Robot capable of rotating in all directions

Abstract

The utility model discloses a robot capable of rotating in all directions, which comprises a controller, a robot body, a first arm, a second arm, a robot head, a first driving mechanism and a second driving mechanism, the first arm is rotatably arranged at one side end of the robot body, and the second arm is rotatably arranged at the other side end of the robot body. The robot head can rotate in the horizontal direction and can swing up and down in the vertical direction to be arranged at the top end of the robot body, the first driving mechanism is used for driving the robot head to rotate in the horizontal direction, and the second driving mechanism is used for driving the robot head to swing up and down in the vertical direction. By means of the mode, the head of the robot can rotate in the horizontal direction through the first driving mechanism, the robot can face a consumer without rotating the whole robot body at the same time, the head can rotate up and down through the second driving mechanism, and therefore the head can be raised up, and the robot can be more personified; and the flexibility is higher.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, specifically to a robot capable of omnidirectional rotation. Background Technology

[0002] In today's society, some consumer venues are gradually adopting intelligent robots to replace the role of waiters. However, the heads of most robots on the market are fixed or cannot rotate widely, with a small rotation angle and poor flexibility. This often leads to a poor experience for consumers when interacting with them. For example, the entire robot needs to rotate to face the consumer, which is not sensitive enough. Utility Model Content

[0003] (a) Technical problems to be solved

[0004] In view of the shortcomings of the existing technology, this utility model provides a robot that can rotate in all directions, which can solve the above-mentioned technical problems.

[0005] (II) Technical Solution

[0006] To solve the above-mentioned technical problems, this utility model provides the following technical solution: a robot capable of omnidirectional rotation, including a controller, characterized in that it further includes: a robot body with a receiving cavity; a first arm rotatably disposed on one side of the robot body; a second arm rotatably disposed on the other side of the robot body; a robot head, rotatable in the horizontal direction and capable of swinging up and down in the vertical direction, disposed at the top of the robot body; a first drive mechanism electrically connected to the controller, disposed in the receiving cavity, for driving the robot head to rotate in the horizontal direction; a second drive mechanism electrically connected to the controller, disposed in the robot head, for driving the robot head to swing up and down in the vertical direction; wherein, the controller is disposed in the receiving cavity or the robot head.

[0007] Preferably, it further includes: a support frame disposed in the receiving cavity, wherein the support frame includes a main support plate, a first side plate disposed at one end of the main support plate and a second side plate disposed at the other end of the main support plate, and the first driving mechanism is disposed on the main support plate.

[0008] Preferably, the first driving mechanism includes: a first motor electrically connected to the controller and disposed on the main support plate; a first rotating rod rotatably disposed on the main support plate, wherein the bottom end of the first rotating rod is connected to the rotating shaft of the first motor so as to drive the first rotating rod to rotate through the first motor; and a first connecting seat disposed at the top end of the first rotating rod, wherein the first connecting seat is connected to the robot head so that the robot head and the first connecting seat rotate synchronously with the first rotating rod.

[0009] Preferably, the first driving mechanism further includes a sleeve, wherein the sleeve is disposed on the top surface of the main support plate, and a bearing is disposed inside the sleeve, and the first rotating rod passes through and is fixedly disposed inside the inner ring of the bearing.

[0010] Preferably, the first motor is disposed on the bottom surface of the main support plate via a first connecting plate. The main support plate is provided with a first through hole, and the bottom end of the first rotating rod passes through the first through hole. The bottom end of the first rotating rod is provided with a first gear, the rotating shaft of the first motor is provided with a second gear that meshes with the first gear, and the first connecting seat is provided with a locking piece. The top surface of the main support plate is provided with a limiting post, and the top end of the limiting post is provided with a limiting hole for locking the locking piece.

[0011] Preferably, the second driving mechanism includes: a fixed plate disposed inside the robot head; a second motor electrically connected to the controller and disposed on the fixed plate; a second rotating rod rotatably disposed on the fixed plate, wherein the top end of the second rotating rod is connected to the rotating shaft of the second motor to drive the second rotating rod to rotate; a fixed cylinder, the top end of which is disposed on the bottom surface of the fixed plate; and a second connecting seat disposed at the bottom end of the fixed cylinder, wherein the second connecting seat is swaying vertically up and down on the first connecting seat, and the second rotating rod passes through the fixed cylinder to drive the second connecting seat to rotate relative to the first connecting seat.

