A service robot

Abstract

The utility model belongs to the field of robot technology discloses a service robot. Service robot includes mobile chassis, fuselage, snatch mechanism and visual assembly, and the top of mobile chassis is equipped with recess; The fuselage includes the big leg, the small leg and the platform, and the first end of big leg is inserted into the recess, and the first end of big leg can rotate relative to the recess with the first direction as the rotating center, and the first end of small leg is connected to the second end of big leg, and the first end of small leg rotates relative to big leg with the first direction as the rotating center, and the bottom of platform is set to the second end of small leg, and the bottom of platform rotates with the first direction as the rotating center; Snatch mechanism includes mechanical arm, and mechanical arm is fixed to the top of platform; Visual assembly is fixed to the top of platform. The service robot of the utility model is under the storage posture, and the occupied space is smaller, and it is convenient to store, and when transporting, it is convenient to transport, and the snatch range is wider, can satisfy the use demand of user, and the applicability is strong.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a service robot. Background Technology

[0002] Service robots can move to a designated location using a mobile chassis and perform various service tasks using a robotic arm, such as in hotels, restaurants, or hospitals.

[0003] Existing service robots, when folded up, occupy a large space, making them inconvenient to store and transport. Furthermore, their grasping range is narrow, failing to meet user needs and resulting in poor applicability. Therefore, there is an urgent need for a service robot to solve these technical problems. Utility Model Content

[0004] The purpose of this utility model is to provide a service robot that occupies less space in its folded posture, is easy to store, is easy to transport, has a wide grasping range, can meet the user's needs, and is highly applicable.

[0005] To achieve this objective, the present invention adopts the following technical solution:

[0006] A service robot, comprising:

[0007] A movable chassis, wherein the top of the movable chassis is provided with a groove;

[0008] The body includes a thigh, a lower leg, and a platform. The first end of the thigh extends into the groove and can rotate relative to the groove about a first direction as the rotation center. The first end of the lower leg is connected to the second end of the thigh and can rotate relative to the thigh about the first direction as the rotation center. The bottom end of the platform is disposed at the second end of the lower leg and can rotate relative to the lower leg about the first direction as the rotation center.

[0009] The gripping mechanism includes a robotic arm, which is fixed to the top of the platform;

[0010] The vision component is fixed to the top of the platform.

[0011] In some possible implementations, the body further includes a base and a first drive member, the base being fixed within the groove, the first drive member being fixed to the base, the thigh including a first drive arm and a first auxiliary arm, the first drive arm and the first auxiliary arm being located on opposite sides of the first drive member, the first drive arm being fixed to the output end of the first drive member, the first auxiliary arm being rotatably connected to the base, and the first auxiliary arm being detachably connected to the first drive arm.

[0012] In some possible implementations, the base is provided with a first receiving cavity, and the first driving member is disposed within the first receiving cavity.

[0013] In some possible implementations, a first crossed roller bearing is provided between the cavity wall of the first accommodating cavity and the output end of the first driving member, and a second crossed roller bearing is provided between the first auxiliary arm and the base.

[0014] In some possible implementations, the end of the first drive arm near the lower leg and the end of the first auxiliary arm near the lower leg together form a second accommodating cavity. The body also includes a second drive member located within the second accommodating cavity. The lower leg includes a second drive arm and a second auxiliary arm, which are located on opposite sides of the second drive member. The second drive arm is fixed to the output end of the second drive member, and the second auxiliary arm is rotatably connected to the thigh. The second auxiliary arm is detachably connected to the second drive arm.

[0015] In some possible implementations, the thigh is connected to a first thread-passing shell, which covers the thigh and forms a first thread-passing cavity; the lower leg is connected to a second thread-passing shell, which covers the lower leg and forms a second thread-passing cavity; the service robot further includes a first wire harness that passes through the first thread-passing cavity and the second thread-passing cavity.

[0016] In some possible implementations, the vision component includes a support base, a support frame, a camera, and a second wiring harness. The support base has a third wiring cavity and a mounting cavity, the mounting cavity communicating with the third wiring cavity. The support frame is inserted into the mounting cavity, the camera is fixed to the support frame, and the support frame has a fourth wiring cavity, the fourth wiring cavity communicating with the third wiring cavity. The second wiring harness passes through the third wiring cavity and the fourth wiring cavity and is connected to the camera.

