Service robot and method for controlling same

1. A service robot, comprising a main body ( 101 ) and a base ( 102 , 26 ), wherein

a motor ( 1021 , 21 ), a transmission mechanism ( 1022 ) and a wheel ( 1023 , 25 ) are provided in an inner cavity of the base ( 102 , 26 ), the transmission mechanism ( 1022 ) is connected with the motor ( 1021 , 21 ) and the wheel ( 1023 , 25 ) respectively, the wheel ( 1023 , 25 ) is disposed below the transmission mechanism ( 1022 ), and a space for the transmission mechanism ( 1022 ) to move up and down is formed in the inner cavity of the base ( 102 , 26 ); and

after the motor ( 1021 , 21 ) is started, the transmission mechanism ( 1022 ) is driven to move in the inner cavity of the base ( 102 , 26 ) according to a predetermined stroke, and the transmission mechanism ( 1022 ) drives the wheel ( 1023 , 25 ) while the transmission mechanism ( 1022 ) is moving, and the wheel ( 1023 , 25 ) can retract into the inner cavity of the base ( 102 , 26 ) or extend out of the inner cavity of the base ( 102 , 26 ).

2. The service robot according to claim 1 , wherein the transmission mechanism ( 1022 ) comprises a screw ( 23 ) and a nut ( 24 ) engaged with the screw ( 23 );

the screw ( 23 ) is fixedly connected with the motor ( 1021 , 21 ), and the wheel ( 1023 , 25 ) is mounted on a lower end surface of the nut ( 24 );

the inner cavity of the base ( 102 , 26 ) is cylindrical;

a guide groove ( 241 ) is formed on a side surface of the nut ( 24 ), and after a column ( 261 ) is inserted into the guide groove ( 241 ), the nut ( 24 ) can only move up and down axially along the screw ( 23 ); and

after the motor ( 1021 , 21 ) is started, the motor ( 1021 , 21 ) drives the screw ( 23 ) to rotate, and the screw ( 23 ) drives the nut ( 24 ) to move up and down while the screw ( 23 ) is rotating, and in turn drives the wheel ( 1023 , 25 ) on the nut ( 24 ) to retract into the inner cavity of the base ( 102 , 26 ) or extend out of the inner cavity of the base ( 102 , 26 ).

3. The service robot according to claim 1 , wherein a control button ( 32 ) is provided on the main body ( 101 ) of the service robot, the control button ( 32 ) is connected with the motor ( 1021 , 21 ) through a wire, and the control button ( 32 ) receives a start instruction inputted by a user and sends the start instruction to the motor ( 1021 , 21 ).

4. The service robot according to claim 3 , wherein a first travel switch and a second travel switch are provided in the motor ( 1021 , 21 );

after the motor ( 1021 , 21 ) receives the start instruction sent by the control button ( 32 ), the motor ( 1021 , 21 ) rotates in a first preset direction, drives the screw ( 23 ) to rotate, and in turn drives the nut ( 24 ) and the wheel ( 1023 , 25 ) to move upward axially along the screw ( 23 ), and when the nut ( 24 ) moves upward to trigger the first travel switch, the motor ( 1021 , 21 ) stops rotating; and

after the motor ( 1021 , 21 ) receives the start instruction sent by the control button ( 32 ) again, the motor ( 1021 , 21 ) rotates in a second preset direction, drives the screw ( 23 ) to rotate, and in turn drives the nut ( 24 ) and the wheel ( 1023 , 25 ) to move downward axially along the screw ( 23 ), and when the nut ( 24 ) moves downward to trigger the second travel switch, the motor ( 1021 , 21 ) stops rotating.

5. The service robot according to claim 3 , wherein a first limiting member ( 311 , 22 ) and a second limiting member ( 315 , 262 ) are further provided in the inner cavity of the service robot;

the first limiting member ( 311 , 22 ) is hollow disk shaped, and an upper end of the screw ( 23 ) passes through a hollow portion of the first limiting member ( 311 , 22 ) and is sleeved together with the first limiting member ( 311 , 22 ); and

the second limiting member ( 315 , 262 ) is ring shaped, and is formed by extending a lower surface of the inner cavity of the base ( 102 , 26 ) inwardly and horizontally by a predetermined width.

6. The service robot according to claim 5 , wherein

after the motor ( 1021 , 21 ) receives the start instruction sent by the control button ( 32 ), the motor ( 1021 , 21 ) rotates in a first preset direction, drives the screw ( 23 ) to rotate, and in turn drives the nut ( 24 ) and the wheel ( 1023 , 25 ) to move upward axially along the screw ( 23 ), and when the nut ( 24 ) moves upward to the position of the first limiting member ( 311 , 22 ), the motor ( 1021 , 21 ) stops rotating; and

after the motor ( 1021 , 21 ) receives the start instruction sent by the control button ( 32 ) again, the motor ( 1021 , 21 ) rotates in a second preset direction, drives the screw ( 23 ) to rotate, and in turn drives the nut ( 24 ) and the wheel ( 1023 , 25 ) to move downward axially along the screw ( 23 ), and when the nut ( 24 ) moves downward to the position of the second limiting member ( 315 , 262 ), the motor ( 1021 , 21 ) stops rotating.

7. The service robot according to claim 3 , wherein

after the motor ( 1021 , 21 ) receives the start instruction sent by the control button ( 32 ), the motor ( 1021 , 21 ) rotates in a first preset direction, drives the screw ( 23 ) to rotate, and in turn drives the nut ( 24 ) and the wheel ( 1023 , 25 ) to move upward axially along the screw ( 23 ), and when the upward path reaches a predetermined distance, the motor ( 1021 , 21 ) stops rotating; and

after the motor ( 1021 , 21 ) receives the start instruction sent by the control button ( 32 ) again, the motor ( 1021 , 21 ) rotates in a second preset direction, drives the screw ( 23 ) to rotate, and in turn drives the nut ( 24 ) and the wheel ( 1023 , 25 ) to move downward axially along the screw ( 23 ), and when the downward path reaches a predetermined distance, the motor ( 1021 , 21 ) stops rotating.

