CN212471525U

CN212471525U - Remote mutual inductance robot

Info

Publication number: CN212471525U
Application number: CN202021865288.6U
Authority: CN
Inventors: 熊建文; 肖睦沧; 查志强; 谢翠婷
Original assignee: South China Normal University
Current assignee: South China Normal University
Priority date: 2020-08-31
Filing date: 2020-08-31
Publication date: 2021-02-05
Anticipated expiration: 2030-08-31

Abstract

The utility model provides a long-range mutual inductance robot, including control end, distal end robot, the control end is including feeling accuse cabin, it includes shell, walking chassis, feels accuse cabin treater, human action recognition device to feel the accuse cabin, the shell is cylindrical structure, walking chassis installs the bottom in the shell, human action recognition device installs in the shell, it links to each other with walking chassis, human action recognition device electrical property respectively to feel accuse cabin treater, the distal end robot is anthropomorphic type, the camera is installed to distal end robot head, the chest installation robot treater of distal end robot, the distal end robot passes through robot treater and feels accuse cabin treater wireless communication. Compared with the prior art, the utility model, through the cooperation of control end, distal end robot, realize the long-range mutual inductance to the robot.

Description

Remote mutual inductance robot

Technical Field

The utility model relates to an intelligent equipment especially relates to a long-range mutual inductance robot.

Background

The robot can replace a real person due to the anthropomorphic structure of the robot, and works in some special environments.

In terms of shape, the existing remote control robot is mainly embodied in industrial production mechanical arms, agricultural picking mechanical arms and robots with fixed shapes, and none of the robots can be changed according to the shapes (such as height and arm length) of users.

Functionally, the existing remote control robot mainly realizes that a user sends an instruction from a PC (personal computer) end and cannot complete the same action according to the actual action of the user; the environment sensed by the robot cannot be reflected to the human body in real time; the two sections of the user and the robot are not communicated by sound.

With the continuous development of telecommunication technology, remote office will be a hot spot in the future. For schools, remote teaching is a future trend, and students can complete course learning at home through the pc terminal. But for science and technology, experiments are indispensable. This forces most students to return to campus practice. The utility model provides a "long-range mutual inductance robot" can the condition of real-time perception destination end environment to the user is given in the reaction. Meanwhile, the robot at the destination end can complete a series of actions of the user at the use end. Through the utility model discloses can be at and just can realize the operation to the distant place environment, and the change of perception distant place environment. The effect of being out of home but being superior to going out is achieved.

SUMMERY OF THE UTILITY MODEL

The utility model provides a long-range mutual inductance robot to the long-range mutual inductance control to the robot.

The utility model provides a long-range mutual inductance robot, including control end, distal end robot, the control end is including feeling accuse cabin, it includes shell, walking chassis, feels accuse cabin treater, human action recognition device to feel the accuse cabin, the shell is cylindrical structure, walking chassis installs the bottom in the shell, human action recognition device installs in the shell, it links to each other with walking chassis, human action recognition device electrical property respectively to feel accuse cabin treater, the distal end robot is anthropomorphic type, the camera is installed to distal end robot head, the chest installation robot treater of distal end robot, the distal end robot passes through robot treater and feels accuse cabin treater wireless communication.

Furthermore, the walking chassis comprises a shell, a support, a plurality of rolling balls, an electric push rod, a pressure sensing piece and a processor, wherein the shell is barrel-shaped, the support is composed of a plurality of annular frames with different inner diameters from inside to outside, the rolling balls are arranged on the annular frames in a rolling mode, the pressure sensing piece is further arranged between the rolling balls and the annular frames, the annular frames are connected with the shell through the electric push rod, and the processor is electrically connected with the pressure sensing piece and the electric push rod respectively.

Furthermore, the sensing and control cabin further comprises an air circulation system, the air circulation system comprises an air vent, an air pump and an air outlet valve, the air pump is installed on the air vent, and the air vent and the air outlet valve are respectively installed on the shell.

Furthermore, the sensing and control cabin further comprises an annular liquid crystal screen, and the annular liquid crystal screen is installed on the inner wall of the shell.

