CN116214548A - Welcome robot convenient to interaction - Google Patents
Welcome robot convenient to interaction Download PDFInfo
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- CN116214548A CN116214548A CN202310513423.2A CN202310513423A CN116214548A CN 116214548 A CN116214548 A CN 116214548A CN 202310513423 A CN202310513423 A CN 202310513423A CN 116214548 A CN116214548 A CN 116214548A
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- 230000003993 interaction Effects 0.000 title claims abstract description 22
- 238000004088 simulation Methods 0.000 claims abstract description 12
- 230000009471 action Effects 0.000 claims description 49
- 230000006835 compression Effects 0.000 claims description 12
- 238000007906 compression Methods 0.000 claims description 12
- 230000001360 synchronised effect Effects 0.000 claims description 6
- 230000006978 adaptation Effects 0.000 abstract 1
- 230000005540 biological transmission Effects 0.000 description 5
- 230000033001 locomotion Effects 0.000 description 5
- 230000009286 beneficial effect Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000002452 interceptive effect Effects 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 230000002035 prolonged effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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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
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Abstract
The invention relates to the technical field of welcome robots, in particular to a welcome robot convenient for interaction, which comprises a trunk component, wherein the trunk component comprises a main body, a moving unit is arranged at the bottom of the main body, a simulation head capable of interacting with a person is arranged at the top of the main body, a functional component is arranged on one side of the trunk component and used for bearing a wheelchair, an auxiliary component is arranged on one side, far away from the trunk component, of the functional component, and the auxiliary component is used for preventing the wheelchair from backing when the welcome robot moves. The invention aims at the wheelchair-sitting guest, after the wheelchair-sitting guest is induced to control the corresponding program of the display control panel, the wheelchair-sitting guest can conveniently move to the wheelchair-sitting guest robot through the functional component and the auxiliary component, and then the wheelchair-sitting guest can quickly and laborsaving move the wheelchair-sitting guest to a destination through the wheelchair-sitting guest robot, so that the interaction fit and convenience between the wheelchair-sitting guest and the wheelchair-sitting guest are improved, and finally the environment adaptation capability of special persons is improved.
Description
Technical Field
The invention relates to the technical field of greeting robots, in particular to a greeting robot convenient for interaction.
Background
Most of the existing guest-welcoming robots in the scenes of hotels and the like only have simple question-answering and question-answering or road-carrying capacity, and for some special guests, the interactive fitness is insufficient, if only one-way question-answering and question-answering or road-directing is performed, the humanization degree is low, the working efficiency of the guest-welcoming robots is low, and finally the situation that the special guests are low in adaptability to new environments is caused.
For example, a typical wheelchair-driving special person can be physically involved and inconvenient to move, and if the wheelchair enters a strange environment, the "disaster degree" of the wheelchair can be known under the condition of lack of perfect barrier-free passing.
Disclosure of Invention
In order to solve the problems that the interaction compliance is insufficient for some special guests in the existing guests in the scenes of hotels and the like, so that the interaction convenience is poor, and the guest has low adaptability to new environments, the invention provides the guest-welcoming robot convenient to interact, so as to solve the problems.
In order to achieve the above purpose, the present invention provides the following technical solutions:
the utility model provides a usher robot convenient to interaction, includes the truck subassembly, the truck subassembly includes the main part, the bottom of main part is provided with the mobile unit, the top of main part is provided with the emulation head that can interact with the people, one side of truck subassembly is provided with the functional module, the functional module is used for bearing the weight of the wheelchair, one side that the functional module kept away from the truck subassembly is provided with the auxiliary assembly, the auxiliary assembly is used as preventing when usher robot removes that the wheelchair is returned;
the functional component comprises a load bottom plate, one end of the load bottom plate is rotationally connected below one side of the main body, one side of the top of the load bottom plate is rotationally connected with a push-pull sliding bar, a push-pull driving unit is arranged above the outer part of the push-pull sliding bar, the push-pull driving unit is arranged in the middle of the inner part of the main body, the push-pull driving unit is connected with a handle through a linkage structure, and the outer part of the handle is slidingly connected above the inner part of the main body and can stretch under the action of the push-pull driving unit;
the auxiliary assembly comprises a gas compression unit, a pneumatic balance wheel release unit and two groups of pneumatic wheelchair stopping units, wherein the gas compression unit is connected with the pneumatic balance wheel release unit and the pneumatic wheelchair stopping units through pipelines, the gas compression unit is arranged below the inner part of the main body, the pneumatic balance wheel release unit is arranged in the middle of one side of the load bottom plate, far away from the main body, and the two groups of pneumatic wheelchair stopping units are respectively arranged on two sides of the pneumatic balance wheel release unit and are positioned in the load bottom plate.
