WO2022057729A1

WO2022057729A1 - Multi-degree-of-freedom robot having self-propelled function

Info

Publication number: WO2022057729A1
Application number: PCT/CN2021/117620
Authority: WO
Inventors: 徐文生
Original assignee: 安庆帆盛机电科技有限公司
Priority date: 2020-09-15
Filing date: 2021-09-10
Publication date: 2022-03-24
Also published as: CN112060127A

Abstract

A multi-degree-of-freedom robot having a self-propelled function, comprising a frame (1), walking mechanisms (2), first-stage lifting/lowering mechanisms (3), a horizontal transverse mechanism (4), a second-stage lifting/lowering mechanism (5), a mechanical claw telescopic mechanism (6), and a mechanical claw (7). The two first-stage lifting/lowering mechanisms (3) are provided on the frame (1); the first-stage lifting/lowering mechanisms (3) drive the horizontal transverse mechanism (4) to achieve lifting/lowering; the horizontal transverse mechanism (4) drives the second-stage lifting/lowering mechanism (5) for horizontal transverse movement; the second-stage lifting/lowering mechanism (5) drives the mechanical claw telescopic mechanism (6) to achieve lifting/lowering; the mechanical claw telescopic mechanism (6) drives the mechanical claw (7) to achieve extension and contraction. The mechanical claw has four degrees of freedom by means of the first-stage lifting/lowering mechanisms, the horizontal transverse mechanism, the second-stage lifting/lowering mechanism, and the mechanical claw telescopic mechanism, and the driving manner adopts linear driving, such that the mechanical claw has a relatively large movement range, and can be used in a large-span area.

Description

A multi-DOF robot with self-propelled function

technical field

The invention relates to the technical field of robots, in particular to a multi-degree-of-freedom robot with self-propelled function.

Background technique

The existing multi-degree-of-freedom robot or multi-degree-of-freedom mechanical arm uses joint motors to achieve flipping, thereby achieving the effect of multi-degree-of-freedom, and when the movement range of the mechanical claw is wide, the length of the mechanical arm needs to be lengthened, and the mechanical arm is The load capacity of the cantilever beam and joint motors is limited, so the existing multi-degree-of-freedom robotic arms are not suitable for working environments with a large range of motion.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a multi-degree-of-freedom robot with self-propelled function to solve the problems raised in the above background art.

To achieve the above object, the present invention provides the following technical solutions:

A multi-degree-of-freedom robot with self-propelled function, comprising a frame, a walking mechanism, a first-level lifting mechanism, a horizontal traverse mechanism, a second-level lifting mechanism, a mechanical claw telescopic mechanism and a mechanical claw, wherein:

The four traveling mechanisms are respectively arranged at the four corners of the frame, and the traveling mechanism is composed of a universal wheel and a drive assembly, wherein the drive assembly is used to drive the universal wheel to rotate and turn, and the two first-level lifts The mechanisms are respectively arranged on the frame, and the horizontal traverse mechanism is arranged on the power output components of the two primary lifting mechanisms, then the primary lifting mechanism drives the horizontal traversing mechanism to achieve lifting, and the secondary lifting mechanism is set on the horizontal On the power output part of the traverse mechanism, the horizontal traverse mechanism can drive the secondary lifting mechanism to do horizontal traverse, and the mechanical claw telescopic mechanism is arranged on the power output part of the secondary lifting mechanism, then the secondary lifting mechanism can drive The mechanical claw telescopic mechanism moves up and down, and the mechanical claw is arranged on the power output part of the mechanical claw telescopic mechanism, then the mechanical claw telescopic mechanism can drive the mechanical claw to achieve telescopic, wherein the movement directions of the mechanical claw telescopic mechanism and the horizontal traverse mechanism are perpendicular to each other .

Preferably, the drive assembly is composed of a wheel frame, a wheel motor, a reducer and a motor I, the reducer is installed on the side of the frame through bolts, the universal wheel is rotatably installed on the wheel frame, and the universal wheel There is a wheel motor integrated in the wheel frame, the wheel frame is installed in the reducer through the bearing, and the power output part in the speed reducer is fixed on the wheel frame. The motor I is installed on the side of the reducer through bolts, and its power output end It is fixedly connected with the power output part of the reducer, wherein the reducer is used to adjust the speed and change the rotation direction.

