WO2018161196A1 - Robot mechanism for family service - Google Patents

Abstract

A robot mechanism for a family service comprises a mechanical arm (1), a vehicle body (25), and a lead screw lifting mechanism (27). The upper end of the mechanical arm (1) is a manipulator grip (2). A driving shaft (5) of a motor 1 (4) is connected to the bottom end of the manipulator grip (2) by means of a turbine (3). The manipulator grip (2) and the turbine (3) are concentrically fixed and are fixed on a support 1 (6) by means of bolts. The motor 1 (4) is fixed to the top surface of the support 1 (6) by a by means of a bolt, and the support 1 (6) is connected to a support 2 (7) by means of a bolt. A motor 2 (8) is suspended and fixed to the top end of the support 2 (7) by means of a bolt, and the motor 1 (4) and the motor 2 (8) are concentrically fixed on a vertical line. A sleeve 1 (9) is fixed to the bottom end of the support 2 (7) in the horizontal direction by means of a screw. A motor 3 (10) is connected to one side of the sleeve 1 (9) by means of a shaft. The mechanism has the effects of low cost and simple structure.

Description

 A new type of home service robot

 Technical field

 [0001] The utility model belongs to the field of service robot equipment, and particularly relates to a novel home service robot mechanism.

 [0002] At present, the growing population of our country and the rapid increase in the number of disabled people have greatly increased the pressure of social care. The use of home service robots is an effective means of reducing the pressure of social care, so family service robots have gradually become a hot topic at home and abroad.

 technical problem

 Problem solution

 Technical solution

[0003] The utility model is realized by the following technical solutions: A novel home service robot mechanism, comprising a mechanical arm, a vehicle body and a screw lifting mechanism, wherein the uppermost end of the mechanical arm is a mechanical hand grasping: the bottom of the mechanical hand grasping The end is connected to the driving shaft of the electric motor 1 through a turbine: the robot grip and the turbine are concentrically fixed and fixed to the bracket 1 by bolts; the motor 1 is fixed on the top surface of the bracket 1 by bolts; The bracket 1 is connected to the bracket 2 by bolts; the top end of the bracket 2 is suspended and fixed to the motor 2 by bolts; and the motor 1 and the motor 2 are concentrically fixed on a vertical line; the bottom end of the bracket 2 is screwed horizontally Fixing the sleeve 1; one side of the sleeve 1 is connected to the motor 3 via a shaft; the motor 3 is mounted on one side of the bracket 3; the bottom end of the bracket 3 is connected with a bracket 4; The bracket 4 is a vertically fixed rectangular solid structure; the front surface of the bracket 4 is fixed with a groove type reinforcing frame by bolts; the bottom end of the bracket 4 is connected with a bracket 5; the bracket 4 and the bracket 5 are integrated Pressing and forming; the bottom end of the bracket 5 is horizontally fixed with a shaft 2; the shaft 2 is inserted into the sleeve 2 and the rolling bearing is matched in the connecting surface to match the shaft 2; the other end of the sleeve 2 is screwed a top end of the bracket 6; the driven end of the shaft 2 is connected to the motor 4 via a timing belt; and the shaft 2 and the motor 4 are juxtaposed on the side of the bracket 6; the bottom end of the bracket 6 passes a screw 3 is coupled to the shaft 3; the shaft 3 is coupled to the sleeve 3 via a rolling bearing 2; the sleeve 3 is fixed to the surface of the base by screws; and the motor 5 is mounted on the back of the sleeve 3; The lower end of the base is connected to the triangular body by bolts; the three-corner wheel of the triangular body is fixed with a universal wheel; and the triangular body is provided with a screw lifting mechanism. As a further optimization scheme of the utility model, the effective stroke of the screw lifting mechanism is 400 mm, and the lead screw is lifted by the motor. As a further optimization of the present invention, the motor 1, the motor 2, the motor 3, the motor 4, and the motor 5 are of the MAXON motor. As a further optimisation of the invention, the shaft 3 and the motor 5 are mounted vertically on the base and connected to each other by a timing belt. Compared with existing technologies,

 Advantageous effects of the invention

 Beneficial effect

 [0004] The new cost is low, the structure is simpler, and more functions can be realized.

 Brief description of the drawing

 DRAWINGS

 1 is a three-dimensional schematic view of a mechanical arm of the present invention. Figure 2 is a front elevational view of the structure of the present invention. Figure 3 is a cross-sectional view showing the structure of the present invention. In the figure: 1, the robot arm; 2, the robot grip; 3, the turbine; 4, the motor 1; 5, drive the shaft; 6, the bracket 1; 7, the bracket 2; 8, the motor 2; 9, the sleeve 1; Motor 3; 11, bracket 3; 12, bracket 4; 13, stiffener; 14, bracket 5; 15, shaft 2; 16, sleeve 2; 17, rolling bearing; 18, bracket 6; 19, motor 4; Sleeve 3; 21, rolling bearing 2; 22, sleeve 3; 23, base; 24, motor 5; 25, triangular body; 26, universal wheel; 27, screw lifting mechanism.