As a preferable scheme of the invention, the moving unit comprises two hub motors, stator ends of the two hub motors are respectively arranged at the bottoms of two sides of the main body, wheels are arranged outside rotor ends of the hub motors, and outer covers are arranged outside the wheels below two sides of the main body.
As a preferable scheme of the invention, simulation arms are arranged above two sides of the main body, and a storage battery is arranged on the other side of the main body.
As the preferable scheme of the invention, the push-pull driving unit comprises a limiting block, the inside of the limiting block is slidably connected above the outside of the load bottom plate, a second pinion is arranged in the limiting block, one side of the second pinion is connected with a first rack in a meshed mode, one side of the first rack is arranged in the push-pull sliding strip, a main shaft is arranged in the middle of the second pinion, two ends of the main shaft are rotatably connected in the main body, a first pinion is arranged in the middle of the outside of the main shaft, one side of the first pinion is connected with a driving gear in a meshed mode, the middle of the driving gear is arranged at the driving end of a first motor, and a shell of the first motor is arranged in the main body.
As a preferable scheme of the invention, the linkage structure comprises a driving disc, wherein the middle part of the driving disc is arranged on one side of the outer part of the main shaft, the driving disc is connected with a driven disc through a synchronous belt, the middle part of the driven disc is provided with a countershaft, one side of the outer part of the countershaft is provided with a third pinion, a second rack is connected above the third pinion in a meshed manner, and the top of the second rack is arranged on one side of the bottom of the handle.
As a preferable scheme of the invention, the gas compression unit comprises a driving action cylinder, the driving action cylinder is arranged below the inside of the main body, an elliptical inner cavity is arranged in the driving action cylinder, a screw rod is rotationally connected to the middle of the elliptical inner cavity, the top of the screw rod penetrates through the driving action cylinder and is arranged at the driving end of the second motor, the bottom of a shell of the second motor is arranged at the top of the driving action cylinder, a first piston is adapted to the inside of the elliptical inner cavity, and the middle of the first piston is in threaded connection with the outside of the screw rod.
As a preferable scheme of the invention, the pneumatic balance wheel release unit comprises an execution action cylinder, wherein the outer part of the execution action cylinder is arranged in the middle part of one side of the load bottom plate, which is far away from the main body, an oval through cavity is arranged in the execution action cylinder, a second piston is adapted in the oval through cavity, a universal wheel is arranged in the execution action cylinder at the bottom of the second piston, a limit column is arranged in the middle of the top of the oval through cavity, and the lower part of the outer part of the limit column is connected above the inner part of the second piston in a sliding manner;
the utility model discloses a load is characterized by including a main part, a first pipe, a second pipe, a pipeline connecting mouth, a hose, a driving action cylinder, a hose, a pipeline connecting mouth and a hose.
As the preferable scheme of the invention, the two groups of pneumatic wheelchair retaining units comprise retaining turning plates, grooves are formed in two sides of the top of one side of the load bottom plate, which is far away from the main body, one side of each retaining turning plate is respectively connected to one side of the groove of the two sides, which is far away from the main body, the bottoms of the retaining turning plates are respectively provided with an air bag, the bottoms of the air bags are respectively arranged at the bottoms of the grooves of the two sides, and the air bags are respectively connected above the other side of the actuating cylinder through a second guide pipe.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the wheelchair-taking guest, after the corresponding program of the wheelchair-taking guest is induced to operate the display control panel, the driving gear is driven by the first motor, and then the main shaft can be driven to rotate by the first pinion, and further, the second pinion can be driven to rotate by the transmission of the main shaft.