Furthermore, the sensing control cabin is also internally provided with a sensing garment, the sensing garment comprises a humanoid jacket and a pressure generator, the humanoid jacket is provided with a joint part, and the pressure generator is arranged at the joint part.

Furthermore, the pressure generator comprises a pressure cylinder, a pressure applying plate, a spring, a hoisting mechanism and a connecting rope, wherein a fixing plate is arranged on the spring, the spring is divided into a first spring section and a second spring section by the fixing plate, the hoisting mechanism and the pressure applying plate are respectively arranged at two ends of the pressure cylinder, the pressure applying plate is connected with the induction suit, the spring is arranged in the pressure cylinder, the first spring section is positioned between the hoisting mechanism and the fixing plate, the second spring section is positioned between the pressure applying plate and the fixing plate, the hoisting mechanism is connected with the fixing plate through the connecting rope, the first spring section is in a compressed state, and the second spring section is in a loose state.

Furthermore, the hoisting mechanism comprises a driving motor, a first bevel gear and a second bevel gear, the driving motor is in transmission connection with the first bevel gear, the first bevel gear is meshed with the second bevel gear, the second bevel gear is provided with a fixed end, and the fixed end is fixedly connected with one end of the connecting rope.

Furthermore, the induction suit further comprises an earphone and a microphone, and the earphone and the microphone are arranged on the human-shaped jacket.

Further, the ear of the far-end robot is provided with a receiving microphone, and the mouth of the far-end robot is provided with a loudspeaker.

Furthermore, a telescopic induction ring is arranged on the far-end robot, the position of the telescopic induction ring on the far-end robot is the same as the position of the pressure generator on the humanoid outer sleeve, and an ultrasonic probe is arranged on the telescopic induction ring.

Compared with the prior art, the utility model, through the interconnection of control end, distal end robot, utilize human action recognition device to the human body of feeling in the accuse cabin function and gather, make distal end robot can simulate the human action, realize long-range mutual inductance control.

Drawings

Fig. 1 is a schematic structural view of a remote robot according to an embodiment of the present invention;

FIG. 2 is a schematic view of a sensing and controlling cabin according to an embodiment of the present invention;

FIG. 3 is a top plan view of a routine chassis embodying the present invention;

FIG. 4 is a cross-sectional view of a routine chassis embodying the present invention;

fig. 5 is a cross-sectional structure diagram of the telescopic induction ring according to the embodiment of the present invention;

fig. 6 is a schematic structural diagram of a pressure generator according to an embodiment of the present invention.

Detailed Description

In order to make the technical solution of the present invention better understood, the technical solution of the embodiments of the present invention will be clearly and completely described below, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments.

The embodiment of the utility model discloses long-range mutual inductance robot, including control end, distal end robot 1, the control end is including feeling accuse cabin, it includes shell 2, walking chassis 3, feels accuse cabin treater 4, human action recognition device 22 to feel the accuse cabin, shell 2 is cylindrical structure, the bottom in shell 2 is installed to walking chassis 3, human action recognition device 22 is installed in shell 2, it links to each other with walking chassis 3, human action recognition device 22 electrical property respectively to feel accuse cabin treater 4, distal end robot 1 is anthropomorphic type, camera 14 is installed to 1 head of distal end robot, robot treater 13 is installed to the chest of distal end robot 1, distal end robot 1 is through robot treater 13 and feeling accuse cabin treater 4 wireless communication.

The remote robot 1 is an anthropomorphic structure, and has a head, four limbs 12, a hand 11 and other structures. The human body motion recognition device 22 may be composed of one or more infrared cameras and can recognize human body motions. And 4G modules are arranged on the robot processor 13 and the sensing control cabin processor 4 for data communication. The infrared camera transmits the collected human body action information to the sensing and control cabin processor 4, and the sensing and control cabin processor 4 is communicated with the robot processor 13, so that the robot processor 13 controls the remote robot 1 to execute human body action.

The embodiment of the utility model provides a through the interconnection of control end, distal end robot, utilize human action recognition device to the human body of feeling in the accuse cabin function collection, make the distal end robot can simulate the human action, realize long-range mutual inductance control. And simultaneously, the embodiment of the utility model provides a through adopting the sense accuse cabin, make the user can be in the sense accuse cabin safe control the robot, avoided external disturbance, also reduce external disturbance to human action recognition device simultaneously, ensure that human action recognition device can only gather user's action information.

