CN108237523A - Robot reach up device and with its robot - Google Patents
Robot reach up device and with its robot Download PDFInfo
- Publication number
- CN108237523A CN108237523A CN201611215116.2A CN201611215116A CN108237523A CN 108237523 A CN108237523 A CN 108237523A CN 201611215116 A CN201611215116 A CN 201611215116A CN 108237523 A CN108237523 A CN 108237523A
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- China
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- robot
- scissor
- reach
- connecting rod
- hinged
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of robot reach up device and with its robot.Robot reach up device includes：Pedestal；Driving device, driving device are mounted on pedestal；Scissor device, scissor device are drivingly connected the function that flexible robot neck is realized under the driving of driving device with driving device.The present invention robot reach up device and with its robot have simultaneously reach up be bent neck subfunction so that robot is more lively, increases the recreational and bio-imitability of biped intelligent robot.
Description
Technical field
The present invention relates to intelligent robot technology fields, in particular to a kind of robot reach up device and have
Its robot.
Background technology
With the continuous development of China's economy, there is a growing awareness that culture played in national development it is very important
Effect, the also continuous strong cultures overall strength and competitiveness of country, pushes cultural undertakings all-round prosperity, cultural industry quickly to send out
Exhibition.Scientific and technical innovation is the important motivity of cultural development, and culture is merged with science and technology, pushes the civilization of the mankind and progress, machine
People's drama is the model that culture is merged with scientific and technological height, is new artistic expression.
Robot drama is the combination of high and new technology and traditional culture, be propagate traditional culture effective way, various tables
It drills robot and shows traditional culture glamour by clapping acute form of acting in a play, especially sufficient class green turtle performance robot combination bionics
Principle can show glamour traditional culture remarkably true to life by layout theatrical performances form to people.
Achievable robot flexibility is also fewer at present, than more typically there is Matthias Rolf and
The Bionic Handling Assistant that JochenJ.Steil is developed.The robot main material is formed using nylon, machine
Device people uses complete pneumatic actuation so that the lighter in weight of robot, flexibility are high.The robot is made of three sections, is used
Three-level drives, and it is driving part often to save portion distal end, and robot wrist uses ball bearing, drives using three motor drive modes,
Robot band is driven there are three flexible finger and by bottom motors, and robot is except the overall length of drive part
0.75m.When bottom motors provide air pressure, robot can realize flexible stretching motion and as the circular arc big trunk
Movement.When motor provides whole air pressures, robot overall length is up to 1.2m.Robot integrates 12 linear transducers, often
A sensor is attached with a motor, is fed back by sensing data, can easy calculating robot's entirety posture.Nine
Motor part is connected with cable potentiometer, conveniently can readily measure pedestal and the variation of motor bottom length.In addition, the machine
Device people has carried out continuously just thinking kinematics analysis, to the accurate control of robot.Though the robot flexibility is higher, overall to tie
Structure is more complicated and processing difficulties, and robot total amount is larger, is not suitable as robot neck part and sets up meter separately.(Matthias Rolf
andJochen J.Steil,“Constant curvature continuum kinematics as fast
Approximatemodel for the Bionic Handling Assistant " work nternational Conference
On work ntelligentRobots and Systems, October 7-12,2012.).
As it can be seen that the work rhythm of people is constantly accelerated, pet is needed to loosen life, has occurred many bipeds now
Intelligent robot replaces real pet, and the shape of biped intelligent robot is consistent with some toys, biped intelligent robot
Compare totally, and arrange conveniently, therefore increasingly have been favored by people, but most of biped intelligent robot does not have at present
Reach up function, it is impossible to be extended as people and be bent neck so that biped intelligent robot lacks recreational and bio-imitability.
Invention content
It is existing to solve it is a primary object of the present invention to provide a kind of robot reach up device and with its robot
Have robot in technology can not reach up the problem of.