2. According to the invention, through the connection of the linkage structure and the main shaft, when the main shaft drives the driving disc to rotate, the driven disc can be driven to rotate through the synchronous belt, the third pinion is driven to rotate through the transmission of the auxiliary shaft, and finally the handle is synchronously stretched out through the meshing effect between the third pinion and the second rack, so that a guest can grasp the handle after moving the wheelchair to the upper part of the loading bottom plate by himself, and the safety of personnel can be improved when the guest-welcoming robot bears the wheelchair.
3. According to the invention, the internal high-pressure gas of the driving action cylinder enters the execution action cylinder through the pipeline connecting nozzle and the first conduit, so that the second piston is pressed to move downwards, finally, the universal wheel is ejected out of the execution action cylinder, and the stable movement of the welcome robot can be realized by matching with wheels on two sides, wherein in order to reduce the situation that the second piston is worn out due to the fact that a larger pressing force is formed on the second piston when the universal wheel works, the situation of wearing between the second piston and the inner wall of the execution action cylinder is aggravated, and the limiting column is specially arranged in the execution action cylinder, and the bottom of the limiting column stretches into the second piston, so that more lateral supporting force is provided for the second piston, and the service life of the robot is prolonged.
4. According to the invention, after the internal high-pressure gas driving the action cylinder is shunted by the execution action cylinder, the internal high-pressure gas enters the air bags at two sides, so that the air bags expand to jack the backstop turning plate, the deflected backstop turning plate is propped against the rear side of the wheel of the wheelchair, the condition that the wheelchair falls off the load bottom plate during transfer is avoided, the use safety is improved, the structure flattening degree is higher, the structure accommodating structure in the load bottom plate is facilitated, and the thinner load bottom plate is more beneficial to the lifting of the wheelchair.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic view showing an expanded state of a load floor according to an embodiment of the present invention;
FIG. 3 is another schematic view of the structure of FIG. 2;
FIG. 4 is a schematic diagram of the connection of the load floor and the push-pull slide bar of the present invention;
FIG. 5 is a schematic diagram of the functional components of the present invention;
FIG. 6 is an enlarged view at A in FIG. 5;
FIG. 7 is a schematic view of the internal structure of the stopper according to the present invention;
FIG. 8 is a schematic view of a portion of the functional assembly of the present invention;
FIG. 9 is an enlarged view at B in FIG. 5;
FIG. 10 is a schematic view of the auxiliary assembly of the present invention;
FIG. 11 is a schematic view of the internal structure of the actuator cylinder according to the present invention;
FIG. 12 is a schematic view of a portion of the structure of the auxiliary assembly of the present invention;
FIG. 13 is a schematic view of the torso assembly of the present invention;
fig. 14 is another schematic view of the structure of fig. 13.