[0012] Preferably, the first connecting seat includes: a first support plate connected to the top end of the first rotating rod, a first vertical plate vertically disposed at one end of the first support plate, and a second vertical plate vertically disposed at the other end of the first support plate. The second connecting seat includes a second support plate connected to the bottom end of the fixed cylinder, a third vertical plate vertically disposed at one end of the second support plate, and a fourth vertical plate vertically disposed at the other end of the second support plate. The first vertical plate has a first opening, the second vertical plate has a second opening, the third vertical plate has a third opening, and the fourth vertical plate has a fourth opening. A rotating shaft passes through the third opening, the first opening, the second opening, and the fourth opening, so that the second connecting seat rotates along the rotating shaft.

[0013] Preferably, a third gear is fixedly provided in the first vertical plate or the second vertical plate, the rotating shaft passes through the third gear, the bottom end of the second rotating rod passes through the second support plate and is provided with a fourth gear that meshes with the third gear, wherein the third vertical plate and the fourth vertical plate are provided outside the first vertical plate and the second vertical plate, the outer wall of the first vertical plate is provided with a first locking part, and the outer wall of the third vertical plate is provided with a second locking part for locking the first locking part.

[0014] Preferably, the top of the robot body is provided with a hemispherical protective cover, the top of the protective cover is provided with a long arc-shaped limiting groove, the bottom of the robot head is provided with an inwardly recessed groove, the protective cover is located in the groove, the groove is provided with an opening, and the fixing cylinder passes through the limiting groove and the opening.

[0015] Preferably, the system further includes: a third motor electrically connected to the controller and disposed in the first side plate, wherein the rotation shaft of the third motor passes through one side end of the robot body and is fixedly connected to the first arm; and a fourth motor electrically connected to the controller and disposed in the second side plate, wherein the rotation shaft of the fourth motor passes through the other side end of the robot body and is fixedly connected to the second arm.

[0016] (III) Beneficial Effects

[0017] Compared with the prior art, this utility model provides a robot that can rotate in all directions, which has the following advantages: the first drive mechanism allows the robot's head to rotate horizontally, so that the entire robot body does not need to rotate to face consumers in different positions, while the second drive mechanism can make the head rotate up and down, thereby making actions such as tilting the head up, raising the head, or nodding to consumers, making the robot more human-like, and the arms located on both sides of the robot can also be raised by the controller to make actions such as guiding consumers, making it more flexible. Attached Figure Description

[0018] Figure 1 This is a three-dimensional structural diagram of the robot of this utility model that can rotate in all directions;

[0019] Figure 2 for Figure 1 A schematic diagram of the first partial structure of the robot;

[0020] Figure 3 for Figure 1 A schematic diagram of the second partial structure of the robot;

[0021] Figure 4 for Figure 1 A schematic diagram of the third part of the robot's structure;

[0022] Figure 5 for Figure 1 A schematic diagram of the fourth part of the robot's structure;

[0023] Figure 6 for Figure 1 A schematic diagram of the fifth part of the robot's structure. Detailed Implementation

[0024] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0025] like Figure 1-6 As shown, this utility model discloses a robot that can rotate in all directions, including a controller, a robot body 1, a robot head 2, a first arm 3, a second arm 4, a first drive mechanism 5, and a second drive mechanism 6.

[0026] The robot body 1 is equipped with a receiving cavity.

[0027] The first arm 3 is rotatably mounted on one side of the robot body 1.

[0028] The second arm 4 is rotatably mounted on the other side of the robot body 1. In other words, the first arm 3 and the second arm 4 can rotate on both sides of the robot body 1.

[0029] The robot head 2 is mounted on top of the robot body 1 and can rotate horizontally and swing vertically. It should be understood that the robot head 2 can rotate 360 ​​degrees horizontally and swing vertically, thus providing users with a more realistic experience during interaction, much like a human turning their head, raising their head, and nodding, giving users a novel and unique feeling.

[0030] Preferably, the controller is located inside the housing cavity or the robot head 2.