Optionally, the walking chassis 3 includes a housing 31, a support, a plurality of rolling balls 33, an electric push rod 34, a pressure sensing sheet, and a processor 35, the housing 31 is barrel-shaped, the support is composed of a plurality of annular frames 32 with different inner diameters from inside to outside, the rolling balls 33 are installed on the annular frames 32 in a rolling manner, the pressure sensing sheet is further disposed between the rolling balls 33 and the annular frames 32, the annular frames 32 are connected with the housing 31 through the electric push rod 34, and the processor 35 is electrically connected with the pressure sensing sheet and the electric push rod 34 respectively.

The annular frames 32 are circular, the centers of circles of the annular frames 32 are overlapped, four corners of each annular frame 32 are provided with electric push rod 34 structures, and the annular frames 32 are supported and the heights of the annular frames 32 are changed. The rolling ball 33 is sleeved on the annular frame 32, the pressure sensing sheet is arranged between the rolling ball 33 and the annular frame 32, and the processor 35 is arranged on the inner side of the shell 31, electrically connected with the electric push rod 34 and the pressure sensing sheet, and used for acquiring information of the pressure sensing sheet and monitoring the advancing direction of a user. The processor 35 is electrically connected with the sensory control cabin processor 4. The sensing and controlling cabin is also provided with an electric wire, and the sensing and controlling cabin is connected with the walking chassis 3 through the electric wire to supply power.

In actual operation, a user walks on the walking chassis, due to the action of the rolling balls, the body of the user still keeps in place while walking, the feet slide on the rolling balls, and the pressure sensing pieces detect the rolling balls stroked by the feet of the user, so that the advancing direction of the user is determined.

The embodiment of the utility model provides a through adopting walking chassis structure, make the user can put out the walking action in situ, reduced the dimensional requirement to feeling accuse cabin. And simultaneously, the embodiment of the utility model provides a through adopting the electric putter structure, make the annular frame have raising and lowering functions, when the user's stature is too high or short, carry out size control.

In particular, the sensing and control cabin further comprises an air circulation system, the air circulation system comprises a vent 24, an air pump 25 and an air outlet valve 26, the air pump 25 is installed on the vent 24, and the vent 24 and the air outlet valve 26 are respectively installed on the shell 2.

In particular, the sensing and control cabin further comprises an annular liquid crystal screen 23, and the annular liquid crystal screen 23 is installed on the inner wall of the shell 2.

The annular liquid crystal screen 23 is composed of a plurality of curved screens, and the annular liquid crystal screen is mounted on the inner wall of the induction cabin and used for displaying the environment seen by the robot. The air circulation system is arranged in the sensing and controlling cabin, so that the sensing and controlling cabin has a ventilation function, and a user is prevented from being lack of oxygen in the sensing and controlling cabin.

Optionally, an induction suit 5 is further arranged in the induction control cabin, the induction suit 5 includes a human-shaped coat and a pressure generator 51, the human-shaped coat is provided with a joint, and the pressure generator 51 is mounted at the joint.

Wherein, the humanoid overcoat can select to be the rubber material, and the joint is the four limbs position of response clothes 5, and pressure generator 51 has a plurality ofly, encircles and installs outside the joint. In practical use, the joint part of the humanoid coat can adopt a smaller size, so that when a user wears the humanoid coat, the pressure generator 51 of the joint part can be closely attached to the surface of the human body, and the pressure change induction of the human body to the pressure generator is improved.

Specifically, the pressure generator 51 includes a pressure cylinder 511, a pressure applying plate 512, a spring 513, a winding mechanism, and a connecting rope 515, wherein the spring 513 is provided with a fixing plate 514, the fixing plate 514 divides the spring 513 into a first spring segment 5131 and a second spring segment 5132, the winding mechanism and the pressure applying plate 512 are respectively installed at two ends of the pressure cylinder 511, the pressure applying plate 512 is connected with the induction suit 5, the spring 513 is installed in the pressure cylinder 511, the first spring segment 5131 is located between the winding mechanism and the fixing plate 514, the second spring segment 5132 is located between the pressure applying plate 512 and the fixing plate 514, the winding mechanism is connected with the fixing plate 514 through the connecting rope 515, the first spring segment 5131 is in a compressed state, and the second spring segment 5132 is in a relaxed state.

