CN110815163A - Multi-arm cooperative carrying robot based on wheel-track switching mechanism - Google Patents
Multi-arm cooperative carrying robot based on wheel-track switching mechanism Download PDFInfo
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- CN110815163A CN110815163A CN201911180265.3A CN201911180265A CN110815163A CN 110815163 A CN110815163 A CN 110815163A CN 201911180265 A CN201911180265 A CN 201911180265A CN 110815163 A CN110815163 A CN 110815163A
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- rotating motor
- mounting plate
- rotating shaft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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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
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1682—Dual arm manipulator; Coordination of several manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/065—Multi-track vehicles, i.e. more than two tracks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
Abstract
The invention discloses a multi-arm cooperative carrying robot based on a wheel-track switching mechanism, which comprises a support frame, a first rotating motor, a rotating main gear, a rotating driven gear, a first rotating shaft, a driving mechanism, the wheel-track switching mechanism, a base plate and a mechanical arm mechanism, wherein the first rotating motor is arranged on the support frame; the inner bottom surface of the support frame is symmetrically provided with a first rotating shaft which is horizontally and longitudinally arranged and is rotationally connected with the support frame; a rotating driven gear is sleeved on the first rotating shaft, a rotating main gear is sleeved at the output end of the first rotating motor, and the rotating main gear is meshed with the rotating driven gear; the two ends of the first rotating shaft are provided with wheel-track switching mechanisms, the inner sides of the wheel-track switching mechanisms are provided with driving mechanisms, and the output ends of the driving mechanisms are in linkage connection with the wheel-track switching mechanisms; the upper surface of the support frame is provided with a backing plate, and the two sides of the upper surface of the backing plate are symmetrically provided with mechanical arm mechanisms. The invention realizes the conversion between wheel type movement and crawler type movement by arranging the wheel-crawler switching mechanism.
Description
Technical Field
The invention relates to a mobile carrying robot, in particular to a multi-arm cooperative carrying robot based on a wheel-track switching mechanism.
Background
In the aspect of carrying of the robot, the cargo shipment of the traditional robot mainly adopts a mode of grabbing and carrying by a mechanical arm, and an object is grabbed by stretching, rotating and lifting; wherein, the rotation and the lifting movement are completed by the cross arm and the production column. The basic function of the robot arm is to move the gripper to a desired position and to bear the maximum weight of the gripped workpiece, the weight of the robot arm itself, and the like. However, when a heavy object and an object with a special shape are encountered in the conventional single mechanical arm structure, the single mechanical arm cannot be well grabbed and placed, and the problems of overweight, unstable grabbing, carrying and the like are easily caused.
In the aspect of a motion mechanism of the robot, the motion mechanism is mainly divided into a leg type, a crawler type and a wheel type. Among them, the leg mechanism is the most flexible and suitable for working on a flat road surface, but its stability is relatively poor and the control system is very complicated. The crawler-type mechanism has good self-resetting and obstacle-crossing capabilities, is suitable for working in wild mountainous areas, but has large volume, heavy whole mechanism and large energy loss. The wheel type mechanism has the advantages of simple structure, high speed, flexible action, small appearance, easy control, high working efficiency and low energy consumption, but has poor obstacle crossing capability. However, the traditional robot with a single walking mechanism cannot complete the tasks of some special operations due to the limitation of the self condition; the above problems need to be solved.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a multi-arm cooperative carrying robot based on a wheel-track switching mechanism, the wheel-track switching mechanism is arranged, the wheel type movement and the crawler type movement are mutually converted, the robot is convenient to adapt to various complex road conditions, meanwhile, the multi-arm cooperative grabbing is adopted, the working efficiency is improved, and the application range is wider.
