Intelligent service terminal

Abstract

The utility model belongs to the technical field of intelligent service, and relates to an intelligent service terminal which comprises a base, mechanical legs connected to the left side and the right side of the base and a manipulator connected to the base. The mechanical leg comprises a thigh unit, a shank unit, a knee joint motor and a hip joint motor, the thigh unit comprises a thigh support, the shank unit comprises a shank support, a first advancing wheel device and a second advancing wheel device, and the lower end of the thigh support is rotationally connected to the shank support; the knee joint motor is used for driving the thigh support to rotate around a first axis relative to the shank support, and the hip joint motor is used for driving the base to rotate around a second axis relative to the thigh support; the first axis is located between the first advancing wheel device and the second advancing wheel device. The intelligent service terminal disclosed by the utility model can well consider the flexibility of a flat road surface and the obstacle crossing trafficability of a complex road condition, and has stronger obstacle crossing capability.

Description

Technical Field

[0001] The utility model belongs to the technical field of intelligent services, and particularly relates to an intelligent service terminal. Background Art

[0002] The wheel-legged robot is a new type of robot. Due to its ability to walk and carry a manipulator, it has great application prospects in industry and commerce.

[0003] After the existing wheel-legged robot is equipped with a robotic arm and a gripper, due to its walkable wheels and flexible manipulator, it can complete tasks such as cargo grabbing and food delivery. However, the existing wheel-legged robot only has a simple two-wheel or four-wheel drive structure, which results in poor mobility and turning ability, and can only be used in a single scenario. It cannot move flexibly and avoid obstacles on some narrow roads. Moreover, due to the fixed shape of its wheels, the height of its wheel-legged body is fixed, resulting in a fixed grasping space range for the robotic arm and gripper carried.

[0004] Therefore, it is necessary to design a wheel-legged robot that can achieve the switching between four wheels and two wheels. Summary of the Utility Model

[0005] The technical problem to be solved by the utility model is to provide an intelligent service terminal to achieve the switching between four wheels and two wheels.

[0006] To solve the above technical problem, an embodiment of the utility model provides an intelligent service terminal, which includes a base, mechanical legs connected to the left and right sides of the base, and a manipulator connected to the base.

[0007] Each mechanical leg includes a thigh unit, a calf unit, a knee joint motor, and a hip joint motor. The thigh unit includes a thigh bracket. The calf unit includes a calf bracket, a first traveling wheel device connected to the front end of the calf bracket, and a second traveling wheel device connected to the rear end of the calf bracket. The lower end of the thigh bracket is rotatably connected to the calf bracket.

[0008] The knee joint motor is used to drive the thigh bracket to rotate relative to the calf bracket around a first axis, and the hip joint motor is used to drive the base to rotate relative to the thigh bracket around a second axis. Wherein, the first axis is located between the first traveling wheel device and the second traveling wheel device.

[0009] The manipulator is used to grab an object.

[0010] In the intelligent service terminal according to the embodiment of the present utility model, the knee joint motor drives the thigh bracket to rotate relative to the calf bracket around the first axis. By controlling the output speed and torque of the knee joint motor and transmitting such speed, torque, etc. to the calf unit through the output shaft end, the attitude and center of gravity of the intelligent service terminal are adjusted and maintained. In this way, the angle adjustment between the thigh unit and the calf unit can be accurately and effectively realized. The angle adjustment between the thigh unit and the calf unit can change the relative angle between the thigh unit and the calf unit, so that at least one of the first traveling wheel device connected to the front end of the calf bracket and the second traveling wheel device connected to the rear end of the calf bracket can be separated from the ground. In this way, the intelligent service terminal can realize the switching between the two-wheel drive mode (only one of the first traveling wheel device and the second traveling wheel device touches the ground) and the four-wheel drive mode (both the first traveling wheel device and the second traveling wheel device touch the ground), realizing two forms of the intelligent service terminal: two-wheel drive and four-wheel drive.

[0011] The user can control the intelligent service terminal in real time through the control unit or give a predefined program to the intelligent service terminal to make it execute the given related tasks. After receiving the task instruction given by the user, the intelligent service terminal will move to the destination to grab an object. During the movement of the intelligent service terminal, if the environment is a wide ground, the intelligent service terminal will switch to the four-wheel drive mode so that the intelligent service terminal can move smoothly; if the environment where the robot is located is a narrow space, the intelligent service terminal will switch to the two-wheel mode, so that it can move more flexibly in the narrow space; similarly, when the intelligent service terminal grabs an object, if the height of the object is too high and the manipulator cannot grab the target object in the four-wheel form, the intelligent service terminal will switch to the two-wheel form to increase the reach height of the manipulator. On the contrary, when the position of the object to be grabbed is relatively low, the intelligent service terminal will switch to the four-wheel form to increase the lowest reach height of the manipulator.

[0012] When the intelligent service terminal is switched to the two-wheel drive mode, it can also realize flexible and fast driving on flat ground or gentle slope working conditions; when the intelligent service terminal is switched to the four-wheel drive mode, it can also ensure the obstacle-crossing passability of the intelligent service terminal under complex working conditions such as continuous steps, uneven roads and steep slopes. Therefore, the intelligent service terminal can well balance the flexibility of flat ground and the obstacle-crossing passability of complex road conditions, and has strong obstacle-crossing ability.

[0013] Optionally, the first traveling wheel device includes a first motor and a first traveling wheel connected to the output shaft end of the first motor; the first motor is used to drive the first traveling wheel to rotate relative to the calf bracket around the third axis;

[0014] The second traveling wheel device includes a second motor and a second traveling wheel connected to the output shaft end of the second motor; the second motor is configured to drive the second traveling wheel to rotate relative to the calf bracket about a fourth axis.

[0015] Optionally, the first axis, the second axis, the third axis, and the fourth axis are parallel.

[0016] Optionally, the distance between the axis of the first motor and the first axis is greater than the distance between the axis of the second motor and the first axis.

[0017] Optionally, the knee joint motor and the hip joint motor are mounted on the base;

[0018] It further includes a first transmission mechanism and a second transmission mechanism. The knee joint motor is configured to drive the thigh bracket to rotate relative to the calf bracket about the first axis through the first transmission mechanism, and the hip joint motor is configured to drive the base to rotate relative to the thigh bracket about the second axis through the second transmission mechanism.

[0019] Optionally, the first transmission mechanism is a four-bar linkage mechanism. The first transmission mechanism includes a knee joint output link, a knee joint link, a first thigh bracket link, and a calf bracket link. The knee joint output link is connected to the output shaft end of the knee joint motor;

[0020] The first end of the knee joint output link is hinged to the first end of the first thigh bracket link about a fifth axis at a first hinge point. The second end of the knee joint output link is hinged to the first end of the knee joint link about a sixth axis at a second hinge point. The second end of the knee joint link is hinged to the first end of the calf bracket link about a seventh axis at a third hinge point. The second end of the calf bracket link is hinged to the second end of the first thigh bracket link about an eighth axis at a fourth hinge point; wherein, the fifth axis, the sixth axis, the seventh axis, and the eighth axis are parallel.