To achieve these goals, the present invention provides a kind of robot reach up device, including：Pedestal；Driving device,
Driving device is mounted on pedestal；Scissor device, scissor device are drivingly connected real under the driving of driving device with driving device
The now function of flexible robot neck.
Further, robot reach up device further includes crank block device, and crank block device is connected to driving dress
It puts between scissor device, crank block device drives scissor device stretching motion under the drive of driving device.
Further, driving device includes：Steering engine, steering engine are mounted on pedestal；Steering wheel, steering wheel are connect with steering engine, and with
Crank block device connects.
Further, two horizontal-extending sliding slots of Relative distribution are provided on pedestal, robot reach up device is also
Including two fixed hinged seats and two sliding hinge joint chairs, two fixed hinged seats one-to-one correspondence are fixed on the close of two sliding slots
Or one end far from driving device, two sliding hinge joint chairs are slidably mounted on correspondingly in two sliding slots；Scissor device packet
Lifting scissor mechanism is included, lifting scissor mechanism is hinged on fixed hinged seat and sliding hinge joint chair, and sliding hinge joint chair passes through crank
Slide block device is connect with driving device.
Further, crank block device includes：Take-up housing, take-up housing are mounted in sliding slot, and sliding hinge joint chair is mounted on
On take-up housing；Crank, crank are connect with driving device；Connecting rod, connecting rod are articulated and connected with crank and take-up housing.
Further, rolling bearing is installed, rolling bearing is connect with take-up housing and sliding hinge joint chair in sliding slot.
Further, lifting scissor mechanism includes the first fork-shearing frame and the second fork-shearing frame that are correspondingly arranged, the first fork-shearing frame
Include with the second fork-shearing frame：First hinge bar and the second hinge bar, the first hinge bar and the second hinge bar are hinged, and first
The first end of hinge bar is hinged on fixed hinged seat, and the first end of the second hinge bar is hinged on sliding hinge joint chair.
Further, scissor device further includes curvilinear path scissors mechanism, curvilinear path scissors mechanism and lifting scissor machine
Structure is articulated and connected；Curvilinear path scissors mechanism includes multiple scissor units, and multiple scissor units are articulated and connected successively.
Further, scissor unit includes：The length phase of two pieces of connecting plates and a connecting rod rest, connecting plate and connecting rod rest
Deng；Two piece second is hinged on correspondingly close to the first end of two pieces of connecting plates of the scissor unit of lifting scissor mechanism to be hinged
The second end of bar, the first end of connecting rod rest are hinged between the second end of two piece of first hinge bar；The hinge of connecting plate and connecting rod rest
Position is connect between the center of connecting plate and the first end of connecting plate, and the articulated position of connecting rod rest and connecting plate is located at connecting rod
Between the center of frame and the second end of connecting rod rest.
Further, connecting rod rest is rectangular frame, and reinforcement connecting rod is connected between two long sides in rectangular frame.
Further, robot reach up device further includes mounting assembly, and mounting assembly is hinged on curvilinear path scissor machine
The top of structure for mounting robot head.
Further, mounting assembly includes mounting bracket and two pieces of installing plates, the first ends of two pieces of installing plates and mounting bracket
First end is hinged, and the second end of two pieces of installing plates and the second end of connecting rod rest are hinged, the second end of mounting bracket and two pieces of connecting plates
Second end be hinged；The location hole on the head for mounting robot is provided on mounting bracket.
According to another aspect of the present invention, a kind of robot is provided, including reach up device, reach up device is above-mentioned
Robot reach up device.
Apply the technical scheme of the present invention, pedestal is used to support and installs driving device and scissor device, driving device and
Scissor device is installed on pedestal, and scissor device is connected with driving device, when robot reach up device work, scissor
Device realizes function that is flexible, and then realizing reach up under the action of driving device.In addition, the robot reach up of the present invention
The rotary motion of driving device is transmitted to the movement of scissor device by crank block device by device, in the design of scissor device
In connected one layer of lifting scissor mechanism and three layers of scissor unit realize curved trajectories, by robot reach up device elongation
Movement and bending motion are cascaded, and therefore, robot neck are also just made to have the function of elongation and bending.As it can be seen that this hair
Bright robot reach up device and with its robot with reach up simultaneously and bending neck subfunction so that robot is more
It is lively, increases the recreational and bio-imitability of biped intelligent robot.