In order to solve the technical problems, the invention adopts the following technical scheme: the invention discloses a multi-arm cooperative carrying robot based on a wheel-track switching mechanism, which has the innovation points that: the device comprises a support frame, a first rotating motor, a rotating master gear, a rotating slave gear, a first rotating shaft, a driving mechanism, a wheel-track switching mechanism, a base plate and a mechanical arm mechanism; the supporting frame is of a horizontally arranged trapezoid frame structure, first rotating shafts are symmetrically arranged on the inner bottom surface of the supporting frame in the left-right direction, each first rotating shaft is horizontally and longitudinally arranged, two ends of each first rotating shaft respectively extend out of the supporting frame vertically and are respectively and rotatably connected with the supporting frame; a rotary driven gear is further fixedly sleeved at the middle position of each first rotating shaft, a first rotating motor is further horizontally arranged on one side of each rotary driven gear, each first rotating motor is fixedly arranged on the inner bottom surface of the supporting frame, a rotary main gear is further fixedly sleeved at the output end of each first rotating motor, each rotary main gear is meshed with the corresponding rotary driven gear, and each first rotating motor is in linkage connection with the corresponding first rotating shaft; wheel-track switching mechanisms are respectively and vertically and fixedly arranged at two ends of each first rotating shaft, driving mechanisms are further horizontally arranged on the inner sides of the wheel-track switching mechanisms, fixed ends of the driving mechanisms are respectively and fixedly connected with the lower surface of the supporting frame, and the arrangement directions of output ends of the driving mechanisms are respectively consistent with the arrangement directions of the corresponding first rotating shafts and are respectively in linkage connection with the corresponding wheel-track switching mechanisms; the upper surface of support frame is the fixed backing plate that is equipped with of level still, and the upper surface both sides of backing plate still symmetry are equipped with mechanical arm mechanism, two mechanical arm mechanism locates respectively the direction of motion both sides of support frame, and its stiff end respectively with the upper surface fixed connection of backing plate.
Preferably, a vertical bearing is vertically arranged at the joint of each first rotating shaft and the support frame, and each vertical bearing is fixedly arranged on the inner bottom surface of the support frame; each first rotating shaft is sleeved with the corresponding vertical bearing, and two ends of each first rotating shaft respectively extend out of the corresponding vertical bearing and are respectively connected with the supporting frame in a rotating mode through the vertical bearings.
Preferably, each driving mechanism comprises a driving motor, a driving gear, a driving motor mounting plate and a fixing column; fixed columns are vertically and symmetrically arranged on the left side and the right side below each vertical bearing, and the upper end of each fixed column is fixedly connected with the lower surface of the support frame; driving motor mounting plates are also vertically arranged on the outer sides of the two adjacent fixing columns, and each driving motor mounting plate respectively slides up and down along the corresponding fixing column and is respectively fixed with the corresponding fixing column through bolts in a threaded manner; a driving motor is vertically and fixedly arranged in the middle of the inner side surface of each driving motor mounting plate, and the output end of each driving motor vertically extends out of the corresponding driving motor mounting plate and respectively extends to the two sides of the support frame; each driving motor's output still cup joints fixedly and is equipped with drive gear, and each drive gear all with the support frame mutually noninterfere sets up.
Preferably, each wheel-track switching mechanism comprises a connecting plate, a crawler wheel mounting plate, a first belt, a crawler wheel, a first driven shaft, a first traveling gear, a second driven shaft, a second traveling gear and a tire; each connecting plate is of a vertically arranged rectangular structure, and the middle position of each connecting plate is fixedly connected with two ends of the corresponding first rotating shaft respectively and is in linkage connection with the corresponding first rotating motor through the corresponding first rotating shaft respectively; a first driven shaft vertically penetrates through the upper position of the outer side surface of each connecting plate, and each first driven shaft is rotatably connected with the corresponding connecting plate; tires are fixedly sleeved at one end of each first driven shaft, are arranged on the outer sides of the corresponding connecting plates, and are respectively in rotating connection with the corresponding connecting plates through the first driven shafts; a first traveling gear is fixedly sleeved at the other end of each first driven shaft, is arranged in a non-interfering manner with the support frame and is respectively connected with the corresponding connecting plate in a rotating manner through the first driven shaft; a crawler wheel mounting plate is vertically attached to the lower position of the outer side surface of each connecting plate, and each crawler wheel mounting plate is fixedly connected with the corresponding connecting plate in a threaded manner; a second driven shaft vertically penetrates through the upper position of the outer side surface of each crawler wheel mounting plate, vertically penetrates through the inner side surface of the corresponding connecting plate, and is respectively in rotating connection with the corresponding crawler wheel mounting plate and the corresponding connecting plate; a plurality of crawler wheels are further arranged on the outer side surface of each crawler wheel mounting plate along the four peripheral edges of the outer side surface at intervals, the uppermost crawler wheel is fixedly sleeved with one end corresponding to the second driven shaft and is respectively connected with the corresponding crawler wheel mounting plate in a rotating mode through the second driven shaft, and the rest crawler wheels are respectively connected with the corresponding crawler wheel mounting plates in a rotating mode; a first belt is sleeved on the crawler wheel of each crawler wheel mounting plate, each first belt is arranged in a crawler shape, and the rotating direction of each first belt is consistent with the moving direction of the support frame; and a second walking gear is fixedly sleeved at the other end of each second driven shaft, and each second walking gear is arranged in a mutually noninterfere way with the support frame and is respectively connected with the corresponding connecting plate in a rotating way through the second driven shaft.