[0017] In some possible implementations, the support frame includes a frame body and a mounting component. The frame body is inserted into the mounting cavity, the mounting component is detachably connected to the frame body, the camera is fixed to the mounting component, and the frame body has a first cavity, the mounting component has a second cavity, and the second cavity and the first cavity together form the fourth cable passage cavity.

[0018] In some possible implementations, the frame extends vertically, the mounting component includes a horizontal portion and two inclined portions, the two inclined portions are located at both ends of the horizontal portion and are inclined away from the frame, and two cameras are provided, with each camera corresponding to one of the two inclined portions.

[0019] In some possible implementations, the platform has two mounting positions, and the robotic arm can be selectively connected to one of the mounting positions. The robotic arm includes a base that is perpendicular to the horizontal plane when the robotic arm is located in one of the mounting positions, and parallel to the horizontal plane when the robotic arm is located in the other mounting position; and / or,

[0020] The robotic arm is provided in two parts, which are arranged symmetrically on both sides of the platform, and the vision component is located between the two robotic arms.

[0021] The beneficial effects of this utility model are:

[0022] The service robot provided by this utility model includes a mobile chassis, a body, a grasping mechanism, and a vision component. In its retracted posture, the top of the mobile chassis has a groove, into which the first end of the thigh extends. The first end of the thigh can rotate relative to the groove about a first direction, and the first end of the lower leg can rotate relative to the thigh about the first direction, thus reducing the space occupied by the body. Because the bottom of the platform rotates relative to the lower leg about the first direction, the robotic arm can retract. Furthermore, the folding of the robotic arm further reduces the space occupied by the service robot. During operation, the vision component identifies the position of the object to be grasped, the mobile chassis moves the body close to the object, the robotic arm grasps the object, and then, through the combined action of the vision component, the mobile chassis, and the robotic arm, moves the object to the desired position, thus achieving the movement of the object. Therefore, in its folded position, it is convenient for storage; during transportation, it is convenient for transport; and during operation, the rotation of the lower and upper legs of the robot allows for a larger range of motion in the robotic arm, thus widening the grasping range and meeting user needs. It is highly versatile. Furthermore, the service robot occupies relatively little space during operation. Additionally, fixing both the robotic arm and vision components to the top of the platform prevents interference between the robotic arm / vision components and the robot body. Attached Figure Description

[0023] Figure 1 This is a first-view structural diagram of the service robot provided by this utility model;

[0024] Figure 2 This is a second-view structural diagram of the service robot provided by this utility model;

[0025] Figure 3 This is a third-view structural diagram of the service robot provided by this utility model;

[0026] Figure 4 This is a fourth-view structural diagram of the service robot provided by this utility model;

[0027] Figure 5 This is a schematic diagram of the structure of the base, the first driving member, and the thigh involved in this utility model;

[0028] Figure 6 This is a schematic diagram of the structure of the second driving component, thigh, and lower leg involved in this utility model;

[0029] Figure 7 This is a schematic diagram of the structure of the visual component involved in this utility model;

[0030] Figure 8 This is a schematic diagram of the gripping mechanism (base parallel to the horizontal plane) involved in this utility model;

[0031] Figure 9 This is a schematic diagram of the gripping mechanism (with the base perpendicular to the horizontal plane) involved in this utility model.

[0032] In the picture:

[0033] 1. Mobile chassis; 11. Groove; 12. Wheel; 2. Body; 21. Thigh; 211. First drive arm; 212. First auxiliary arm; 213. First wire guide shell; 214. Fourth crossed roller bearing; 215. First annular cover; 216. Second annular cover; 22. Lower leg; 221. Second drive arm; 222. Second auxiliary arm; 223. Second wire guide shell; 23. Platform; 231. Platform body; 232. First connector; 233. Second connector; 24. Base; 241. First receiving cavity; 25. First drive component; 26. 27. Third drive component; 3. Robotic arm; 30. Mechanical claw component; 31. Base; 32. Fifth drive component; 33. First arm body; 34. Sixth drive component; 35. Second arm body; 36. Seventh drive component; 37. Third arm body; 38. Eighth drive component; 39. Ninth drive component; 4. Vision component; 41. Support base; 411. Third cable guide cavity; 412. Mounting cavity; 42. Camera; 43. Frame; 431. First cavity; 44. Mounting component; 441. Second cavity; 442. Horizontal part; 443. Inclined part; 45. Industrial control computer. Detailed Implementation

[0034] The embodiments of this utility model are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar components or components having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this utility model, and should not be construed as limiting this utility model.

