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CN207448482U - It is a kind of to follow type service robot of accompanying and attending to towards children - Google Patents

It is a kind of to follow type service robot of accompanying and attending to towards children Download PDF

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Publication number
CN207448482U
CN207448482U CN201720642349.4U CN201720642349U CN207448482U CN 207448482 U CN207448482 U CN 207448482U CN 201720642349 U CN201720642349 U CN 201720642349U CN 207448482 U CN207448482 U CN 207448482U
Authority
CN
China
Prior art keywords
head
chassis
children
pedestal
attending
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
CN201720642349.4U
Other languages
Chinese (zh)
Inventor
肖晓晖
凌杰
王斌
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Jiangsu Isaac Robot Ltd By Share Ltd
Original Assignee
Jiangsu Isaac Robot Ltd By Share Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Jiangsu Isaac Robot Ltd By Share Ltd filed Critical Jiangsu Isaac Robot Ltd By Share Ltd
Priority to CN201720642349.4U priority Critical patent/CN207448482U/en
Application granted granted Critical
Publication of CN207448482U publication Critical patent/CN207448482U/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

It is a kind of to follow type service robot of accompanying and attending to towards children.It is related to robotic technology field, is related to a kind of basic machine structure for following type service robot of accompanying and attending to towards children, it is specifically a kind of to realize robot forward-reverse, the mechanical structure for yaw motion of nodding.Propose a kind of delicate structure, having stable behavior, flexibility are good and reliability is high, when use, can effectively solve the problems, such as how to follow children, and carry out between children stablizing interaction follows type service robot of accompanying and attending to towards children.Including body chassis, trunk mechanism and head mechanism.The both sides of the neck base stent are fixedly linked respectively with chassis, neck base, and the holder,head is fixedly connected in neck base.The utility model has overall structure simple and compact, without extra mechanism, saves space;The movement on head and chassis is independent of each other, and kinetic stability is good;Wheel type movement is flexible, stablizes, the control very well such as movement velocity.