[0021] Optionally, the quadrilateral connecting the first hinge point, the second hinge point, the third hinge point, and the fourth hinge point is a parallelogram.

[0022] Optionally, the thigh bracket is a hollow structure, and the knee joint output link and the knee joint link are disposed inside the thigh bracket.

[0023] Optionally, the output shaft end of the knee joint motor is connected to the first end of the knee joint output link, and the axis of the knee joint motor coincides with the fifth axis.

[0024] Optionally, the second transmission mechanism is a four-bar linkage mechanism, which includes a hip joint output link, a hip joint link, a second thigh bracket link, and a base link. The hip joint output link is connected to the output shaft end of the hip joint motor.

[0025] The first end of the hip joint output link is hinged to the first end of the base link at a fifth hinge point about a ninth axis, the second end of the hip joint output link is hinged to the first end of the hip joint link at a sixth hinge point about a tenth axis, the second end of the hip joint link is hinged to the first end of the second thigh bracket link at a seventh hinge point about an eleventh axis, and the second end of the second thigh bracket link is hinged to the second end of the base link at an eighth hinge point about a twelfth axis. Among them, the ninth axis, the tenth axis, the eleventh axis, and the twelfth axis are parallel.

[0026] Optionally, the quadrilateral connecting the fifth hinge point, the sixth hinge point, the seventh hinge point, and the eighth hinge point is a parallelogram.

[0027] Optionally, the output shaft end of the hip joint motor is connected to the first end of the hip joint output link, and the axis of the hip joint motor coincides with the ninth axis.

[0028] Optionally, the hip joint motor is located in front of the knee joint motor.

[0029] Optionally, the base includes a top plate, a bottom plate, a left side plate, and a right side plate. The left side plate is connected between the left side of the top plate and the left side of the bottom plate, and the right side plate is connected between the right side of the top plate and the right side of the bottom plate. The top plate, the bottom plate, the left side plate, and the right side plate enclose an accommodation cavity, and the knee joint motor and the hip joint motor are located in the accommodation cavity.

[0030] The knee joint motor and the hip joint motor on the left side are installed on the inner side of the left side plate, and the knee joint motor and the hip joint motor on the right side are installed on the inner side of the right side plate.

[0031] Optionally, the base further includes a rear side plate, which is provided at the rear side of the accommodation cavity.

[0032] Optionally, it further includes a control unit, a battery, and a driver. The control unit and the battery are installed on the base, the driver is installed on the thigh bracket or the base, the control unit is respectively connected to the driver, the battery, and the mechanical flashlight, and the driver is respectively electrically connected to the knee joint motor, the hip joint motor, the first motor, and the second motor.

[0033] Optionally, the mechanical hand is a seven-degree-of-freedom mechanical hand.

[0034] Optionally, the manipulator includes a robotic arm and a gripper. The robotic arm is used to drive the gripper to move in a three-dimensional space, and the gripper is used to grasp an object.

[0035] Optionally, the robotic arm includes a base, and a first joint motor, a second joint motor, a third joint motor, a fourth joint motor, a fifth joint motor, a sixth joint motor, and a seventh joint motor that are sequentially connected. The base is fixed on the pedestal, and the rotation axis of the first joint motor extends in the left-right direction;

[0036] The rotation axes of the first joint motor, the second joint motor, and the third joint motor intersect at a point; the rotation axes of the third joint motor, the fourth joint motor, and the fifth joint motor intersect at a point; the rotation axis of the sixth joint motor is perpendicular to and non-coplanar with the rotation axis of the seventh joint motor; among the first joint motor, the second joint motor, the third joint motor, the fourth joint motor, the fifth joint motor, and the sixth joint motor, the rotation axes of two adjacent joint motors are perpendicular and coplanar.

[0037] Optionally, it further includes a first and second axis connecting piece, a second and third axis connecting piece, an upper arm, a fourth axis base, a fourth axis output flange, a fifth axis base, a fifth and sixth axis connecting piece, a sixth axis motor output flange shaft, a connecting flange, a link mechanism, a seventh axis motor seat, and a seventh axis output piece;

[0038] The input end of the first joint motor is fixedly connected to the base, the output end of the first joint motor is fixedly connected to the input end of the first and second axis connecting piece, the output end of the first and second axis connecting piece is fixedly connected to the input end of the second joint motor, the output end of the second joint motor is fixedly connected to the input end of the second and third axis connecting piece, the output end of the second and third axis connecting piece is fixedly connected to the input end of the third joint motor, the output end of the third joint motor is fixedly connected to the input end of the upper arm, the output end of the upper arm is fixedly connected to the input end of the fourth axis base, the output end of the fourth axis base is fixedly connected to the input end of the fourth joint motor, the output end of the fourth joint motor is fixedly connected to the input end of the fourth axis output flange, the output end of the fourth axis output flange is fixedly connected to the input end of the fifth joint motor, the output end of the fifth joint motor is fixedly connected to the input end of the fifth axis base, the output end of the fifth axis base is fixedly connected to the input end of the fifth and sixth axis connecting piece, the output end of the fifth and sixth axis connecting piece is fixedly connected to the input end of the sixth joint motor, the output end of the sixth joint motor is connected to the input end of the seventh axis motor seat through a transmission component, the output end of the seventh axis motor seat is connected to the input end of the seventh joint motor, and the output end of the seventh joint motor is connected to the gripper through the seventh axis output piece.

[0039] Optionally, the gripper includes a palm and multiple fingers. One end of the palm away from the fingers is connected to the robotic arm. A first knuckle motor is provided at the connection between the fingers and the palm, and the first knuckle motor is used to drive the fingers to rotate relative to the palm.

[0040] Optionally, each finger includes a fingertip and a finger root. The first knuckle motor is provided at the connection between the finger root and the palm, and a second knuckle motor is provided at the connection between the fingertip and the finger root. The second knuckle motor is used to drive the fingertip to rotate relative to the finger root.

[0041] Optionally, the knee joint motor is connected between the thigh bracket and the calf bracket;

[0042] The hip joint motor is installed on the base or the thigh bracket.

[0043] Optionally, there are two manipulators, and the two manipulators are connected to the left and right sides of the top of the base.

[0044] When the intelligent service terminal adopts a two-wheel drive mode, by controlling the output speed and torque of the knee joint motor, and transmitting this speed, torque, etc. to the calf unit through the output shaft end, the relative angle between the thigh unit and the calf unit is controlled, so as to realize the two-wheel drive standing posture of the intelligent service terminal.

[0045] When the intelligent service terminal is in the two-wheel drive standing posture, the driving power is provided by one of the first traveling wheel device and the second traveling wheel device that touches the ground. Taking the first traveling wheel device touching the ground as an example, the first motor transmits the speed, torque, etc. to the first traveling wheel through its output shaft end, realizes the rotation of the first traveling wheel, and thus drives the intelligent service terminal to travel. By controlling the output speed and torque of the first motor, the driving requirements of the intelligent service terminal under different working conditions in the two-wheel drive mode are realized. Taking the second traveling wheel device touching the ground as an example, the second motor transmits the speed, torque, etc. to the second traveling wheel through its output shaft end, realizes the rotation of the second traveling wheel, and thus drives the intelligent service terminal to travel. By controlling the output speed and torque of the second motor, the driving requirements of the intelligent service terminal under different working conditions in the two-wheel drive mode are realized.