[0035] In the description of this utility model, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection or a detachable connection; a mechanical connection or an electrical connection; a direct connection or an indirect connection through an intermediate medium; or the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0036] In the description of this utility model, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0037] The technical solution of this utility model will be further described below with reference to the accompanying drawings and specific embodiments.

[0038] like Figures 1 to 9 As shown, this utility model provides a service robot, including a mobile chassis 1, a body 2, a gripping mechanism, and a vision component 4. The top of the mobile chassis 1 has a groove 11. The body 2 includes a thigh 21, a lower leg 22, and a platform 23. The first end of the thigh 21 extends into the groove 11 and can rotate relative to the groove 11 about a first direction. The first end of the lower leg 22 is connected to the second end of the thigh 21 and can rotate relative to the thigh 21 about the first direction. The bottom end of the platform 23 is located at the second end of the lower leg 22 and can rotate relative to the lower leg 22 about the first direction. The gripping mechanism includes a robotic arm 3, which is fixed to the top of the platform 23. The vision component 4 is fixed to the top of the platform 23. The first direction is... Figure 2 The X direction in the equation.

[0039] In its retracted position, the top of the mobile chassis 1 has a groove 11, into which the first end of the thigh 21 extends. The first end of the thigh 21 can rotate relative to the groove 11 with a first direction as its rotation center. The first end of the lower leg 22 also rotates relative to the thigh 21 with a first direction as its rotation center, reducing the space occupied by the body 2. Furthermore, the bottom of the platform 23 can retract relative to the lower leg 22 with a first direction as its rotation center, allowing the robotic arm 3 to retract. Additionally, the folding of the robotic arm 3 further reduces the space occupied by the service robot. During operation, the vision component 4 identifies the position of the object to be grasped. The mobile chassis 1 moves the body 2 closer to the object, the robotic arm 3 grasps the object, and then, through the combined action of the vision component 4, the mobile chassis 1, and the robotic arm 3, moves the object to the desired position, thus achieving the movement of the object. Therefore, in its folded position, it is convenient for storage; during transportation, it is convenient for transport; and during operation, the rotation of the lower legs 22 and upper legs 21 of the body 2 allows the robotic arm 3 to have a larger range of motion, extending its working range from the ground to a height of 1500mm, thus widening the grasping range and meeting user needs. It is highly adaptable. Furthermore, the service robot occupies relatively little space during operation. Fixing both the robotic arm 3 and the vision component 4 to the top of the platform 23 also prevents interference between the robotic arm 3 and the vision component 4 and the body 2, and facilitates the folding of the service robot.

[0040] Optionally, the mobile chassis 1 includes a chassis body and three wheels 12. The three wheels 12 are arranged in a triangle at the bottom of the chassis body and are used to drive the chassis body to move. This arrangement reduces weight and manufacturing costs, facilitates maintenance, and makes movement more stable.

[0041] Optionally, such as Figure 5 As shown, the body 2 also includes a base 24 and a first driving member 25. The base 24 is fixed in the groove 11, and the first driving member 25 is fixed to the base 24. The thigh 21 includes a first driving arm 211 and a first auxiliary arm 212, which are located on opposite sides of the first driving member 25. The first driving arm 211 is fixed to the output end of the first driving member 25, and the first auxiliary arm 212 is rotatably connected to the base 24 and detachably connected to the first driving arm 211. With this configuration, the first end of the thigh 21 can rotate relative to the groove 11 with a first direction as the rotation center, facilitating the installation and removal of the thigh 21, improving the structural stability of the thigh 21, and providing convenient support for the lower leg 22. Optionally, the first driving member 25 is a motor.

[0042] Optionally, the base 24 is provided with a first receiving cavity 241, and the first driving member 25 is disposed in the first receiving cavity 241. Disposing the first driving member 25 in the first receiving cavity 241 protects the first driving member 25 and prevents dust from falling onto the first driving member 25.

[0043] Optionally, the end of the first drive arm 211 near the lower leg 22 and the end of the first auxiliary arm 212 near the lower leg 22 together form a second accommodating cavity. The body 2 also includes a second drive member 26, which is located within the second accommodating cavity. The lower leg 22 includes a second drive arm 221 and a second auxiliary arm 222, which are located on opposite sides of the second drive member 26. The second drive arm 221 is fixed to the output end of the second drive member 26, and the second auxiliary arm 222 is rotatably connected to the thigh 21. The second auxiliary arm 222 is detachably connected to the second drive arm 221. With the above configuration, the first end of the lower leg 22 can rotate relative to the thigh 21 with the first direction as the rotation center, which facilitates the installation and removal of the lower leg 22, improves the structural stability of the lower leg 22, and facilitates support for the platform 23. In addition, placing the second drive member 26 within the second accommodating cavity protects the second drive member 26 and prevents dust from falling onto it. Optionally, the second drive element 26 is a motor.