Description of the drawings
The accompanying drawings which form a part of this application are used to provide further understanding of the present invention, and of the invention shows
Meaning property embodiment and its explanation do not constitute improper limitations of the present invention for explaining the present invention.In the accompanying drawings：
Fig. 1 is that the right side that biped intelligent robot neck is retracted in embodiment regards Local map；
Fig. 2 is that the right side that biped intelligent robot neck extends in embodiment regards Local map；
Fig. 3 is the left view Local map that biped intelligent robot neck is retracted in embodiment；And
Fig. 4 is the left view Local map that biped intelligent robot neck extends in embodiment.
Wherein, above-mentioned attached drawing is marked including the following drawings：
10th, pedestal；11st, sliding slot；20th, driving device；21st, steering engine；22nd, steering wheel；30th, scissor device；31st, it is fixed hinged
Seat；32nd, sliding hinge joint chair；33rd, lifting scissor mechanism；331st, the first hinge bar；332nd, the second hinge bar；34th, curvilinear path is cut
Pitch mechanism；341st, scissor unit；3411st, connecting plate；3412nd, connecting rod rest；3413rd, strengthen connecting rod；40th, crank block device；41、
Take-up housing；42nd, crank；43rd, connecting rod；50th, mounting assembly；51st, mounting bracket；511st, location hole；52nd, installing plate；60th, motor is installed
Seat.
Specific embodiment
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the application can phase
Mutually combination.The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singulative
It is also intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or combination thereof.
It should be noted that term " first " in the description and claims of this application and above-mentioned attached drawing, "
Two " etc. be the object for distinguishing similar, and specific sequence or precedence are described without being used for.It should be appreciated that it uses in this way
Data can be interchanged in the appropriate case, so that presently filed embodiment described herein for example can be in addition to herein
Sequence other than those of diagram or description is implemented.In addition, term " comprising " and " having " and their any deformation, it is intended that
Be to cover it is non-exclusive include, for example, containing the process of series of steps or unit, method, system, product or equipment not
Be necessarily limited to those steps clearly listed or unit, but may include not listing clearly or for these processes, side
The intrinsic other steps of method, product or equipment or unit.
For ease of description, spatially relative term can be used herein, as " ... on ", " ... top ",
" ... upper surface ", " above " etc., for describing such as a device shown in the figure or feature and other devices or spy
The spatial relation of sign.It should be understood that spatially relative term is intended to comprising the orientation in addition to device described in figure
Except different direction in use or operation.For example, if the device in attached drawing is squeezed, it is described as " in other devices
It will be positioned as " under other devices or construction after the device of part or construction top " or " on other devices or construction "
Side " or " under other devices or construction ".Thus, exemplary term " ... top " can include " ... top " and
" in ... lower section " two kinds of orientation.The device can also other different modes positioning (being rotated by 90 ° or in other orientation), and
And respective explanations are made in opposite description to space used herein above.
Referring to shown in Fig. 1 to Fig. 4, according to an embodiment of the invention, a kind of robot reach up device, this implementation are provided
The robot neck sub-device of example is built-in with elongation and bending preferably by biped intelligent robot, the biped intelligent robot
The device of neck so that biped intelligent robot have the function of and meanwhile reach up and bending neck, the present embodiment is with a kind of enterprise
It is illustrated for goose robot, biped intelligent robot may be other animals, such as bird, kangaroo biped intelligence machine
People.
The robot reach up device of robot reach up device the present embodiment of the present embodiment includes pedestal 10, driving dress
Put 20 and scissor device 30.
