Waist rotating device of service robot

Abstract

The invention relates to a waist rotating device of a service robot. The device comprises a body bracket, a body shell and a chassis bracket, the device is characterized in that a transmission and position detection device is arranged above the body bracket, a body fixing plate and a waist gear set are arranged below the body bracket, the body shell is arranged on the outer side of the body bracket, and the bottom end of the body shell is fixed between the body bracket and the body fixing plate; the waist gear set is arranged on the inner side of the body fixing plate; and a bearing assembly is arranged below the body fixing plate and the waist gear set. The device is simple in structure and high in practicability, due to the fact that an inner ring of the bearing assembly is limited and fixed, an outer ring of the bearing assembly is rotatable, the bearing assembly and a transmission and position monitoring device are combined, relative rotation of a robot body and a chassis can be finally achieved, namely free rotation of a waist of the robot is achieved, meanwhile, a rotation angle is monitored in real time according to position pulse signals returned by an encoder through a body master controller, the body master controller adjusts output data of a motor controller, and therefore, the rotation angle of the waist is accurately controlled.

Description

technical field [0001] The invention relates to a waist rotation device of a service robot, which belongs to the technical field of robots. Background technique [0002] At present, service robots have been widely used in various industries, and the waist rotation structure of service robots is a very important part of the robot structure. It plays the role of supporting the skeleton of the robot's upper body and chassis. The fuselage of some service robots is welded together with the lower limbs or chassis structure, and the rotation of the fuselage cannot be realized. Moreover, most of the service robots currently used in the catering industry walk along designated guide rails and need to turn around at any time during the process of delivering food to customers, while robots whose waists cannot rotate can only turn around by turning the walking wheels. It is easy to cause wear and tear on the walking wheels of the chassis, and it may also cause problems such as food spil...

AI Technical Summary

Problems solved by technology

[0002] At present, service robots have been widely used in various industries, and the waist rotation structure of service robots is a very important part of the robot structure. It plays the role of supporting the skeleton of the robot's upper body and chassis. Part of the service robot fuselage is welded together with the lower limbs or chassis structure, and the rotation of the fuselage cannot be realized

Moreover, most of the service robots currently used in the catering industry walk along designated guide rails and need to turn around at any time during the process of delivering food to customers, while robots whose waists cannot rotate can only turn around by turning the walking wheels. It is easy to cause wear and tear on the walking wheels of the chassis, and it may also cause problems such as food leakage due to the uneven rotation of the walking wheels

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