Embodiments of the invention

[0006] As shown in FIG. 1-3, a novel home service robot mechanism includes a mechanical arm (1), a vehicle body (25), a screw lifting mechanism (27), and an uppermost end of the mechanical arm (1). For the robot (2): the bottom end of the robot grip (2) is connected to the driving shaft (5) of the motor 1 (4) through the turbine (3): the robot grip (2) and the turbine (3) It is concentrically fixed and bolted to bracket 1 (6). The motor 1 (4) is fixed to the top surface of the bracket 1 (6) by bolts; the bracket 1 (6) is bolted to the bracket 2 (7). The top end of the bracket 2 (7) is suspended by a bolt to fix the motor 2 (8) . And the motor 1 (4) and the motor 2 (8) are concentrically fixed on a vertical line; the bottom end of the bracket 2 (7) is fixed in a horizontal direction by a sleeve 1 (9). The motor 3 (10) is connected to one side of the sleeve 1 (9) by a shaft. The motor 3 (10) is mounted on one side of the bracket 3 (11); the bottom end of the bracket 3 (11) is connected to the bracket 4 (12). And the bracket 4 (12) is a vertically fixed rectangular solid structure. A groove-type reinforcing frame (13) is mounted on the front surface of the bracket 4 (12) by bolts; a bracket 5 (14) is connected to the bottom end of the bracket 4 (12). The bracket 4 (12) and the bracket 5 (14) are integrally formed by stamping. The bottom end of the bracket 5 (14) is horizontally fixed with a shaft 2 (15). The shaft 2 (15) is inserted into the sleeve 2 (16) and is connected in-plane with a rolling bearing (17) of a size matching with the shaft 2 (15). The other end of the sleeve 2 (16) is screwed to the top end of the bracket 6 (18); the driven end of the shaft 2 (15) is connected to the motor 4 (19) via a timing belt. And the shaft 2 (15) and the motor 4

(19) is juxtaposed and fixed on one side of the bracket 6 (18); the bottom end of the bracket 6 (18) is connected to the shaft 3 (20) by screws. The shaft 3 (20) is connected to the sleeve 3 (22) by a rolling bearing 2 (21). The sleeve 3 (22) is fixed to the face of the base (23) by screws. An electric motor 5 (24) is mounted on the back of the sleeve 3 (22). The lower end of the base (21) is bolted to the triangular body (25); the three-corner of the triangular body (25) is fixed with a universal wheel (26). A screw lift mechanism (27) is added to the triangular body (25). The effective travel of the lead screw lifting mechanism (27) is 400 mm, and the lead screw is lifted by the motor. The motor 1 (4), the motor 2 (8), the motor 3 (10), the motor 4 (19), and the motor 5 (24) are of the type MAXON motor; the shaft 3 (20) and the motor 5 (24) Mounted vertically on the base (21) and connected to each other by a timing belt.

Sequence table free content

 The basic principles, main features and advantages of the present invention have been shown and described above. It should be understood by those skilled in the art that the present invention is not limited by the foregoing embodiments. The foregoing embodiments and the description are merely illustrative of the principles of the present invention, without departing from the spirit and scope of the present invention. There are various changes and modifications in the novel types which fall within the scope of the claimed invention. The scope of the invention is defined by the appended claims and their equivalents. .

Claims

Claim  [Claim 1] A novel home service robot mechanism includes a mechanical arm, a vehicle body, and a screw lifting mechanism, wherein: the uppermost end of the mechanical arm is a robot grip: the bottom end of the robot grip is connected through a turbine Driving shaft of the motor 1: The robot grip and the turbine are concentrically fixed and fixed to the bracket 1 by bolts. The motor 1 is fixed to the top surface of the bracket 1 by bolts; the bracket 1 is connected to the bracket 2 by bolts. The top end of the bracket 2 is fixed by a bolt to fix the motor 2; and the motor 1 and the motor 2 are concentrically fixed on a vertical line; the bottom end of the bracket 2 is fixed to the sleeve 1 by screws in a horizontal direction. The motor 3 is connected to one side of the sleeve 1 by a shaft; the motor 3 is mounted on one side of the bracket 3. a bracket 4 is connected to the bottom end of the bracket 3; and the bracket 4 is a vertically fixed rectangular three-dimensional structure; a groove-type reinforcing frame is mounted on the front surface of the bracket 4 by bolts; Bracket 5. The bracket 4 and the bracket 5 are integrally formed by stamping; the bottom end of the bracket 5 is horizontally fixed with a shaft 2. The shaft 2 is inserted into the sleeve 2 and the rolling bearing of the shaft 2 is matched in the connecting surface; the other end of the sleeve 2 is screwed to the top end of the bracket 6; the driven end of the shaft 2 is synchronized The belt is connected to the motor 4. The shaft 2 and the motor 4 are juxtaposed on the side of the bracket 6; the bottom end of the bracket 6 is connected to the shaft 3 by screws; the shaft 3 is connected to the sleeve 3 via a rolling bearing 2. The sleeve 3 is fixed to the surface of the base by screws; the motor 5 is mounted on the back of the sleeve 3. The lower end of the base is connected to the triangular body by bolts; the three corners of the triangular body are fixed with a universal wheel; and the triangular body is provided with a screw lifting mechanism.  [Claim 2] A novel home service robot mechanism according to claim 1, wherein: the effective stroke of the lead screw lifting mechanism is 400 mm, and the lead screw is lifted by the motor.  [Claim 3] A novel home service robot mechanism according to claim 1, wherein the motor 1, the motor 2, the motor 3, the motor 4, and the motor 5 are of the MAX ON motor.  [Claim 4] A novel home service robot mechanism according to claim 1, wherein: the shaft 3 and the motor 5 are vertically mounted on the base and connected to each other by a timing belt.