CN106426197A - Changeable service robot - Google Patents
Changeable service robot Download PDFInfo
- Publication number
- CN106426197A CN106426197A CN201610820550.7A CN201610820550A CN106426197A CN 106426197 A CN106426197 A CN 106426197A CN 201610820550 A CN201610820550 A CN 201610820550A CN 106426197 A CN106426197 A CN 106426197A
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- China
- Prior art keywords
- robot
- degree
- head movement
- rotating mechanism
- support frame
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The invention discloses a changeable service robot. The robot comprises a walking mechanism, an inner supporting framework, a hand moving mechanism, a head moving mechanism, an unfolding mechanism and a robot shell. The walking mechanism is located at the bottom of the robot. The inner supporting framework is arranged on the top of the walking mechanism. The robot shell is fixedly connected to the outer portion of the inner supporting framework. The hand moving mechanism is connected with the robot shell through a multi-freedom-degree mechanism and located on the waist of the robot shell. The changeable service robot is compact and reliable in structure, functions are diverse and practical, and the robot can serve as a meeting robot and can also be changed into an intelligent podium to be used.
Description
Technical field
The invention belongs to service robot technical field and in particular to a kind of for welcome and variable intelligent podium machine
Device people.
Background technology
At present, service robot is widely used in welcome, orders and the field such as impart knowledge to students, and primarily focuses on single work work(
With aspects such as interactive voices, substantial variations can seldom be had on robot mechanism, the action of robot is also very simple, and variable body is almost
No.In Some features occasion, robot needs to undertake more substantial work tasks, serves as attendant for welcoming visitors on foreground,
Operating position variable body podium, realizes the diversification of service function, a tractor serves several purposes etc., thus the mechanism's composition in robot above carries
Higher requirement and change are gone out.
Content of the invention
The technical problem to be solved in the present invention there is provided a kind of changeable service robot.
The changeable service robot of the present invention, including：Walking mechanism, internal support frame, hand exercise mechanism, head is transported
Motivation structure, development mechanism and robot housing, described walking mechanism is located at the bottom of robot, described inside support frame
It is arranged on the top of walking mechanism, described robot housing is connected in the outside of internal support frame, described hand exercise
Mechanism is connected and is located at described robot housing the waist of robot housing by a multiple-degree-of-freedom mechanism, described exhibition
Opening mechanism and head movement mechanism are connected with described inside support frame by rotating mechanism after being connected, described unwinder
Structure is made up of two panels wing and two groups of straight-line motion mechanisms, and is located at the back position of robot, and described rotating mechanism can
Realize the big angle rotary of maximum 180 degree, described head movement mechanism and development mechanism is angled is arranged on whirler
On two faces of structure, described head movement is in-house two groups of microphones, and is connected with one group of synchronism mechanism, described
Synchronism mechanism can drive two groups of described microphones to move to the top of described head movement mechanism, described development mechanism
Described two panels wing deployable to plane, at 15 degree about, described two panels wing is also foldable for this plane and horizontal plane angle
Become angle.
Described straight-line motion mechanism is made up of electric cylinders and guide rail, and by guide rail slide block with described rotating mechanism even
Connect, be connected with the installing plate of described two panels wing by orbit of guide rail, described rotating mechanism, step is connected by harmonic speed reducer
Stepper motor and rotary shaft are constituted, and harmonic speed reducer is arranged on the side of described rotating mechanism, and stepper motor and rotary shaft are in institute
The other side of the rotating mechanism stated, described rotating mechanism middle part is provided with the similar neck of described head movement mechanism
Connector, described synchronism mechanism is made up of one group of gear train, and positioned at the top of robot head, described is many
Free degree mechanism, connects gear by stepper motor, and gear drives two groups of teeth bar, and there is one section of face of cylinder at this tooth bar two ends, and one end is justified
Cylinder is connected to the outside of robot, slides in the chute of a fixation in the other end face of cylinder, and described Duo Youdu mechanism has
Another stepper motor is connected with the inner side of robot by Timing Belt, realizes the motion that robot is similar to shoulder joint, machine
Staff inner side and outer side is connected by end, can relative rotary motion.
