CN104647338B - Task manipulation robot - Google Patents

Abstract

The invention provides a task-type operation robot, comprising a fixed platform, a screw nut mechanism, a scissor mechanism, a first guide rail slider mechanism and a lifting platform, the screw nut mechanism is arranged on the fixed platform, and the The first guide rail slider mechanism is arranged on the lifting platform, and the scissor mechanism includes a first scissor bar and a second scissor bar that are crossed and rotatably connected in the middle, and the lower end of the first scissor bar is connected to the The fixed table is rotatably connected, the upper end of the first scissor bar is rotatably connected to the first rail slider mechanism, the lower end of the second scissor bar is rotatably connected to the screw nut mechanism, and the second scissor bar is rotatably connected to the screw nut mechanism. The upper end of the fork bar is rotatably connected with the lifting platform, and there are at least two scissor mechanisms arranged in parallel. The beneficial effects of the present invention are: the screw nut machine drives the fixed platform to move up and down through the scissors mechanism, does not need an external frame as a support, has a large thrust, and can be locked when the power is cut off.

Description

Task Manipulator Robot

technical field

The invention relates to a robot, in particular to a task-type operating robot.

Background technique

The transmission forms of traditional lifting mechanisms generally have the following three types:

1. Use the screw screw method for lifting

2. Using chain drive for lifting

3. Use scissor structure to lift

In Chinese patent 201310128715.0, a lifting mechanism is introduced, which utilizes a chain transmission for lifting. The specific embodiment is that a chain transmission device is vertically arranged as a driving device for lifting. The specific lifting actuator is composed of a chute frame and a bracket connected to it that can slide along it. Then the sprocket is connected with the bracket to realize lifting.

The advantage of this method is that the structure is simple and reliable.

The hoisting mechanism designed in Chinese patent 201110213914.2 is realized by screw drive, and it includes a long lead screw, a trapezoidal nut is installed on the upper end of the long lead screw, and the trapezoidal nut is fixed with a support frame. The lower end of the long lead screw is connected with the port in the vertical direction of the reversing drive reducer. The long lead screw is vertically arranged, and the trapezoidal nut and the support frame move up and down along the long lead screw through the rotation of the long lead screw.

The device has more stable working performance and is more convenient for maintenance.

In Chinese patent 201110157021.0, a door lifting mechanism is disclosed, including a power unit, a reversing device and a rack and pinion lifting mechanism. The racks of the rack and pinion lifting mechanism are fixed on both sides of the door, and the gears are located on the lifting platform. The gear can move up and down along the rack with the lifting platform.

Above-mentioned three lifting devices all have a problem: the movable platform of lifting needs to have an external frame as support, makes platform can move up and down along the frame. The height of the rack determines the liftable height of the lifting platform. The overall minimum height of these types of lifts is very high. When the lifting platform is in the normal position (the lowest position), the external fixed support frame will be higher than the lifting platform, hindering the work of other machines or people on the platform. When used for stage performance, it will hinder the performance on the platform, which is very unsightly.

Chinese patents 201210193132.1 and 200510053851.3 respectively introduce a scissor lift mechanism based on hydraulic transmission. This lifting mechanism can greatly reduce the minimum height of the lifting platform, and it hides all the lifting devices under the lifting platform, so as not to affect the work on the platform, suitable for performances. However, these two mechanisms are based on hydraulic devices, and the arrangement of hydraulic devices is very complicated. At the same time, considering the impact of leakage generated by the hydraulic system on the whole machine and the environment, they are not suitable for installation on mobile robots and for stage performances.

In the Chinese patent 201210286942.1, the hydraulic device is replaced by an electric push rod, thereby realizing complete electric drive. But a prominent problem of electric push rods is: the thrust is generally relatively small. Under heavy load conditions, it may not be possible to drive the lifting platform. And its control method is relatively simple and imprecise. Although the lead screw in the electric push rod can realize self-locking, which can prevent the lifting platform from sliding down when the power is cut off, but in the case of heavy load, this locking method is not safe.