[0044] Optionally, a first crossed roller bearing is provided between the cavity wall of the first accommodating cavity 241 and the output end of the first driving member 25, and a second crossed roller bearing is provided between the first auxiliary arm 212 and the base 24. Alternatively, a third crossed roller bearing is provided between the cavity wall of the second accommodating cavity and the output end of the second driving member 26, and a fourth crossed roller bearing 214 is provided between the second auxiliary arm 222 and the first auxiliary arm 212. By adding crossed roller bearings at both ends, the overturning moment of the body 2 can be strengthened, increasing the stability of the service robot and solving the problem of severe shaking caused by weight and speed in existing service robots, thus avoiding affecting the recognition, movement, and grasping effects.

[0045] Optionally, the fourth crossed roller bearing 214 is limited by a first annular cap 215 and a second annular cap 216. Specifically, the first annular cap 215 is fixed to the first auxiliary arm 212 by screws to press the first annular cap 215 onto the inner ring of the fourth crossed roller bearing 214, and the second annular cap 216 is fixed to the second auxiliary arm 222 by screws to press the second annular cap 216 onto the outer ring of the fourth crossed roller bearing 214.

[0046] Optionally, the body 2 also includes a third drive component 27, which is fixed to the second end of the lower leg 22 and is used to drive the platform 23 to rotate. Optionally, the third drive component 27 is a motor.

[0047] Optionally, the thigh 21 is connected to a first wire guide shell 213, which covers the thigh 21 and forms a first wire guide cavity. The lower leg 22 is connected to a second wire guide shell 223, which covers the lower leg 22 and forms a second wire guide cavity. The service robot also includes a first wire harness, which passes through the first and second wire guide cavities. By setting the first and second wire guide cavities, the trajectory of the first wire harness is restricted to avoid wear or even cutting of the first wire harness when the robot body 2 rotates. The first wire harness moves more reliably within the designed trajectory. In addition, the first and second wire guide shells 213 and 223 can serve a decorative and aesthetic purpose. Optionally, two first wire guide shells 213 are provided, each detachably mounted on the first drive arm 211 and the first auxiliary arm 212 respectively, forming two first wire guide cavities; two second wire guide shells 223 are provided, each detachably mounted on the second drive arm 221 and the second auxiliary arm 222 respectively, forming two second wire guide cavities. In this embodiment, the two ends of the first wire guide cavity corresponding to the first auxiliary arm 212 are connected to the first receiving cavity 241 and the second receiving cavity respectively, and the second wire guide cavity corresponding to the second auxiliary arm 222 is connected to the second receiving cavity. With this configuration, the first wire harness passes through the first receiving cavity 241, the first wire guide cavity, the second receiving cavity, and the second wire guide cavity, which can better restrict the trajectory of the first wire harness.

[0048] Optionally, the vision component 4 includes a support base 41, a support frame, a camera 42, and a second wiring harness. The support base 41 has a third wiring cavity 411 and a mounting cavity 412, with the mounting cavity 412 communicating with the third wiring cavity 411. The support frame is inserted into the mounting cavity 412, and the camera 42 is fixed to the support frame. The support frame has a fourth wiring cavity, which communicates with the third wiring cavity 411. The second wiring harness passes through the third wiring cavity 411 and the fourth wiring cavity and is connected to the camera 42. By setting the third wiring cavity 411 and the fourth wiring cavity, the trajectory of the second wiring harness is restricted to avoid wear or even cutting of the second wiring harness when the robotic arm 3 rotates, allowing the second wiring harness to move more reliably within the designed trajectory. In addition, by setting the third wiring cavity 411 and the fourth wiring cavity, the overall weight can be reduced, saving costs. Inserting the support frame into the mounting cavity 412 facilitates the installation of the support frame. In addition, the vision component 4 also includes an industrial computer 45, which is connected to the camera 42 via a second wiring harness.

