阅读说明：本技术 高低可调呼之即来的办公桌机器人 (Height-adjustable desk robot ) 是由 冯伟 于 2020-12-21 设计创作，主要内容包括：高低可调呼之即来的办公桌机器人,它包括办公桌桌面采用半支撑半悬空方式,桌架由四根两缸液压(气压)支柱,三块隔板,四个万向轮组成的可以升降三层搁架办公桌桌架桌架底层放储液罐、电磁阀和由测向定位模块、避障行走控制模块、超声波测距模块,室内地图构建和存储模块、桌面升降控制器、微处理器等构成的智能控制装置等上两层放办公用品。行走机构的底座圆台安装驱动电机固定架,固定架两端安装带减速器的驱动电机、轮胎,办公桌的智能控制装置由呼叫控制器、测向定位模块、避障行走控制模块、室内地图构建和存储模块、桌面升降控制器、微处理器等测控,实现高低可调呼之即来,方便随时随地办公。(Height-adjustable's desk robot that calls for soon, it includes that the desk desktop adopts half support half unsettled mode, and the table frame is put liquid storage pot, solenoid valve and is put by direction finding orientation module, keeps away barrier walking control module, ultrasonic ranging module by four two jar hydraulic (atmospheric pressure) pillars, three baffles, the three-layer shelf desk frame table frame bottom that can go up and down that four universal wheels are constituteed and put office supplies on the two-layer such as intelligent control device that indoor map structure and storage module, desktop lift controller, microprocessor constitute. A driving motor fixing frame is installed on a base circular table of the travelling mechanism, a driving motor with a speed reducer and tires are installed on two ends of the fixing frame, an intelligent control device of the office table is measured and controlled by a calling controller, a direction finding positioning module, an obstacle avoidance travelling control module, an indoor map building and storing module, a desktop lifting controller, a microprocessor and the like, the height can be adjusted as soon as possible, and office work can be conveniently carried out anytime and anywhere.)

1. The height-adjustable calling desk robot is characterized by comprising a desk desktop (1), a lifting three-layer shelf universal wheel desk frame, a telescopic two-cylinder hydraulic (pneumatic) lifting cylinder body (2), a walking mechanism and an intelligent control device (6) which comprises a calling controller, a direction finding positioning module, an obstacle avoidance walking control module, an indoor map building and storing module, a desktop lifting controller, a microprocessor and the like.

2. The height adjustable desk robot as claimed in claim 1, wherein the desk top (1) is semi-supported and semi-suspended, so that the desk top can be extended into a bed or a sofa.

3. The height-adjustable coming-call desk robot as claimed in claim 1, wherein the desk frame is a liftable three-layer shelf desk frame consisting of four telescopic two-cylinder lifting cylinder bodies (2) hydraulic (pneumatic) pillars, three partition plates and four universal wheels, and an intelligent control device (6) and the like consisting of a hydraulic liquid storage tank (4), a pump (11), an electromagnetic control valve, a direction-finding positioning module, an obstacle-avoiding walking control module, a distance measuring module, an indoor map construction and storage module, a desktop lifting controller, a microprocessor and the like are placed at the bottom layer.

4. The height adjustable coming desk robot according to claim 1, characterized in that the telescopic two-cylinder hydraulic (pneumatic) lifting cylinder body (2) of the desk has two structures; the device comprises a lifting cylinder body I (I) and a lifting cylinder body II (II) which are independently controlled by single end input, and a lifting cylinder body I (I), a lifting cylinder body II and a soft rubber leather pipe (207) which are independently controlled by single end input, wherein the soft rubber leather pipe (207) is sealed and is sealed with a sealing ring to prevent liquid (gas) from leaking.

5. The height-adjustable coming desk robot according to claim 1, characterized in that the desk walking mechanism is a base circular table (7) provided with a driving motor fixing frame (20), two ends of the fixing frame are provided with driving motors (18) with reducers, and the driving motors rotate wheels (8) to walk; and a rotary limiting groove (23) of a driving motor fixing frame is arranged on the round table of the base, a limiting rod (21) is arranged on the driving motor fixing frame (20), and the driving motor fixing frame (20) is limited to rotate only by 90 degrees.

