CN102794758B - Multifunctional household service robot - Google Patents

Abstract

The multi-functional home service robot adopts a crawler-type walking system, including a maintenance system and a finishing system. The maintenance system includes a maintenance platform and a docking light group. The maintenance platform is mainly composed of a maintenance platform lifting mechanism, a maintenance platform push arm transmission mechanism, and a maintenance platform push arm. Mechanism, charging connector, positioning detection phototransistor, camera indicator light, etc., the main mechanisms of the finishing system are distributed in the box frame, from top to bottom are the push arm, top door and lifting platform: the push arm consists of two Composed of moving pairs; the top door includes the right side of the top door and the left side of the top door connected by the connecting rod of the crank slider, driven by a transmission mechanism symmetrically distributed on the top of the box frame; the lifting platform is composed of a platform and four screw nut mechanisms supporting it , the present invention can realize simple indoor positioning, path planning and other basic mobile technologies of home service robots, has practical use value when performing tasks indoors, basically realizes fully automated services, and avoids the inconvenience caused by remote control.

Description

Multifunctional household service robot

technical field

The invention belongs to the field of small robots, and in particular relates to a multifunctional household service robot.

Background technique

At present, the functions of household service robots on the market are relatively single, mainly some cleaning robots, and there are even fewer robots for sorting and storing items, which cannot meet the needs of users. This product can not only organize items, but also divide this sorting into fully automatic and semi-automatic. The user can put the items into the box manually, or the machine can automatically put the items into the box from the ground to realize function diversification.

Most robots now require manual maintenance and testing, which not only does not liberate people, but makes people take care of the robots, which increases the burden on people and raises the threshold for users to use. We hope that the robot can self-maintain and store energy so as to get rid of the care of the user and serve the user "wholeheartedly". Based on this, this work specially designed a maintenance station for mobile robots for self-fault detection, charging, and basic cleaning. The technical threshold that needs to be mastered.

The use of solar energy is the development direction of robots and future robots. The addition of solar panels reduces the dependence of the energy supply system on rechargeable batteries and fixed power sources, and at the same time can provide lighting energy in the case of short-term power outages. The solar power supply of this product has the function of automatic light alignment, its mechanism occupies a small volume, and can be adjusted in two axial directions. This function introduces our design into the system design concept of "man-machine-environment", which not only realizes social value but also utilizes natural value, which is a design trend of future household robot energy supply system.

Contents of the invention

In order to overcome the shortcomings of the above-mentioned prior art, the object of the present invention is to provide a multifunctional home service robot, which can realize the basic mobile technology of home service robots such as simple indoor positioning and path planning, and has practical use when performing tasks indoors. value, and basically realize fully automated services, avoiding the inconvenience caused by remote control.

In order to achieve the above object, the technical scheme adopted in the present invention is:

Multifunctional home service robot, adopts crawler walking system, also includes maintenance system and finishing system:

The maintenance system includes a base plate 3, which is provided with a docking light group consisting of a docking start photoelectric pair tube group 1 and a docking termination photoelectric pair tube group 2; a first frame 4 is also fixed on the base plate 3, and the first frame 4 is arranged with a vertical first lead screw 5 fixed in the middle of it, the first limit electric key 6 is arranged on one side of the first lead screw 5, the first nut 7 is arranged on the first lead screw 5, and the first frame 4 The top fixes the first motor 8, the first motor 8 is connected to the first gear 9, the first gear 9 meshes with the second gear 10, the second gear 10 is driven by the first lead screw 5, and the first gear 9 is connected to the third gear 11 Realize coaxial rotation, and this axle end is contacted with counting electric key 12 to realize counting when rotating, and first nut 7 one side is fixed with the balancing mechanism 13 that balance is used, and the front end of balancing mechanism 13 is fixed with photographing indicator light 20, fault monitoring camera and temperature. Sensor 21; the other side of the first nut 7 is fixed with a second motor 14, the second motor 14 is connected to the first gear box 15, the first gear box 15 is connected to the first rack 16 through a slot, and the first rack 16 is fixed on On the rod 18, a charging connector 19 and a maintenance status indicator group 22 are installed in front of the rod 18, and a second limit electric key 17 is fixed below the second motor 14;

The main mechanisms of the finishing system are all distributed in the box body frame 40, and from top to bottom are push arm, top door and lifting platform:

The push arm is composed of two moving pairs, one moving pair is composed of the first chain 44 via the seventh gear 42 and the eighth gear 41 which are fixed on the two ends of the push plate 43, and the other moving pair adopts a rack and pinion Mechanism, the second rack 32 is fixed on one side of the push plate 43, the second gear box 38 and the third gear box 36 are connected to the second rack 32 through the slot, and the sixth motor 37 drives the third gear box 36 , the second gear box 38 is fixed on the rear of the box frame 40, and the push plate 43 is connected with a moving pair slider 71. When the second gear box 38 is driven, the second rack 32 relatively translates, and then drives the moving pair slider block 71 moves;

Described top door comprises top door right side 55 and top door left side 56 that link to each other by the connecting rod 57 of slider crank, solar cell panel 54 is arranged below top door left side 56, and top door is driven by the transmission mechanism that is symmetrically distributed on box body frame 40 tops, and transmission The mechanism includes a ninth gear 33, the ninth gear 33 is a driving part and is driven by the fifth motor 34, the ninth gear 33 is connected with the third rack 73 fixed on the box frame 40 through a slot;

Described elevating platform is made up of platform 35 and four leading screw nut mechanisms that support it.

Described walking system comprises the main crawler part that takes second frame 29 as chassis, is distributed with two 3rd motors 59 symmetrically on second frame 29, and 3rd motor 59 forms two parts via driven wheel 61 and driving wheel 60. Stage transmission gear drives, driving wheel 60 is suspended in the air, and driven wheel 61 rotates coaxially with the fifth gear 58 that drives auxiliary track part.

The main and auxiliary track parts of the walking system are composed of a moving pair and three rotating pairs. The moving pair is composed of two second lead screws 25 and two second nuts 24 matched therewith, and the two second nuts 24 are symmetrically fixed on the auxiliary crawler belts through the fixing parts 39; the rotating auxiliary frame 23 is fixed on the second machine On the frame 29, three gears as rotating pairs are fixed in the middle of the mobile sub-frame 23, and the fourth motor 66 fixed on the mobile sub-frame 23 drives the pinion 69 to rotate, and the pinion 69 drives the central gear 68 meshed with it to rotate. Through this two-stage gear transmission, the fourth gear 67 meshing with the central gear 68 is driven to rotate. For example, the fourth gear 67 and the second lead screw 25 are connected by a shaft to realize coaxial rotation, and then drive the auxiliary crawler part to realize two-dimensional direction Movement, the fifth gear 58 of the auxiliary track part rotates coaxially with the driven wheel 61 of the main track part, and the fifth gear 58 meshes with the sixth gear 72 to drive it to rotate. Sprocket 28,26.

The maintenance docking light 77 on the rotating sub-frame 23 completes the docking work by launching and receiving optical signals on the photoelectric pair tube group 1 and the docking termination photoelectric pair tube group 2 with the docking on the maintenance station. The charging socket 74 fixed on the right end of the box body frame 40 is docked with the charging interface 19 on the maintenance platform to realize charging.

There is no direct connection between the push arm, the top door and the lifting platform, and they are all fixed on the box frame 40 by their respective parts. The second gear box 38 and the third gear box 36 in the push arm are all fixed on the rear of the box frame 40; the third tooth bar 73 is fixed on the box frame 40, and the top door left side 56 is fixed on the box body by the shaft 75 On the frame 40 , the fourth lead screw 31 in the lifting platform is fixed on the box body frame 40 by the lead screw cover 76 .

Compared with technology, the advantages of the present invention are:

1) This robot is mainly designed for the mobile sorting of small items. This finishing is divided into fully automatic and semi-automatic. Putting the items into the box can be done manually by the user, or the machine can automatically put the items into the box from the ground, realizing the diversification of functions. And this sorting function is different from the "flat" sorting of previous robots, it can realize "three-dimensional sorting", that is, from the ground to the table, suitable for future life.

2) This work specially designed a maintenance station for mobile robots for self-fault detection and charging, which realized full automation from use to maintenance, exempted users from the complicated things of regular maintenance after introducing robots, and reduced the number of tasks users need to master when using them. Technical threshold.

3) The lifting table of the finishing system uses a butterfly-shaped chain transmission mechanism, which makes the transmission gears not easy to slip and increases the transmission tension.

4) The push arm adopts the double-stroke gear rack and chain drive combination structure. Without increasing the number of motors and reducing the push distance, the length of the push arm is reduced by half, and the push speed is doubled. Save organization layout space.

Description of drawings

Fig. 1 is the front view of the present invention.

Fig. 2 is a left view of the present invention.

Fig. 3 is a top view of the present invention.

Fig. 4 is a mechanism diagram of the push arm of the present invention.

Fig. 5 is a diagram of the butterfly distribution motors of the chassis of the present invention.

Fig. 6 is a schematic structural diagram of the main and auxiliary crawler belts of the present invention.