Wherein, the pedestal 10 in the present embodiment is formed by the metallic plate of one piece of plate, is used to support and installs driving device
20 and scissor device 30, driving device 20 and scissor device 30 are installed on pedestal 10, and scissor device 30 and driving device
20 are drivingly connected, and when robot reach up device work, scissor device 30 is realized under the action of driving device 20 to be stretched, into
And realize the function of reach up.
Robot reach up device in the present embodiment further includes crank block device 40, which connects
Between driving device 20 and scissor device 30, during work, crank block device 40 drives under the drive of driving device 20 and cuts
Fork device 30 stretches neck.
Specifically, the driving device 20 in the present embodiment includes steering engine 21 and steering wheel 22.Wherein, steering engine 21 passes through motor
Mounting base 60 is supported on pedestal 10, and positioned at the end of pedestal 10, convenient for providing necessary sky to the installation of scissor device 30
Between basis, steering wheel 22 connect with steering engine 21, and positioned on the side wall of steering engine 21, and in connection procedure, steering wheel 22 is simultaneously and slide crank
Block assembly 40 connects.Steering engine 21 has small big with output torque, the characteristics such as easily controllable, can be mounted on small volume
On biped intelligent robot, and it can at a slow speed and quickly realize reach up.Steering wheel 22 is fixedly mounted on the output of steering engine 21
On axis, and crank block device 40 has been fixedly connected with it and has worked.Motor mount 60 in the present embodiment is a frame structure part,
Driving device 20 is fixed on motor mount 60, and motor mount 60 is fixed on pedestal 10 again, just will driven in this way
Dynamic device 20 has been fixed on the front side of entire neck minor structure so that overall structure is compacter.
In order to install scissor device 30, the pedestal 10 in the present embodiment is provided with two sliding slots 11 of Relative distribution, machine
People's reach up device further includes two fixed hinged seats 31 and two sliding hinge joint chairs 32, and two fixed hinged seats 31 correspond
One end closer or far from driving device 20 of two sliding slots 11 is fixed on, and passes through bolt and is fixed in the threaded hole on pedestal 10
It links together, two sliding hinge joint chairs 32 are mounted in two sliding slots 11 correspondingly.
And scissor device 30 includes lifting scissor mechanism 33, lifting scissor mechanism 33 is hinged on fixed hinged seat 31 and slides
On hinged seat 32, sliding hinge joint chair 32 is connect by crank block device 40 with driving device 20.
With reference to shown in Fig. 1 to Fig. 4, the crank block device 40 in the present embodiment includes take-up housing 41, crank 42 and connects
Bar 43.Wherein, take-up housing 41 is mounted in sliding slot 11, and sliding hinge joint chair 32 is mounted on take-up housing 41；Crank 42 is filled with driving
Put 20 connections；Connecting rod 43 is articulated and connected with crank 42 and take-up housing 41.
When steering engine 21 works, steering wheel 22 rotates on the side wall of steering engine 21, and crank 42 is driven to move, and crank 42 moves band
Dynamic connecting rod 43 is flexible, and then take-up housing 41 is driven to be slided in sliding slot 11, and then drives sliding hinge joint chair 32 sliding in sliding slot 11
It is dynamic to realize reach up function so that scissor device 30 to be driven to move.
Preferably, rolling bearing (not shown) is installed in the sliding slot 11 of the present embodiment, the rolling bearing and sliding block
Seat 41 is fixedly connected with sliding hinge joint chair 32 by axis pin, can band when being moved under drive of the crank 42 in driving device 20
The length direction of dynamic rolling bearing along sliding slot 11 is rolled to drive scissor device 30 flexible, and friction is small, is easy to implement reach up work(
Energy.Certainly, in other embodiments of the invention, rolling bearing can also be not provided with, and directly by take-up housing 41 and sliding hinge
Joint chair 32 is fixed together.And the slip of take-up housing 41 generates process, is first by the rotational motion of crank 42, drives
The movement of dynamic follower link 43, then take-up housing 41 is pushed to slide.