Contents of the invention

In order to solve the problems in the prior art, the present invention provides a task-type operating robot with a scissor lift platform driven by a lead screw.

The invention provides a task-type operation robot, comprising a fixed platform, a screw nut mechanism, a scissor mechanism, a first guide rail slider mechanism and a lifting platform, the screw nut mechanism is arranged on the fixed platform, and the The first guide rail slider mechanism is arranged on the lifting platform, and the scissor mechanism includes a first scissor bar and a second scissor bar that are crossed and rotatably connected in the middle, and the lower end of the first scissor bar is connected to the The fixed table is rotatably connected, the upper end of the first scissor bar is rotatably connected to the first rail slider mechanism, the lower end of the second scissor bar is rotatably connected to the screw nut mechanism, and the second scissor bar is rotatably connected to the screw nut mechanism. The upper end of the fork bar is rotatably connected with the lifting platform, and there are at least two scissor mechanisms arranged in parallel.

As a further improvement of the present invention, the fixed platform is provided with at least two second guide rail slider mechanisms parallel to the screw nut mechanism, and the two second guide rail slider mechanisms are provided with horizontal The two ends of the horizontal bar are respectively connected to the lower ends of the second scissor bars of the two scissor mechanisms. The horizontal bar is fixedly connected with the screw nut mechanism in the horizontal direction, and is connected vertically Active connections in the direction.

As a further improvement of the present invention, the screw nut mechanism includes a lifting motor, a screw rod, a screw nut, a nut cover and a column, the lifting motor and the screw rod are all fixed on the fixed platform, and the lifting motor and The screw mandrel is connected, the screw mandrel nut is arranged on the said screw mandrel, the nut outer cover is arranged on the described screw mandrel nut, the column is arranged on the nut outer cover, and the axis of the screw mandrel is The centerlines of the two second guide rail slider mechanisms, the axes of the screw rods are the centerlines of the two described scissor mechanisms, and the two second guide rail slider mechanisms are located between the two described scissor mechanisms. In between, the horizontal bar is provided with a through hole perpendicular to the horizontal plane, the through hole is sleeved on the column, and the horizontal bar is not in contact with the nut casing.

As a further improvement of the present invention, the first guide rail slider mechanism includes a first guide rail and a first slider arranged on the first guide rail, the first guide rail is arranged on the lifting platform, and the first guide rail is arranged on the lifting table. The upper end of a scissor bar is rotatably connected with the first slider, and the second guide rail slider mechanism includes a second guide rail and a second slider arranged on the second guide rail, and the second guide rail is arranged on On the fixed platform, the two ends of the horizontal bar are erected on the two second sliders respectively.

As a further improvement of the present invention, a guide rail straightness correction strip is provided on the fixed platform, and the guide rail straightness correction strip cooperates with the second guide rail.

As a further improvement of the present invention, a traveling mechanism is provided on the fixed platform, and the traveling mechanism includes a left wheel, a right wheel, a front ball wheel and a rear ball wheel arranged in a diamond shape, and a left hub motor is arranged inside the left wheel , the left hub motor is connected to the left wheel, the right wheel is provided with a right hub motor, and the right hub motor is connected to the right wheel.

As a further improvement of the present invention, the task-type operating robot also includes a control system, the control system includes a main control board, a left wheel driver, a right wheel driver and a lifting driver, and the main control board is connected to the left wheel driver, right wheel driver and The wheel driver is connected to the lifting driver, the left wheel driver is connected to the left hub motor, the right wheel driver is connected to the right hub motor, and the lifting driver is connected to the lifting motor.

As a further improvement of the present invention, the control system further includes a speed measurement module, an obstacle detection sensor and a position detector, the left hub motor and the right hub motor are respectively connected to the speed measurement module, and the lifting motor is connected to the position detector connected to the controller, and the main control board is connected to the obstacle detection sensor.

As a further improvement of the present invention, the main control board includes an integrated gyroscope and an accelerometer, and the main control board is connected to a remote controller through a receiver.

As a further improvement of the present invention, the fixed platform is provided with a safety pole supporting the fixed platform.