Preferably, the device further comprises a locking nut; a through hole is vertically arranged in the middle of the outer side surface of each connecting plate in a penetrating manner, and each through hole is matched with the corresponding first rotating shaft; and two ends of each first rotating shaft respectively extend out of the through holes corresponding to the connecting plates and are fixedly connected with the corresponding connecting plates through locking nuts.
Preferably, each of the first walking gear, the second walking gear and the driving gear is vertically arranged in the same vertical plane, and each of the first walking gear and the second walking gear is respectively matched with the corresponding driving gear; each first rotating motor drives the connecting plate to rotate through the first rotating shaft, and the first walking gear or the second walking gear is meshed and connected with the corresponding driving gear.
Preferably, each mechanical arm mechanism comprises a mechanical arm base, a mechanical claw mounting plate, a mechanical claw, a first joint and a second joint; one end face of each mechanical arm base is fixedly connected with the upper surface of the base plate in a threaded manner, a plurality of first joints are sequentially arranged on the other end face of each mechanical arm base at intervals, one end face of each first joint is rotatably connected with the other end face of the corresponding mechanical arm base, and a second joint is arranged between every two adjacent first joints; one end face of each second joint is rotatably connected with the other end face of the previous first joint, and the other end face of each second joint is rotatably connected with one end face of the next first joint; each gripper mounting panel is L shape structure, and its long limit medial surface all with the last another terminal surface of first joint rotates to be connected, and each the minor face lateral surface of gripper mounting panel still perpendicular fixed gripper that is equipped with.
Preferably, each mechanical arm base comprises a second rotating motor, a first rotating motor mounting plate, a first side plate, a second rotating shaft, a second belt, a first flange and a plurality of studs; each first side plate, the first rotating motor mounting plate and the second side plate are of vertically arranged rectangular structures, are sequentially arranged in parallel at intervals and are fixedly connected at intervals through studs respectively; the lower edge of each first rotating motor mounting plate is arranged below the lower edge of the corresponding first side plate and above the lower edge of the corresponding second side plate; a second rotating motor is also vertically arranged at a position below one side face of each first rotating motor mounting plate, each second rotating motor is arranged at one side close to the corresponding first side plate, the output end of each second rotating motor vertically extends out of the corresponding first rotating motor mounting plate, and the output end of each second rotating motor is not interfered with the corresponding second side plate; a second rotating shaft vertically penetrates through the upper position of one side face of each first rotating motor mounting plate, is rotatably connected with the corresponding first side plate at one end, is rotatably connected with the corresponding second side plate at the other end, vertically extends out of the corresponding second side plate, and is fixedly connected with one end face of the corresponding first flange plate; a second belt is vertically arranged between each first rotating motor mounting plate and the corresponding second side plate, each second belt is annularly sleeved on the output end of the corresponding second rotating motor and the corresponding second rotating shaft, and each second rotating motor is in linkage connection with the corresponding second rotating shaft through the second belt and drives the corresponding first flange plate to rotate; each second curb plate lean on a side of second rotating electrical machines lower position all with the upper surface spiro union of backing plate is fixed, and each the arm base all through the second curb plate with backing plate fixed connection.