Lifting scissor mechanism 33 in the present embodiment includes the first fork-shearing frame and the second fork-shearing frame that are correspondingly arranged, installation
When, the first fork-shearing frame and the second fork-shearing frame are separately mounted to two sliding slots 11 by sliding hinge joint chair 32 and fixed hinged seat 31
Top, specifically, the first fork-shearing frame and the second fork-shearing frame in the present embodiment include the first hinge bar 331 and the second hinge
The center of extension bar 332, the first hinge bar 331 and the second hinge bar 332 is hinged, and the first end of the first hinge bar 331 is hinged
On fixed hinged seat 31, the first end of the second hinge bar 332 is hinged on sliding hinge joint chair 32, when sliding hinge joint chair 32 is in cunning
When slip in slot 11, the second hinge bar 332 moves and the first hinge bar 331 is pushed to rotate therewith, and in this process the
The upper end of one fork-shearing frame and the second fork-shearing frame, which synchronizes, to be risen and mutually draws close, and realizes the function of neck elongation.
Scissor device 30 in the present embodiment further includes curvilinear path scissors mechanism 34, the curvilinear path scissors mechanism 34 with
Lifting scissor mechanism 33 is articulated and connected, and curvilinear path scissors mechanism 34 is driven to realize that curve is stretched when lifting scissor mechanism 33 lifts
Contracting.
In order to which the curve for realizing curvilinear path scissors mechanism 34 stretches, the curvilinear path scissors mechanism 34 in the present embodiment wraps
Multiple scissor units 341 are included, multiple scissor units 341 are articulated and connected successively, specifically, each scissor list in the present embodiment
Member 341 includes two pieces of connecting plates 3411 and a connecting rod rest 3412, and the equal length of connecting plate 3411 and connecting rod rest 3412.
Preferably, the scissor unit 341 in the present embodiment is 3, in other embodiments of the invention, can also be by scissor unit
341 be 4,5 etc., can specifically be set according to the bending demand of neck.
During the scissors mechanism 34 of installation curve track so that close to two pieces of companies of the scissor unit 341 of lifting scissor mechanism 33
The first end of fishplate bar 3411 is hinged on the second end of two piece of second hinge bar 332, the first end of connecting rod rest 3412 correspondingly
It is hinged between the second end of two piece of first hinge bar 331；Two pieces of connecting plates 3411 and connecting rod rest 3412 hingedly form scissor knot
Structure, and connecting plate 3411 and the articulated position of connecting rod rest 3412 are located at the center of connecting plate 3411 and the first end of connecting plate 3411
Between, connecting rod rest 3412 and the articulated position of connecting plate 3411 are located at the center of connecting rod rest 3412 and the second end of connecting rod rest 3412
Between, after multiple scissor units 341 are in turn connected to form, convenient for realizing curvilinear path during scissor device 30 is flexible
It is flexible.
It should be noted that the first hinge bar 331, the second hinge bar 332, connecting plate 3411, connecting rod in the present embodiment
The first end and second end of 3412 installing plate 52 of frame and mounting bracket 51 refers to the first hinge bar 331, the second hinge bar 332, connects
Fishplate bar 3411, connecting rod rest 3412, installing plate 52 and mounting bracket 51 two ends being located on length direction, if therein
One end is first end, and the other end is then second end.
The specific curvilinear path scissors mechanism 34 introduced in the present embodiment realizes that the process of curve is as follows：
As shown in Figure 1, for close to the scissor unit 341 of lifting scissor mechanism 33, including two pieces of 3411 Hes of connecting plate
One connecting rod rest 3412, length is identical, but the hinge joint position of two pieces of connecting plates 3411 and a connecting rod rest 3412 is to front side
Mobile, 3412 bottom of connecting rod rest is connect with 3411 rotary-top of connecting plate, when the lifting scissor mechanism 33 of bottom extends, can be driven
The 3411 top rod end of connecting plate of dynamic scissor unit 341 is drawn close to 3412 top rod end of connecting rod rest and synchronizes rising, this also drives
Intermediate scissor unit 341, which synchronizes, to be risen, since its hinge joint position moves forward, the top rod end of connecting plate 3411 at this time
The top rod end of connecting rod rest 3412 can be higher than and drawn close to it, this generates the bending fortune at 34 top of curvilinear path scissors mechanism
It is dynamic, i.e. the action of the extension of the bending of curvilinear path scissors mechanism 34 at this time.Similarly, in the case where three layers of identical scissor unit 341 are connected,
Entire curvilinear path scissors mechanism 34 there has been the apparent action for being bent and extending.