[0046] When the intelligent service terminal adopts four-wheel drive, both the first traveling wheel device and the second traveling wheel device touch the ground. By respectively controlling the output speed and torque of the first motor and the second motor, the driving requirements of the intelligent service terminal under different working conditions in the four-wheel drive mode are realized.

[0047] During the driving process of the intelligent service terminal, the output speed and torque of the knee joint motor can be controlled to change the relative angle between the thigh unit and the calf unit, so as to meet the driving requirements under different working conditions. When encountering continuous steps, the relative angle between the thigh unit and the calf unit can be adjusted in real time. By adjusting the center of gravity of the intelligent service terminal, it is easier to cross the obstacle and improve its obstacle-crossing performance. When encountering uneven roads, the relative angle between the thigh unit and the calf unit can be adjusted in real time to adapt to the contact situation between the traveling wheels and the road surface, reduce the vibration transmitted from the road surface to the intelligent service terminal, and improve the comfort of the intelligent service terminal. Description of the Drawings

[0048] Figure 1 is a perspective view of the intelligent service terminal provided by the first embodiment of the present invention;

[0049] Figure 2 is a perspective view of the thigh unit of the mechanical leg of the intelligent service terminal provided by the first embodiment of the present invention, with the outer mounting bracket removed;

[0050] Figure 3 is Figure 2 another perspective view of;

[0051] Figure 4 is a side view of the thigh unit of the mechanical leg of the intelligent service terminal provided by the first embodiment of the present invention, with the outer mounting bracket removed;

[0052] Figure 5 is a perspective view of the mechanical leg of the intelligent service terminal provided by the first embodiment of the present invention, with the outer mounting bracket removed;

[0053] Figure 6 is Figure 5 another perspective view of;

[0054] Figure 7 is a side view of the mechanical leg of the intelligent service terminal provided by the first embodiment of the present invention, with the outer mounting bracket removed;

[0055] Figure 8 is an exploded view of the thigh unit of the mechanical leg of the intelligent service terminal provided by the first embodiment of the present invention;

[0056] Figure 9 is an exploded view of the mechanical leg of the intelligent service terminal provided by the first embodiment of the present invention;

[0057] Figure 10 is a partial schematic view of the mechanical hand of the intelligent service terminal provided by the first embodiment of the present invention.

[0058] The reference numerals in the specification are as follows:

[0059] 10. Base; 102. Top plate; 104. Left side plate; 105. Right side plate; 107. Rear side plate; 20. Mechanical leg; 30. Battery; 40. Manipulator; 401. Robot arm; 4010. Base; 4011. First joint motor; 4012. Second joint motor; 4013. Third joint motor; 4014. Fourth joint motor; 4015. Fifth joint motor; 4016. Sixth joint motor; 4017. Seventh joint motor; 402. Hand claw; 4021. Palm; 4022. Finger; 4031. First and second axis connecting piece; 4032. Second and third axis connecting piece; 4033. Upper arm; 4034. Fourth axis base; 4035. Fourth axis output flange; 4036. Fifth axis base; 4037. Fifth and sixth axis connecting piece; 405. Seventh axis motor seat; 406. Seventh axis output piece; 4061. Left connecting rod of seventh axis output; 4062. Right connecting rod of seventh axis output; 4063. Axis flange seat of seventh axis output

[0060] 1. Thigh unit; 11. Thigh bracket; 111. Inner mounting bracket; 112. Outer mounting bracket

[0061] 2. Calf unit; 21. Calf bracket; 211. Groove; 22. First traveling wheel device; 221. First motor; 222. First traveling wheel; 23. Second traveling wheel device; 231. Second motor; 232. Second traveling wheel

[0062] 3. Knee joint motor

[0063] 4. Hip joint motor

[0064] 5. First transmission mechanism; 51. Knee joint output connecting rod; 52. Knee joint connecting rod; 53. Calf bracket connecting rod; 54. First connecting rod of thigh bracket

[0065] 6. Second transmission mechanism; 61. Hip joint output connecting rod; 62. Hip joint connecting rod; 63. Second connecting rod of thigh bracket; 64. Base connecting rod

[0066] 7. Pin shaft

[0067] 8. Bearing

[0068] 91. Knee joint motor connection flange; 92. Knee joint bearing Detailed implementation manners

[0069] In order to make the technical problems, technical solutions and beneficial effects solved by the present utility model more clear and understandable, the present utility model will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present utility model and are not used to limit the present utility model

[0070] In this text, the front, rear, left, right, upper, and lower directions shall be referred to Figure 1 to the coordinates shown in Figure 1 . Among them, the front is the forward direction of the intelligent service terminal, and the rear is the backward direction of the wheeled robot. The inner and outer sides are relative to the geometric center of the intelligent service terminal, that is, the direction pointing to the geometric center of the intelligent service terminal is the inner side, and the direction facing away from the geometric center of the intelligent service terminal is the outer side.

[0071] The first embodiment

[0072] Referring to Figures 1 to 9 , the intelligent service terminal provided by the first embodiment of the present utility model is a four-wheel robot, including a base 10, mechanical legs 20 connected to the left and right sides of the base 10, and a manipulator 40. Each mechanical leg 20 includes a thigh unit 1, a calf unit 2, a knee joint motor 3, and a hip joint motor 4. The thigh unit 1 includes a thigh bracket 11. The calf unit 2 includes a calf bracket 21, a first traveling wheel device 22 connected to the front end of the calf bracket 21, and a second traveling wheel device 23 connected to the rear end of the calf bracket 21.

[0073] The knee joint motor 3 is used to drive the thigh bracket 11 to rotate relative to the calf bracket 21 around a first axis, and the hip joint motor 4 is used to drive the base 10 to rotate relative to the thigh bracket around a second axis; wherein, the first axis is located between the first traveling wheel device 22 and the second traveling wheel device 23.

[0074] The manipulator 40 is used to grab an object.

[0075] For the intelligent service terminal of the first embodiment of the present utility model, the knee joint motor 3 drives the thigh bracket 11 to rotate relative to the calf bracket 21 around the first axis through a first transmission mechanism 5. By controlling the output speed and torque of the knee joint motor 3, and transmitting this speed, torque, etc. to the calf unit 2 through the output shaft end, the attitude and center of gravity of the intelligent service terminal can be adjusted and maintained. In this way, the angle adjustment between the thigh unit 1 and the calf unit 2 can be accurately and effectively realized. The angle adjustment between the thigh unit 1 and the calf unit 2 can change the relative angle between the thigh unit 1 and the calf unit 2, so that at least one of the first traveling wheel device 22 connected to the front end of the calf bracket 21 and the second traveling wheel device 23 connected to the rear end of the calf bracket 21 can be lifted off the ground. In this way, the intelligent service terminal can realize the switching between the two-wheel drive mode (only one of the first traveling wheel device 22 and the second traveling wheel device 23 is on the ground) and the four-wheel drive mode (both the first traveling wheel device 22 and the second traveling wheel device 23 are on the ground), realizing two forms of two-wheel drive and four-wheel drive of the intelligent service terminal.