Fig. 7 is a schematic diagram of the lifting platform of the present invention.

Fig. 8 is a schematic diagram of the bucket retractable mechanism of the present invention.

Fig. 9 is a schematic diagram of the top door transmission mechanism of the present invention.

Fig. 10 is a schematic diagram of the driving wheel mechanism of the main crawler part of the present invention.

Figure 11 is a front view of the maintenance station of the present invention.

Figure 12 is a left side view of the maintenance station of the present invention.

Figure 13 is a top view of the maintenance station of the present invention.

Detailed ways

The present invention will be described in further detail below in conjunction with the accompanying drawings.

The invention is a multifunctional household service robot adopting a crawler type walking system, and also includes a maintenance system and a tidying system.

The traveling system that the present invention adopts comprises the main crawler belt part with the second frame 29 as the chassis, as shown in Figure 6, on the second frame 29, two third motors 59 are symmetrically distributed, and the third motor 59 passes through the driven wheel 61 is driven by the two-stage transmission gear that driving wheel 60 forms, and driving wheel 60 is suspended in the air, and driven wheel 61 rotates coaxially with the fifth gear 58 that drives auxiliary track part.

The main and auxiliary track parts of the walking system are composed of a moving pair and three rotating pairs. As shown in Fig. 1 and Fig. 3, the moving pair is composed of two second lead screws 25 and two second nuts 24 matched therewith, and the two second nuts 24 are symmetrically fixed on the secondary crawler belt through the fixing part 39; As shown in Figure 1, the rotating sub-frame 23 is fixed on the second frame 29, and as shown in Figure 10 and Figure 1, three gears as rotating pairs are fixed in the middle of the moving sub-frame 23, fixed on the moving pair The fourth motor 66 on the frame 23 drives the pinion 69 to rotate, and the pinion 69 drives the center gear 68 meshed with it to rotate, and the fourth gear 67 meshed with the center gear 68 is driven by this two-stage gear transmission to rotate, as the fourth The gear 67 and the second lead screw 25 are connected by a shaft to realize coaxial rotation, and then drive the auxiliary crawler part to realize two-dimensional movement. The fifth gear 58 of the auxiliary crawler part rotates coaxially with the driven wheel 61 of the main crawler part. Gear 58 is meshed with the sixth gear 72 to drive it to rotate, and a group of anti-off sprockets 28, 26 are respectively provided with both sides of the main and auxiliary crawler belts.

Again as shown in Figure 1, the maintenance docking light 77 on the rotating sub-frame 23 completes the docking work by launching the photoelectric pair of tube group 1 and docking termination photoelectric pair of tube group 2 with the docking on the maintenance station to complete the docking work. The charging socket 74 fixed on the right end of the box body frame 40 is docked with the charging interface 19 on the maintenance platform to realize charging.

The walking system also includes a bucket 62, as shown in Figure 8, the bucket 62 is driven by a set of third lead screws 64, a third nut 65 matched therewith and double rockers 63, the third lead screw 64 is fixed on the main In the middle of the two symmetrically arranged crawlers of the track part, the fifth motor 70 is coaxially connected with the third lead screw 64; the third nut 65 is connected with the double rocker 63 through the shaft, and the double rocker 63 is connected with the bucket 62.

The main mechanisms of the finishing system are all distributed in the box body frame 40, and from top to bottom are push arm, top door and lifting platform:

The push arm is composed of two moving pairs, as shown in Figure 4, and one moving pair is formed by the transition connection of the first chain 44 via the seventh gear 42 and the eighth gear 41 fixed at the two ends of the push plate 43, as shown in Figure 2, The other moving pair adopts a rack and pinion mechanism, and is fixed on one side of the push plate 43 by the second rack 32, and the second gear box 38 and the third gear box 36 are connected with the second rack 32 through a draw-in slot, and the sixth The motor 37 drives the third gear box 36, the second gear box 38 is fixed on the rear of the box body frame 40, and the push plate 43 is connected with a mobile auxiliary slide block 71, and the second tooth bar 32 is opposite when the second gear box 38 is driven. Translational movement, and then drives the mobile auxiliary slider 71 to move;

As shown in Fig. 1 and Fig. 9, the top door includes a top door right side 55 and a top door left side 56 connected by a connecting rod 57 of a crank slider, a solar panel 54 is arranged below the top door left side 56, and the top door is symmetrically distributed on the box frame 40 Driven by the transmission mechanism at the top, as shown in Figure 2, the transmission mechanism includes the ninth gear 33, the ninth gear 33 is the active part and driven by the fifth motor 34, the ninth gear 33 is fixed on the box frame 40 through the draw-in slot The third rack 73 is connected;

