CN202716266U - Wheel type mobile service robot - Google Patents
Wheel type mobile service robot Download PDFInfo
- Publication number
- CN202716266U CN202716266U CN 201220250115 CN201220250115U CN202716266U CN 202716266 U CN202716266 U CN 202716266U CN 201220250115 CN201220250115 CN 201220250115 CN 201220250115 U CN201220250115 U CN 201220250115U CN 202716266 U CN202716266 U CN 202716266U
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- China
- Prior art keywords
- large arm
- forearm
- motor
- shell
- finger
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- Expired - Fee Related
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Abstract
The utility model provides a wheel type mobile service robot. The wheel type mobile service robot comprises a chassis mechanism, a rack, big arm mechanisms, forearm mechanisms, and a wire drawing motor assembly, wherein each forearm mechanism is connected with a big arm mechanism, the big arm mechanisms are connected with the rack, the wire drawing motor assembly is installed inside the rack, and the rack is fixed on the chassis mechanism. Each forearm mechanism comprises fingers, a finger box, a steel wire rope, an U-shaped frame, a servo turn plate, a forearm worm gear, a forearm worm, a forearm shell, forearm motors, and a wrist shell, wherein the fingers are installed on the finger box, the U-shaped frame is arranged inside the fingers, a pin bolt is installed on the U-shaped frame, one end of the steel wire rope is fixed inside the U-shaped frame, and the other end of the steel wire rope is connected with the wire drawing motor assembly. Besides, the finger box is installed on the servo turn plate which can automatically rotate under the effect of gravity and is connected with the wrist shell. The forearm motor, the forearm worm gear, and the forearm worm are installed inside the forearm shell and are successively connected. The forearm worm gear is connected with the wrist shell. The wheel type mobile service robot can work independently with a single arm and also can operate in harmony with two arms.
Description
Technical field
The utility model relates to a kind of robot.
Background technology
Along with the aggravation of China's aging population and the increase of human cost, society is more and more higher to the demand of service industry's mechanization.Various service robots constantly occur.But existing service robot structure is comparatively simple on the market, and function singleness is difficult to adapt to the environment for use of reality and the functional requirement of variation.
Summary of the invention
A kind of wheel type mobile service robot that but the purpose of this utility model is to provide not only single armed to work alone but also can the both arms cooperation.
The purpose of this utility model is achieved in that
A kind of wheel type mobile service robot of the utility model, it is characterized in that: comprise body chassis, frame, large arm mechanism, little arm mechanism, backguy electric machine assembly; forearm mechanism connects large arm mechanism; large arm mechanism connection frame; the backguy electric machine assembly is installed in the frame, and frame is fixed on the body chassis; Described little arm mechanism comprises finger, the finger box, steel wire rope, U-shaped, servo-actuated rotating disk; forearm worm gear; forearm worm screw; forearm shell; forearm motor; wrist shell; finger mounted is on the finger box; U-shaped is installed in the finger; pin is installed on U-shaped; steel wire rope one end is fixed in U-shaped; other end connecting stay wire electric machine assembly; the finger box is installed on the servo-actuated rotating disk; servo-actuated rotating disk is automatic rotating under action of gravitation; servo-actuated rotating disk connects the wrist shell; forearm motor; forearm worm screw; the forearm worm gear is installed in the forearm shell and links to each other successively, and the forearm worm gear connects the wrist shell.
The utility model can also comprise:
1, described little arm mechanism also comprises spring, and spring fitting connects finger and allows finger keep opening not being subjected to lineoutofservice signal pull to do the time spent in the finger box.
2, described large arm mechanism comprises large arm shell, large arm the first motor, large arm the second motor, large arm the 3rd motor, large arm rotating shaft, large arm worm gear, large arm worm screw, large arm axle, large arm the first motor, large arm the second motor, large arm rotating shaft, large arm worm gear, large arm worm screw is installed in the large arm shell, large arm rotating shaft links to each other with large arm shell, large arm the first motor connects large arm rotating shaft and drives large arm rotating shaft, large arm the second motor, large arm worm screw, large arm worm gear links to each other successively, large arm worm gear connects little arm mechanism, large arm axle connects large arm shell and large arm the 3rd motor, and large arm the 3rd motor is installed on the frame.