[0031] The first drive mechanism 5 is electrically connected to the controller and is located inside the housing cavity. It is used to drive the robot head 2 to rotate in the horizontal direction.

[0032] The second drive mechanism 6 is electrically connected to the controller and is located inside the robot head 2. It is used to drive the robot head 2 to swing up and down in the vertical direction.

[0033] Furthermore, the fully rotatable robot also includes a support frame, which is housed within the containment cavity.

[0034] Preferably, the support frame includes a main support plate 111, a first side plate 112 disposed on one side of the main support plate 111, and a second side plate 113 disposed on the other side of the main support plate 111, wherein the first drive mechanism 5 is disposed on the main support plate 111. It should be understood that the support frame as a whole provides a framework for the robot and provides support.

[0035] In this embodiment, the first driving mechanism 5 includes a first motor 51, a first rotating rod 52, and a first connecting seat 53. The first motor 51 is electrically connected to the controller and is located at the main support plate 111. The first rotating rod 52 is rotatably mounted on the main support plate 111, and its bottom end is connected to the rotating shaft of the first motor 51 so that the first motor 51 can drive the first rotating rod 52 to rotate. The first connecting seat 53 is located at the top end of the first rotating rod 52 and is connected to the robot head 2 so that the robot head 2 and the first connecting seat 53 rotate synchronously with the first rotating rod 52, thereby driving the robot head 2 to rotate in the horizontal direction.

[0036] Furthermore, the first drive mechanism 5 also includes a sleeve 54, wherein the sleeve 54 is disposed on the top surface of the main support plate 111, and a bearing is disposed inside the sleeve 54, and the first rotating rod 52 passes through and is fixedly disposed inside the inner ring of the bearing.

[0037] In this embodiment, the first motor 51 is mounted on the bottom surface of the main support plate 111 via the first connecting plate 55. The main support plate 111 has a first through hole, through which the bottom end of the first rotating rod 52 passes. The bottom end of the first rotating rod 52 is provided with a first gear 521, and the rotating shaft of the first motor 51 is provided with a second gear 511 that meshes with the first gear 521. This causes the first motor 51 to drive the first gear 521 to rotate, which in turn drives the second gear 511 to rotate, thereby driving the first rotating rod 52 to rotate.

[0038] Furthermore, the first connecting seat 53 is provided with a locking piece 531, and the top surface of the main support plate 111 is provided with a limiting post 56, the top of the limiting post 56 being provided with a limiting hole 561 for locking the locking piece 531. It should be understood that the first motor 51 drives the first gear 521 and the second gear 511 to rotate the robot head 2. During the rotation, the limiting hole 561 on the limiting post 56 can lock the locking piece 531 in place. That is to say, when the robot head 2 rotates to a certain extent in the horizontal direction, it will stop rotating under the action of the limiting hole 561.

[0039] In this embodiment, the second drive mechanism 6 includes a fixed plate 61, a second motor 62, a second rotating rod 63, a fixed cylinder 64, and a second connecting seat 65. The fixed plate 61 is disposed inside the robot head 2. The second motor 62 is electrically connected to the controller and is mounted on the fixed plate 61. The second rotating rod 63 is rotatably mounted on the fixed plate 61, and its top end is connected to the rotating shaft of the second motor 62 (e.g., a gear meshing connection) to drive the second rotating rod 63 to rotate. The top end of the fixed cylinder 64 is disposed on the bottom surface of the fixed plate 61, and the second connecting seat 65 is disposed at the bottom end of the fixed cylinder 64. The second connecting seat 65 is vertically swaying and mounted on the first connecting seat 53. The second rotating rod 63 passes through the fixed cylinder 64 and drives the second connecting seat 65 to rotate relative to the first connecting seat 53. It should be understood that since the second motor 62 is mounted on the fixed plate 61, and the fixed plate 61 is fixedly mounted inside the robot head 2, when the second motor 62 drives the second rotating rod 63 to rotate, it will drive the second connecting seat 65 to rotate relative to the first connecting seat 53, thereby driving the robot head 2 to swing up and down in the vertical direction to achieve actions such as raising and nodding.