As shown in Fig. 7, the lifting table is made up of a platform 35 and four leading screw and nut mechanisms supporting it. Driving force is provided by the eighth motor 27 of four parallel small powers, and transmission mechanism adopts the chain transmission mode of butterfly arrangement. As shown in FIG. 5 , four eighth motors 27 respectively drive four gears 45 , 46 , 47 , 48 in the first gear set. These four gears respectively drive the four gears 49 , 50 , 51 , 52 in the second gear set connected thereto to rotate through the second chain 53 . And gears 49, 50, 51 and 52 are connected with the fourth leading screw 31 shaft again, as shown in Fig. 7, drive the fourth nut 30 on the fourth leading screw 31 to move up and down. The platform 35 is fixed on the fourth nut 30 and moves as the nut moves up and down.

There is no direct connection between the above-mentioned push arm, the top door and the lifting platform, and they are all fixed on the box frame 40 by their respective parts. The second gear box 38 and the third gear box 36 in the push arm are all fixed on the rear of the box frame 40; the third tooth bar 73 is fixed on the box frame 40, and the top door left side 56 is fixed on the box body by the shaft 75 On the frame 40 , the fourth lead screw 31 in the lifting platform is fixed on the box body frame 40 by the lead screw cover 76 .

As shown in Figures 11-13, the maintenance system of the present invention is independent of the other two systems, and mainly consists of a docking light group and a maintenance platform. The docking lamp group is composed of a docking start photoelectric pair tube group 1 and a docking termination photoelectric pair tube group 2 arranged on the bottom plate 3 . The maintenance platform is mainly composed of maintenance platform lifting mechanism, maintenance platform push arm transmission mechanism, maintenance platform push arm cleaning mechanism, charging connector, positioning detection photosensitive transistor, photo indicator light, etc. Also fix the first frame 4, the first frame 4 is arranged with a vertical first lead screw 5 fixed in the middle of it, the first lead screw 5 side is provided with the first limit electric key 6, the first lead screw 5 There is a first nut 7 on it, and the first limit electric construction key limits the lowest moving position of the first nut 7 . The top of the first frame 4 fixes the first motor 8, the first motor 8 is connected to the first gear 9 to drive the first gear 9 to rotate, and the first gear 9 meshes with the second gear 10 to drive the first nut 7 on the first lead screw 5 The movement of the first gear 9 is connected with the third gear 11 to achieve coaxial rotation, and the shaft end is in contact with the counting key 12 to realize counting when rotating. A balance mechanism 13 for balancing is fixed on one side of the first nut 7, and the balance mechanism 13 The front end is fixed with a photo indicator light 20, a fault monitoring camera and a temperature sensor 21; the other side of the first nut 7 is fixed with a second motor 14, and the second motor 14 is connected to the first gear box 15, and the first gear box 15 is connected to the second gear box through the slot. A rack 16 is connected, the first rack 16 is fixed on the rod 18, the front of the rod 18 is equipped with a charging connector 19 and a maintenance status indicator group 22, and the second motor 14 is fixed with a second limit electric key 17; When the gear of a gear box 15 rotates, the first rack 16 can slide to realize the forward extension or retraction of the push arm, and complete the cleaning of the main body of the machine.

The present invention can realize five main functions of picking up, storing, placing and sorting small items, accompanying reading, self-energy storage, and self-maintenance. Through the walking system, the present invention can go to the place where items need to be sorted and picked up. When moving on flat ground, only the third motor 59 is needed to drive the driving wheel 60 and the driven wheel 61 to rotate to realize the movement. In the process of going up the steps, firstly, the fourth motor 66 drives the second lead screw 25 to drive the second nut 24 to translate backward, so that the auxiliary crawler part is lifted, and then the main crawler part drives the whole machine to move forward, and the second nut 24 backward translations make the auxiliary crawler part be pressed on the step, and the vehicle body is supported, and the driving wheel 60 and the driven wheel 61 of the main crawler part rotate to make the front half of the vehicle body press the step. Finally, the rear bucket 62 props up the rear car body, and the rear crawler belt rotates to make the center of gravity of the whole machine cross the step, and complete the process of going up the step. When going down the steps, the second nut 24 of the auxiliary crawler part moves backward and presses down to touch the lower ground, the driving wheel 60 and the driven wheel 61 of the main crawler part rotate and move forward at a slow speed, and the auxiliary crawler part moves forward in translation through the second nut 24 Slowly raise to be in line with the main track section. The main crawler part accelerates through the rotation of the driving wheel 60 and the driven wheel 61 to complete the step-down process; the finishing system can realize accompanying reading, and the eighth motor 27 drives the gears 49, 50, 51 and 52 to rotate through the chain drive mode arranged in a butterfly shape. Make the fourth lead screw 31 rotate, drive the fourth nut 30 on it to move up and down, and then make the lifting table 35 fixed on it move up and down, so the user can place the book on it for reading; the shovel of the finishing system and the walking system The buckets 62 work together to realize the arrangement of items, the elevating platform 35 is lowered to the lowest position, the fifth motor 70 drives the third screw 64 to rotate and drives the third nut 65 to move in translation, so that the double rocker 63 moves, and then drives the bucket 62 to realize retractable; the seventh motor 34 drives the ninth gear 33 to rotate, drives the right side 55 of the top door to move horizontally, and at the same time drives the left side 56 of the top door to move through the connecting rod 57 to realize the two-dimensional movement of the solar panel 54 to receive sunlight and realize energy storage; The maintenance docking light 77 of the maintenance station completes the docking work by transmitting and receiving optical signals with the docking start photoelectric pair tube group 1 and the docking termination photoelectric pair tube group 2 . And the camera indicator light 20 on the maintenance station and the fault monitoring camera and the temperature sensor 21 complete the maintenance work to the sorting system.