Preferably, each first joint comprises a third rotating motor, a second rotating motor mounting plate, a third side plate, a first L-shaped plate, a third rotating shaft, a third belt, a second flange plate, a fixing plate and a plurality of studs; each fixing plate is of a vertically arranged rectangular structure, a first L-shaped plate is horizontally arranged at the position above one side surface of each fixing plate, one end of the short edge of each first L-shaped plate is vertically and upwards arranged, and the outer side surface of the short edge of each first L-shaped plate is fixedly connected with the corresponding fixing plate; second rotating motor mounting plates are horizontally arranged under the long edges of the first L-shaped plates at intervals, each second rotating motor mounting plate is of a rectangular structure, the upper surface of each second rotating motor mounting plate is fixedly connected with the outer side face of the corresponding long edge of the first L-shaped plate at intervals through studs, and the side faces of each second rotating motor mounting plate are fixedly connected with the corresponding fixing plate; a third side plate is horizontally arranged on one side, away from the fixed plate, of the lower surface of each second rotating motor mounting plate at intervals, each third side plate is of a rectangular structure, and is fixedly connected with the corresponding second rotating motor mounting plate at intervals through studs; a third rotating motor is vertically arranged on one side, close to the fixed plate, of the lower surface of each second rotating motor mounting plate, and the output end of each third rotating motor vertically extends out of the corresponding second rotating motor mounting plate and is not interfered with the corresponding first L-shaped plate; a third rotating shaft is vertically arranged in the middle of the upper surface of each third side plate, and one end of each third rotating shaft is rotatably connected with the corresponding third side plate; the other end of each third rotating shaft vertically and upwards sequentially extends to correspond to the second rotating motor mounting plate and the first L-shaped plate, is fixedly connected with one end face corresponding to the second flange plate and is rotatably connected with the second rotating motor mounting plate and the first L-shaped plate; a third belt is horizontally arranged between each second rotating motor mounting plate and the corresponding first L-shaped plate, each third belt is annularly sleeved on the output end of the corresponding third rotating motor and a third rotating shaft, and each third rotating motor is in linkage connection with the corresponding third rotating shaft through the third belt and drives the corresponding second flange plate to rotate; the other side surface of the fixing plate of the first joint is fixedly connected with the other end surface of the first flange plate corresponding to the mechanical arm base in a threaded manner, and the first joint is connected with the mechanical arm base in a linkage manner through the first flange plate; and the other end face of the second flange of the last joint is fixedly connected with the inner side face of the long edge corresponding to the gripper mounting plate in a threaded manner, and the last joint is connected with the gripper mounting plate in a linkage manner through the second flange.
Preferably, each second joint comprises a fourth rotating motor, a third rotating motor mounting plate, a fourth side plate, a second L-shaped plate, a fourth rotating shaft, a fourth belt, a third flange and a plurality of studs; each second L-shaped plate is horizontally arranged, and one end of the short edge of each second L-shaped plate is vertically and downwards arranged; a third rotating motor mounting plate and a fourth side plate are sequentially and vertically arranged on the inner side of the short side of each second L-shaped plate at intervals, and the inner side surface of the short side of each second L-shaped plate, the third rotating motor mounting plate and the fourth side plate are fixedly connected at intervals through studs; the lower edge of each third rotating motor mounting plate is arranged below the lower edge of the corresponding fourth side plate, a fourth rotating motor is vertically arranged at the position, close to the lower side of one side face of the fourth side plate, of the fourth rotating motor, the output end of each fourth rotating motor vertically extends out of the corresponding third rotating motor mounting plate, and the output end of each fourth rotating motor is not interfered with the corresponding second L-shaped plate; a fourth rotating shaft vertically penetrates through the upper position of one side face of each third rotating motor mounting plate, each fourth rotating shaft is rotatably connected with the corresponding third rotating motor mounting plate, one end of each fourth rotating shaft is rotatably connected with the corresponding fourth side plate, the other end of each fourth rotating shaft is rotatably connected with the corresponding second L-shaped plate, extends out of the corresponding second L-shaped plate vertically and is fixedly connected with one end face of the corresponding third flange plate; a fourth belt is vertically arranged between each third rotating motor mounting plate and the inner side face of the short side corresponding to the second L-shaped plate, each fourth belt is annularly sleeved on the output end corresponding to the fourth rotating motor and a fourth rotating shaft, and each fourth rotating motor is in linkage connection with the corresponding fourth rotating shaft through the fourth belt and drives the corresponding third flange plate to rotate; the inner side face of one long side end of each second L-shaped plate is fixedly connected with the other end face of the second flange of the previous first joint in a threaded manner, and each second joint is connected with the previous first joint in a linkage manner through the second flange; the other end face of each third flange plate is fixedly connected with the other side face of the fixing plate of the next first joint in a threaded manner, and each second joint is connected with the next first joint in a linkage manner through the third flange plate.
The invention has the beneficial effects that: the wheel-track switching mechanism is arranged, so that the wheel-track movement and the track-track movement are mutually converted, the multi-arm coordinated grabbing is adopted, the working efficiency is improved, and the application range is wider.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments are briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a multi-arm cooperative carrying robot based on a wheel-track switching mechanism.
Fig. 2 is a schematic structural view of the wheel-track switching mechanism in fig. 1.