6. The height-adjustable coming-call desk robot as claimed in claim 1, wherein the intelligent control device (6) of the desk comprises a call controller, a direction-finding positioning module, an obstacle-avoiding walking control module, an indoor map construction and storage module, a desktop lifting controller, a microprocessor and the like; the function of the calling controller is that the host calls the remote controller of the desk robot, and the function of the calling controller is to send a calling signal to order the desk robot to come here and to finely adjust the position and height of the desk robot; the desk robot is provided with four groups of sensors, namely a front sensor, a rear sensor, a left sensor and a right sensor, wherein each group is provided with at least one position measuring sensor (9) and one directional sensor (10); the system comprises a directional sensor (10) of a direction-finding positioning module, direction and position data of a room where a direction-finding positioning caller is located, a position measuring sensor (9) of a distance measuring module measures position data of a robot at a desk, the measured data are processed by a microprocessor, an indoor map is built, a route is made, walking data are recorded by a driving walking and storage module, an obstacle avoidance walking control module is arranged, and obstacle avoidance walking can be adopted when obstacles are found by instant measurement of the position measuring sensor (9) during walking.

Technical Field

The invention belongs to the technical field of robots, and particularly relates to a self-walking desk-top height-adjustable desk robot

Background

With the development of the social era, the pace of work and life of people is accelerated, and the pressure is increased. The desk is required to be provided at any position in a home regardless of an office, but the current desk is not called for all the time and is taken by all people. The desktop can not be extended into the bed and the sofa, and the office requirement of half lying on the bed and the sofa is met.

Disclosure of Invention

The invention aims to overcome the defects of the existing office table, and provides a height-adjustable office table robot which can come and go instantly and can be swung instantly.

The height-adjustable in-call office table robot comprises an office table top, a lifting three-layer shelf universal wheel office table frame, a telescopic two-cylinder hydraulic (pneumatic) support, a walking mechanism and an intelligent measurement and execution controller (6) which is composed of a calling controller, a direction-finding positioning module, an obstacle avoidance walking control module, an indoor map construction and storage module, a table top lifting controller, a microprocessor and the like.

The height-adjustable office table top (1) of the on-call office table robot can be adjusted to be in a semi-supporting and semi-suspending mode, and the suspended part can extend into a bed, a sofa and a wheelchair to facilitate semi-lying and semi-sitting office work.

The height-adjustable desk frame of the desk robot comprises a hydraulic (air pressure) support consisting of four two-cylinder lifting cylinder bodies (2), three partition plates and a liftable three-layer shelf desk frame consisting of four universal wheels, wherein a hydraulic liquid storage tank (4), a pump (11), an electromagnetic valve, an intelligent measurement and execution controller (6) consisting of a direction-finding positioning module, an obstacle-avoiding walking control module, an ultrasonic distance measurement module, an indoor map construction and storage module, a desktop lifting controller, a microprocessor and the like, a power supply and the like are placed on the bottom layer of the desk frame.

The telescopic two-cylinder hydraulic (pneumatic) support has two structures; the single-end input single-control lifting cylinder I (I), the lifting cylinder II (II), the lifting cylinder II spiral soft guide pipe (206) and the soft rubber leather pipe (207), wherein the sealed upper sealing ring of the soft rubber leather pipe (207) prevents liquid (gas) from leaking.

The height-adjustable desk robot with the desk traveling mechanism comprises a traveling mechanism mounting base (7), a motor fixing frame (20) and driving motors (18) with speed reducers, wherein the driving motors rotate wheels (8) to travel. And a driving motor fixing frame rotating limiting groove (23) is arranged on the walking mechanism mounting base (7), and a limiting rod (21) is arranged on the driving motor fixing frame. The rotation of the driving motor fixing frame is limited to 90 degrees, and the walking can be conveniently rotated back to walk.

The intelligent measurement and execution controller (6) of the desk robot with adjustable height comprises a call controller, a direction finding and positioning module, an obstacle avoidance walking control module, an indoor map construction and storage module, a desktop lifting controller, a microprocessor and the like. The calling controller is a remote controller for calling the desk robot by a host, and has the function of sending a calling signal to command the desk robot to come here and finely adjusting the position and height of the desk robot.

And a direction-finding positioning module, wherein when the desk robot receives the calling signal, the directional sensor (10) finds and positions the direction position of the room where the caller is located.