Specifically, the hoisting mechanism comprises a driving motor 518, a first bevel gear 517 and a second bevel gear 516, the driving motor 518 is in transmission connection with the first bevel gear 517, the first bevel gear 517 is meshed with the second bevel gear 516, the second bevel gear 516 is provided with a fixed end, and the fixed end is fixedly connected with one end of a connecting rope 515.

Wherein the connection cord 515 is wound around the fixed end.

When pressure is generated, the driving motor drives the second bevel gear to rotate through the first bevel gear, the connecting rope is gradually released, the fixing plate moves under the action of the first spring section to compress the second spring section, and the second spring section presses the surface of the induction suit through the pressing plate, so that a user can feel pressure change.

When pressure is eliminated, the driving motor drives the second bevel gear to rotate reversely through the first bevel gear, the connecting rope is wound on the second bevel gear, the fixing plate is driven by the connecting rope to compress the first spring section, the second spring section is released, pressure of the pressure plate on the surface of the induction garment is reduced, and accordingly pressure felt by a user is reduced.

In particular, the induction suit 5 further comprises an earphone 52 and a microphone 53, wherein the earphone 52 and the microphone 53 are arranged on the human-shaped jacket.

Optionally, the ear of the remote robot 1 is provided with a receiving microphone 15, and the mouth of the remote robot 1 is provided with a loudspeaker 16.

The earphone 52 and the microphone 53 are electrically connected to the sensory control cabin processor 4, and the receiving microphone 15 and the speaker 16 are electrically connected to the robot processor 13.

The embodiment of the utility model provides a through set up earphone, microphone on the response clothes, set up on the distal end robot and receive microphone, speaker, make the user can long-rangely pass through the robot sound production to gather the sound of robot place environment.

Specifically, a telescopic induction ring 121 is arranged on the distal end robot 1, the position of the telescopic induction ring 121 on the distal end robot 1 is the same as the position of the pressure generator 51 on the humanoid sheath, and an ultrasonic probe 1217 is arranged on the telescopic induction ring 121. The ultrasound probe 1217 is electrically connected to the robot processor 13.

The telescopic induction ring 121 is a limb structure of the distal end robot 1, the telescopic induction ring 121 includes a telescopic mechanism and an ultrasonic probe fixing bracket 1216, and the telescopic mechanism includes a first connecting member 1211, a second connecting member 1212, a motor 1213 and a lead screw 1214. The motor 1213 is installed in the first connector 1211, the first connector 1211 is barrel-shaped, a guide groove is provided in the first connector 1211, a guide rail is provided on the outer surface of the second connector 1212, one end of the second connector 1212 is inserted into the first connector 1211, the first connector 1211 and the second connector 1212 are slidably connected through the guide groove and the guide rail, so that only linear sliding is possible between the first connector 1211 and the second connector 1212, an internal thread 1215 is provided in the second connector 1212, the motor 1213 is in transmission connection with the lead screw 1214, the lead screw 1214 is connected with the internal thread 1215 of the second connector 1212, the motor 1213 drives the lead screw 1214 to rotate, so that the second connector 1212 and the lead screw 1214 relatively slide, and a telescopic effect between the first connector 1211 and the second connector 1212 is achieved.

Ultrasonic probe fixed bolster 1216 links to each other with second connecting piece 1212, and ultrasonic probe fixed bolster 1216 is the barrel type structure, and the surface encircles and sets up a plurality of recess that is used for fixed ultrasonic probe, and ultrasonic probe 1217 is fixed in the recess, and ultrasonic probe 1217, motor 1213 all link to each other with robot processor 13 electrical property. The position of the ultrasonic probe 1217 to the robot coincides with the position of the pressure generator 51 to the humanoid sheath. The number of the ultrasonic probes 1217 corresponds to the number of the pressure generators 51.