Preferably, the first-level lifting mechanism includes a bracket I, a guide rod I, a side plate, a linear bearing I, a screw rod I, a screw rod sleeve I and a motor II, and the bracket I passes through the guide rod I installed at the bottom of the bracket I. Set on the frame, the side plate is movably installed on the guide rod I through the linear bearing I installed on its side, the screw rod I is installed on the bracket I through the bearing, and the screw sleeve I is installed through bolts On the side plate, the screw I penetrates through the screw sleeve I and forms a threaded transmission with the screw sleeve I, the motor II is installed on the bracket I through bolts, and its power output end is fixed with the screw I connect.

Preferably, the horizontal traverse mechanism includes a guide rod II, a bottom plate, a linear bearing II, a screw rod II, a screw rod sleeve II and a motor III, and both ends of the guide rod II are respectively installed on two first-level lifting mechanisms The inner side plate, the bottom plate is fitted on the guide rod II through the linear bearing II installed at the bottom, the screw rod II is installed on the side plate through the bearing, and the screw sleeve II is installed on the side plate through the bolt. The bottom of the bottom plate, wherein the screw II passes through the screw sleeve II and forms a threaded transmission with the screw sleeve II, the motor III is installed on the side plate through bolts, and its power output end is fixedly connected with the screw II .

Preferably, the secondary lifting mechanism includes a bracket II, a guide rod III, a rectangular support seat, a screw rod III, a screw rod sleeve III and a motor IV, and the bracket II is arranged on the bottom plate through the guide rod III installed at the bottom of the bracket II. Above, the rectangular support seat is movably installed on the guide rod III, the screw rod III is installed on the bracket II through a bearing, and the screw rod sleeve III is installed on the rectangular support seat through bolts, wherein the screw rod III passes through The screw sleeve III forms a threaded transmission with the screw sleeve III, the motor IV is mounted on the bracket II through bolts, and its power output end is fixedly connected with the screw rod III.

Preferably, the mechanical claw telescopic mechanism includes a bracket III, a guide rod IV, a lead screw IV, a lead screw sleeve IV and a motor V, and the bracket III is movably installed on the rectangular support seat through the guide rod IV in the middle thereof, so The lead screw IV is installed on the bracket III through a bearing, and the lead screw sleeve IV is mounted on the rectangular support seat through bolts, wherein the lead screw IV passes through the lead screw sleeve IV and forms a thread with the lead screw sleeve IV. The motor V is installed on the bracket III through bolts, and its power output end is fixedly connected with the lead screw IV.

Preferably, the mechanical claw is mounted on the end of the bracket III by means of bolts.

Compared with the prior art, the beneficial effects of the present invention are:

In the present invention, the mechanical claw has four degrees of freedom through the first-level lifting mechanism, the horizontal traverse mechanism, the second-level lifting mechanism and the mechanical claw telescopic mechanism, and the driving methods are all realized by linear driving, so that the movement range of the mechanical claw is relatively small. Large, can be used in areas with large spans.

Description of drawings

Fig. 1 is the three-dimensional schematic diagram of the internal structure of the present invention;

Fig. 2 is the assembly drawing of the first-level lifting mechanism and the horizontal traverse mechanism of the present invention;

Fig. 3 is the assembly drawing of the secondary lifting mechanism and the mechanical claw telescopic mechanism of the present invention;

FIG. 4 is a three-dimensional schematic diagram of the traveling mechanism in the present invention.

In the picture: 1 frame, 2 traveling mechanism, 3 primary lifting mechanism, 4 horizontal traverse mechanism, 5 secondary lifting mechanism, 6 mechanical claw telescopic mechanism, 7 mechanical claws, 21 universal wheels, 22 wheel frames, 23 wheels Motor, 24 reducer, 25 motor I, 31 bracket I, 32 guide rod I, 33 side plate, 34 linear bearing I, 35 screw rod I, 36 screw sleeve I, 37 motor II, 41 guide rod II, 42 Bottom plate, 43 linear bearing II, 44 screw II, 45 screw sleeve II, 46 motor III, 51 bracket II, 52 guide rod III, 53 rectangular support seat, 54 screw III, 55 screw sleeve III, 56 Motor Ⅳ, 61 bracket Ⅲ, 62 guide rod Ⅳ, 63 lead screw Ⅳ, 64 lead screw sleeve Ⅳ, 65 motor Ⅴ.