And thirdly, the indoor walking map is constructed, each room of the house is walked once under the remote control of the owner, the data are measured by the position measuring sensor (9), and the data are processed by the microprocessor, the indoor map is constructed, and the walking data are recorded by the storage module and are used as the basic data of the walking of the robot at the office table. When a calling signal command is given, the directional sensor (10) detects the direction and the location data, and the location measuring sensor (9) immediately detects the data and processes the data through the microprocessor to control the walking mechanism to walk.

And fourthly, the obstacle avoidance walking control module. When the obstacle is found by the instant measurement of the position measuring sensor during walking, obstacle avoidance walking is adopted.

The height-adjustable desk robot can walk smoothly in a room through the five technical innovations. People who need the desk can work, study and have dinner anytime and anywhere.

Drawings

FIG. 1 is a view showing an overall structure of a robot for a desk with adjustable height

FIG. 2 is a view showing the structure of the height adjustable desk leg; wherein, (A) the soft rubber tube sealed cylinder body and the partial enlarged view, (B) the seal ring sealed cylinder body picture.

Fig. 3-schematic diagram of hydraulic control pipeline of office table legs.

Fig. 4-block diagram of the intelligent measurement and control architecture of the desk robot.

Fig. 5-structure view of walking driving part.

Description of reference numerals: 1-tabletop, 2-lifting cylinder body, 3-universal ball, 4-hydraulic liquid storage tank, 5-pump, 6-intelligent measurement and execution controller, 7-traveling mechanism mounting base, 8-wheel, 9-position measurement sensor, 10-orientation sensor, 11 pump (figure 3), 12-lifting cylinder body II descending control electromagnetic valve, 13-one-way valve, 14-lifting cylinder body II ascending control electromagnetic valve, 15-lifting cylinder body I descending control electromagnetic valve, 16-lifting cylinder body I ascending control electromagnetic valve, 17-seat, frame connecting hollow bolt, 18-driving motor, 19-traveling mechanism mounting base mounting screw hole, 20-motor mounting frame, 21-motor mounting frame rotating angle limiting rod, 22-hydraulic liquid storage tank (figure 3), 23-motor mounting rack rotation angle limiting groove, 24-motor lead, I-lifting cylinder I, II-lifting cylinder II, 201-universal ball (figure 2), 202-lifting cylinder II pressure control tube, 203-lifting cylinder I pressure control tube, 204-rubber tube fixing ring, 205-lifting cylinder I lower plug, 206-lifting cylinder II spiral soft guide tube, 207-soft rubber tube, 208-piston sealing ring, 209-lifting cylinder I cylinder, 210-lifting cylinder II cylinder, 211-lifting cylinder II piston, 212-piston rod, 213-piston rod piston and 214-cylinder sealing cover.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to specific embodiments and the accompanying drawings. The described embodiments are only intended to illustrate the invention and are not intended to limit the specific embodiments of the invention.

As shown in figure 1, the invention is divided into five parts, namely a table top part, a table leg lifting supporting part, a driving walking part, a lifting cylinder body hydraulic (air pressure) structure and control part, and a measurement intelligent control part, and the specific implementation is respectively explained in detail.

The office table top of the office table robot with adjustable height adopts a semi-supporting semi-suspension mode as the table top (1) shown in figure 1, and can be stretched into a bed, a sofa, a deck chair, a wheelchair and a massage chair to work at any time and any place in order to meet the postures of standing, sitting, semi-lying and the like.

The height-adjustable desk leg lifting support part of the coming desk robot consists of four lifting cylinder bodies (2), three layers of partition plates and four universal balls (3) as shown in figure 1, and walks under the driving of a walking driving motor (18) and wheels (8).

Height-adjustable drives walking part who calls for promptly desk robot, as figure 1, four screws on the bottom baffle shown in figure 5 twist running gear installation base installation screw (19) and fix running gear installation base (7) at desk frame seat, frame joint hollow bolt (17) motor mounting bracket (20), running gear installation base (17) move the complex and couple together, motor mounting bracket rotation angle spacing groove (23), motor mounting bracket rotation angle gag lever post (21) are injectd at 90 degrees motor mounting bracket rotation angle, two driving motor (18) syntropy are rotatory to walking forward. The two driving motors (18) rotate the motor mounting rack (20) in opposite directions to change the walking direction.