A kind of compact reliability of changeable service robot architecture of the present invention, practicality vdiverse in function, can be used as guest-meeting robot
Use, be also transformed into podium and use for welcome guest, meet at present for service robot welcome, guide, variable body, show etc.
The demand of multi-functional use.
Brief description
Fig. 1 is the embodiment of the changeable service robot of the present invention, and Fig. 1 a is side view during robot ambulation state, figure
1b is the side view after robot deformation, and Fig. 1 c is the front view of robot.
Fig. 2 is the embodiment cut-away view of the changeable service robot after removing robot housing, and Fig. 2 a is robot
The side view of internal structure during walking states, Fig. 2 b is the front view of internal structure during robot ambulation state.
In figure, 1. walking mechanism, 2. internal support frame, 3. hand exercise mechanism, 4. head movement mechanism, 5. open up
Opening mechanism, 6. robot housing, 301. multiple-degree-of-freedom mechanisms, 401. rotating mechanisms, 402. microphones, 403. are synchronized with the movement
Mechanism, 501. wings, 502. straight-line motion mechanisms.
Specific embodiment
Below in conjunction with the accompanying drawings and embodiment the present invention is described further.
Fig. 1 is a kind of embodiment of changeable service robot, and Fig. 2 is variable after a kind of place to go of present invention robot housing
The embodiment cut-away view of service robot, from Fig. 1,2, the changeable service robot of the present invention, including：Walking mechanism
1, internal support frame 2, hand exercise mechanism 3, head movement mechanism 4, development mechanism 5 and robot housing 6, described walking
Mechanism is located at the bottom of robot, and described inside support frame 2 is arranged on the top of walking mechanism 1, described robot shell
Body 5 is connected in the outside of internal support frame 2, described hand exercise mechanism 3 pass through a multiple-degree-of-freedom mechanism 301 with described
Robot housing 6 connect and be located at the waist of robot housing 6, after described development mechanism 5 is connected with head movement mechanism 4
It is connected with described inside support frame 2 by rotating mechanism 401, described development mechanism 5 is by two panels wing 501 and two groups
Straight-line motion mechanism 502 forms, and is located at the back position of robot, and described rotating mechanism 401 can achieve maximum 180 degree
Angled two faces being arranged on rotating mechanism 401 of big angle rotary, described head movement mechanism 4 and development mechanism 5
On, there are two groups of microphones 402 inside described head movement mechanism 4, and be connected with one group of synchronism mechanism 403, described is same
Step motion can drive two groups of described microphones 402 to move to the top of described head movement mechanism 4, described development mechanism
5 described two panels wing 501 deployable to plane, this plane and horizontal plane angle at 15 degree about, described two panels wing 501
Also it can be folded into angle.
Described straight-line motion mechanism 502 is made up of electric cylinders and guide rail, and by guide rail slide block and described rotating mechanism
401 connections, are connected with the installing plate of described two panels wing 501 by orbit of guide rail, described rotating mechanism 401, by harmonic wave
Decelerator connects stepper motor and rotary shaft is constituted, and harmonic speed reducer is arranged on the side of described rotating mechanism 401, stepping electricity
, in the other side of described rotating mechanism, described rotating mechanism 401 middle part is provided with described head for machine and rotary shaft
The connector of the similar neck of motion 4, described synchronism mechanism 403 is made up of one group of gear train, positioned at machine
The top of device head part, described multiple-degree-of-freedom mechanism 301, gear is connected by stepper motor, gear drives two groups of teeth bar, this tooth
There is one section of face of cylinder at bar two ends, and one end face of cylinder is connected to the outside of robot, and the other end face of cylinder is in the cunning of a fixation
Slide in groove, described Duo Youdu mechanism 301 has another stepper motor to be connected with the inner side of robot by Timing Belt, realize
Robot is similar to the motion of shoulder joint, and robot inner side and outer side is connected by end, can relative rotary motion.