3, described backguy electric machine assembly comprises backguy motor, bobbin, and the backguy motor is closed by bobbin connecting steel wire ropes control finger.
4, described body chassis comprises the chassis and is installed in base plate electric machine, driving wheel, driven pulley on the chassis, and driving wheel is arranged in the left and right sides on chassis, and driven pulley is universal wheel, be arranged in the both sides, front and back on chassis, and base plate electric machine connects and also drives driving wheel.
5, described large arm mechanism and little arm mechanism have two groups, are installed in the both sides of frame respectively.
6, on the described frame mounting base for camera head is set, camera is installed on the mounting base for camera head.
Advantage of the present utility model is: the utility model adopts the wheel type mobile chassis, and adopts the scheme of double mechanical arms, but not only single armed worked alone but also can the both arms cooperation.
Description of drawings
Fig. 1 is overall shaft side figure of the present utility model;
Fig. 2 is large arm mechanism of the present utility model and forearm mechanism structure schematic diagram;
Fig. 3 is forearm mechanism structure schematic diagram of the present utility model;
Fig. 4 is large arm mechanism structural representation of the present utility model;
Fig. 5 is arm Facad structure schematic diagram of the present utility model;
Fig. 6 is little wrist of the present utility model and hand Facad structure enlarged drawing;
Fig. 7 is general structure schematic diagram of the present utility model;
Fig. 8 is backguy assembly structural representation of the present utility model.
The specific embodiment
For example the utility model is described in more detail below in conjunction with accompanying drawing:
In conjunction with Fig. 1～8, bolt is connected and installed two universal wheels 1 and two drive wheel assemblies on the chassis 5, and drive wheel assemblies comprises driving wheel 3, chassis decelerator 2 and base plate electric machine 4.Driving wheel 3 is installed on the output shaft of chassis decelerator 2, base plate electric machine 4 direct connecting base plate decelerators 2, and chassis decelerator 2 is bolted and is installed on the chassis 5, and this structure can move robot flexibly.Frame 6 is installed control element and two mechanical parts such as arm for steel-pipe welding forms on it.
Be depicted as the utility model right arm part-structure such as Fig. 2-6.Two fingers 7 are installed on the finger box 11 by finger pin 9, in two fingers, 7 medial launders but the pin 8 that opposed slot slides is housed, pin 8 is installed on the U-shaped frame 10, it is 2 steel wire rope one end that U-shaped frame 10 inside grooves are fixed with diameter, steel wire rope is after arm and cable hole enter health, its other end is fixed on the interior bobbin 38 of health, and bobbin 38 coiling post-tensionings start to refer to 7 closed crawl objects.And spring 12 guarantees that finger 7 be not subjected to the backguy masterpiece time spent to keep opening.Finger box 11 is installed on the servo-actuated rotating disk 13, servo-actuated rotating disk 13 automatic rotating under action of gravitation when object that hand is held is crooked, thus keep gestures of object.This unactuated joint is an innovative point of the present utility model.Servo-actuated rotating disk 13 is installed in the installing hole of wrist shell 14.Wrist shell 14 is installed on the worm gear frame 15 by bolt, on worm gear frame 15 and the worm gear 18 keyway is arranged all, and the two is connected with worm-wheel shaft by worm gear key 17, and worm gear 16 is by worm screw casing 20 and the fixed installation of worm shaft bearing 19 two ends.Motor 23 transfers torque to worm screw 16 by yielding coupling 21, and worm screw casing 20 is connected with the forearm shell by the bolt connection of four circumferential arrangement in intersection.Motor 23 is bolted in forearm shell 22 inside.More than be the frame for movement of Manipulator Hand, wrist and forearm, arm elbow joint and adopted same worm gear structure, ancon drive motors to be installed on the large arm shell 24.Large arm shell 24 is connected to large arm rotating shaft 26 by dormant bolt.There is screw thread large arm rotating shaft 26 upper ends and is fixed in the rotating shaft holder 25 that bearing is housed by nut 27, and large arm motor 30 transmits torque to large arm rotating shaft 26 by the holding screw 28 of two vertical distribution.Large arm motor 30 is installed in the large arm motor cabinet 29.Large arm axle 32 is bolted with large arm motor cabinet 29.Large arm axle 32 is by large arm key 31 connection reducers and motor.Mounting base for camera head 33 is equipped with in frame upper end, and then provides vision and IMAQ for robot.The backguy electric machine assembly is equipped with in frame inside, and wherein backguy motor 34 is installed on the backguy motor cabinet 35, and is passed to the bobbin 38 that is installed on the bobbin bearing block 37 by backguy shaft coupling 36, pulling steel wire rope when bobbin 38 rotates, thus make paw closed.Adopted brake cable in this guy structure in addition, stiff end of brake cable is contained in the line end holder 39.Two arm principles are identical, part installation site left-right symmetry.