[0049] Optionally, the support frame includes a frame body 43 and a mounting member 44. The frame body 43 is inserted into the mounting cavity 412, and the mounting member 44 is detachably connected to the frame body 43. The camera 42 is fixed to the mounting member 44. The frame body 43 has a first cavity 431, and the mounting member 44 has a second cavity 441. The second cavity 441 and the first cavity 431 together form a fourth cable passage cavity. By detachably connecting the mounting member 44 to the frame body 43 and fixing the camera 42 to the mounting member 44, it is convenient to disassemble the mounting member 44 and the camera 42. The second cavity 441 and the first cavity 431 together restrict the trajectory of the second cable harness, thus better controlling the second cable harness.

[0050] Optionally, the frame 43 extends vertically, and the mounting component 44 includes a horizontal part 442 and two inclined parts 443. The two inclined parts 443 are located at both ends of the horizontal part 442 and are inclined away from the frame 43. Two cameras 42 are provided, and each camera 42 is connected to one of the two inclined parts 443. This configuration allows for a wider recognition range and a wider field of view, making the grasping operation more convenient and efficient. Optionally, both cameras 42 are binocular cameras, which are applicable to a wider range of scenarios.

[0051] Optionally, platform 23 has two mounting positions, and robotic arm 3 can be selectively connected to one of the mounting positions. Robotic arm 3 includes base 31, such as... Figure 9 As shown, when the robotic arm 3 is in one of the mounting positions, the base 31 is perpendicular to the horizontal plane, as... Figure 8 As shown, when the robotic arm 3 is in another mounting position, the base 31 is parallel to the horizontal plane. The robotic arm 3 can be selectively connected to one of the mounting positions, allowing for quick changes in its posture to suit specific application scenarios and increase its applicability. Specifically, the platform 23 includes a platform body 231, a first connector 232, and a second connector 233. The first connector 232 is detachably connected to the side of the platform body 231. When the robotic arm 3 is connected to the first connector 232, the base 31 is perpendicular to the horizontal plane. The second connector 233 is detachably connected to the top of the platform body 231. When the robotic arm 3 is connected to the second connector 233, the base 31 is parallel to the horizontal plane. When the robotic arm 3 is connected to the first connector 232, disassembling the second connector 233 avoids interference with the operation of the robotic arm 3. When the robotic arm 3 is connected to the second connector 233, disassembling the first connector 232 avoids interference with the operation of the robotic arm 3.

[0052] Optionally, two robotic arms 3 are provided, which are symmetrically arranged on both sides of the platform 23, with the vision component 4 located between the two robotic arms 3. This arrangement can improve grasping efficiency, make the force on the platform 23 more even, and make the movement of the service robot more stable.

[0053] Optionally, the robotic arm 3 includes a fourth drive member, a fifth drive member 32, a first arm body 33, a sixth drive member 34, a second arm body 35, and a gripping assembly. The fourth drive member is fixed inside the base 31 and is used to drive the fifth drive member 32 to rotate about a first direction as the rotation center. The fifth drive member 32 is used to drive one end of the first arm body 33 to rotate about a second direction as the rotation center. The first direction is... Figure 8 The X direction in the middle, the second direction is Figure 8 The sixth drive unit 34 is fixed to the other end of the first arm 33 and is used to drive one end of the second arm 35 to rotate around the second direction as the rotation center. The gripping assembly is fixed to the other end of the second arm 35. This configuration can improve the gripping range of the gripping assembly.

[0054] Optionally, the gripping assembly includes a seventh drive member 36, a third arm 37, an eighth drive member 38, a ninth drive member 39, and a mechanical gripper component 30. The seventh drive member 36 is fixed to the other end of the second arm 35 and is used to drive one end of the third arm 37 to rotate about a second direction as the rotation center. The eighth drive member 38 is fixed to the third arm 37 and is used to drive the ninth drive member 39 to rotate about a first direction as the rotation center. The ninth drive member 39 is used to drive the mechanical gripper to rotate about a third direction as the rotation center. The first direction, the second direction, and the third direction are perpendicular to each other, wherein the third direction is... Figure 8 The Y-direction is specified in the diagram. This configuration allows for omnidirectional adjustment of the mechanical gripper component 30, enabling it to adjust its posture to grasp objects from different angles, significantly improving its flexibility and adaptability. The mechanical gripper component 30 includes a clamping drive and mechanical grippers; the clamping drive is used to drive the two grippers closer together or further apart.