Fig. 3 is a schematic structural diagram of the driving mechanism in fig. 1.
Fig. 4 is a schematic structural diagram of the robot arm mechanism in fig. 1.
Fig. 5 is a schematic view of the connection between the robot base and the first joint in fig. 4.
Fig. 6 is a schematic view of the connection between the first joint and the second joint in fig. 4.
Wherein, 1-a support frame; 2-a first rotating electrical machine; 3-rotating the main gear; 4-rotating the slave gear; 5-a first rotation axis; 6-vertical bearing; 7-driving a motor; 8-a drive gear; 9-driving motor mounting plate; 10-fixing columns; 11-a connecting plate; 12-a track wheel mounting plate; 13-a first belt; 14-a track wheel; 15-through holes; 16-a first driven shaft; 17-a first travelling gear; 18-a second driven shaft; 19-a second running gear; 20-a tyre; 21-a lock nut; 22-a robot arm base; 23-a first joint; 24-a second joint; 25-gripper mounting plate; 26-a gripper; 27-a backing plate; 28-a camera; 221-a second rotating electrical machine; 222-a first rotating machine mounting plate; 223-a first side panel; 224-a second side panel; 225-second axis of rotation; 226-a second belt; 227-a first flange; 228-a stud; 231-a third rotating electrical machine; 232-a second rotating electrical machine mounting plate; 233-third side panel; 234-a first L-shaped plate; 235-a third rotation axis; 236-a third belt; 237-a second flange; 238-a fixed plate; 241-a fourth rotating electrical machine; 242-a third rotating electrical machine mounting plate; 243-fourth side plate; 244-a second L-shaped plate; 245-a fourth rotation axis; 246-a fourth belt; 247-third flange.
Detailed Description
The technical solution of the present invention will be clearly and completely described by the following detailed description.
The invention discloses a multi-arm cooperative carrying robot based on a wheel-track switching mechanism, which comprises a support frame 1, a first rotating motor 2, a rotating main gear 3, a rotating driven gear 4, a first rotating shaft 5, a driving mechanism, the wheel-track switching mechanism, a base plate 27 and a mechanical arm mechanism, wherein the support frame is provided with a first rotating shaft and a second rotating shaft; the specific structure is as shown in fig. 1, the support frame 1 is a horizontally arranged trapezoid frame structure, the inner bottom surface of the support frame is further symmetrically provided with first rotating shafts 5, each first rotating shaft 5 is horizontally and longitudinally arranged, and two ends of each first rotating shaft respectively extend out of the support frame 1; a vertical bearing 6 is vertically arranged at the joint of each first rotating shaft 5 and the support frame 1, and each vertical bearing 6 is fixedly arranged on the inner bottom surface of the support frame 1; in the invention, each first rotating shaft 5 is sleeved with a corresponding vertical bearing 6, and two ends of each first rotating shaft respectively extend out of the corresponding vertical bearing 6 and are respectively connected with the support frame 1 in a rotating way through the vertical bearings 6.
A rotary driven gear 4 is fixedly sleeved at the middle position of each first rotating shaft 5, and a first rotating motor 2 is horizontally arranged at one side of each rotary driven gear 4, as shown in fig. 1, each first rotating motor 2 is fixedly arranged on the inner bottom surface of the support frame 1, and a rotary main gear 3 is fixedly sleeved at the output end of the first rotating motor 2; each rotating master gear 3 of the present invention is engaged with a corresponding rotating slave gear 4, so that each first rotating motor 2 is linked with a corresponding first rotating shaft 5.