The beneficial effect of the present invention is that: through the above scheme, the screw nut machine drives the fixed platform through the scissors mechanism to carry out the lifting movement, does not need an external frame as a support, the thrust is relatively large, and, in the case of power failure, it can Perform a deadlock.

Description of drawings

Fig. 1 is a structural representation of a task-type operating robot of the present invention;

Fig. 2 is a schematic diagram of a mechanism of a task-type operating robot of the present invention;

Fig. 3 is the right side view of a kind of task type operation robot of the present invention;

Fig. 4 is a partial cross-sectional structural schematic diagram of a task-type operating robot of the present invention;

Fig. 5 is a partial top view of a task-type operating robot of the present invention;

Fig. 6 is a schematic diagram of a control system of a task-type operation robot according to the present invention.

detailed description

The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

The reference numerals in Fig. 1 to Fig. 6 are: fixed platform 1; lifting platform 2; screw nut mechanism 3; lifting motor 31; screw mandrel 32; screw nut 33; nut jacket 34; column 35; The first scissor bar 41; The second scissor bar 42; Horizontal bar 5; 81; the second hinge seat 82; the third hinge seat 83; the second guide rail slider mechanism 9; the second guide rail 91; the second slider 92; the first guide rail slider mechanism 10; the first guide rail 101; the first slider 102; guide rail straightness correction strip 11; lifting driver 12; left wheel driver 13; right wheel driver 14; left wheel hub motor 15; right wheel hub motor 16; speed measurement module 17; main control board 18; ; remote control 21 ; 2.4GHz receiver 22 .

As shown in Figures 1 to 5, a task-type operating robot includes a fixed platform 1, a screw nut mechanism 3, a scissor mechanism 4, a first guide rail slider mechanism 10, and an elevating platform 2, and the screw nut mechanism 3 is set on the fixed platform 1, the first guide rail slider mechanism 10 is set on the lifting platform 2, and the scissor mechanism 4 includes the first scissor bar 41 and the second Scissor bar 42, the lower end of the first scissor bar 41 is rotatably connected with the fixed platform 1 through the second hinge seat 82, and the upper end of the first scissor bar 41 is connected with the first guide rail slider mechanism 10 Rotationally connected, the lower end of the second scissor bar 42 is rotatably connected with the screw nut mechanism 3 through the first hinged seat 81, and the upper end of the second scissor bar 42 is connected with the lifter through the third hinged seat 83. The table 2 is connected in rotation, and there are at least two scissor mechanisms 4 arranged in parallel.

As shown in Figures 1 to 5, the fixed platform 1 is provided with at least two second rail slider mechanisms 9 parallel to the screw nut mechanism 3, and the two second rail slider mechanisms A horizontal bar 5 is erected on the mechanism 9, and the two ends of the horizontal bar 5 are respectively connected to the lower ends of the second scissor bars 42 of the two scissor mechanisms 4 through the first hinged seat 81. The bar 5 and the screw nut mechanism 3 are fixedly connected in the horizontal direction and are movably connected in the vertical direction, that is, the horizontal bar 5 and the screw nut mechanism 3 only transmit the force in the horizontal direction, but not the vertical force. The force in the vertical direction can prevent the screw nut mechanism 3 from being under heavy pressure. On the one hand, it can greatly enhance the lifting thrust. On the other hand, it can also effectively maintain the accuracy of the screw nut mechanism 3, avoiding the The screw nut mechanism 3 is under the heavy pressure of the lifting object.

As shown in Figures 1 to 5, the screw nut mechanism 3 includes a lifting motor 31, a screw mandrel 32, a screw nut 33, a nut jacket 34 and a column 35, and the lifting motor 31 and the screw mandrel 32 are all fixed on the On the fixed table 1, the lifting motor 31 is connected with the screw mandrel 32, the screw mandrel nut 33 is arranged on the said screw mandrel 32, and the nut outer cover 34 is arranged on the said screw mandrel nut 33, so Described column 35 is arranged on described nut jacket 34, and described column 35 is vertically arranged, and the axis of described screw mandrel 32 is the center line of two described second rail slider mechanisms 9, and described screw mandrel 32 The axes are the centerlines of the two scissor mechanisms 4, the two second rail slider mechanisms 9 are located between the two scissor mechanisms 4, and the horizontal bar 5 is provided with A through hole, the through hole is sleeved on the column 35, the horizontal bar 5 is not in contact with the nut jacket 34, on the one hand, the column 35 can pass through the through hole from the screw rod 32 On the other hand, it can prevent the gravity of the lifting object from being transmitted to the screw 32 through the horizontal bar 5, and transmit the gravity of the lifting object to the second guide rail slide through the horizontal bar 5. On block mechanism 9.