Wherein, 1, trunk assembly; 101. a main body; 102. simulating an arm; 103. a simulation head; 104. an outer cover; 105. a wheel; 106. a hub motor; 107. a storage battery; 2. a functional component; 201. a load-carrying floor; 202. push-pull sliding strips; 203. a first rack; 204. a limiting block; 205. a first pinion gear; 206. a first motor; 207. a drive gear; 208. a drive plate; 209. a second pinion; 210. a third pinion; 211. a handle; 212. a second rack; 213. a main shaft; 214. a driven plate; 3. an auxiliary component; 301. driving the action cylinder; 302. a second motor; 303. a screw; 304. a first piston; 305. a pipe connection nozzle; 306. executing an action cylinder; 307. a first conduit; 308. a second conduit; 309. an air bag; 310. a stop turning plate; 311. a second piston; 312. a universal wheel; 313. and a limit column.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1-2, the embodiment of the present invention provides a guest-welcoming robot convenient for interaction, including a trunk component 1, where the trunk component 1 includes a main body 101, a moving unit is disposed at the bottom of the main body 101, a simulation head 103 capable of interacting with a person is disposed at the top of the main body 101, a display control panel, a processor and the like are mounted on the simulation head 103 in the embodiment, and are used for displaying necessary image information, and a loudspeaker, a microphone, a radar and the like are also mounted for detecting whether a guest approaches and implementing a simple guest-welcoming conversation with the guest, and further, in the embodiment, a software-hardware technology for interacting with a person, which is carried by the simulation head 103, is a mature technology that can be easily obtained by a person skilled in the art, so that it is not repeated, a functional component 2 is disposed on one side of the trunk component 1, the functional component 2 is used as a bearing wheelchair, an auxiliary component 3 is disposed on one side of the functional component 2, which is far from the trunk component 1, and the auxiliary component 3 is used as a guest-welcoming robot for preventing the wheelchair from moving.
In this embodiment, as shown in fig. 2 to 9, the functional module 2 includes a load-carrying soleplate 201, one end of the load-carrying soleplate 201 is rotatably connected below one side of the main body 101, one side of the top of the load-carrying soleplate 201 is rotatably connected with a push-pull sliding bar 202, a push-pull driving unit is disposed above the outside of the push-pull sliding bar 202, the push-pull driving unit is disposed in the middle of the inside of the main body 101, the push-pull driving unit is connected with a handle 211 through a linkage structure, and the outside of the handle 211 is slidably connected above the inside of the main body 101 and can stretch under the action of the push-pull driving unit.
In this embodiment, as shown in fig. 10 to 12, the auxiliary assembly 3 includes a gas compression unit, a pneumatic balance wheel release unit and two groups of pneumatic wheelchair stopping units, the gas compression unit is connected with the pneumatic balance wheel release unit and the pneumatic wheelchair stopping units through a pipeline, the gas compression unit is disposed below the main body 101, the pneumatic balance wheel release unit is disposed in the middle of one side of the load bottom plate 201 away from the main body 101, and the two groups of pneumatic wheelchair stopping units are disposed on two sides of the pneumatic balance wheel release unit and are located inside the load bottom plate 201.
Most of the conventional greeting robots in the scenes of hotels and the like only have simple question and answer suspicion capability or road carrying capability, and for some special guests, the interaction degree is insufficient, so that the situation of poor interaction convenience is caused, for example, the special person sitting on a wheelchair consumes physical strength due to the movement of the wheelchair, the movement is inconvenient, and the 'disaster degree' of the wheelchair is known if the wheelchair enters a strange environment, so the scheme envisages a novel greeting robot which can improve the interaction degree and convenience between the robot and the special guests through corresponding functional components 2 and auxiliary components 3, and finally improve the environment adaptability of the special person.
Specifically, as shown in fig. 1 and fig. 13-14, the moving unit includes two in-wheel motors 106, stator ends of the two in-wheel motors 106 are respectively mounted at bottoms of two sides of the main body 101, wheels 105 are mounted at outer parts of rotor ends of the in-wheel motors 106, and outer covers 104 are mounted at outer parts of the wheels 105 below two sides of the main body 101.
In this embodiment, the steering function of the greeting robot can be achieved by the differential motion of the hub motors 106 at two sides, and the forward and backward functions of the greeting robot can be achieved by controlling the forward and backward rotations of the hub motors 106 at two sides, and the working mode of the hub motors 106 is mature for the person skilled in the art, so that the description is omitted.
Specifically, referring to fig. 1 and fig. 13-14 again, simulation arms 102 are disposed above two sides of the main body 101, a storage battery 107 is disposed at the other side of the main body 101, the simulation arms 102 are connected with the main body 101 through a steering engine, so that deflection of the simulation arms 102 can be realized through driving of the steering engine, arm actions of a human body can be simulated, anthropomorphic degree of the welcome robot is improved, interaction is facilitated, in addition, in the embodiment, a power source is provided with the storage battery 107, and an energy supply mode is mature for a person skilled in the art, and therefore redundant description is omitted.