[0076] The knee joint motor 3 and the hip joint motor 4 are installed on the base 10. It further includes a first transmission mechanism 5 and a second transmission mechanism 6. The knee joint motor 3 is used to drive the thigh bracket 11 to rotate relative to the calf bracket 21 around a first axis through the first transmission mechanism 5, and the hip joint motor 4 is used to drive the base 10 to rotate relative to the thigh bracket 21 around a second axis through the second transmission mechanism 6.

[0077] It further includes a control unit, a battery 30 and a driver. The control unit and the battery 30 are installed on the base 10, the driver is installed on the thigh bracket 11 or the base 10. The control unit is electrically connected to the driver, the battery 30 and the manipulator 40 respectively. The driver is electrically connected to the knee joint motor 3, the hip joint motor 4, the first motor 221 and the second motor 231 respectively. The control unit is used to send control instructions to the driver to control the actions of the knee joint motor 3, the hip joint motor 4, the first motor 221 and the second motor 231. The control unit is also used to send control instructions to the manipulator 40 to control the action of the manipulator 40 to realize the grasping of an object.

[0078] The user can control the intelligent service terminal in real time through the control unit or give a pre-set program to the intelligent service terminal to make it execute the given related tasks. After receiving the task instructions given by the user, the intelligent service terminal will move to the destination to grasp an object. During the movement of the intelligent service terminal, if the environment is a wide ground, the intelligent service terminal will switch to a four-wheel drive mode so that the intelligent service terminal can move smoothly; if the environment where the robot is located is a narrow space, the intelligent service terminal will switch to a two-wheel mode so that it can move more flexibly in the narrow space; similarly, when the intelligent service terminal grasps an object, if the height of the object is too high and the manipulator 40 cannot grasp the target object in the four-wheel form, the intelligent service terminal will switch to the two-wheel form to increase the reachable height of the manipulator 40. On the contrary, when the position of the object to be grasped is relatively low, the intelligent service terminal will switch to the four-wheel form to increase the lowest reachable height of the manipulator 40.

[0079] When the intelligent service terminal is switched to the two-wheel drive mode, it can also realize flexible and fast driving on flat ground or gentle slopes; when the intelligent service terminal is switched to the four-wheel drive mode, it can also ensure the obstacle-crossing passability of the intelligent service terminal under complex working conditions such as continuous steps, uneven roads and steep slopes. Thus, the intelligent service terminal can well balance the flexibility on flat ground and the obstacle-crossing passability on complex road conditions, and has a strong obstacle-crossing ability.

[0080] In this way, the intelligent service terminal of the first embodiment of the present utility model adds a structure with a switchable wheel form on the basis of the traditional intelligent service terminal, enabling the intelligent service terminal to adapt to different working environments, thereby improving the working ability of the intelligent service terminal.

[0081] The manipulator 40 is a seven-degree-of-freedom manipulator. Compared with the traditional intelligent service terminal equipped with a six-degree-of-freedom manipulator, the intelligent service terminal has better flexibility and can perform more complex tasks.

[0082] See Figure 1 and Figure 10 , the manipulator 40 includes a robotic arm 401 and a gripper 402. The robotic arm 401 is used to drive the gripper 402 to move in three-dimensional space, and the gripper 402 is used to grasp objects.

[0083] See Figure 10 , the robotic arm 401 includes a base 4010, and a first joint motor 4011, a second joint motor 4012, a third joint motor 4013, a fourth joint motor 4014, a fifth joint motor 4015, a sixth joint motor 4016 and a seventh joint motor 4017 connected in sequence. The base 4010 is fixed on the top plate 102 of the base 10 by bolts, and the rotation axis of the first joint motor 4011 extends in the left-right direction.

[0084] The rotation axes of the first joint motor 4011, the second joint motor 4012 and the third joint motor 4013 intersect at a point; the rotation axes of the third joint motor 4013, the fourth joint motor 4014 and the fifth joint motor 4015 intersect at a point; the rotation axis of the sixth joint motor 4016 is perpendicular and non-coplanar (skew perpendicular) to the rotation axis of the seventh joint motor 4017. Among the first joint motor 4011, the second joint motor 4012, the third joint motor 4013, the fourth joint motor 4014, the fifth joint motor 4015 and the sixth joint motor 4016, the rotation axes of two adjacent joint motors are perpendicular and coplanar.

[0085] It also includes a first-second axis connecting piece 4031, a second-third axis connecting piece 4032, an upper arm 4033, a fourth axis base 4034, a fourth axis output flange 4035, a fifth axis base 4036, a fifth-sixth axis connecting piece 4037, a seventh axis motor seat 405 and a seventh axis output piece 406.

[0086] The input end of the first joint motor 4011 is fixedly connected to the base 4010, the output end of the first joint motor 4011 is fixedly connected to the input end of the first and second axis connecting member 4031, the output end of the first and second axis connecting member 4031 is fixedly connected to the input end of the second joint motor 4012, the output end of the second joint motor 4013 is fixedly connected to the input end of the second and third axis connecting member 4032, the output end of the second and third axis connecting member 4032 is fixedly connected to the input end of the third joint motor 4013, the output end of the third joint motor 4013 is fixedly connected to the input end of the upper arm 4033, the output end of the upper arm 4033 is fixedly connected to the input end of the fourth axis base 4034, the output end of the fourth axis base 4034 is fixedly connected to the input end of the fourth joint motor 4014, the output end of the fourth joint motor 4014 is fixedly connected to the input end of the fourth axis output flange 4035, the output end of the fourth axis output flange 4035 is fixedly connected to the input end of the fifth joint motor 4015, the output end of the fifth joint motor 4015 is fixedly connected to the input end of the fifth axis base 4036, the output end of the fifth axis base 4036 is fixedly connected to the input end of the fifth and sixth axis connecting member 4037, the output end of the fifth and sixth axis connecting member 4037 is fixedly connected to the input end of the sixth joint motor 4016, the output end of the sixth joint motor 4016 is connected to the input end of the seventh axis motor base 405 through a transmission assembly, the output end of the seventh axis motor base 405 is connected to the input end of the seventh joint motor 4017, and the output end of the seventh joint motor 4017 is connected to the gripper 402 through the seventh axis output member 404.

[0087] The seventh axis output member 406 includes a seventh axis output left connecting rod 4061, a seventh axis output right connecting rod 4062 and a seventh axis output shaft flange seat 4063. The left end and the right end of the seventh joint motor 4017 are respectively connected to the input end of the seventh axis output left connecting rod 4061 and the input end of the seventh axis output right connecting rod 4062. The output ends of the seventh axis output left connecting rod 4061 and the seventh axis output right connecting rod 4062 are both fixedly connected to the seventh axis output shaft flange seat 4063, and the seventh axis output shaft flange seat 4063 is connected to the gripper 402.