Claims (2)

1. The multifunctional home service robot adopts a crawler-type walking system, and is characterized in that it also includes a maintenance system and a finishing system: The maintenance system includes a base plate (3), on which a docking light group consisting of a docking start photoelectric pair tube group (1) and a docking termination photoelectric pair tube group (2) is arranged; the base plate (3) is also fixed The first frame (4), the first frame (4) is arranged with a vertical first lead screw (5) fixed in the middle of it, and the first lead screw (5) side is provided with the first limit electric key ( 6), there is a first nut (7) on the first lead screw (5), the first motor (8) is fixed on the top of the first frame (4), the first motor (8) is connected to the first gear (9), and the first motor (8) is connected to the first gear (9). A gear (9) meshes with a second gear (10), the second gear (10) transmits with the first lead screw (5), and the first gear (9) is connected with the third gear (11) to realize coaxial rotation. The shaft end is in contact with the counting electric key (12) to realize counting when rotating, a balance mechanism (13) for balancing is fixed on one side of the first nut (7), the front end of the balance mechanism (13) is fixed with a camera indicator light (20), fault Monitor the camera and temperature sensor (21); the other side of the first nut (7) is fixed with a second motor (14), the second motor (14) is connected to the first gear box (15), and the first gear box (15) passes through the card The groove is connected with the first rack (16), and the first rack (16) is fixed on the rod (18). The front of the rod (18) is equipped with a charging connector (19) and a maintenance status indicator group (22). The bottom of the second motor (14) is fixed with a second limit electric key (17); The main mechanisms of the sorting system are all distributed in the box frame (40), and from top to bottom are push arm, top door and lifting platform: The push arm is made up of two moving pairs, and one moving pair is made up of the first chain (44) via the seventh gear (42) and the eighth gear (41) that are fixed on the two ends of the push plate (43) and are transitionally connected. The other moving pair adopts a rack and pinion mechanism, and is fixed on one side of the push plate (43) by the second rack (32), and the second gear box (38) and the third gear box (36) are connected to the Two tooth racks (32) are connected, and the 6th motor (37) drives the 3rd gear case (36), and the 2nd gear case (38) is fixed on the rear of box body frame (40), is connected on the push plate (43) When the second gear box (38) is driven to move the auxiliary slider (71), the second rack (32) moves relatively in translation, and then drives the mobile auxiliary slider (71) to move; The top door includes the right side (55) of the top door and the left side (56) of the top door connected by the connecting rod (57) of the crank slider, and a solar panel (54) is arranged below the left side (56) of the top door. Driven by the transmission mechanism on the top of the frame (40), the transmission mechanism includes the ninth gear (33), the ninth gear (33) is a driving part and driven by the fifth motor (34), and the ninth gear (33) is connected with the The third tooth bar (73) that is fixed on the casing frame (40) is connected; Described lifting table is made up of platform (35) and four leading screw nut mechanisms that support it. 2. The multifunctional domestic service robot according to claim 1, characterized in that, the walking system includes a main crawler part with the second frame (29) as the chassis, and is symmetrically distributed on the second frame (29) There are two third motors (59), and the third motor (59) is driven by a two-stage transmission gear formed by a driven wheel (61) and a driving wheel (60). The driving wheel (60) is suspended in the air, and the driven wheel (61) and the driven The fifth gear (58) of the secondary crawler section rotates coaxially.