Specifically, as shown in fig. 5 to 7, the push-pull driving unit includes a stopper 204, the inside sliding connection of stopper 204 is in the outside top of load bottom plate 201, the inside of stopper 204 is provided with second pinion 209, one side meshing of second pinion 209 is connected with first rack 203, one side of first rack 203 is installed in the inside of push-pull draw runner 202, the mid-mounting of second pinion 209 has main shaft 213, the both ends of main shaft 213 rotate and connect in the inside of main body 101, the mid-mounting of stopper 204 rotates and connects in the outside of main shaft 213, the outside mid-mounting of main shaft 213 has first pinion 205, one side meshing of first pinion 205 is connected with driving gear 207, the mid-mounting of driving gear 207 is at the drive end of first motor 206, the shell of first motor 206 is installed in the inside of main body 101.
The first motor 206 drives the driving gear 207, and then the first pinion 205 drives the spindle 213 to rotate, and further, the second pinion 209 can be driven to rotate through the transmission of the spindle 213, and because the second pinion 209 is limited by the spindle 213 to rotate in place, and meanwhile, the limiting block 204 is limited by the spindle 213 to rotate in place, the first rack 203 can be moved through the meshing effect between the second pinion 209 and the first rack 203, so that the push-pull sliding strip 202 has the capability of pushing and pulling the load bottom plate 201, and finally, the purposes of controlling the folding of the load bottom plate 201 as shown in fig. 1 and the release of the load bottom plate 201 as shown in fig. 2 are achieved.
Specifically, as shown in fig. 8-9, the linkage structure includes a driving disc 208, a middle part of the driving disc 208 is installed on one side of the outer part of a main shaft 213, the driving disc 208 is connected with a driven disc 214 through a synchronous belt, a counter shaft is installed in the middle of the driven disc 214, a third pinion 210 is installed on one side of the outer part of the counter shaft, a second rack 212 is connected above the third pinion 210 in a meshed manner, and the top of the second rack 212 is installed on one side of the bottom of a handle 211.
The driving disc 208 is driven to rotate through the main shaft 213, the driven disc 214 can be driven to rotate through the synchronous belt, the third pinion 210 is driven to rotate through the transmission of the auxiliary shaft, the handle 211 is finally enabled to have the capability of stretching relative to the inside of the main body 101 through the meshing effect between the third pinion 210 and the second rack 212, and the handle 211 can be synchronously released through the synchronous action when the load-carrying bottom plate 201 is released to bear a wheelchair, so that the gripping of personnel is facilitated, and the safety of the personnel is improved when the wheelchair is borne.
Specifically, as shown in fig. 10, the gas compression unit includes a driving cylinder 301, the driving cylinder 301 is installed below the inside of the main body 101, an elliptical cavity is provided inside the driving cylinder 301, a screw 303 is rotatably connected to the middle of the elliptical cavity, the top of the screw 303 penetrates through the driving cylinder 301 and is installed at the driving end of the second motor 302, the bottom of the casing of the second motor 302 is installed at the top of the driving cylinder 301, a first piston 304 is fitted inside the elliptical cavity, and the middle of the first piston 304 is in threaded connection with the outside of the screw 303.
The second motor 302 drives the screw 303 to rotate, so as to drive the first piston 304 to move in the driving action cylinder 301, and when the first piston 304 moves downwards, a high-pressure gas environment can be formed below the driving action cylinder 301, so that other units can be further driven to act by taking high-pressure gas as power.
Specifically, as shown in fig. 10 to 11, the pneumatic balance wheel releasing unit includes an actuating cylinder 306, the outer part of the actuating cylinder 306 is mounted at the middle part of one side of the load floor 201 far away from the main body 101, an oval through cavity is provided in the actuating cylinder 306, a second piston 311 is adapted in the oval through cavity, a universal wheel 312 is mounted in the actuating cylinder 306 at the bottom of the second piston 311, a limit post 313 is mounted in the middle of the top of the oval through cavity, and the lower part of the outer part of the limit post 313 is slidingly connected above the inner part of the second piston 311.