[0040] Specifically, the first connecting seat 53 includes a first support plate 532, a first vertical plate 533, and a second vertical plate 534. The second connecting seat 65 includes a second support plate 651 connected to the bottom end of the fixed cylinder 64, a third vertical plate 652 vertically disposed at one end of the second support plate 651, and a fourth vertical plate 653 vertically disposed at the other end of the second support plate 651. The first support plate 532 is connected to the top end of the first rotating rod 52. The first vertical plate 533 is vertically disposed at one end of the first support plate 532, and the second vertical plate 534 is vertically disposed at the other end of the first support plate 532. The first vertical plate 533 has a first opening, the second vertical plate 534 has a second opening, the third vertical plate 652 has a third opening, and the fourth vertical plate 653 has a fourth opening. A rotating shaft 7 is inserted through the third opening, the first opening, the second opening, and the fourth opening, so that the second connecting seat 65 rotates along the rotating shaft 7.

[0041] Furthermore, a third gear 57 is fixedly installed in the first vertical plate 533 or the second vertical plate 534, the rotating shaft 7 passes through the third gear 57, and the bottom end of the second rotating rod 63 passes through the second support plate 651 and is provided with a fourth gear 631 that meshes with the third gear 57, so that when the second rotating rod 63 drives the fourth gear 631 to rotate, it will drive the second connecting seat 65 to rotate relative to the first connecting seat 53.

[0042] Preferably, the third vertical plate 652 and the fourth vertical plate 653 are disposed outside the first vertical plate 533 and the second vertical plate 534.

[0043] Furthermore, the outer wall of the first vertical plate 533 is provided with a first locking part 58, and the outer wall of the third vertical plate 652 is provided with a second locking part 66 for locking the first locking part 58. This means that during the rotation of the second connecting seat 65 relative to the first connecting seat 53, when the second locking part 66 rotates to the first locking part 58, the first locking part 58 will lock the second locking part 66, preventing the second connecting seat 65 from continuing to rotate, thus playing a limiting role.

[0044] Furthermore, the top of the robot body 1 is provided with a hemispherical protective cover 114, and the top of the protective cover 114 is provided with a long, arc-shaped limiting groove. The bottom of the robot head 2 is provided with an inwardly recessed groove 21, in which the protective cover 114 is located. The groove 21 has an opening, and the fixing cylinder 64 passes through the limiting groove and the opening. It should be understood that the limiting groove is arc-shaped and serves as a limiting mechanism. During the rotation of the robot head 2, the fixing cylinder 64 will rotate within the limiting groove of the protective cover 114, so that the vertical rotation of the robot head 2 will not exceed the predetermined range. The groove 21 of the robot head 2 can also cover the protective cover 114 at the top of the robot body 1, thereby allowing the robot head 2 to rotate stably.

[0045] In addition, this omnidirectionally rotating robot also includes a third motor 31 and a fourth motor 41. The third motor 31 is electrically connected to the controller and is housed in the first side plate 112. The rotation shaft of the third motor 31 passes through one side of the robot body 1 and is fixedly connected to the first arm 3. The fourth motor 41 is also electrically connected to the controller and is housed in the second side plate 113. The rotation shaft of the fourth motor 41 passes through the other side of the robot body 1 and is fixedly connected to the second arm 4. It should be understood that the robot's arms on both sides can also be driven to rotate by the controller, thereby performing anthropomorphic movements such as raising their hands.

[0046] It is worth noting that the controller, first motor 51, second motor 62, third motor 31 and fourth motor 41 in this embodiment can be implemented using products in the prior art, and their principles and structures will not be described in detail here.