Description

It is a kind of to follow type service robot of accompanying and attending to towards children
Technical field
The utility model is related to robotic technology field, it is related to and a kind of follows type service robot of accompanying and attending to towards children Basic machine structure, it is specifically a kind of to realize robot forward-reverse, the mechanical structure for yaw motion of nodding.
Background technology
Robot technology is one of 21 century most representational new and high technology, combines multidisciplinary field, especially closely The maturation of the technologies such as artificial intelligence technology, recognition of face, interactive voice, video interactive, security and guard technology, promotes intelligent over year The development of product, looking after children robot are exactly one of its product.It is referred to as within 2015 the artificial intelligence first year, it is 2016, intelligent Robot blowout of accompanying and attending to is broken out, an important component of the looking after children robot as robot of accompanying and attending to, the additional country Nearly 70,000,000 stay-at-home children, rise is inevitable, researches and develops its correlation technique and has broad application prospects and huge city Field value.
Before artificial intelligence technology appearance, robot field is mainly industrial robot, and it is multiple to be engaged in some instead of the mankind Miscellaneous, dangerous work improves the efficiency of work.Artificial intelligence technology occur after, service robot quietly rises, and gradually into Enter the occasions such as family, restaurant, looking after children robot species currently on the market is various, education, monitoring, interaction etc..
There have been many classifications in robot of today of accompanying and attending to, makes great progress, but has some defects, first It is to follow, children are active, and robot of accompanying and attending to will take on " personal bodyguard ", some looking after children robots do not follow work( Can, most is still educational;Followed by with the natural interaction of children, the burring of children, robot needs in understanding The mandarin of standard is wanted, this results in the obstacle that robot is interacted with children;Finally, it is exactly self-learning ability, how keeps up with child Paces.
Utility model content
The utility model is in view of the above problems, propose that a kind of delicate structure, having stable behavior, flexibility be good and reliability Height, when use, can effectively solve the problems, such as how to follow children, and carry out between children stablizing interaction towards children with With type service robot of accompanying and attending to.
The technical solution of the utility model is:Including body chassis, trunk mechanism and head mechanism.
The body chassis includes chassis, a pair of driving wheels, at least two buphthalmos wheels and a pair of of stepper motor;
The stepper motor is fixedly connected on chassis and center symmetric setting of two stepper motors along chassis, described in two Driving wheel is connected to one side of two stepper motors away from center chassis, and at least two buphthalmos wheels removably connect Below chassis.
The trunk mechanism includes neck base, neck base stent and holder,head;
The both sides of the neck base stent are fixedly linked respectively with chassis, neck base, and the holder,head, which is fixed, to be connected It is connected in neck base.
The head mechanism include nodding mechanism base, a pair of of steering engine, a pair of of drive bevel gear, a pair of of driven wheel of differential, Camera installation pedestal, lock shaft and pedestal of shaking the head;
The mechanism base of nodding is fixedly connected on holder,head, and the drive bevel gear and driven wheel of differential can revolve Being connected in pedestal and matching somebody with somebody two-by-two for turning is combined into differential attachment, and two steering engines are connected respectively with two drive bevel gears, institute The one end for stating lock shaft is fixedly linked and the other end is hinged with another driven wheel of differential with wherein one driven wheel of differential, The pedestal of shaking the head is fixedly connected on lock shaft, and the camera installation pedestal, which is fixedly connected on, shakes the head on pedestal.
When right side stepper motor rotates, left side stepper motor is motionless, it can be achieved that original place during the utility model use Counterclockwise motion, conversely, flicker movement then can be achieved;When two stepper motors rotate in same direction, pass through the speed that it is controlled to rotate Degree, you can it realizes and advances, retreats, movement of turning left to turn right.So that this case has the characteristics that flexible movements on the whole, Solve the problems, such as how to follow children.
At the same time, when two drive bevel gears rotate in a reverse direction, then can driving lock shaft rotation, so as to drive Pedestal and the camera installation pedestal of shaking the head are with lock shaft to being done for the center of circle or the swing of left or right;When two drive bevel gears are with phase With direction rotate when, then lock shaft locks motionless, so that shake the head pedestal and camera installation pedestal are with active conical tooth It takes turns to and is done for the center of circle or front or rear swing.In this way, it may be such that shake the head in this case pedestal and camera installation pedestal can be steady Determine, efficiently realize the action shaken the head or nodded, so as to complete the good interaction between children.
The utility model has the following advantages on the whole:First, overall structure simple and compact without extra mechanism, is saved Space;2nd, the movement on head and chassis is independent of each other, and kinetic stability is good;3rd, wheel type movement is flexible, stablizes, movement velocity Deng fine control.
Description of the drawings
Fig. 1 is the structure diagram of this case,
Fig. 2 is the structure diagram of body chassis in this case,
Fig. 3 is the explosive view of Fig. 2,
Fig. 4 is the structure diagram of trunk mechanism in this case,
Fig. 5 is the structure diagram of head mechanism in this case,
Fig. 6 is the explosive view of Fig. 5;
A is body chassis in figure, and 1 is chassis, and 5 be driving wheel, and 2 be buphthalmos wheel, and 3 be shaft coupling, and 4 be stepper motor, and 5 are Driving wheel, 6 be stepper motor driver;
B is trunk mechanism, and 7 be neck base stent, and 8 be power pack, and 9 be holder,head, and 10 be tablet installing plate, and 11 are Neck brace;
C is head mechanism, and 12 be steering engine, 13 is steering wheel, 14 is connector, 15 be bearing, and 16 be drive bevel gear, and 17 are It nods mechanism base, 18 be driven wheel of differential, and 19 be gasket, and 20 be pedestal of shaking the head, and 21 be camera installing mechanism, and 22 be locking Axis.
Specific embodiment
The utility model as shown in figures 1 to 6, including body chassis A, trunk mechanism B and head mechanism C.
The body chassis A includes chassis 1, a pair of driving wheels 5, at least two buphthalmos wheels 2, a pair of of shaft coupling 3, Yi Duibu Stepper motor 4 and a pair of of stepper motor driver 6;
The stepper motor 4, stepper motor driver 6 are fixedly connected on chassis 1 and two stepper motors are along chassis Center symmetric setting, two driving wheels 5 are connected to two stepper motors 4 away from center chassis by two shaft couplings 3 respectively One side so that two driving wheels rotate under the driving of different stepper motors, and at least two buphthalmos wheels 2 removably connect Below chassis 1.So that the problems such as chassis keeps stablizing, avoiding it appearance is crooked, topple.In use, pass through bottom Machine gives stepper motor driver pulse signal, and Driving Stepping Motor rotates.When right side stepper motor rotate, left side stepper motor not , it can be achieved that flicker moves when dynamic, conversely, flicker movement then can be achieved;When two stepper motors rotate in same direction, pass through The speed that it is controlled to rotate, you can it realizes and advances, retreats, movement of turning left to turn right.So that this case has on the whole The characteristics of flexible movements, solve thes problems, such as how to follow children.
The trunk mechanism B includes neck base 11, neck base stent 7, power pack 8, holder,head 9 and tablet installation Plate 10;
The both sides of the neck base stent 7 can by screw or with glue respectively with chassis 1, neck base 11 are fixedly linked, and the power pack 8, tablet installing plate 10 are fixedly connected on glue in neck base 11, the holder,head 9 It is fixedly connected on by screw in neck base 11.
The head mechanism C is driven including mechanism base 17 of nodding, a pair of of steering engine 12, a pair of of drive bevel gear 16, a pair Bevel gear 18, camera installation pedestal 21, gasket 19, lock shaft 22, a pair of of steering wheel 13, a pair of of connector 14, a pair of bearings 15 With pedestal 20 of shaking the head;
The mechanism base 17 of nodding is fixedly connected on by screw on holder,head 9, by specific structure convenient for peace Fill remaining parts of head mechanism, the drive bevel gear 16 and driven wheel of differential 18 be rotatably attached in pedestal, And match somebody with somebody be combined into differential attachment two-by-two(Two drive bevel gears are oppositely arranged, and two driven wheel of differential are oppositely arranged and and active conical tooth Wheel is vertical, and the driven wheel of differential is arranged between two drive bevel gears and its both sides is mutually nibbled respectively with two drive bevel gears It closes), two steering engines 12 are connected respectively by two steering wheels 13, connector 14 with two drive bevel gears 16, so as to be initiative taper Gear 16 provides power, and the drive bevel gear 16 is coordinated by bearing 15 and mechanism base 17 of nodding, the lock shaft 22 One end is fixedly linked with wherein one driven wheel of differential 18 and the other end is hinged with another driven wheel of differential, described to shake the head Pedestal 20 is fixedly connected on lock shaft 22, the gasket 19 be socketed the lock shaft 22 and positioned at shake the head pedestal 20 and with lock Between the hinged driven wheel of differential of mandrel 22, the camera installation pedestal 21, which is fixedly connected on, shakes the head on pedestal 20.It uses When, the rotation of two drive bevel gears can be respectively driven by two steering engines.When two drive bevel gears rotate in a reverse direction, then may be used Driving lock shaft rotates, so as to drive shake the head pedestal and camera installation pedestal with lock shaft to being done for the center of circle or left or right It swings;When two drive bevel gears rotate in the same direction, then lock shaft locks motionless, pedestal and is taken the photograph so that shaking the head It is done as head installation pedestal is taken turns to active conical tooth for the center of circle or front or rear swing.In this way, it may be such that pedestal of shaking the head in this case And camera installation pedestal can be stablized, efficiently realize the action shaken the head or nodded, it is good between children so as to complete Interaction.