[0088] The transmission assembly includes a synchronous belt assembly. The output end of the sixth joint motor 4016 is connected to the input end of the seventh axis motor base 405 through the synchronous belt assembly. Specifically, the synchronous belt assembly includes a driving pulley, a driven pulley and a synchronous belt wound around the driving pulley and the driven pulley. The driving pulley is connected to the output end of the sixth joint motor 4016, and the driven pulley is connected to the seventh axis motor base 405. In this way, the rotation of the sixth joint motor 4016 drives the rotation of the seventh axis motor base 405 through the synchronous belt assembly.

[0089] The gripper 402 includes a palm 4021 and multiple fingers 4022. The end of the palm 4021 away from the fingers is connected to the seventh-axis output shaft flange seat 4063 of the robotic arm 401. A first finger joint motor is provided at the connection between the finger 4022 and the palm 4021. The first finger joint motor is used to drive the finger 4022 to rotate relative to the palm 4021.

[0090] The fingers 4022 include fingertips and bases. A first interdigital motor is located at the junction of the bases and the palm, and a second interdigital motor is located at the junction of the fingertips and bases. The second interdigital motor is used to drive the fingertips to rotate relative to the bases. This allows the gripper 402 to have multiple degrees of freedom, mimicking a human hand and enabling it to effectively grasp objects.

[0091] The number of fingers 4022 is, for example, five, similar to a human hand, and is flexible in operation.

[0092] See also Figure 1 There are two manipulators 40 , and the two manipulators 40 are connected to the left and right sides of the top of the base 10 .

[0093] The first traveling wheel device 22 includes a first motor 221 and a first traveling wheel 222 connected to the output shaft end of the first motor 221; the first motor 221 is used to drive the first traveling wheel 222 to rotate around a third axis relative to the calf support 21; the second traveling wheel device 23 includes a second motor 231 and a second traveling wheel 232 connected to the output shaft end of the second motor 231; the second motor 231 is used to drive the second traveling wheel 232 to rotate around a fourth axis relative to the calf support 21.

[0094] The first axis, the second axis, the third axis and the fourth axis are parallel to each other, so as to ensure the vertical state of the first traveling wheel 222 and the second traveling wheel 232 and improve the driving stability.

[0095] The axis of the first motor 221 , the axis of the second motor 231 , the axis of the knee joint motor 3 , and the axis of the hip joint motor 4 are parallel.

[0096] The distance between the axis of the first motor 221 and the first axis is greater than the distance between the axis of the second motor 231 and the first axis. That is, the hinge point between the thigh support 11 and the calf support 21 is closer to the second traveling wheel device 23.

[0097] The first traveling wheel device 22 is a front-wheel drive device, and the second traveling wheel device 23 is a rear-wheel drive device. At least one of the first traveling wheel device 22 and the second traveling wheel device 23 can be detached from the calf bracket 21. When switching from the four-wheel drive mode to the two-wheel drive mode, the non-grounded traveling wheel device can be removed to switch to the two-wheel drive mode. In contrast, when the non-grounded traveling wheel device is suspended (not disassembled), removing the non-grounded traveling wheel device can reduce the weight and volume of the wheeled robot, enabling it to travel flexibly and quickly under flat ground or gentle slope conditions.

[0098] Preferably, both the first traveling wheel device 22 and the second traveling wheel device 23 can be detached from the calf bracket 21. In this way, the intelligent service terminal can select front-wheel drive and rear-wheel drive in the two-wheel drive mode.

[0099] The housing of the first motor 221 is fixed to the front end of the calf bracket 21, and the housing of the second motor 231 is fixed to the rear end of the calf bracket 21. At least one of the housing of the first motor 221 and the housing of the second motor 231 is detachably connected to the calf bracket 21. Preferably, the housing of the first motor 221 is detachably connected to the calf bracket 21, and the housing of the second motor 231 is detachably connected to the calf bracket 21.

[0100] See Figures 5 to 9 , the first transmission mechanism 5 is a four-bar linkage mechanism. The first transmission mechanism 5 includes a knee joint output link 51, a knee joint link 52, a first thigh bracket link 54, and a calf bracket link 53. The knee joint output link 51 is connected to the output shaft end of the knee joint motor 3; the first end of the knee joint output link 51 is hinged to the first end of the first thigh bracket link 54 about a fifth axis at a first hinge point A, the second end of the knee joint output link 51 is hinged to the first end of the knee joint link 52 about a sixth axis at a second hinge point B, the second end of the knee joint link 52 is hinged to the first end of the calf bracket link 53 about a seventh axis at a third hinge point C, and the second end of the calf bracket link 53 is hinged to the second end of the first thigh bracket link 54 about an eighth axis at a fourth hinge point D; wherein, the fifth axis, the sixth axis, the seventh axis, and the eighth axis are parallel.

[0101] Preferably, see Figure 5 , the quadrilateral connecting the first hinge point A, the second hinge point B, the third hinge point C, and the fourth hinge point D is a parallelogram ABCD, that is, the first transmission mechanism 5 is a parallelogram four-bar linkage mechanism. In this way, the knee joint motor 3 drives the thigh bracket 11 to rotate relative to the calf bracket 21 through the parallelogram four-bar linkage mechanism, and the movement is stable.

[0102] In this embodiment, the first link 54 of the thigh bracket is a part of the thigh bracket 11.

[0103] However, in other alternative embodiments, it is also possible that the first link 54 of the thigh bracket is independent of the thigh bracket 11 and is mounted on the thigh bracket 11.

[0104] In this embodiment, the calf bracket link 53 is a part of the calf bracket 21.

[0105] However, in other alternative embodiments, it is also possible that the calf bracket link 53 is independent of the calf bracket 21 and is mounted on the calf bracket 21.

[0106] The thigh bracket 11 is a hollow structure, and the knee joint output link 51 and the knee joint link 52 are arranged inside the thigh bracket 11. In this way, the thigh bracket 11 can protect the knee joint output link 51 and the knee joint link 52.

[0107] See Figure 6 , a groove 211 with an upward opening is provided in the middle of the calf bracket 21, and the lower end of the knee joint link 52 is received in the groove 211, so that the structure is more compact.

[0108] See Figure 8 , a knee joint motor connection flange 91 is connected to the outer end of the housing of the knee joint motor 3, and the knee joint motor connection flange 91 is connected to the thigh bracket 21 through a knee joint bearing 92, so that the thigh bracket 21 can rotate relative to the housing of the knee joint motor 3.

[0109] See Figure 9 , a pin shaft 7 and a bearing 8 are provided at each hinged position. The hinging of each component is realized through the pin shaft 7 and the bearing 8.

[0110] See Figure 9 , the thigh bracket 11 includes an inner mounting frame 111 and an outer mounting frame 112 connected to the outside of the inner mounting frame 111. The inner mounting frame 111 and the outer mounting frame 112 are butt-jointed inside and outside, and a space for accommodating the knee joint output link 51 and the knee joint link 52 is formed therebetween.

[0111] The output shaft end of the knee joint motor 3 is connected to the first end of the knee joint output link 51, and the axis of the knee joint motor 3 coincides with the fifth axis.