The embodiment of the utility model provides a through adopting flexible induction ring, make the four limbs structure of robot have flexible function. And simultaneously, the utility model discloses flexible induction ring is through adopting ultrasonic probe, makes the four limbs of robot can respond to all ring edge borders, when being too near with peripheral barrier, and ultrasonic probe information can be gathered to the robot treater to transmit and give and feel accuse cabin treater, exert pressure by the pressure generator that feels accuse cabin treater control and correspond, make the user can sense corresponding position pressure, realize mutual inductance effect.

It should be finally noted that the above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting the same, and although the present invention is described in detail with reference to the above embodiments, it should be understood by those skilled in the art that after reading the present specification, the technical personnel can still modify or equivalently replace the specific embodiments of the present invention, but these modifications or changes do not depart from the scope of the claims of the present application.

Claims

1. Remote mutual inductance robot, its characterized in that, remote mutual inductance robot includes control end, distal end robot, the control end is including feeling accuse cabin, it includes shell, walking chassis, feels accuse cabin treater, human action recognition device to feel the accuse cabin, the shell is cylindrical structure, the bottom in the shell is installed to the walking chassis, human action recognition device is installed in the shell, it links to each other with walking chassis, human action recognition device electrical property respectively to feel accuse cabin treater, the distal end robot is anthropomorphic type, the camera is installed to distal end robot head, the chest installation robot treater of distal end robot, the distal end robot passes through robot treater and feels accuse cabin treater wireless communication.

2. The remote mutual induction robot according to claim 1, wherein the walking chassis comprises a housing, a support, a plurality of rolling balls, an electric push rod, a pressure sensing piece and a processor, the housing is barrel-shaped, the support comprises a plurality of annular frames with different inner diameters from inside to outside, the rolling balls are arranged on the annular frames in a rolling mode, the pressure sensing piece is further arranged between the rolling balls and the annular frames, the annular frames are connected with the housing through the electric push rod, and the processor is electrically connected with the pressure sensing piece and the electric push rod respectively.

3. The remote mutual inductance robot according to claim 2, wherein the sensing and control cabin further comprises an air circulation system, the air circulation system comprises an air vent, an air pump and an air outlet valve, the air pump is mounted on the air vent, and the air vent and the air outlet valve are respectively mounted on the shell.

4. The remote mutual inductance robot according to claim 3, wherein the inductive control cabin further comprises an annular liquid crystal screen, and the annular liquid crystal screen is mounted on the inner wall of the shell.

5. The remote mutual inductance robot according to claim 1, wherein an induction suit is further arranged in the induction control cabin, the induction suit comprises a humanoid outer sleeve and a pressure generator, the humanoid outer sleeve is provided with a joint, and the pressure generator is mounted at the joint.

6. The remote mutual inductance robot according to claim 5, wherein the pressure generator comprises a pressure cylinder, a pressure applying plate, a spring, a hoisting mechanism and a connecting rope, a fixing plate is arranged on the spring, the fixing plate divides the spring into a first spring section and a second spring section, the hoisting mechanism and the pressure applying plate are respectively installed at two ends of the pressure cylinder, the pressure applying plate is connected with the induction suit, the spring is installed in the pressure cylinder, the first spring section is located between the hoisting mechanism and the fixing plate, the second spring section is located between the pressure applying plate and the fixing plate, the hoisting mechanism is connected with the fixing plate through the connecting rope, the first spring section is in a compressed state, and the second spring section is in a relaxed state.

7. The remote mutual inductance robot according to claim 6, wherein the hoisting mechanism comprises a driving motor, a first bevel gear and a second bevel gear, the driving motor is in transmission connection with the first bevel gear, the first bevel gear is meshed with the second bevel gear, the second bevel gear is provided with a fixed end, and the fixed end is fixedly connected with one end of the connecting rope.

8. The remote mutual inductance robot of claim 5, wherein the inductive garment further comprises an earphone and a microphone, and the earphone and the microphone are mounted on the human-shaped jacket.

9. The remote mutual inductance robot of claim 1, wherein said far end robot ear is equipped with a receiving microphone and said far end robot mouth is equipped with a speaker.

10. The remote mutual inductance robot according to claim 5, wherein the far-end robot is provided with a telescopic induction ring, the position of the telescopic induction ring on the far-end robot is the same as the position of the pressure generator on the humanoid jacket, and the telescopic induction ring is provided with an ultrasonic probe.