detailed description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

Example:

Please refer to FIG. 1 to FIG. 4, the present invention provides a technical solution:

A multi-degree-of-freedom robot with self-propelled function includes a frame 1, a traveling mechanism 2, a first-level lifting mechanism 3, a horizontal traverse mechanism 4, a second-level lifting mechanism 5, a mechanical claw telescopic mechanism 6 and a mechanical claw 7, wherein :

The four traveling mechanisms 2 are respectively arranged at the four corners of the frame 1, and the traveling mechanism 2 is composed of a universal wheel 21 and a drive assembly. The drive assembly is composed of a wheel frame 22, a wheel motor 23, a reducer 24 and a motor I25. The reducer 24 is installed on the side of the frame 1 by bolts, the universal wheel 21 is rotatably installed on the wheel frame 22, and the wheel motor 23 is integrated in the universal wheel 21, so the universal wheel 21 can be driven by the wheel motor 23. During the self-rotation, the wheel frame 22 is installed in the reducer 24 through the bearing, and the power output component in the speed reducer 24 is fixed on the wheel frame 22, and the motor I25 is installed on the side of the reducer 24 through bolts. The end is fixedly connected with the power output part of the reducer 24, wherein the reducer 24 is used to adjust the speed and change the rotation direction, so after the motor I25 outputs power, the wheel frame 22 can be driven to swing by the action of the reducer 24, thereby achieving the effect of steering ;

Two first-level lifting mechanisms 3 are respectively arranged on the frame 1 and are on opposite sides. The first-level lifting mechanism 3 includes a bracket I31, a guide rod I32, a side plate 33, a linear bearing I34, a lead screw I35, a lead screw sleeve I36 and a motor II37, the bracket I31 is set on the frame 1 through the guide rod I32 installed at the bottom, and the end of the guide rod I32 is fixedly installed on the frame 1 through the base, and the side plate 33 is installed on its side through the linear bearing. I34 is movably installed on the guide rod I32, in which the linear bearing I34 is installed on the side plate 33 through bolts, the lead screw I35 is installed on the bracket I31 through bearings, and the lead screw sleeve I36 is installed on the side plate 33 through bolts. I35 passes through the screw sleeve I36 and forms a threaded transmission with the screw sleeve I36, then when the screw I35 rotates, the screw sleeve I36 and the side plate 33 will move up and down synchronously, and the motor II37 is installed on the On the bracket I31, the power output end of the motor II37 is fixedly connected with the lead screw I35;

The horizontal traverse mechanism 4 includes a guide rod II41, a base plate 42, a linear bearing II43, a screw rod II44, a screw rod sleeve II45 and a motor III46. Therefore, when the first-level lifting mechanism 3 moves, it will drive the horizontal traverse mechanism 4 to act synchronously with it. The bottom plate 42 is installed on the guide rod II 41 through the linear bearing II 43 installed at the bottom of the base plate 42, so that the bottom plate 42 can follow the guide rod II 41. The rod II41 moves in a straight line, the screw II44 is installed on the side plate 33 through the bearing, and the screw sleeve II45 is installed at the bottom of the bottom plate 42 through bolts, wherein the screw II44 passes through the screw sleeve II45 and is connected with the screw sleeve II45. A threaded transmission is formed between them, then when the screw II44 rotates, the bottom plate 42 can be driven to move in a straight line, the motor III46 is installed on the side plate 33 through bolts, and the power output end of the motor III46 is fixedly connected with the screw II44;

The secondary lifting mechanism 5 includes a bracket II51, a guide rod III52, a rectangular support seat 53, a lead screw III54, a lead screw sleeve III55 and a motor IV56. The rod III52 is fixedly installed on the base plate 42 through the mounting seat, then the secondary lifting mechanism 5 will act synchronously when the horizontal traverse mechanism 4 moves, the rectangular support seat 53 is movably installed on the guide rod III52, and the screw rod III54 is installed through the bearing On the bracket II51, the screw sleeve III55 is installed on the rectangular support base 53 by bolts, wherein the screw III54 passes through the screw sleeve III55 and forms a thread transmission with the screw sleeve III55, then the screw III54 rotates It will drive the rectangular support base 53 up and down, the motor IV56 is installed on the bracket II51 through bolts, and the power output end of the motor IV56 is fixedly connected with the screw III54;