[0112] See Figures 2 to 4, the second transmission mechanism 6 is a four-bar linkage mechanism. The second transmission mechanism 6 includes a hip joint output link 61, a hip joint link 62, a second thigh bracket link 63, and a base link 64. The hip joint output link 61 is connected to the output shaft end of the hip joint motor 4; the first end of the hip joint output link 61 is hinged to the first end of the base link 64 around the ninth axis at the fifth hinge point E, the second end of the hip joint output link 61 is hinged to the first end of the hip joint link 62 around the tenth axis at the sixth hinge point F, the second end of the hip joint link 62 is hinged to the first end of the second thigh bracket link 63 around the eleventh axis at the seventh hinge point G, and the second end of the second thigh bracket link 63 is hinged to the second end of the base link 64 around the twelfth axis at the eighth hinge point H; wherein, the ninth axis, the tenth axis, the eleventh axis, and the twelfth axis are parallel. The eighth hinge point H coincides with the first hinge point A.

[0113] See Figure 4 , the quadrilateral connecting the fifth hinge point E, the sixth hinge point F, the seventh hinge point G, and the eighth hinge point H is a parallelogram EFGH, that is, the second transmission mechanism 6 is a parallelogram four-bar linkage mechanism. In this way, the knee joint motor 3 drives the thigh bracket 11 to rotate relative to the calf bracket 21 through the parallelogram four-bar linkage mechanism, and the movement is stable.

[0114] In this embodiment, the second thigh bracket link 63 is a part of the thigh bracket 11.

[0115] However, in other alternative embodiments, it may also be that the second thigh bracket link 63 is independent of the thigh bracket 11 and is installed on the thigh bracket 11.

[0116] In this embodiment, the base link 64 is a part of the calf bracket 21.

[0117] However, in other alternative embodiments, it may also be that the base link 64 is independent of the base 10 and is installed on the base 10.

[0118] The output shaft end of the hip joint motor 4 is connected to the first end of the hip joint output link 61, and the axis of the hip joint motor 4 coincides with the ninth axis.

[0119] The hip joint motor 4 is located in front of the knee joint motor 3. In this way, the layout is more compact.

[0120] See Figure 1, the base 10 includes a top plate 102, a bottom plate, a left side plate 104 and a right side plate 105. The left side plate 104 is connected between the left side of the top plate 102 and the left side of the bottom plate, and the right side plate 105 is connected between the right side of the top plate 102 and the right side of the bottom plate. The top plate 102, the bottom plate, the left side plate 104 and the right side plate 105 enclose an accommodation cavity, and the knee joint motor 3 and the hip joint motor 4 are located in the accommodation cavity.

[0121] The knee joint motor 3 and the hip joint motor 4 on the right side are installed on the inner side of the right side plate 105. The base link 64 of the mechanical leg on the right side is a part of the right side plate 105. That is, the first end of the hip joint output link 61 on the right side is hinged to the right side plate 105 at the fifth hinge point E, and the thigh bracket 11 on the right side is hinged to the right side plate 105 at the eighth hinge point H.

[0122] The knee joint motor 3 and the hip joint motor 4 on the left side are installed on the inner side of the left side plate 104. The base link 64 of the mechanical leg on the left side is a part of the left side plate 104. That is, the first end of the hip joint output link 61 on the left side is hinged to the left side plate 104 at the fifth hinge point E, and the thigh bracket 11 on the left side is hinged to the left side plate 104 at the eighth hinge point H.

[0123] The base 10 may further include a rear side plate 107, and the rear side plate 107 is provided at the rear side of the accommodation cavity. The battery 30 is installed on the rear side plate. A protective case may be provided outside the battery 30 to protect the battery.

[0124] The base 10 may further include a front side plate, and the front side plate is provided at the front side of the accommodation cavity. In this way, the knee joint motor 3 and the hip joint motor 4 are protected in the front, rear, left, right, up and down directions, and the safety is relatively high.

[0125] See Figure 1 , the control unit may be installed inside the base 10, which can avoid damage to the control unit.

[0126] In other embodiments, the control unit and the driver may also be combined into one.

[0127] See Figure 1 , when both the first traveling wheel device 22 and the second traveling wheel device 23 are installed on the calf bracket 21 and both the first traveling wheel device 22 and the second traveling wheel device 23 are on the ground, a four-wheel drive mode can be adopted. When the intelligent service terminal adopts four-wheel drive, by separately controlling the output speed and torque of the first motor 221 and the second motor 231, the driving requirements of the intelligent service terminal under different working conditions in the four-wheel drive mode can be realized.

[0128] In the four-wheel drive mode, by controlling the output speed and torque of the knee joint motor 3, the relative angle between the thigh unit 1 and the calf unit 2 is controlled so that one of the first traveling wheel devices 22 and the second traveling wheel device 23 touches the ground and the other is suspended, and the intelligent service terminal switches from the four-wheel drive mode to the two-wheel drive mode. The first traveling wheel device 22 touches the ground and the second traveling wheel device 23 is suspended. In addition, the suspended second traveling wheel device 23 can be removed as needed to reduce the weight and volume of the intelligent service terminal during driving, increase its passability, and reduce energy consumption.

[0129] When the intelligent service terminal adopts the two-wheel drive mode, by controlling the output speed and torque of the knee joint motor 3 and transmitting this speed, torque, etc. to the calf unit 2 through the output shaft end, the relative angle between the thigh unit 1 and the calf unit 2 is controlled, so as to realize the two-wheel drive standing posture of the intelligent service terminal.

[0130] When the intelligent service terminal is in the two-wheel drive standing posture, the driving power is provided by one of the first traveling wheel device 22 and the second traveling wheel device 23 that touches the ground. Taking the first traveling wheel device 22 touching the ground as an example, the first motor 221 transmits the speed, torque, etc. to the first traveling wheel 222 through its output shaft end, realizes the rotation of the first traveling wheel 222, thereby driving the intelligent service terminal to travel. By controlling the output speed and torque of the first motor 221, the driving requirements under different working conditions in the two-wheel drive mode of the intelligent service terminal are realized.

[0131] During the driving process of the intelligent service terminal, the output speed and torque of the knee joint motor 3 can be controlled, thereby changing the relative angle between the thigh unit 1 and the calf unit 2 to meet the driving requirements under different working conditions. When encountering continuous steps, the relative angle between the thigh unit 1 and the calf unit 2 can be adjusted in real time. By adjusting the center of gravity of the intelligent service terminal, it is easier to cross the obstacle and improve its obstacle-crossing performance. When encountering an uneven road surface, the relative angle between the thigh unit 1 and the calf unit 2 can be adjusted in real time to adapt to the contact situation between the traveling wheel and the road surface, reduce the vibration transmitted from the road surface to the intelligent service terminal, and improve the comfort of the intelligent service terminal.