The specific course of work of changeable service robotic embodiment of the present invention is：
Changeable service robot is first in the left hand view state shown in Fig. 1, now uses as guest-meeting robot, in walking
Specified location can be reached, during walking, hand exercise mechanism 3 exists along designed path automatic obstacle-avoiding in the presence of mechanism 1
In the presence of multiple-degree-of-freedom mechanism, hand can be flared out simultaneously spinning movement etc., the related gesture of simulation ceremony；Development mechanism
Wing 501 can be folded in the presence of straight-line motion mechanism or launch by 5, the action that simulation wing is instigated, and fly welcome welcome guest
Enter specified location, head movement mechanism 4 can send and welcome sound and be furnished with LED flicker to guide prompting.Robot
After guiding welcome guest reaches specified location, robot rotates under walking mechanism 1 effect and reaches correct body posture, same with this
When, development mechanism 5 is started working and is opened wing 501 completely, forms a big plane, simultaneously head movement mechanism 4 and exhibition
Opening mechanism 5 carries out big angle rotary in the presence of rotating mechanism 401 so that head reaches state, head shown in b figure in Fig. 1
Top is advanced, the display meeting such as current welcome guest's name or speech content prompting, and microphone 402 is in the driving of synchronism mechanism 403
Under extended tips simultaneously, development mechanism 5 rotates to the angle straight at 15 degree about, and wing 501 is changed into drilling of a standard
Dais, the height according to welcome guest and speech position, development mechanism 5 is adjusted about 501 by another set straight-line motion mechanism and drills
Say the height of plane, microphone 402 is also carried out appropriate location adjustment, reach preferable welcome guest's speech position, become and drill as special
Dais.
The present invention changes the configuration and structure form of the guest-meeting robot of traditional sense, utilizes these new structures simultaneously
Achieve the profile variation of robot, and produce actually used value, the robot becoming after one's death can be used as a kind of intelligent speech
Platform uses, and can be changed according to welcome guest's difference.The present invention has opened up a kind of new service robot tactic pattern reality
Show real value, meet multi-functional for service robot at present and novelty demand, also for current service machine
Man-based development provides a kind of new thinking.
Be capable of the present invention according to the case study on implementation that the present invention is announced, but the enforcement of the present invention be not limited only to above
Embodiment, to substitute the mechanism of the present invention to realize this such as by the textural association or mode adopting other functions to be similar to
Bright.
Claims (2)
1. a kind of changeable service robot it is characterised in that：Described robot includes walking mechanism（1）, internal support frame
（2）, hand exercise mechanism（3）, head movement mechanism（4）, development mechanism（5）With robot housing（6）, described walking mechanism
Positioned at the bottom of robot, described inside support frame（2）It is arranged on walking mechanism（1）Top, described robot shell
Body（6）It is connected in internal support frame（2）Outside, described hand exercise mechanism（3）By a multiple-degree-of-freedom mechanism
（301）With described robot housing（6）Connect and be located at robot housing（6）Waist, described development mechanism（5）With head
Portion's motion（4）Pass through rotating mechanism after being connected（401）With described inside support frame（2）It is connected, described expansion
Mechanism（5）By two panels wing（501）With two groups of straight-line motion mechanisms（502）Composition, and it is located at the back position of robot, described
Rotating mechanism（401）It is capable of the big angle rotary of maximum 180 degree, described head movement mechanism（4）And development mechanism
（5）Angled it is arranged on rotating mechanism（401）Two faces on, described head movement mechanism（4）There are two groups of words inside
Cylinder（402）, and with one group of synchronism mechanism（403）Connect, described synchronism mechanism can drive two groups of described microphones
（402）Move to described head movement mechanism（4）Top, described development mechanism（5）Described two panels wing（501）Can open up
Open to plane, this plane and horizontal plane angle at 15 degree about, described two panels wing（501）Also it can be folded into angle.