The two ends of each first rotating shaft 5 are respectively and vertically and fixedly provided with a wheel-track switching mechanism, and each wheel-track switching mechanism comprises a connecting plate 11, a crawler wheel mounting plate 12, a first belt 13, a crawler wheel 14, a first driven shaft 16, a first walking gear 17, a second driven shaft 18, a second walking gear 19 and a tire 20; as shown in fig. 1 and 2, each connecting plate 11 is a vertically arranged rectangular structure, and a through hole 15 vertically penetrates through the middle position of the outer side surface of each connecting plate, wherein each through hole 15 is matched with the corresponding first rotating shaft 5; two ends of each first rotating shaft 5 respectively extend out of the through holes 15 on the corresponding connecting plates 11 and are respectively and fixedly connected with the corresponding connecting plates 11 through locking nuts 21, so that each connecting plate 11 is respectively in linkage connection with the corresponding first rotating motor 2 through the first rotating shaft 5;
a first driven shaft 16 vertically penetrates through the upper position of the outer side surface of each connecting plate 11, and each first driven shaft 16 is rotatably connected with the corresponding connecting plate 11; as shown in fig. 1 and 2, a tire 20 is further fixedly sleeved at one end of each first driven shaft 16, and each tire 20 is arranged at the outer side of the corresponding connecting plate 11 and is respectively rotatably connected with the corresponding connecting plate 11 through the first driven shaft 16; a first traveling gear 17 is fixedly sleeved at the other end of each first driven shaft 16, each first traveling gear 17 is arranged in a non-interfering manner with the support frame 1, and is respectively connected with the corresponding connecting plate 11 through the first driven shaft 16 in a rotating manner;
a crawler wheel mounting plate 12 is vertically attached to the lower position of the outer side surface of each connecting plate 11, and each crawler wheel mounting plate 12 is fixedly connected with the corresponding connecting plate 11 in a threaded manner; as shown in fig. 1 and 2, a second driven shaft 18 vertically penetrates through the upper position of the outer side surface of each track wheel mounting plate 12, and each second driven shaft 18 vertically penetrates through the inner side surface of the corresponding connecting plate 11 and is respectively connected with the corresponding track wheel mounting plate 12 and the corresponding connecting plate 11 in a rotating manner; a plurality of crawler wheels 14 are further arranged on the outer side surface of each crawler wheel mounting plate 12 at intervals along the four peripheral edges thereof, the uppermost crawler wheel 14 is fixedly sleeved with one end of the corresponding second driven shaft 18 and is respectively connected with the corresponding crawler wheel mounting plate 12 through the second driven shaft 18 in a rotating manner, and the rest crawler wheels 14 are respectively connected with the corresponding crawler wheel mounting plates 12 in a rotating manner; a first belt 13 is sleeved on the crawler wheel 14 of each crawler wheel mounting plate 12, each first belt 13 is arranged in a crawler shape, and the rotating direction of the first belt 13 is consistent with the moving direction of the support frame 1; a second walking gear 19 is fixedly sleeved at the other end of each second driven shaft 18, each second walking gear 19 is arranged in a mutually noninterfere mode with the support frame 1, and the second walking gears are respectively connected with the corresponding connecting plates 11 in a rotating mode through the second driven shafts 18.
The inner side of each wheel-track switching mechanism is also horizontally provided with a driving mechanism, and each driving mechanism comprises a driving motor 7, a driving gear 8, a driving motor mounting plate 9 and a fixing column 10; as shown in fig. 1 and 3, fixing columns 10 are also vertically and symmetrically arranged on the left side and the right side right below each vertical bearing 6, and the upper end of each fixing column 10 is fixedly connected with the lower surface of the support frame 1; driving motor mounting plates 9 are also vertically arranged on the outer sides of the two adjacent fixing columns 10, and each driving motor mounting plate 9 respectively slides up and down along the corresponding fixing column 10 and is respectively fixed with the corresponding fixing column 10 in a threaded manner through a bolt; a driving motor 7 is vertically and fixedly arranged in the middle of the inner side surface of each driving motor mounting plate 9, and the output end of each driving motor 7 vertically extends out of the corresponding driving motor mounting plate 9 and respectively extends to the two sides of the support frame 1; the output end of each driving motor 7 is also fixedly provided with a driving gear 8 in a sleeved mode, and each driving gear 8 is arranged on the support frame 1 in a non-interfering mode. Each first walking gear 17, each second walking gear 19 and each driving gear 8 are vertically arranged in the same vertical plane, and each first walking gear 17 and each second walking gear 19 are respectively matched with the corresponding driving gear 8; in the invention, each first rotating motor 2 drives the connecting plate 11 to rotate through the first rotating shaft 5, when the connecting plate 11 rotates to a proper position, the position of the driving gear 8 is adjusted by sliding the driving motor mounting plate 9 up and down on the fixed column 10, the first walking gear 17 or the second walking gear 19 is meshed and connected with the corresponding driving gear 8, and the driving motor mounting plate 9 is fastened by bolts; then the driving motor 7 drives the first walking gear 17 or the second walking gear 19 to rotate, so as to drive the tire 20 or the first belt 13 to rotate, thereby realizing the interconversion between the wheel type movement and the crawler type movement and being convenient for adapting to various complex road conditions.