[0055] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating the present utility model, and are not intended to limit the implementation of the present utility model. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. A service robot, characterized in that, include: A movable chassis (1) is provided with a groove (11) at its top. The fuselage (2) includes a thigh (21), a calf (22) and a platform (23). The first end of the thigh (21) extends into the groove (11) and the first end of the thigh (21) can rotate relative to the groove (11) with a first direction as the rotation center. The first end of the calf (22) is connected to the second end of the thigh (21) and the first end of the calf (22) can rotate relative to the thigh (21) with the first direction as the rotation center. The bottom end of the platform (23) is located at the second end of the calf (22) and the bottom end of the platform (23) can rotate relative to the calf (22) with the first direction as the rotation center. The gripping mechanism includes a robotic arm (3) fixed to the top of the platform (23); The visual component (4) is fixed to the top of the platform (23).

2. The service robot according to claim 1, characterized in that, The body (2) also includes a base (24) and a first drive member (25). The base (24) is fixed in the groove (11), and the first drive member (25) is fixed to the base (24). The thigh (21) includes a first drive arm (211) and a first auxiliary arm (212). The first drive arm (211) and the first auxiliary arm (212) are located on both sides of the first drive member (25). The first drive arm (211) is fixed to the output end of the first drive member (25). The first auxiliary arm (212) is rotatably connected to the base (24), and the first auxiliary arm (212) is detachably connected to the first drive arm (211).

3. The service robot according to claim 2, characterized in that, The base (24) is provided with a first accommodating cavity (241), and the first driving member (25) is disposed in the first accommodating cavity (241).

4. The service robot according to claim 3, characterized in that, A first cross roller bearing is provided between the cavity wall of the first accommodating cavity (241) and the output end of the first driving member (25), and a second cross roller bearing is provided between the first auxiliary arm (212) and the base (24).

5. The service robot according to claim 3, characterized in that, The first drive arm (211) near the lower leg (22) and the first auxiliary arm (212) near the lower leg (22) together form a second accommodating cavity. The body (2) also includes a second drive member (26), which is located in the second accommodating cavity. The lower leg (22) includes a second drive arm (221) and a second auxiliary arm (222). The second drive arm (221) and the second auxiliary arm (222) are located on both sides of the second drive member (26). The second drive arm (221) is fixed to the output end of the second drive member (26). The second auxiliary arm (222) is rotatably connected to the thigh (21), and the second auxiliary arm (222) is detachably connected to the second drive arm (221).

6. The service robot according to claim 1, characterized in that, The thigh (21) is connected to a first wire guide shell (213), which covers the thigh (21) and forms a first wire guide cavity. The lower leg (22) is connected to a second wire guide shell (223), which covers the lower leg (22) and forms a second wire guide cavity. The service robot also includes a first wire harness, which passes through the first wire guide cavity and the second wire guide cavity.

7. The service robot according to any one of claims 1-6, characterized in that, The vision component (4) includes a support base (41), a support frame, a camera (42), and a second wiring harness. The support base (41) has a third wiring cavity (411) and a mounting cavity (412). The mounting cavity (412) is connected to the third wiring cavity (411). The support frame is inserted into the mounting cavity (412). The camera (42) is fixed to the support frame. The support frame has a fourth wiring cavity. The fourth wiring cavity is connected to the third wiring cavity (411). The second wiring harness passes through the third wiring cavity (411) and the fourth wiring cavity and is connected to the camera (42).

8. The service robot according to claim 7, characterized in that, The support frame includes a frame (43) and a mounting component (44). The frame (43) is inserted into the mounting cavity (412). The mounting component (44) is detachably connected to the frame (43). The camera (42) is fixed to the mounting component (44). The frame (43) is provided with a first cavity (431), and the mounting component (44) is provided with a second cavity (441). The second cavity (441) and the first cavity (431) together form the fourth cable passage cavity.

9. The service robot according to claim 8, characterized in that, The frame (43) extends vertically, and the mounting component (44) includes a horizontal part (442) and two inclined parts (443). The two inclined parts (443) are located at both ends of the horizontal part (442) and the inclined parts (443) are inclined away from the frame (43). There are two cameras (42), and the two cameras (42) are connected to the two inclined parts (443) in a one-to-one correspondence.

10. The service robot according to any one of claims 1-6, characterized in that, The platform (23) has two mounting positions, and the robotic arm (3) can be selectively connected to one of the mounting positions. The robotic arm (3) includes a base (31). When the robotic arm (3) is located in one of the mounting positions, the base (31) is perpendicular to the horizontal plane; when the robotic arm (3) is located in the other mounting position, the base (31) is parallel to the horizontal plane; and / or, There are two robotic arms (3), which are arranged symmetrically on both sides of the platform (23), and the vision component (4) is located between the two robotic arms (3).

Images