[0132] When the intelligent service terminal travels on a relatively flat road surface or slope, one of the first traveling wheel device 22 and the second traveling wheel device 23 is disassembled from the calf bracket 21 or suspended, and the two-wheel drive mode is adopted to realize the standing form, and the intelligent service terminal is moved through the first traveling wheel device 22; when the intelligent service terminal encounters a high step, continuous stairs or a steep slope, the first traveling wheel device 22 and the second traveling wheel device 23 are jointly driven to realize the four-wheel drive mode, improving the obstacle-crossing ability and the safety in complex road conditions.

[0133] Such as Figure 1As shown, the robotic leg 20 includes a first traveling wheel device 22 and a second traveling wheel device 23, and the intelligent service terminal is a quadruple intelligent service terminal. When all four wheels (two first traveling wheels 222 and two second traveling wheels 232) are on the ground simultaneously, the intelligent service terminal is in the wheeled mode.

[0134] When the second traveling wheel device 23 does not need to be driven, the second traveling wheel device 23 can be detached from the calf bracket 21. The robotic leg 20 only includes the first traveling wheel device 22. At this time, two wheels (two first traveling wheels 222) are on the ground, and the intelligent service terminal is in the legged mode.

[0135] Alternatively, when the second traveling wheel device 23 does not need to be driven, by rotating the thigh bracket 11 and the calf bracket 21 by a certain angle, the first traveling wheel device 22 can be made to touch the ground and the second traveling wheel device 23 can be lifted off the ground. The robotic leg 20 is only driven by the first traveling wheel device 22, and the second motor 232 of the second traveling wheel device 23 does not provide power. At this time, two wheels are on the ground, and the intelligent service terminal is in the legged mode.

[0136] Therefore, the intelligent service terminal of this embodiment can achieve the dual-mode switching between the wheeled mode and the legged mode.

[0137] A gyroscope can also be installed on the base 10. The center of gravity of the intelligent service terminal can be adjusted through the gyroscope and each motor.

[0138] By adjusting the relative angle between the thigh bracket 11 and the base 10 through the hip joint motor 4 and combining with the adjustment of the gyroscope, the base 10 can always be kept horizontal.

[0139] Second Embodiment

[0140] The intelligent service terminal provided in the second embodiment of the present utility model is different from the first embodiment in that the first transmission mechanism is a belt transmission mechanism and the second transmission mechanism is a belt transmission mechanism.

[0141] Third Embodiment

[0142] The intelligent service terminal provided in the third embodiment of the present utility model is different from the first embodiment in that the first transmission mechanism is a chain transmission mechanism and the second transmission mechanism is a chain transmission mechanism.

[0143] Fourth Embodiment

[0144] The intelligent service terminal provided in the fourth embodiment of the present utility model is different from the first embodiment in that there is only one manipulator.

[0145] Fifth Embodiment

[0146] The intelligent service terminal provided by the fifth embodiment of the present utility model is different from the first embodiment in that the first transmission mechanism and the second transmission mechanism are cancelled. The knee joint motor is connected between the thigh bracket and the calf bracket, and the hip joint motor is installed on the base and located inside the upper end of the thigh bracket. The knee joint motor directly drives the calf bracket, and the hip joint motor directly drives the thigh bracket.

[0147] For the intelligent service terminal of the fifth embodiment, both the knee joint motor and the hip joint motor adopt a direct connection form, with a simpler and more reliable structure and higher transmission efficiency.

[0148] Sixth embodiment

[0149] The intelligent service terminal provided by the sixth embodiment of the present utility model is different from the fifth embodiment in that the hip joint motor is installed at the upper end of the thigh bracket.

[0150] Seventh embodiment

[0151] The intelligent service terminal provided by the seventh embodiment of the present utility model is different from the first embodiment in that the first transmission mechanism is cancelled. The knee joint motor is connected between the thigh bracket and the calf bracket, and the hip joint motor is installed on the base and drives the thigh bracket through the second transmission mechanism. The knee joint motor directly drives the calf bracket.

[0152] Eighth embodiment

[0153] The intelligent service terminal provided by the eighth embodiment of the present utility model is different from the first embodiment in that the second transmission mechanism is cancelled. The knee joint motor and the hip joint motor are installed on the base. The knee joint motor drives the calf bracket through the first transmission mechanism, and the hip joint motor directly drives the thigh bracket.

[0154] The intelligent service terminal may further include a touch display screen to provide a human-machine interaction interface.

[0155] The touch display screen is respectively connected to the power battery and the control unit.

[0156] The above are only the preferred embodiments of the present utility model and are not intended to limit the present utility model. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present utility model shall be included within the protection scope of the present utility model.

Claims

1. An intelligent service terminal, characterized in that, It includes a base, mechanical legs connected to the left and right sides of the base, and a manipulator connected to the base; Each of the mechanical legs includes a thigh unit, a calf unit, a knee joint motor, and a hip joint motor. The thigh unit includes a thigh bracket, and the calf unit includes a calf bracket, a first traveling wheel device connected to the front end of the calf bracket, and a second traveling wheel device connected to the rear end of the calf bracket. The lower end of the thigh bracket is rotatably connected to the calf bracket; The knee joint motor is used to drive the thigh bracket to rotate relative to the calf bracket around a first axis, and the hip joint motor is used to drive the base to rotate relative to the thigh bracket around a second axis; wherein, the first axis is located between the first traveling wheel device and the second traveling wheel device; The manipulator is used for grasping an object.

2. The intelligent service terminal according to claim 1, wherein The first traveling wheel device includes a first motor and a first traveling wheel connected to the output shaft end of the first motor; the first motor is used to drive the first traveling wheel to rotate relative to the calf bracket around a third axis; The second traveling wheel device includes a second motor and a second traveling wheel connected to the output shaft end of the second motor; the second motor is used to drive the second traveling wheel to rotate relative to the calf bracket around a fourth axis.

3. The intelligent service terminal according to claim 2, characterized in that, The first axis, the second axis, the third axis, and the fourth axis are parallel.

4. The intelligent service terminal according to claim 3, characterized in that, The distance between the axis of the first motor and the first axis is greater than the distance between the axis of the second motor and the first axis.

5. The intelligent service terminal according to claim 1, wherein The knee joint motor and the hip joint motor are installed on the base; It further includes a first transmission mechanism and a second transmission mechanism. The knee joint motor is used to drive the thigh bracket to rotate relative to the calf bracket around the first axis through the first transmission mechanism, and the hip joint motor is used to drive the base to rotate relative to the thigh bracket around the second axis through the second transmission mechanism.

6. The intelligent service terminal according to claim 5, characterized in that, The first transmission mechanism is a four-bar linkage mechanism. The first transmission mechanism includes a knee joint output link, a knee joint link, a first thigh bracket link, and a calf bracket link. The knee joint output link is connected to the output shaft end of the knee joint motor; The first end of the knee joint output link is hinged to the first end of the first thigh bracket link around a fifth axis at a first hinge point, the second end of the knee joint output link is hinged to the first end of the knee joint link around a sixth axis at a second hinge point, the second end of the knee joint link is hinged to the first end of the calf bracket link around a seventh axis at a third hinge point, and the second end of the calf bracket link is hinged to the second end of the first thigh bracket link around an eighth axis at a fourth hinge point; wherein, the fifth axis, the sixth axis, the seventh axis, and the eighth axis are parallel.