As shown in Figures 1 to 5, the through hole and the column 35 are in clearance fit, and when the column 35 reciprocates in the horizontal direction, the horizontal bar 5 can be driven through the through hole to reciprocate in the horizontal direction synchronously. , so that the lifting platform 2 is driven by the scissors mechanism 4 to carry out the lifting movement, and the gravity of the lifting object is transmitted to the horizontal bar 5 through the lifting platform 2 and the scissors mechanism 4, and is transmitted to the second guide rail slider mechanism 9 through the horizontal bar 5, Since there is no constraint in the vertical direction between the through hole and the column 35, and the horizontal bar 5 is not in contact with the nut cover 34, it is possible to prevent the vertical force of the horizontal bar 5 from being transmitted to the screw nut. mechanism 3, and when the installation error occurs in the second guide rail slider mechanism 9, the overall position of the horizontal bar 5 may also be raised, lowered or tilted. Through the gap between the through hole and the column 35, it can Eliminating this effect is conducive to reducing the accuracy requirements and reducing the difficulty of installation.

As shown in Figures 1 to 5, the first guide rail slider mechanism 10 includes a first guide rail 101 and a first slider 102 arranged on the first guide rail 101, and the first guide rail 101 is arranged on the first guide rail 101. On the lifting platform 2, the upper end of the first scissor bar 41 is rotatably connected with the first slider 102, and the second guide rail slider mechanism 9 includes a second guide rail 91 and is arranged on the second guide rail 91. The second sliding block 92, the second guide rail 91 is arranged on the fixed table 1, and the two ends of the horizontal bar 5 are respectively erected on the two second sliding blocks 92.

As shown in Figures 1 to 5, the fixed table 1 is provided with a guide rail straightness correction strip 11, and the guide rail straightness correction strip 11 cooperates with the second guide rail 91, and the guide rail straightness correction strip 11 can Correcting the installation position of the second guide rail 91 is beneficial to improving the installation accuracy of the second guide rail 91 .

As shown in Figures 1 to 6, the fixed platform 1 is provided with a running mechanism 7, and the running mechanism 7 includes a left wheel 71, a right wheel 72, a front ball wheel 73 and a rear ball wheel 74 arranged in a rhombus shape. The left wheel 71 is provided with a left hub motor 15, the left hub motor 15 is connected to the left wheel 71, the right wheel 72 is provided with a right hub motor 16, and the right hub motor 16 is connected to the right wheel 72 connection, the front and rear movement and left and right steering of the task-type operation robot can be realized through the left wheel 71 and the right wheel 72, and the auxiliary support can be realized through the front ball wheel 73 and the rear ball wheel 74, wherein the left wheel 71 is supported by the left wheel hub The motor 15 is independently driven, and the right wheel 72 is independently driven by the right hub motor 16. Therefore, the straight line, left turn, and right turn of the task-type operation robot are all achieved by the differential speed between the left wheel 71 and the right wheel 72. Achieved.

The present invention provides a task-type operation robot. In the overall design of the entire task-type operation robot system, the control system is very important, and it is the soul of the entire system. Whether the control system is advanced or not is directly related to the intelligence level of the entire robot system. The various functions of the robot are realized under the premise of the unified coordination of the control system, and the design strategy of the control system also determines the functional characteristics and scalability of the entire robot system.

