above detailed description of the embodiments of the present invention is only for exemplary purposes, and the present invention is not limited to the above detailed description. Any equivalent modifications and substitutions to those skilled in the art are also within the scope of the present invention. Accordingly, variations and modifications in equivalents may be made without departing from the spirit and scope of the invention, which is intended to be covered by the following claims.

Claims

1. A home service robot comprising a chassis (1), characterized in that:

the rocking car comprises a frame (2), a foot support and a sheave clutch;

the frame (2) is arranged above the chassis (1) in a fork frame connection mode, and a steel plate for bearing and installing other modules is welded on the frame (2);

the front end and the rear end of the frame (2) are respectively provided with the foot supports, and the fixed ends of the foot supports are fixed at the front end and the rear end of the chassis (1); the foot support comprises a cylinder (3) which is fixedly arranged, a piston of the cylinder (3) is hinged with a connecting rod mechanism which is symmetrical left and right, the connecting rod mechanism comprises a first connecting rod (4) with one end rotatably connected with the piston of the cylinder (3), the other end of the first connecting rod (4) is hinged at the rod body of the second connecting rod (5), one end of the second connecting rod (5) close to the first connecting rod (4) is hinged on the end surface of the chassis (1), the other end of the second connecting rod (5) is hinged with one end of a third connecting rod (6), one end of the third connecting rod (6) is hinged with one end of a fourth connecting rod (7), the other end of the fourth connecting rod (7) is hinged with a top block (8) for supporting the ground, a fifth connecting rod (9) is hinged at the hinged part of the third connecting rod (6) and the fourth connecting rod (7), the other end of the fifth connecting rod (9) is hinged on the end surface of the chassis (1);

the grooved pulley type clutch comprises a connector (10), a grooved pulley (11), a sliding block (12), a shifting fork (13) and a spring (14), wherein the center of the grooved pulley (11) is connected with a rear wheel spindle of the chassis (1), and the grooved pulley (11) can rotate along with the rear wheel spindle of the chassis (1); the connector (10) is sleeved on the other side surface of the sheave (11) connected with the rear wheel main shaft in an empty way; the connector (10) is provided with a sliding groove facing the grooved wheel (11), a notch is formed in the position where the grooved wheel (11) is matched with the sliding groove, one end of the spring (14) is fixedly connected in the sliding groove, and the other end of the spring (14) is connected with the sliding block (12); the shifting fork (13) is of a hook-shaped structure, the straight edge of the shifting fork (13) is hinged to the chassis (1), and the arc edge of the shifting fork (13) can rotate to the sliding groove and abut against the sliding block (12); a driving connecting rod (15) is hinged to the bottom of the shifting fork (13), a waist-shaped hole is formed in the tail end of the driving connecting rod (15), a cylinder is further arranged at one end of the fifth connecting rod (9) hinged to the chassis (1), and the driving connecting rod (15) is sleeved on the cylinder through the waist-shaped hole in the tail end;

the tail end of the connector (10) is connected with a rotating block (16), the connector (10) can drive the rotating block (16) to rotate, a rear eccentric column (17) is arranged on the outer side of the rotating block (16), and a bottom support of the frame (2) is erected on the rear eccentric column (17); the chassis (1) is further provided with an inertia wheel at the front wheel, the outer side of the inertia wheel is provided with a front eccentric column, and the bottom support of the frame (2) is erected on the front eccentric column.

2. A home service robot as claimed in claim 1, wherein:

the tail end of the sliding groove is provided with a limiting block (18) for preventing the sliding block from moving beyond a clamping point of the shifting fork (13).

3. A home service robot as claimed in claim 1, wherein:

a seat support (19) is mounted on a steel plate of the frame (2), and a bevel gear transmission mechanism (20) is mounted at the bottom of the seat support (19); the inner side of the seat support (19) is rotatably connected with a seat (21), a section of incomplete gear is arranged on the outer side of the seat (21), and the incomplete gear of the seat (21) is meshed with a driving gear (22).

4. A home service robot as claimed in claim 3, wherein:

a humanoid robot (23) is arranged at the rear end of the seat support (19), and the humanoid robot (23) is fixed on the chassis (1) through a bolt; the head of the humanoid robot (23) is provided with a visual positioning system (24), and the hand of the humanoid robot (23) is provided with a multi-degree-of-freedom manipulator (25).

5. A home service robot as claimed in claim 1, wherein:

the chassis (1) is started by adopting rear wheels, the rear wheels of the chassis (1) are connected with a planetary differential mechanism through a motor and are driven, and the front wheels of the chassis (1) adopt a gear rack steering mechanism.