Claims (1)

1. a kind of follow type service robot of accompanying and attending to towards children, which is characterized in that including body chassis, trunk mechanism and head Portion mechanism;
The body chassis includes chassis, a pair of driving wheels, at least two buphthalmos wheels and a pair of of stepper motor;
The stepper motor is fixedly connected on chassis and center symmetric setting of two stepper motors along chassis, two drivings Wheel is connected to one side of two stepper motors away from center chassis, and at least two buphthalmos wheels are removably attachable to the bottom of at Below disk;
The trunk mechanism includes neck base, neck base stent and holder,head;
The both sides of the neck base stent are fixedly linked respectively with chassis, neck base, and the holder,head is fixedly connected on In neck base;
The head mechanism includes nod mechanism base, a pair of of steering engine, a pair of of drive bevel gear, a pair of of driven wheel of differential, camera shooting Head installation pedestal, lock shaft and pedestal of shaking the head;
The mechanism base of nodding is fixedly connected on holder,head, and the drive bevel gear and driven wheel of differential are rotatable It is connected in pedestal and two-by-two with differential attachment is combined into, two steering engines is connected respectively with two drive bevel gears, the lock One end of mandrel is fixedly linked with wherein one driven wheel of differential and the other end is hinged with another driven wheel of differential, described Pedestal of shaking the head is fixedly connected on lock shaft, and the camera installation pedestal, which is fixedly connected on, shakes the head on pedestal.
CN201720642349.4U 2017-06-05 2017-06-05 It is a kind of to follow type service robot of accompanying and attending to towards children Expired - Fee Related CN207448482U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201720642349.4U CN207448482U (en) 2017-06-05 2017-06-05 It is a kind of to follow type service robot of accompanying and attending to towards children

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201720642349.4U CN207448482U (en) 2017-06-05 2017-06-05 It is a kind of to follow type service robot of accompanying and attending to towards children

Publications (1)

Publication Number Publication Date
CN207448482U true CN207448482U (en) 2018-06-05

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ID=62246234

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Application Number Title Priority Date Filing Date
CN201720642349.4U Expired - Fee Related CN207448482U (en) 2017-06-05 2017-06-05 It is a kind of to follow type service robot of accompanying and attending to towards children

Country Status (1)

Country Link
CN (1) CN207448482U (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113213082A (en) * 2021-04-25 2021-08-06 中国核电工程有限公司 Transfer device, article reciprocating transfer line and article transfer method

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113213082A (en) * 2021-04-25 2021-08-06 中国核电工程有限公司 Transfer device, article reciprocating transfer line and article transfer method

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GR01 Patent grant
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CF01 Termination of patent right due to non-payment of annual fee
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20180605

Termination date: 20210605