The upper side of one side of the execution action cylinder 306 is installed and communicated with one end of a first conduit 307, the middle part of the first conduit 307 is installed in the middle of the load bottom plate 201, the other end of the first conduit 307 is installed and communicated with a pipeline connecting nozzle 305, the bottom of the pipeline connecting nozzle 305 is installed in the middle of one side of the load bottom plate 201 close to the main body 101, and the lower side of one side of the driving action cylinder 301 is connected with the upper side of one side of the pipeline connecting nozzle 305 through a hose.
The high-pressure gas enters the interior of the execution action cylinder 306 through the pipeline connecting nozzle 305 and the first conduit 307, so that the second piston 311 is pressed to move downwards, finally, the universal wheel 312 is ejected out of the interior of the execution action cylinder 306, and the stable movement of the welcome robot can be realized by matching with the wheels 105 on two sides, wherein in order to reduce the situation that the second piston 311 is pressed with larger force when the universal wheel 312 works, the abrasion between the second piston 311 and the inner wall of the execution action cylinder 306 is aggravated, as shown in fig. 11, the limit post 313 is particularly arranged in the interior of the execution action cylinder 306, and the bottom of the limit post 313 stretches into the interior of the second piston 311, so that more lateral supporting force is provided for the second piston 311.
Specifically, as shown in fig. 10 and 12, the two sets of pneumatic wheelchair retaining units each include a retaining flap 310, grooves are formed on two sides of a top of one side of the load-carrying bottom plate 201, which is far away from the main body 101, one side of the retaining flap 310 is respectively connected to one side of the grooves on two sides, which is far away from the main body 101, at the edges of the grooves on one side, an air bag 309 is respectively mounted at the bottom of the retaining flap 310, the bottoms of the air bags 309 are respectively mounted at the bottoms of the grooves on two sides, and the air bags 309 are respectively connected above the other side of the execution cylinder 306 through a second conduit 308.
After the high-pressure gas is shunted by the execution action cylinder 306, the high-pressure gas enters the air bags 309 at two sides, the air bags 309 expand to jack the backstop turning plates 310, the deflected backstop turning plates 310 are propped against the rear side of the wheel of the wheelchair, the situation that the wheelchair falls off the load bottom plate 201 in the middle of being transferred is avoided, the use safety is improved, the structure flattening degree is higher due to the design, the structure is contained in the load bottom plate 201, and the thinner load bottom plate 201 is more beneficial to the up and down of the wheelchair.
Finally, it is obvious that, in the above-mentioned software and hardware technology for interaction with a person mounted in the simulation head 103, the technical solution of implanting the simple control function component 2 and the auxiliary component 3 is simple and feasible for those skilled in the art, so that the solution of this embodiment can be normally implemented.