Single armed work.Reach by single arm and grasp object or carry out other operations.Single arm mainly comprises four initiatively frees degree: large arm pitching, and large arm rotation, the elbow joint pitching, the wrist joint pitching comprises also that in addition owing to drive the free degree-wrist joint for one rotates.This moment by to four of arms initiatively the driving of the free degree can make the mechanical arm tail end operating point reach destination locations in the three-dimensional working space, and be terminal certain pose that keeps.Need under the prerequisite of robot vision control carry out the control of robot and mechanical arm this moment.
The both arms cooperation under the condition of vision control, is carried out the cooperation control of Robot Dual-Arm, and then is finished cooperative action.
Omnidirectional of the present utility model chassis can guarantee that robot moves and arrive destination locations flexibly in certain space, and then can and cooperate first-class other functions of shooting to finish particular task on the basis of path planning, as: check indoor situation, fetch and deliver article etc.
The utility model can be in the situation that install IP Camera in addition, links to each other with network and then the user can login and check image information at computer or mobile phone terminal.
Claims (7)
1. wheel type mobile service robot, it is characterized in that: comprise body chassis, frame, large arm mechanism, little arm mechanism, backguy electric machine assembly, forearm mechanism connects large arm mechanism, large arm mechanism connection frame, the backguy electric machine assembly is installed in the frame, and frame is fixed on the body chassis; Described little arm mechanism comprises finger, the finger box, steel wire rope, U-shaped, servo-actuated rotating disk; forearm worm gear; forearm worm screw; forearm shell; forearm motor; wrist shell; finger mounted is on the finger box; U-shaped is installed in the finger; pin is installed on U-shaped; steel wire rope one end is fixed in U-shaped; other end connecting stay wire electric machine assembly; the finger box is installed on the servo-actuated rotating disk; servo-actuated rotating disk is automatic rotating under action of gravitation; servo-actuated rotating disk connects the wrist shell; forearm motor; forearm worm screw; the forearm worm gear is installed in the forearm shell and links to each other successively, and the forearm worm gear connects the wrist shell.
2. a kind of wheel type mobile service robot according to claim 1, it is characterized in that: described little arm mechanism also comprises spring, spring fitting connects finger and allows finger keep opening not being subjected to lineoutofservice signal pull to do the time spent in the finger box.
3. a kind of wheel type mobile service robot according to claim 2, it is characterized in that: described large arm mechanism comprises large arm shell, large arm the first motor, large arm the second motor, large arm the 3rd motor, large arm rotating shaft, large arm worm gear, large arm worm screw, large arm axle, large arm the first motor, large arm the second motor, large arm rotating shaft, large arm worm gear, large arm worm screw is installed in the large arm shell, large arm rotating shaft links to each other with large arm shell, large arm the first motor connects large arm rotating shaft and drives large arm rotating shaft, large arm the second motor, large arm worm screw, large arm worm gear links to each other successively, large arm worm gear connects little arm mechanism, large arm axle connects large arm shell and large arm the 3rd motor, and large arm the 3rd motor is installed on the frame.