As shown in Figure 6, the task-type operation robot also includes a control system, the control system includes a main control board 18, a left wheel driver 13, a right wheel driver 14 and a lift driver 12, and the main control board 18 is connected to the The left wheel driver 13, the right wheel driver 14 are connected with the lifting driver 12, the left wheel driver 13 is connected with the left wheel hub motor 15, the right wheel driver 14 is connected with the right wheel hub motor 16, and the lifting driver 12 is connected with the left wheel hub motor 15. The lifting motor 31 is connected.

As shown in Figure 6, the control system also includes a speed measuring module 17, an obstacle detection sensor 20 and a position detector 19, the left hub motor 15 and the right hub motor 16 are respectively connected to the speed measuring module 17, and the lifting motor 21 is connected to the position detector 19 , and the main control board 18 is connected to the obstacle detection sensor 20 .

As shown in FIG. 6 , the main control board 1 includes an integrated gyroscope and an accelerometer, and the main control board 18 is connected to a remote controller 22 through a 2.4GHz receiver 22 , which is convenient for remote control operation through the remote controller 22 .

As shown in Figures 1 to 5, the fixed platform 1 is provided with a safety pole 6 supporting the fixed platform 1, and the safety pole 6 plays a supporting role, which can prevent accidents and prevent the lifting platform 2 from falling out of control And damage the device below the lifting platform 2.

In the task-type operation robot provided by the present invention, the lifting motor 31 drives the screw rod 32 to rotate, and the screw rod 32 drives the horizontal bar 5 to reciprocate in the horizontal direction through the screw nut, and the horizontal bar 5 drives the lifting platform 2 through the scissor mechanism 4 Do lifts.

The present invention provides a control system for a task-type operating robot. The main control board 18 is the core of the control system, and is mainly responsible for processing the data transmitted back from external sensors and issuing corresponding control commands; the left wheel drive 13, the right The wheel driver 14 and the lifting driver 12 are respectively responsible for driving the left hub motor 15, the right hub motor 16 and the lifting motor 31; the wireless communication module mainly transmits remote control instructions to make the robot perform corresponding actions; the obstacle detection sensor 20 is mainly used to detect the robot's progress When there is an obstacle, it will trigger an emergency stop; the speed measurement module 17 is used to detect the current speed and close the loop to make the speed more stable; the position detector 19 is used to detect the current movement position of the lifting platform, Thereby limiting the height of the lift.

A task-type operating robot provided by the invention has the following advantages:

1. The present invention can realize translational motion in any direction in the horizontal plane, rotational motion perpendicular to the horizontal plane and circular motion around a certain point in the horizontal plane through the drive system;

2. The present invention adopts three power sources (motors) to control and operate the three degrees of freedom respectively, which is easy to operate, high in driving efficiency, and high in space utilization of the car body;

3. The lifting table 2 in the present invention can realize the height lifting of 350mm, and the height of the mobile robot in the normal state is only 200mm, the structure is compact, and it is convenient for performing;

4. The design of the screw drive of the present invention prevents the jamming problem that may be caused by assembly errors;

5. The lifting platform 2 provided by the present invention has locking protection kinetic energy when the power is cut off. If a sudden power failure occurs, the lifting platform will not slide freely;

6. The mobile robot of the present invention has two control modes: remote control mode and autonomous motion relying on vision. It also has a distance sensing locking function: once the robot is too close to the audience, it will lock to prevent the robot from accidentally injuring the audience;

7. The research on task-based operating robots adopts master-slave control technology for remote operation control and working mode switching, etc.;

8. The obstacle avoidance detection system and the limit detection system are adopted, so that when the robot moves to the obstacle where the remote operator cannot see, and when the lifting platform moves to the highest and lowest points, it can trigger an emergency stop;

9. Optimize the structural design of the operating robot system, and obtain the optimal structural design of the robot, which can realize straight forward and backward travel, left and right turning, turning in place, and lifting of the lifting platform by remote control.

The above content is a further detailed description of the present invention in conjunction with specific preferred embodiments, and it cannot be assumed that the specific implementation of the present invention is limited to these descriptions. For those of ordinary skill in the technical field of the present invention, without departing from the concept of the present invention, some simple deduction or replacement can be made, which should be regarded as belonging to the protection scope of the present invention.