When the scheme is used, like the existing scheme of the working of the greeting robot, the greeting robot performs the greeting action through the preset question-answer scheme so as to perform the finger path, the release and the like for the guest, and the scheme is different in that when the guest is encountered, the guest can be classified into a wheelchair-sitting state through the preset specific question-answer scheme so as to improve the fit degree of the greeting interaction, aiming at the guest sitting on the wheelchair, after the guest is induced to operate the corresponding program of the display control panel, the driving gear 207 is driven through the first motor 206, and then the spindle 213 is driven to rotate through the first auxiliary gear 205, further, the second auxiliary gear 209 is driven to rotate through the transmission of the spindle 213, and the limiting block 204 is also limited in the original place through the spindle 213 so as to rotate through the meshing action between the second auxiliary gear 209 and the first rack 203, thus the first load-pushing and-pulling sliding bar 202 has the capacity of pushing and pulling the load-carrying bottom plate 201, finally, the load-releasing motor 201 is controlled to release the load-carrying bottom plate is driven to rotate through the first motor 206, simultaneously, the spindle 213 is driven to rotate through the spindle 213, the spindle 301 is driven to rotate through the corresponding spindle 213, the spindle 301 is driven to rotate through the spindle 301, and then the spindle 301 is driven to rotate through the spindle 211, and finally the spindle drive is driven to rotate through the spindle 301 is driven to rotate through the spindle 211, and finally, the spindle drive is driven to rotate through the spindle 201 is driven to rotate through the spindle drive spindle 201, when the first piston 304 moves downward, a high-pressure gas environment can be formed below the inside of the driving action cylinder 301, and further, the high-pressure gas enters the inside of the execution action cylinder 306 through the pipeline connecting nozzle 305 and the first conduit 307, so that the second piston 311 is pressed to move downward, finally, the universal wheel 312 is ejected out of the inside of the execution action cylinder 306, the stability of the welcome robot can be realized by matching with the wheels 105 on two sides, meanwhile, the high-pressure gas enters the inside of the air bags 309 on two sides after being shunted by the execution action cylinder 306, the air bags 309 further expand to lift the stopping flap 310, the deflected stopping flap 310 is propped against the rear side of the wheel chair, the situation that the wheel chair falls down to the load bottom plate 201 when being transferred is avoided, the use safety is improved, and as the direction of the guest is acquired in the previous question and answer, the robot realizes the steering through the differential rotation of the hub motors 106 on two sides, and realizes the forward and backward directions, so that the guest can be delivered to a service desk or a guest room and the like under the preset route planning, and the interactive convenience is improved.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. Welcome robot convenient to interaction, including truck subassembly (1), its characterized in that: the trunk assembly (1) comprises a main body (101), a moving unit is arranged at the bottom of the main body (101), a simulation head (103) capable of interacting with a person is arranged at the top of the main body (101), a functional assembly (2) is arranged on one side of the trunk assembly (1), the functional assembly (2) is used for bearing a wheelchair, an auxiliary assembly (3) is arranged on one side, far away from the trunk assembly (1), of the functional assembly (2), and the auxiliary assembly (3) is used for preventing the wheelchair from backing when the greeting robot moves;
the functional component (2) comprises a load bottom plate (201), one end of the load bottom plate (201) is rotationally connected below one side of the main body (101), one side of the top of the load bottom plate (201) is rotationally connected with a push-pull sliding bar (202), a push-pull driving unit is arranged above the outer part of the push-pull sliding bar (202), the push-pull driving unit is arranged in the middle of the inner part of the main body (101), the push-pull driving unit is connected with a handle (211) through a linkage structure, and the outer part of the handle (211) is slidingly connected above the inner part of the main body (101) and can stretch under the action of the push-pull driving unit;
the auxiliary assembly (3) comprises a gas compression unit, a pneumatic balance wheel release unit and two groups of pneumatic wheelchair stopping units, wherein the gas compression unit is connected with the pneumatic balance wheel release unit and the pneumatic wheelchair stopping units through pipelines, the gas compression unit is arranged below the main body (101), the pneumatic balance wheel release unit is arranged in the middle of one side of the load bottom plate (201) away from the main body (101), and the two groups of pneumatic wheelchair stopping units are respectively arranged on two sides of the pneumatic balance wheel release unit and are located inside the load bottom plate (201).
2. The greeting robot for facilitating interaction as claimed in claim 1, wherein: the mobile unit comprises two hub motors (106), stator ends of the two hub motors (106) are respectively arranged at the bottoms of two sides of the main body (101), wheels (105) are arranged outside rotor ends of the hub motors (106), and outer covers (104) are arranged outside the wheels (105) below two sides of the main body (101).
3. The greeting robot for facilitating interaction as claimed in claim 2, wherein: simulation arms (102) are arranged above two sides of the main body (101), and a storage battery (107) is arranged on the other side of the main body (101).