The hydraulic (pneumatic) control part structure of the lifting cylinder body is that universal balls (3), (201) can roll along the moving direction of a walking drive motor (18) and wheels (8) at the contact ground end of the lifting cylinder body (2) as shown in figures 1, 2 and 3. The lifting cylinder body (2) is formed by combining two piston cylinders, namely a lifting cylinder body I cylinder (209), a lifting cylinder body II cylinder (210), a lifting cylinder body II piston (211), a piston rod (212), a piston rod piston (213), a lifting cylinder body II spiral soft guide pipe (206), a piston sealing ring (208) and a cylinder sealing cover (214), as shown in figure 2 (B). Fig. 2(a) is the same as fig. 2(B) with the addition of a soft rubber tube (207) and a soft rubber tube fixing ring (204). The liquid (gas) in the cylinder of the lifting cylinder body is sealed in the soft rubber leather tube (207), so that the phenomenon of liquid leakage (gas leakage) of the lifting cylinder body is avoided. The selection of the cross-sectional shape of the lifting cylinder body is expanded, and circular tubes, square tubes, rectangular tubes and the like can be adopted.

The hydraulic (pneumatic) control of the lifting cylinder body is controlled by four electromagnetic valves connected in parallel with four cylinders. The desktop lifting control is that liquid (gas) in a hydraulic liquid storage tank (4) is pressurized by a pump (5) (11 in figure 3) and divided into two paths, and the first path is connected with four lifting cylinder I pressure control pipes (203) after being connected in parallel through a lifting cylinder I lifting control electromagnetic valve (16), a one-way valve (13). The second path is connected with four lifting cylinder II pressure control pipes (202) after being connected in parallel through a lifting cylinder II lifting control electromagnetic valve (14), a one-way valve (13). The pump is started, and the electromagnetic valves (14) and (16) are opened to lift the table top. The falling of the table top is controlled by a lifting cylinder body II falling control electromagnetic valve (12) arranged between a lifting cylinder body II pressure control pipe (202) and a hydraulic liquid storage tank (4), and a lifting cylinder body I falling control electromagnetic valve (15) arranged between a lifting cylinder body I pressure control pipe (203) and the hydraulic liquid storage tank (4), and the electromagnetic valve opens the table top to fall.

The intelligent measurement control part function installed in the intelligent measurement and execution control box (6) as shown in fig. 1 and 4 is composed of three parts.

The wireless remote controller (can be a special remote controller, a mobile phone and Bluetooth), and the remote controller has the functions of wireless calling, a desktop height controller and fine adjustment of the final placement position of the desk.

And secondly, wireless response, intelligent measurement and positioning, walking map creation and intelligent control drive walking. The height-adjustable desk robot which is coming soon receives a calling signal and immediately turns on a robot controller power supply, the intelligent measurement and execution controller (6) starts to work, the desk robot is provided with four groups of sensors, namely a front sensor, a rear sensor, a left sensor and a right sensor, and each group is provided with at least one position measurement sensor (9) and one directional sensor (10). The detected data is sent to the microprocessor for data processing. The new environment is controlled by a person to walk in all rooms which can be visited for the first time, data detected by the position measuring sensor (9) are sent to the microprocessor for data processing and then stored in the memory as new environment map data, and the new environment map data, the instant position measuring data, the last stopping position measuring data and the calling direction data are processed by the microprocessor for data processing to formulate a walking route in the later automatic walking process, so that the walking driving mechanism is controlled to walk. And the real-time measurement values of the position measurement sensor (9) and the orientation sensor (10) are compared with the map coordinate values, abnormality is found, whether walking obstacles exist or not is judged, and an alarm is given out when the walking obstacles can not detour.

And thirdly, adjusting the height of the table top and finely adjusting the stopping position. When the desk is walking in place, the height and the parking position of the desk top need to be optimally adjusted. The height and the parking position of the desktop are adjusted by using a remote controller, a mobile phone and Bluetooth.

The above are only specific application examples of the present invention, and other embodiments of the present invention are within the scope of the present invention as claimed by using equivalent alternatives or equivalent variations.