Claims (8)

1. A task-type operating robot, characterized in that: comprise a fixed platform, a screw nut mechanism, a scissors mechanism, a first guide rail slider mechanism and a lifting platform, the screw nut mechanism is arranged on the fixed platform, The first guide rail slider mechanism is arranged on the lifting platform, and the scissor mechanism includes a first scissor bar and a second scissor bar that are crossed and rotatably connected in the middle, and the lower end of the first scissor bar is connected to the The fixed table is rotatably connected, the upper end of the first scissor bar is rotatably connected to the first rail slider mechanism, the lower end of the second scissor bar is rotatably connected to the screw nut mechanism, and the first scissor bar is rotatably connected to the screw nut mechanism. The upper ends of the two scissor rods are rotatably connected with the lifting platform, the scissor mechanism has two and are arranged in parallel, and the fixed platform is provided with two second guide rail sliders arranged in parallel with the screw nut mechanism mechanism, the two second rail slider mechanisms are provided with a horizontal bar, and the two ends of the horizontal bar are respectively connected to the lower ends of the second scissor bars of the two scissor mechanisms. The rod is fixedly connected to the screw nut mechanism in the horizontal direction and movably connected in the vertical direction. The screw nut mechanism includes a lifting motor, a screw rod, a screw nut, a nut cover and a column. The lifting motor, The screw rods are all fixed on the fixed platform, the lifting motor is connected with the screw rod, the screw nut is arranged on the screw rod, the nut sleeve is arranged on the screw nut, the The column is arranged on the nut jacket, the axis of the screw rod is the center line of the two second guide rail slider mechanisms, the axis of the screw rod is the center line of the two scissor mechanisms, and the two The second rail slider mechanism is located between the two scissor mechanisms, the horizontal bar is provided with a through hole perpendicular to the horizontal plane, and the through hole is sleeved on the column, and the horizontal bar and The nut sleeves do not touch. 2. The task-type operating robot according to claim 1, characterized in that: said first guide rail slider mechanism comprises a first guide rail and a first slide block arranged on said first guide rail, said first guide rail Set on the lifting platform, the upper end of the first scissor bar is rotatably connected with the first slider, and the second guide rail slider mechanism includes a second guide rail and a first guide rail arranged on the second guide rail. Two sliders, the second guide rail is arranged on the fixed platform, and the two ends of the horizontal bar are respectively erected on the two second sliders. 3 . The task-type operating robot according to claim 2 , wherein a guide rail straightness correction strip is provided on the fixed platform, and the guide rail straightness correction strip cooperates with the second guide rail. 4 . 4. The task-type operating robot according to claim 1, characterized in that: the fixed platform is provided with a traveling mechanism, and the traveling mechanism includes a left wheel, a right wheel, a front ball wheel and a rear ball wheel arranged in a diamond shape , the left hub motor is provided in the left wheel, the left hub motor is connected to the left wheel, and the right hub motor is provided in the right wheel, and the right hub motor is connected to the right wheel. 5. The task-type operating robot according to claim 4, characterized in that: the task-type operating robot also includes a control system, and the control system includes a main control board, a left-wheel driver, a right-wheel driver and a lift driver, the The main control board is respectively connected with the left wheel driver, the right wheel driver and the lifting driver, the left wheel driver is connected with the left hub motor, the right wheel driver is connected with the right hub motor, and the lifting driver is connected with the Lift motor connection. 6. The task-type operating robot according to claim 5, characterized in that: the control system also includes a speed measurement module, an obstacle detection sensor and a position detector, and the left wheel hub motor and the right wheel hub motor are respectively connected to the speed measurement module connected, the lifting motor is connected with the position detector, and the main control board is connected with the obstacle detection sensor. 7. The task-type operating robot according to claim 6, wherein the main control board includes an integrated gyroscope and an accelerometer, and the main control board is connected to a remote controller through a receiver. 8. The task-type operating robot according to claim 1, characterized in that: the fixed platform is provided with a safety pole supporting the fixed platform.