4. The greeting robot for facilitating interaction as claimed in claim 1, wherein: the push-pull drive unit comprises a limiting block (204), the inside sliding connection of limiting block (204) is in the outside top of load bottom plate (201), the inside of limiting block (204) is provided with second pinion (209), one side meshing of second pinion (209) is connected with first rack (203), the inside at push-pull draw runner (202) is installed to one side of first rack (203), the mid-mounting of second pinion (209) has main shaft (213), the inside at main part (101) is connected in the both ends rotation of main shaft (213), the outside mid-mounting of main shaft (213) has first pinion (205), one side meshing of first pinion (205) is connected with drive gear (207), the mid-mounting of drive gear (207) is at the drive end of first motor (206), the inside at main part (101) is installed to the shell of first motor (206).
5. The easy-to-interact greeting robot as defined in claim 4, wherein: the linkage structure comprises a driving disc (208), wherein the middle part of the driving disc (208) is arranged on one side of the outer part of a main shaft (213), the driving disc (208) is connected with a driven disc (214) through a synchronous belt, the middle part of the driven disc (214) is provided with a countershaft, a third pinion (210) is arranged on one side of the outer part of the countershaft, a second rack (212) is meshed and connected above the third pinion (210), and the top of the second rack (212) is arranged on one side of the bottom of a handle (211).
6. The greeting robot for facilitating interaction as claimed in claim 1, wherein: the gas compression unit comprises a driving action cylinder (301), the driving action cylinder (301) is installed below the inside of the main body (101), an oval inner cavity is formed in the driving action cylinder (301), a screw rod (303) is rotationally connected to the middle of the oval inner cavity, the top of the screw rod (303) penetrates through the driving action cylinder (301) and is installed at the driving end of a second motor (302), the bottom of a shell of the second motor (302) is installed at the top of the driving action cylinder (301), a first piston (304) is matched in the inside of the oval inner cavity, and the middle of the first piston (304) is connected to the outside of the screw rod (303) in a threaded mode.
7. The greeting robot for facilitating interaction as claimed in claim 6, wherein: the pneumatic balance wheel release unit comprises an execution action cylinder (306), wherein the execution action cylinder (306) is externally installed at the middle part of one side of a load bottom plate (201) far away from a main body (101), an oval through cavity is formed in the execution action cylinder (306), a second piston (311) is adapted to the inside of the oval through cavity, a universal wheel (312) is installed at the bottom of the second piston (311) and positioned at the inner part of the execution action cylinder (306), a limit column (313) is installed in the middle of the top of the oval through cavity, the lower part of the limit column (313) is slidably connected above the inner part of the second piston (311), one side of the execution action cylinder (306) is installed and communicated with one end of a first guide pipe (307), the middle part of the first guide pipe (307) is installed at the middle part of the load bottom plate (201), the other end of the first guide pipe (307) is installed and communicated with a pipeline connecting nozzle (305), the bottom of the pipeline connecting nozzle (305) is installed at the middle part of one side of the load bottom plate (201) close to the main body (101), and one side of the pipeline connecting nozzle (301) is connected with one side of the lower side of the pipe (301) through the lower part.
8. The greeting robot for facilitating interaction as claimed in claim 7, wherein: the two groups of pneumatic wheelchair retaining units comprise retaining turning plates (310), grooves are formed in two sides of one side of the load bottom plate (201) away from the main body (101), one side of each retaining turning plate (310) is respectively connected with one side groove edge of the corresponding groove away from the main body (101), air bags (309) are respectively mounted at the bottoms of the retaining turning plates (310), the bottoms of the air bags (309) are respectively mounted at the bottoms of the grooves on the two sides, and the air bags (309) are respectively connected with the upper side of the other side of the actuating cylinder (306) through a second guide pipe (308).
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| CN202310513423.2A CN116214548B (en) | 2023-05-09 | 2023-05-09 | Welcome robot convenient to interaction |
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| CN202310513423.2A CN116214548B (en) | 2023-05-09 | 2023-05-09 | Welcome robot convenient to interaction |
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| CN116214548B (en) | 2023-07-04 |
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