Preferably, the connecting rod rest 3412 in the present embodiment is rectangular frame, two long sides in the rectangular frame it
Between be connected with strengthen connecting rod 3413, stable structure is reliable.
It recombines shown in Fig. 1 to Fig. 4, the robot reach up device in the present embodiment further includes mounting assembly 50, should
Mounting assembly 50 is hinged on the top of curvilinear path scissors mechanism 34 for the head of mounting robot.Specifically, this reality
It applies mounting assembly 50 in example and includes mounting bracket 51 and two pieces of installing plates 52, during installation, the first end and peace of two pieces of installing plates 52
51 first end to be shelved to be hinged, the second end and the second end of connecting rod rest 3412 of two pieces of installing plates 52 are hinged, and the of mounting bracket 51
Two ends and the second end of two pieces of connecting plates 3411 are hinged；The location hole on the head for mounting robot is provided on mounting bracket 51
511。
As it can be seen that robot reach up device provided in this embodiment by crank block device 40 by the rotation of driving device 20
The dynamic movement for being transmitted to scissor device 30 of transhipment, one layer of 33 He of lifting scissor mechanism connected in the design of scissor device 30
Three layers of scissor unit 341 realizes curved trajectory, and robot reach up device stretching motion and bending motion are connected on
Together, therefore, robot neck is also just made to have the function of elongation and bending.With reach up simultaneously and it is bent neck subfunction
Robot is more lively, increases the recreational and bio-imitability of biped intelligent robot.
According to another aspect of the present invention, which includes reach up device, and reach up device is above-mentioned robot
Reach up device.
It these are only the preferred embodiment of the present invention, be not intended to restrict the invention, for those skilled in the art
For member, the invention may be variously modified and varied.Any modification for all within the spirits and principles of the present invention, being made,
Equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (13)
1. a kind of robot reach up device, which is characterized in that including：
Pedestal (10)；
Driving device (20), the driving device (20) is on the pedestal (10)；
Scissor device (30), the scissor device (30) are drivingly connected with the driving device (20) in the driving device (20)
Driving under realize the function of flexible robot neck.
2. robot reach up device according to claim 1, which is characterized in that the robot reach up device also wraps
Crank block device (40) is included, the crank block device (40) is connected to the driving device (20) and the scissor device
(30) between, the crank block device (40) drives the scissor device (30) to stretch under the drive of the driving device (20)
Contracting movement.
3. robot reach up device according to claim 2, which is characterized in that the driving device (20) includes：
Steering engine (21), the steering engine (21) is on the pedestal (10)；
Steering wheel (22), the steering wheel (22) connect with the steering engine (21), and is connect with the crank block device (40).
4. robot reach up device according to claim 2, which is characterized in that be provided on the pedestal (10) opposite
Two horizontal-extending sliding slots (11) of distribution, the robot reach up device further include two fixed hinged seats (31) and two
A sliding hinge joint chair (32), described two fixed hinged seats (31) correspond be fixed on two sliding slots (11) closer or far from
One end of the driving device (20), described two sliding hinge joint chairs (32) are slidably mounted on described two sliding slots correspondingly
(11) in；
The scissor device (30) includes lifting scissor mechanism (33), and the lifting scissor mechanism (33) is hinged on the fixed hinge
On joint chair (31) and the sliding hinge joint chair (32), the sliding hinge joint chair (32) passes through the crank block device (40) and institute
State driving device (20) connection.