According to the invention, a backing plate 27 is horizontally and fixedly arranged on the upper surface of the support frame 1, and mechanical arm mechanisms are symmetrically arranged on two sides of the upper surface of the backing plate 27, as shown in fig. 1, the two mechanical arm mechanisms are respectively arranged on two sides of the support frame 1 in the moving direction, and the fixed ends of the two mechanical arm mechanisms are respectively fixedly connected with the upper surface of the backing plate 27; each mechanical arm mechanism comprises a mechanical arm base 22, a mechanical claw mounting plate 25, a mechanical claw 26, a first joint 23 and a second joint 24; as shown in fig. 4, one end surface of each robot arm base 22 is screwed and fixed with the upper surface of the backing plate 27, and a plurality of first joints 23 are further sequentially arranged on the other end surface thereof at intervals, one end surface of a first joint 23 is rotatably connected with the other end surface of the corresponding robot arm base 22, and a second joint 24 is arranged between each adjacent first joint 23; one end face of each second joint 24 is rotatably connected with the other end face of the previous first joint 23, and the other end face thereof is rotatably connected with one end face of the next first joint 23; each gripper mounting plate 25 is of an L-shaped structure, the inner side surface of the long side of each gripper mounting plate is rotatably connected with the other end surface of the last first joint 23, and a gripper 26 is vertically and fixedly arranged on the outer side surface of the short side of each gripper mounting plate 25 and used for grabbing;
each mechanical arm base 22 comprises a second rotating motor 221, a first rotating motor mounting plate 222, a first side plate 223, a second side plate 224, a second rotating shaft 225, a second belt 226, a first flange 227 and a plurality of studs 228; as shown in fig. 4 and 5, each of the first side plate 223, the first rotating electrical machine mounting plate 222 and the second side plate 224 is a vertically arranged rectangular structure, and the three are sequentially arranged in parallel at intervals and are respectively fixedly connected at intervals by studs 228; the lower edge of each first rotating electrical machine mounting plate 222 is arranged below the lower edge of the corresponding first side plate 223 and above the lower edge of the corresponding second side plate 224;
as shown in fig. 4 and 5, a second rotating electrical machine 221 is further vertically disposed at a position below one side surface of each first rotating electrical machine mounting plate 222, each second rotating electrical machine 221 is disposed at one side close to the corresponding first side plate 223, and an output end of each second rotating electrical machine 221 vertically extends out of the corresponding first rotating electrical machine mounting plate 222 and is not interfered with the corresponding second side plate 223; a second rotating shaft 225 vertically penetrates through the upper position of one side face of each first rotating motor mounting plate 222, each second rotating shaft 225 is rotatably connected with the corresponding first rotating motor mounting plate 222, one end of each second rotating shaft 225 is rotatably connected with the corresponding first side plate 223, the other end of each second rotating shaft 225 is rotatably connected with the corresponding second side plate 224, extends out of the corresponding second side plate 224 vertically and is fixedly connected with one end face of the corresponding first flange 227; a second belt 226 is vertically arranged between each first rotating motor mounting plate 222 and the corresponding second side plate 224, each second belt 226 is annularly sleeved on the output end of the corresponding second rotating motor 221 and the second rotating shaft 225, and each second rotating motor 221 is in linkage connection with the corresponding second rotating shaft 225 through the second belt 226 and drives the corresponding first flange 227 to rotate respectively; in the invention, the lower position of one side surface of each second side plate 224 close to the second rotating motor 221 is fixedly screwed with the upper surface of the backing plate 27, so that each mechanical arm base 22 is fixedly connected with the backing plate 27 through the second side plate 224;
each first joint 23 includes a third rotating electrical machine 231, a second rotating electrical machine mounting plate 232, a third side plate 233, a first L-shaped plate 234, a third rotating shaft 235, a third belt 236, a second flange 237, a fixing plate 238, and a plurality of studs 228; as shown in fig. 4 to 6, each fixing plate 238 is a vertically arranged rectangular structure, and a first L-shaped plate 234 is horizontally arranged at a position above one side surface of the fixing plate, one end of the short side of each first L-shaped plate 234 is vertically arranged upwards, and the outer side surface of the short side of each first L-shaped plate 234 is fixedly connected with the corresponding fixing plate 238; second rotating motor mounting plates 232 are horizontally arranged below the long side of each first L-shaped plate 234 at intervals, each second rotating motor mounting plate 232 is of a rectangular structure, the upper surface of each second rotating motor mounting plate 232 is fixedly connected with the outer side surface of the long side of the corresponding first L-shaped plate 234 at intervals through studs 228, and the side surface of each second rotating motor mounting plate 232 is fixedly connected with the corresponding fixing plate 238; a third side plate 233 is horizontally arranged on one side of the lower surface of each second rotating electric machine mounting plate 232 away from the fixing plate 238 at intervals, and each third side plate 233 is of a rectangular structure and is fixedly connected with the corresponding second rotating electric machine mounting plate 232 at intervals through a stud 228;