8. The service robot according to claim 2 , wherein a plurality of guide grooves ( 241 ) are evenly provided on the side surface of the nut ( 24 ); and

the wheel ( 1023 , 25 ) is a fixed caster or a movable caster, and the number of the wheel ( 1023 , 25 ) is at least one.

9. A method for controlling a service robot, wherein the method comprises:

providing a motor ( 1021 , 21 ), a transmission mechanism ( 1022 ) and a wheel ( 1023 , 25 ) in an inner cavity of a base ( 102 , 26 ) of the service robot;

connecting the transmission mechanism ( 1022 ) with the motor ( 1021 , 21 ) and the wheel ( 1023 , 25 ) respectively, disposing the wheel ( 1023 , 25 ) below the transmission mechanism ( 1022 ), and reserving a space in the inner cavity of the base ( 102 , 26 ) for the transmission mechanism ( 1022 ) to move up and down; and

driving the transmission mechanism ( 1022 ) to move in the inner cavity of the base ( 102 , 26 ) according to a predetermined stroke by the motor ( 1021 , 21 ) after the motor ( 1021 , 21 ) is started, and driving the wheel ( 1023 , 25 ) while the transmission mechanism ( 1022 ) is moving, and the wheel ( 1023 , 25 ) can retract into the inner cavity of the base ( 102 , 26 ) or extend out of the inner cavity of the base ( 102 , 26 ).

10. The method according to claim 9 , wherein the step of providing a transmission mechanism ( 1022 ) in the inner cavity of the base ( 102 , 26 ) of the service robot comprises:

providing a screw ( 23 ) and a nut ( 24 ) engaged with the screw ( 23 ) in the inner cavity of the base of the service robot;

fixedly connecting the screw ( 23 ) and the motor ( 1021 , 21 ), and mounting the wheel ( 1023 , 25 ) on a lower end surface of the nut ( 24 );

the inner cavity of the base ( 102 , 26 ) being cylindrical;

providing a guide groove ( 241 ) on aside surface of the nut ( 24 ), so that the nut ( 24 ) can only move up and down axially along the screw ( 23 ) after a column ( 261 ) is inserted into the guide groove ( 241 ); and

driving the screw ( 23 ) to rotate after the motor ( 1021 , 21 ) is started, driving the nut ( 24 ) to move up and down while the screw ( 23 ) is rotating, and in turn driving the wheel ( 1023 , 25 ) on the nut ( 24 ) to retract into the inner cavity of the base ( 102 , 26 ) or extend out of the inner cavity of the base ( 102 , 26 ).

11. The method according to claim 10 , wherein the step of driving the screw ( 23 ) to rotate after the motor ( 1021 , 21 ) is started, driving the nut ( 24 ) to move up and down while the screw ( 23 ) is rotating, and in turn driving the wheel ( 1023 , 25 ) on the nut ( 24 ) to retract into the inner cavity of the base ( 102 , 26 ) or extend out of the inner cavity of the base ( 102 , 26 ) comprises:

using a first travel switch and a second travel switch provided in the motor ( 1021 , 21 ), so that after the motor ( 1021 , 21 ) is started, the motor ( 1021 , 21 ) rotates in a first preset direction, drives the screw ( 23 ) to rotate, and in turn drives the nut ( 24 ) and the wheel ( 1023 , 25 ) to move upward axially along the screw ( 23 ), and when the nut ( 24 ) moves upward to trigger the first travel switch, the motor ( 1021 , 21 ) stops rotating; and

after the motor ( 1021 , 21 ) is started again, the motor ( 1021 , 21 ) rotates in a second preset direction, drives the screw ( 23 ) to rotate, and in turn drives the nut ( 24 ) and the wheel ( 1023 , 25 ) to move downward axially along the screw ( 23 ), and when the nut ( 24 ) moves downward to trigger the second travel switch, the motor ( 1021 , 21 ) stops rotating.

12. The method according to claim 10 , wherein the step of driving the screw ( 23 ) to rotate after the motor ( 1021 , 21 ) is started, driving the nut ( 24 ) to move up and down while the screw ( 23 ) is rotating, and in turn driving the wheel ( 1023 , 25 ) on the nut ( 24 ) to retract into the inner cavity of the base ( 102 , 26 ) or extend out of the inner cavity of the base ( 102 , 26 ) comprises:

providing a first limiting member ( 311 , 22 ) and a second limiting member ( 315 , 262 ) in the inner cavity of the base ( 102 , 26 ), so that after the motor ( 1021 , 21 ) is started, the motor ( 1021 , 21 ) rotates in a first preset direction, drives the screw ( 23 ) to rotate, and in turn drives the nut ( 24 ) and the wheel ( 1023 , 25 ) to move upward axially along the screw ( 23 ), and when the nut ( 24 ) moves upward to the position of the first limiting member ( 311 , 22 ), the motor ( 1021 , 21 ) stops rotating; and

after the motor ( 1021 , 21 ) is started again, the motor ( 1021 , 21 ) rotates in a second preset direction, drives the screw ( 23 ) to rotate, and in turn drives the nut ( 24 ) and the wheel ( 1023 , 25 ) to move downward axially along the screw ( 23 ), and when the nut ( 24 ) moves downward to the position of the second limiting member ( 315 , 262 ), the motor ( 1021 , 21 ) stops rotating.