5. robot reach up device according to claim 4, which is characterized in that crank block device (40) packet
It includes：
Take-up housing (41), the take-up housing (41) is in the sliding slot (11), and the sliding hinge joint chair (32) is mounted on institute
It states on take-up housing (41)；
Crank (42), the crank (42) connect with the driving device (20)；
Connecting rod (43), the connecting rod (43) are articulated and connected with the crank (42) and the take-up housing (41).
6. robot reach up device according to claim 5, which is characterized in that be equipped with rolling in the sliding slot (11)
Bearing, the rolling bearing are connect with the take-up housing (41) and the sliding hinge joint chair (32).
7. robot reach up device according to claim 4, which is characterized in that the lifting scissor mechanism (33) includes
The first fork-shearing frame and the second fork-shearing frame being correspondingly arranged, first fork-shearing frame and second fork-shearing frame include：
First hinge bar (331) and the second hinge bar (332), first hinge bar (331) and second hinge bar (332)
It is hinged, the first end of first hinge bar (331) is hinged on the fixed hinged seat (31), second hinge bar
(332) first end is hinged on the sliding hinge joint chair (32).
8. robot reach up device according to claim 7, which is characterized in that the scissor device (30) further includes song
Line tracking scissors mechanism (34), the curvilinear path scissors mechanism (34) are articulated and connected with the lifting scissor mechanism (33)；Institute
It states curvilinear path scissors mechanism (34) and includes multiple scissor units (341), the multiple scissor unit (341) hingedly connects successively
It connects.
9. robot reach up device according to claim 8, which is characterized in that the scissor unit (341) includes：
The length of two pieces of connecting plates (3411) and a connecting rod rest (3412), the connecting plate (3411) and the connecting rod rest (3412)
It spends equal；
The first end of two pieces of connecting plates (3411) of the scissor unit (341) of the close lifting scissor mechanism (33) is one by one
The second end of two pieces of second hinge bars (332) is accordingly hinged on, the first end of the connecting rod rest (3412) is hinged on two
Between the second end of first hinge bar (331) described in block；
The articulated position of the connecting plate (3411) and the connecting rod rest (3412) be located at the connecting plate (3411) center and
Between the first end of the connecting plate (3411), and the hinge position set of the connecting rod rest (3412) and the connecting plate (3411)
Between the second end of the center of the connecting rod rest (3412) and the connecting rod rest (3412).
10. robot reach up device according to claim 9, which is characterized in that the connecting rod rest (3412) is rectangular
Shape frame is connected in the rectangular frame between two long sides and strengthens connecting rod (3413).
11. robot reach up device according to claim 9, which is characterized in that the robot reach up device is also
Including mounting assembly (50), the mounting assembly (50) is hinged on the top of the curvilinear path scissors mechanism (34) for peace
The head of machine people.
12. robot reach up device according to claim 11, which is characterized in that the mounting assembly (50) includes peace
(51) and two pieces of installing plates (52) are shelved, the first end of two pieces of installing plates (52) is cut with scissors with the first end of the mounting bracket (51)
It connects, the second end and the second end of the connecting rod rest (3412) of two pieces of installing plates (52) are hinged, the mounting bracket (51)
Second end and the second end of two pieces of connecting plates (3411) are hinged；
Be provided on the mounting bracket (51) for install the robot head location hole (511).
13. a kind of robot, including reach up device, which is characterized in that the reach up device is to appoint in claim 1 to 12
Robot reach up device described in one.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611215116.2A CN108237523A (en) | 2016-12-23 | 2016-12-23 | Robot reach up device and with its robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611215116.2A CN108237523A (en) | 2016-12-23 | 2016-12-23 | Robot reach up device and with its robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108237523A true CN108237523A (en) | 2018-07-03 |
Family
ID=62704857
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611215116.2A Pending CN108237523A (en) | 2016-12-23 | 2016-12-23 | Robot reach up device and with its robot |
Country Status (1)
| Country | Link |
|---|---|
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