7. The intelligent service terminal according to claim 6, wherein The quadrilateral connecting the first hinge point, the second hinge point, the third hinge point, and the fourth hinge point is a parallelogram.

8. The intelligent service terminal according to claim 6, wherein The thigh bracket is a hollow structure, and the knee joint output link and the knee joint link are arranged inside the thigh bracket.

9. The intelligent service terminal according to claim 6, characterized in that The output shaft end of the knee joint motor is connected to the first end of the knee joint output link, and the axis of the knee joint motor coincides with the fifth axis.

10. The intelligent service terminal according to claim 5, wherein The second transmission mechanism is a four-bar linkage mechanism, and the second transmission mechanism includes a hip joint output link, a hip joint link, a second thigh bracket link, and a base link. The hip joint output link is connected to the output shaft end of the hip joint motor. The first end of the hip joint output link is hinged to the first end of the base link at a fifth hinge point about a ninth axis, the second end of the hip joint output link is hinged to the first end of the hip joint link at a sixth hinge point about a tenth axis, the second end of the hip joint link is hinged to the first end of the second thigh bracket link at a seventh hinge point about an eleventh axis, and the second end of the second thigh bracket link is hinged to the second end of the base link at an eighth hinge point about a twelfth axis. Among them, the ninth axis, the tenth axis, the eleventh axis, and the twelfth axis are parallel.

11. The intelligent service terminal according to claim 10, wherein, The quadrilateral connecting the fifth hinge point, the sixth hinge point, the seventh hinge point, and the eighth hinge point is a parallelogram.

12. The intelligent service terminal according to claim 10, characterized in that, The output shaft end of the hip joint motor is connected to the first end of the hip joint output link, and the axis of the hip joint motor coincides with the ninth axis.

13. The intelligent service terminal according to claim 1, characterized in that, The hip joint motor is located in front of the knee joint motor.

14. The intelligent service terminal according to claim 1, characterized in that, The base includes a top plate, a bottom plate, a left side plate, and a right side plate. The left side plate is connected between the left side of the top plate and the left side of the bottom plate, the right side plate is connected between the right side of the top plate and the right side of the bottom plate, and the top plate, the bottom plate, the left side plate, and the right side plate enclose an accommodation cavity. The knee joint motor and the hip joint motor are located in the accommodation cavity. The knee joint motor and the hip joint motor on the left side are installed on the inner side of the left side plate, and the knee joint motor and the hip joint motor on the right side are installed on the inner side of the right side plate.

15. The intelligent service terminal according to claim 14, characterized in that, The base further includes a rear side plate, and the rear side plate is arranged at the rear side of the accommodation cavity.

16. The intelligent service terminal according to claim 2, characterized in that, It further includes a control unit, a battery, and a driver. The control unit and the battery are installed on the base, the driver is installed on the thigh bracket or the base, the control unit is respectively connected to the driver, the battery, and the mechanical flashlight, and the driver is respectively electrically connected to the knee joint motor, the hip joint motor, the first motor, and the second motor.

17. The intelligent service terminal according to claim 1, characterized in that, The manipulator is a seven-degree-of-freedom manipulator.

18. The intelligent service terminal according to claim 1, wherein The manipulator includes a robotic arm and a gripper. The robotic arm is used to drive the gripper to move in three-dimensional space, and the gripper is used to grasp an object.

19. The intelligent service terminal according to claim 18, characterized in that, The robotic arm includes a base, and a first joint motor, a second joint motor, a third joint motor, a fourth joint motor, a fifth joint motor, a sixth joint motor, and a seventh joint motor connected in sequence. The base is fixed on the base, and the rotation axis of the first joint motor extends in the left-right direction. The rotation axes of the first joint motor, the second joint motor, and the third joint motor intersect at a point. The rotation axes of the third joint motor, the fourth joint motor, and the fifth joint motor intersect at a point. The rotation axis of the sixth joint motor is perpendicular to and non-coplanar with the rotation axis of the seventh joint motor; among the first joint motor, the second joint motor, the third joint motor, the fourth joint motor, the fifth joint motor and the sixth joint motor, the rotation axes of two adjacent joint motors are perpendicular and coplanar.

20. The intelligent service terminal according to claim 19, wherein It further includes a first-second axis connecting piece, a second-third axis connecting piece, an upper arm, a fourth axis base, a fourth axis output flange, a fifth axis base, a fifth-sixth axis connecting piece, a seventh axis motor seat and a seventh axis output piece; The input end of the first joint motor is fixedly connected to the base, the output end of the first joint motor is fixedly connected to the input end of the first-second axis connecting piece, the output end of the first-second axis connecting piece is fixedly connected to the input end of the second joint motor, the output end of the second joint motor is fixedly connected to the input end of the second-third axis connecting piece, the output end of the second-third axis connecting piece is fixedly connected to the input end of the third joint motor, the output end of the third joint motor is fixedly connected to the input end of the upper arm, the output end of the upper arm is fixedly connected to the input end of the fourth axis base, the output end of the fourth axis base is fixedly connected to the input end of the fourth joint motor, the output end of the fourth joint motor is fixedly connected to the input end of the fourth axis output flange, the output end of the fourth axis output flange is fixedly connected to the input end of the fifth joint motor, the output end of the fifth joint motor is fixedly connected to the input end of the fifth axis base, the output end of the fifth axis base is fixedly connected to the input end of the fifth-sixth axis connecting piece, the output end of the fifth-sixth axis connecting piece is fixedly connected to the input end of the sixth joint motor, the output end of the sixth joint motor is connected to the input end of the seventh axis motor seat through a transmission component, the output end of the seventh axis motor seat is connected to the input end of the seventh joint motor, and the output end of the seventh joint motor is connected to the gripper through the seventh axis output piece.

21. The intelligent service terminal according to claim 20, wherein, The seventh axis output piece includes a seventh axis output left connecting rod, a seventh axis output right connecting rod and a seventh axis output shaft flange seat. The left end and the right end of the seventh joint motor are respectively connected to the input end of the seventh axis output left connecting rod and the input end of the seventh axis output right connecting rod. The output ends of the seventh axis output left connecting rod and the seventh axis output right connecting rod are both fixedly connected to the seventh axis output shaft flange seat, and the seventh axis output shaft flange seat is connected to the gripper.

22. The intelligent service terminal according to claim 18, wherein The gripper includes a palm and multiple fingers. One end of the palm away from the fingers is connected to the robotic arm. A first finger joint motor is arranged at the connection between the fingers and the palm, and the first finger joint motor is used to drive the fingers to rotate relative to the palm.

23. The intelligent service terminal according to claim 22, wherein, Each finger includes a fingertip and a finger root. The first finger joint motor is arranged at the connection between the finger root and the palm, and a second finger joint motor is arranged at the connection between the fingertip and the finger root. The second finger joint motor is used to drive the fingertip to rotate relative to the finger root.

24. The intelligent service terminal according to claim 1, wherein, The knee joint motor is connected between the thigh bracket and the calf bracket; The hip joint motor is installed on the base or the thigh bracket.

Images