4. a kind of wheel type mobile service robot according to claim 3, it is characterized in that: described backguy electric machine assembly comprises backguy motor, bobbin, the backguy motor is closed by bobbin connecting steel wire ropes control finger.
5. a kind of wheel type mobile service robot according to claim 4, it is characterized in that: described body chassis comprises chassis and the base plate electric machine, driving wheel, the driven pulley that are installed on the chassis, driving wheel is arranged in the left and right sides on chassis, driven pulley is universal wheel, be arranged in the both sides, front and back on chassis, and base plate electric machine connects and also drives driving wheel.
6. a kind of wheel type mobile service robot according to claim 5 is characterized in that: described large arm mechanism and little arm mechanism have two groups, are installed in the both sides of frame respectively.
7. a kind of wheel type mobile service robot according to claim 6, it is characterized in that: on the described frame mounting base for camera head is set, camera is installed on the mounting base for camera head.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220250115 CN202716266U (en) | 2012-05-30 | 2012-05-30 | Wheel type mobile service robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220250115 CN202716266U (en) | 2012-05-30 | 2012-05-30 | Wheel type mobile service robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202716266U true CN202716266U (en) | 2013-02-06 |
Family
ID=47618103
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220250115 Expired - Fee Related CN202716266U (en) | 2012-05-30 | 2012-05-30 | Wheel type mobile service robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202716266U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102672703A (en) * | 2012-05-30 | 2012-09-19 | 哈尔滨工程大学 | Wheeled mobile service robot |
| CN103406910A (en) * | 2013-08-17 | 2013-11-27 | 刘发永 | Self-vision bionic-robot |
| CN104440872A (en) * | 2014-10-31 | 2015-03-25 | 无锡阳工机械制造有限公司 | Device provided with amplifying circuit and used for bulb replacement |
| CN106965192A (en) * | 2016-01-13 | 2017-07-21 | 上海摩西海洋工程股份有限公司 | A kind of safety protection robot defends mechanical arm |
| CN107662197A (en) * | 2016-07-28 | 2018-02-06 | 深圳市赛尔西生物科技有限公司 | Robot |
| CN107662196A (en) * | 2016-07-28 | 2018-02-06 | 深圳市赛尔西生物科技有限公司 | Robot |
-
2012
- 2012-05-30 CN CN 201220250115 patent/CN202716266U/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102672703A (en) * | 2012-05-30 | 2012-09-19 | 哈尔滨工程大学 | Wheeled mobile service robot |
| CN102672703B (en) * | 2012-05-30 | 2015-03-11 | 哈尔滨工程大学 | Wheeled mobile service robot |
| CN103406910A (en) * | 2013-08-17 | 2013-11-27 | 刘发永 | Self-vision bionic-robot |
| CN104440872A (en) * | 2014-10-31 | 2015-03-25 | 无锡阳工机械制造有限公司 | Device provided with amplifying circuit and used for bulb replacement |
| CN104440872B (en) * | 2014-10-31 | 2015-11-18 | 无锡阳工机械制造有限公司 | There is the device for replacing bulb of amplifying circuit |
| CN106965192A (en) * | 2016-01-13 | 2017-07-21 | 上海摩西海洋工程股份有限公司 | A kind of safety protection robot defends mechanical arm |
| CN107662197A (en) * | 2016-07-28 | 2018-02-06 | 深圳市赛尔西生物科技有限公司 | Robot |
| CN107662196A (en) * | 2016-07-28 | 2018-02-06 | 深圳市赛尔西生物科技有限公司 | Robot |
| CN107662197B (en) * | 2016-07-28 | 2024-05-03 | 南京勤德智能科技有限公司 | Robot |
| CN107662196B (en) * | 2016-07-28 | 2024-06-04 | 一诺云科技(武汉)有限公司 | Robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130206 Termination date: 20160530 |