[0047] It should be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

Claims

1. A holonomic robot comprising a controller, characterized in that, Also comprising: a robot body provided with a receiving cavity; a first arm rotatably arranged at one side end of the robot body; a second arm rotatably arranged at the other side end of the robot body; a robot head rotatably arranged at the top end of the robot body in the horizontal direction and swingably arranged in the vertical direction; a first driving mechanism electrically connected with the controller, arranged in the receiving cavity, for driving the robot head to rotate in the horizontal direction; a second driving mechanism electrically connected with the controller, arranged in the robot head, for driving the robot head to swing in the vertical direction; wherein the controller is arranged in the receiving cavity or the robot head; the first driving mechanism comprises: a first motor electrically connected with the controller, arranged on the main support plate; a first rotating rod rotatably arranged on the main support plate, wherein the bottom end of the first rotating rod is connected with the rotating shaft of the first motor, so as to drive the first rotating rod to rotate through the first motor; a first connecting seat arranged at the top end of the first rotating rod, wherein the first connecting seat is connected with the robot head, so that the robot head and the first connecting seat synchronously rotate with the first rotating rod; the second driving mechanism comprises: a fixed plate arranged in the robot head; a second motor electrically connected with the controller, arranged on the fixed plate; a second rotating rod rotatably arranged on the fixed plate, wherein the top end of the second rotating rod is connected with the rotating shaft of the second motor, so as to drive the second rotating rod to rotate through the second motor; a fixed cylinder arranged at the bottom surface of the fixed plate; a second connecting seat arranged at the bottom end of the fixed cylinder, wherein the second connecting seat is swingably arranged on the first connecting seat in the vertical direction, and the second rotating rod is arranged in the fixed cylinder, for driving the second connecting seat to rotate relative to the first connecting seat.

2. The omnidirectional robot according to claim 1, wherein Also comprising: a support frame arranged in the receiving cavity, wherein the support frame comprises a main support plate, a first side plate arranged at one side end of the main support plate, and a second side plate arranged at the other side end of the main support plate, and the first driving mechanism is arranged on the main support plate.

3. The omnidirectional robot according to claim 2, wherein The first driving mechanism further comprises a sleeve, wherein the sleeve is arranged at the top surface of the main support plate, and a bearing is arranged in the sleeve, and the first rotating rod is arranged in the inner ring of the bearing.

4. The omnidirectional robot according to claim 3, wherein The first motor is arranged at the bottom surface of the main support plate through a first connecting plate, the main support plate is provided with a first through hole, the bottom end of the first rotating rod passes through the first through hole, wherein the bottom end of the first rotating rod is provided with a first gear, the rotating shaft of the first motor is provided with a second gear engaged with the first gear, and the first connecting seat is provided with a clamping piece, the top surface of the main support plate is provided with a limiting column, and the top end of the limiting column is provided with a limiting hole clamping the clamping piece.

5. The omnidirectional robot according to claim 4, wherein, The first connecting seat comprises a first supporting plate connected with the top end of the first rotating rod, a first vertical plate vertically arranged at one end of the first supporting plate, and a second vertical plate vertically arranged at the other end of the first supporting plate, and the second connecting seat comprises a second supporting plate connected with the bottom end of the fixed cylinder, a third vertical plate vertically arranged at one end of the second supporting plate, and a fourth vertical plate vertically arranged at the other end of the second supporting plate, wherein the first vertical plate is provided with a first opening, the second vertical plate is provided with a second opening, the third vertical plate is provided with a third opening, the fourth vertical plate is provided with a fourth opening, and a rotating shaft rod is arranged in the third opening, the first opening, the second opening and the fourth opening, so that the second connecting seat rotates along the rotating shaft rod.

6. The omnidirectional robot according to claim 5, wherein, A third gear is fixedly arranged in the first vertical plate or the second vertical plate, the rotating shaft rod passes through the third gear, the bottom end of the second rotating rod passes through the second supporting plate and is provided with a fourth gear engaged with the third gear, wherein the third vertical plate and the fourth vertical plate are arranged outside the first vertical plate and the second vertical plate, the outer wall of the first vertical plate is provided with a first clamping part, and the outer wall of the third vertical plate is provided with a second clamping part for clamping the first clamping part.

7. The omnidirectional robot according to claim 5, wherein, The top end of the robot body is provided with a protective cover in the shape of a hemisphere, the top end of the protective cover is provided with a limiting groove in the shape of a long arc, the bottom end of the robot head is provided with a recess recessed inwardly, the protective cover is arranged in the recess, the recess is provided with an opening, and the fixed cylinder is arranged in the limiting groove and the opening.

8. The omnidirectional robot according to claim 2, wherein, Further comprising: A third motor electrically connected with the controller and arranged in the first side plate, wherein the rotating shaft of the third motor passes through one side end of the robot body and is fixedly connected with the first arm; A fourth motor electrically connected with the controller and arranged in the second side plate, wherein the rotating shaft of the fourth motor passes through the other side end of the robot body and is fixedly connected with the second arm.

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