The mechanical claw telescopic mechanism 6 includes a bracket III61, a guide rod IV62, a screw IV63, a screw sleeve IV64 and a motor V65. The bracket III61 is movably installed on the rectangular support base 53 through the guide rod IV62 in the middle, then in the secondary lifting mechanism When 5 moves, it will drive the mechanical claw telescopic mechanism 6 to act synchronously. The screw IV63 is installed on the bracket III61 through the bearing, and the screw sleeve IV64 is installed on the rectangular support seat 53 through bolts, and the screw IV63 passes through the screw sleeve. The cylinder IV64 and the screw sleeve IV64 form a threaded transmission. Since the screw sleeve IV64 is installed on the rectangular support base 53, the bracket III61 will be displaced as a whole when the screw IV63 rotates, and the motor V65 is installed on the bracket III61 by bolts. On the upper side, the power output end of the motor V65 is fixedly connected with the lead screw IV63, and the movement directions of the mechanical claw telescopic mechanism 6 and the horizontal traverse mechanism 4 are perpendicular to each other, and the mechanical claw 7 is installed on the end of the bracket III61 by bolts;

And the device controls the motors at each moving component through the control unit when working, and the control unit is the common knowledge of those skilled in the art, and will not be repeated here;

In this device, the first-level lifting mechanism 3 drives the horizontal traverse mechanism 4, the second-level lifting mechanism 5 and the mechanical claw telescopic mechanism 6 to realize the first-level lifting, and the horizontal traverse mechanism 4 drives the second-level lifting mechanism 5 and the mechanical claw telescopic mechanism 6 to perform the first-level lifting and lowering. In the horizontal movement, the secondary lifting mechanism 5 drives the mechanical claw telescopic mechanism 6 to perform secondary lifting, and finally the mechanical claw telescopic mechanism 6 drives the mechanical claw 7 to expand and contract, then all the motion states are finally converted into the motion of the mechanical claw 7, so A multi-degree-of-freedom movement is achieved.

Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, and substitutions can be made in these embodiments without departing from the principle and spirit of the invention and modifications, the scope of the invention is defined by the appended claims and their equivalents.

Claims

A multi-degree-of-freedom robot with self-propelled function, comprising a frame (1), a traveling mechanism (2), a first-level lifting mechanism (3), a horizontal traverse mechanism (4), a second-level lifting mechanism (5), a mechanical The claw telescopic mechanism (6) and the mechanical claw (7) are characterized in that:

The four traveling mechanisms (2) are respectively arranged at four corners of the frame (1), and the traveling mechanism (2) is composed of a universal wheel (21) and a drive assembly, wherein the drive assembly is used to drive the universal wheel (21) Autorotation and steering, the two first-level lifting mechanisms (3) are respectively arranged on the frame (1), and the horizontal traverse mechanism (4) is arranged on the two first-level lifting mechanisms (3). On the power output component, then the first-level lifting mechanism (3) drives the horizontal traverse mechanism (4) to achieve lifting, and the second-level lifting mechanism (5) is arranged on the power output component of the horizontal traverse mechanism (4), then the horizontal The traverse mechanism (4) can drive the secondary lifting mechanism (5) to perform horizontal traverse, and the mechanical claw telescopic mechanism (6) is arranged on the power output part of the secondary lifting mechanism (5), then the secondary lifting mechanism ( 5) The mechanical claw telescopic mechanism (6) can be driven to lift and lower, the mechanical claw (7) is arranged on the power output part of the mechanical claw telescopic mechanism (6), then the mechanical claw telescopic mechanism (6) can drive the mechanical claw (7) ) to achieve telescopic, wherein the movement directions of the mechanical claw telescopic mechanism (6) and the horizontal traverse mechanism (4) are perpendicular to each other.
A multi-degree-of-freedom robot with self-propelled function according to claim 1, characterized in that: the drive assembly is composed of a wheel frame (22), a wheel motor (23), a reducer (24) and a motor I (25). ), the speed reducer (24) is installed on the side of the frame (1) by bolts, the universal wheel (21) is rotatably installed on the wheel frame (22), and the universal wheel (21) is integrated with a A wheel motor (23), the wheel frame (22) is installed in the reducer (24) through a bearing, and the power output component in the speed reducer (24) is fixedly sleeved on the wheel frame (22), the motor I ( 25) It is mounted on the side of the reducer (24) through bolts, and its power output end is fixedly connected with the power output component of the reducer (24), wherein the reducer (24) is used to adjust the speed and change the rotation direction.
The multi-degree-of-freedom robot with self-propelled function according to claim 1, wherein the first-level lifting mechanism (3) comprises a bracket I (31), a guide rod I (32), a side plate (33) ), linear bearing I (34), screw I (35), screw sleeve I (36) and motor II (37), the bracket I (31) passes through the guide rod I (32) installed at its bottom Set on the frame (1), the side plate (33) is movably installed on the guide rod I (32) through the linear bearing I (34) installed on the side thereof, and the screw rod I (35) is installed through the bearing. On the bracket I (31), the screw sleeve I (36) is installed on the side plate (33) through bolts, wherein the screw rod I (35) passes through the screw sleeve I (36) and is connected with the screw rod A threaded transmission is formed between the sleeves I (36), the motor II (37) is mounted on the bracket I (31) through bolts, and its power output end is fixedly connected with the screw rod I (35).
The multi-degree-of-freedom robot with self-propelled function according to claim 3, wherein the horizontal traverse mechanism (4) comprises a guide rod II (41), a base plate (42), a linear bearing II (43) ), screw II (44), screw sleeve II (45) and motor III (46), the two ends of the guide rod II (41) are respectively installed on the side of the two first-level lifting mechanisms (3). On the plate (33), the bottom plate (42) is fitted on the guide rod II (41) through the linear bearing II (43) installed at the bottom thereof, and the screw rod II (44) is mounted on the side plate (44) through the bearing. 33), the screw sleeve II (45) is installed at the bottom of the bottom plate (42) through bolts, wherein the screw II (44) passes through the screw sleeve II (45) and is connected with the screw sleeve II ( 45), the motor III (46) is installed on the side plate (33) through bolts, and its power output end is fixedly connected with the screw II (44).
A multi-degree-of-freedom robot with self-propelled function according to claim 4, characterized in that: the secondary lifting mechanism (5) comprises a bracket II (51), a guide rod III (52), a rectangular support seat ( 53), screw III (54), screw sleeve III (55) and motor IV (56), the bracket II (51) is set on the bottom plate (42) through the guide rod III (52) installed at the bottom of the bracket II (51) The rectangular support seat (53) is movably mounted on the guide rod III (52), the screw rod III (54) is mounted on the bracket II (51) through a bearing, and the screw rod sleeve III (55) It is installed on the rectangular support seat (53) by bolts, wherein the lead screw III (54) passes through the lead screw sleeve III (55) and forms a threaded transmission with the lead screw sleeve III (55). The motor IV ( 56) It is installed on the bracket II (51) by bolts, and its power output end is fixedly connected with the lead screw III (54).
A multi-degree-of-freedom robot with self-propelled function according to claim 5, characterized in that: the mechanical claw telescopic mechanism (6) comprises a bracket III (61), a guide rod IV (62), a lead screw IV ( 63), the screw sleeve IV (64) and the motor V (65), the bracket III (61) is movably installed on the rectangular support seat (53) through the guide rod IV (62) in the middle, and the screw IV (63) is mounted on the bracket III (61) through bearings, the screw sleeve IV (64) is mounted on the rectangular support seat (53) by bolts, and the screw IV (63) passes through the screw sleeve. Ⅳ(64) and the screw sleeve Ⅳ(64) form a threaded transmission, the motor Ⅴ(65) is installed on the bracket Ⅲ(61) by bolts, and its power output end is fixed with the lead screw Ⅳ(63) connect.
A multi-degree-of-freedom robot with self-propelled function according to claim 6, characterized in that: the mechanical claw (7) is mounted on the end of the bracket III (61) by means of bolts.