2. changeable service robot according to claim 1 it is characterised in that：Described straight-line motion mechanism（502）By
Electric cylinders and guide rail composition, and by guide rail slide block and described rotating mechanism（401）Connect, by orbit of guide rail and described two
Piece wing（501）Installing plate connect, described rotating mechanism（401）, stepper motor and rotary shaft are connected by harmonic speed reducer
Constitute, harmonic speed reducer is arranged on described rotating mechanism（401）Side, stepper motor and rotary shaft are in described whirler
The other side of structure, described rotating mechanism（401）Middle part is provided with described head movement mechanism（4）Similar neck
Connector, described synchronism mechanism（403）It is made up of one group of gear train, positioned at the top of robot head, described
Multiple-degree-of-freedom mechanism（301）, gear is connected by stepper motor, gear drives two groups of teeth bar, and there is one section of cylinder at this tooth bar two ends
Face, one end face of cylinder is connected to the outside of robot, slides in the chute of a fixation in the other end face of cylinder, described many from
By degree mechanism（301）In another stepper motor be connected with the inner side of robot by Timing Belt, realize robot be similar to
The motion of shoulder joint, robot inner side and outer side is connected by end, being capable of relative rotary motion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610820550.7A CN106426197B (en) | 2016-09-14 | 2016-09-14 | A kind of changeable service robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610820550.7A CN106426197B (en) | 2016-09-14 | 2016-09-14 | A kind of changeable service robot |
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| Publication Number | Publication Date |
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| CN106426197A true CN106426197A (en) | 2017-02-22 |
| CN106426197B CN106426197B (en) | 2018-12-11 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610820550.7A Active CN106426197B (en) | 2016-09-14 | 2016-09-14 | A kind of changeable service robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108406782A (en) * | 2018-05-29 | 2018-08-17 | 朱晓丹 | A kind of financial counseling intelligent robot easy to use |
| CN108831204A (en) * | 2018-08-28 | 2018-11-16 | 广东海翔教育科技有限公司 | A kind of education and science's auxiliary robot |
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| US20090118865A1 (en) * | 2007-11-05 | 2009-05-07 | Hitachi, Ltd. | Robot |
| CN102059700A (en) * | 2010-11-22 | 2011-05-18 | 南京信息工程大学 | Greeting robot system |
| EP2933068A1 (en) * | 2014-04-17 | 2015-10-21 | Aldebaran Robotics | Omnidirectional wheeled humanoid robot based on a linear predictive position and velocity controller |
| CN105108756A (en) * | 2015-09-07 | 2015-12-02 | 上海人智信息科技有限公司 | Intelligent robot used in hotel or at dining place |
| CN105108754A (en) * | 2015-09-07 | 2015-12-02 | 上海人智信息科技有限公司 | Intelligent robot used for market shopping guidance |
| CN205380682U (en) * | 2016-03-11 | 2016-07-13 | 武汉科技大学 | Novel robot is used in dining room |
| CN105798922A (en) * | 2016-05-12 | 2016-07-27 | 中国科学院深圳先进技术研究院 | Home service robot |
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2016
- 2016-09-14 CN CN201610820550.7A patent/CN106426197B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20090118865A1 (en) * | 2007-11-05 | 2009-05-07 | Hitachi, Ltd. | Robot |
| CN102059700A (en) * | 2010-11-22 | 2011-05-18 | 南京信息工程大学 | Greeting robot system |
| EP2933068A1 (en) * | 2014-04-17 | 2015-10-21 | Aldebaran Robotics | Omnidirectional wheeled humanoid robot based on a linear predictive position and velocity controller |
| CN105108756A (en) * | 2015-09-07 | 2015-12-02 | 上海人智信息科技有限公司 | Intelligent robot used in hotel or at dining place |
| CN105108754A (en) * | 2015-09-07 | 2015-12-02 | 上海人智信息科技有限公司 | Intelligent robot used for market shopping guidance |
| CN205380682U (en) * | 2016-03-11 | 2016-07-13 | 武汉科技大学 | Novel robot is used in dining room |
| CN105798922A (en) * | 2016-05-12 | 2016-07-27 | 中国科学院深圳先进技术研究院 | Home service robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108406782A (en) * | 2018-05-29 | 2018-08-17 | 朱晓丹 | A kind of financial counseling intelligent robot easy to use |
| CN108831204A (en) * | 2018-08-28 | 2018-11-16 | 广东海翔教育科技有限公司 | A kind of education and science's auxiliary robot |
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| Publication number | Publication date |
|---|---|
| CN106426197B (en) | 2018-12-11 |
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Effective date of registration: 20210414 Address after: 621000 building 31, No.7, Section 2, Xianren Road, Youxian District, Mianyang City, Sichuan Province Patentee after: China Ordnance Equipment Group Automation Research Institute Co.,Ltd. Address before: 621000 Mianyang province Sichuan City Youxian District Road No. 7 two immortals Patentee before: China Ordnance Equipment Group Automation Research Institute |
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