as shown in fig. 4 to 6, a third rotating electrical machine 231 is vertically disposed on a side of the lower surface of each second rotating electrical machine mounting plate 232 close to the fixing plate 238, and an output end of each third rotating electrical machine 231 vertically extends out of the corresponding second rotating electrical machine mounting plate 232 and does not interfere with the corresponding first L-shaped plate 234; a third rotating shaft 235 is vertically arranged in the middle of the upper surface of each third side plate 233, and one end of each third rotating shaft 235 is rotatably connected with the corresponding third side plate 233; the other end of each third rotating shaft 235 extends vertically upwards to sequentially correspond to the second rotating motor mounting plate 232 and the first L-shaped plate 234, is fixedly connected with one end face of the corresponding second flange 237, and is rotatably connected with the corresponding second rotating motor mounting plate 232 and the first L-shaped plate 234; a third belt 236 is horizontally arranged between each second rotating motor mounting plate 232 and the corresponding first L-shaped plate 234, each third belt 236 is annularly sleeved on the output end of the corresponding third rotating motor 231 and the third rotating shaft 235, and each third rotating motor 231 is in linkage connection with the corresponding third rotating shaft 235 through the third belt 236 and drives the corresponding second flange 237 to rotate; in the invention, the other side surface of the fixing plate of the first joint 23 is screwed and fixed with the other end surface of the first flange 227 of the corresponding mechanical arm base 22, so that the first joint 23 is in linkage connection with the corresponding mechanical arm base 22 through the first flange 227; the other end face of the second flange 237 of the last first joint 23 is fixedly connected with the inner side face of the long side of the corresponding gripper mounting plate 25 in a threaded manner, so that the last first joint 23 is connected with the corresponding gripper mounting plate 25 in a linkage manner through the second flange 237 and drives the gripper 26 to rotate;
each of the second joints 24 includes a fourth rotating electric machine 241, a third rotating electric machine mounting plate 242, a fourth side plate 243, a second L-shaped plate 244, a fourth rotating shaft 245, a fourth belt 246, a third flange 247, and a plurality of studs 228; as shown in fig. 4 and 6, each second L-shaped plate 244 is disposed horizontally, and one end of the short side thereof is disposed vertically downward; a third rotating motor mounting plate 242 and a fourth side plate 243 are further vertically arranged on the inner side of the short side of each second L-shaped plate 244 at intervals in sequence, and the inner side of the short side of each second L-shaped plate 244, the third rotating motor mounting plate 242 and the fourth side plate 243 are fixedly connected at intervals through studs 228;
as shown in fig. 4 and 6, the lower edge of each third rotating electric machine mounting plate 242 is disposed below the lower edge of the corresponding fourth side plate 243, a fourth rotating electric machine 241 is vertically disposed at a position below one side surface of the fourth side plate 243, the output end of each fourth rotating electric machine 241 vertically extends out of the corresponding third rotating electric machine mounting plate 242, and the output ends of the fourth rotating electric machines 241 and the corresponding second L-shaped plates 244 do not interfere with each other; a fourth rotating shaft 245 vertically penetrates through the upper position of one side face of each third rotating motor mounting plate 242, each fourth rotating shaft 245 is rotatably connected with the corresponding third rotating motor mounting plate 242, one end of each fourth rotating shaft 245 is rotatably connected with the corresponding fourth side plate 243, the other end of each fourth rotating shaft 245 is rotatably connected with the corresponding second L-shaped plate 244, extends out of the corresponding second L-shaped plate 244 vertically and is fixedly connected with one end face of the corresponding third flange plate 247; a fourth belt 246 is vertically arranged between each third rotating motor mounting plate 242 and the inner side face of the short side of the corresponding second L-shaped plate 244, each fourth belt 246 is annularly sleeved on the output end of the corresponding fourth rotating motor 241 and the fourth rotating shaft 245, and each fourth rotating motor 241 is in linkage connection with the corresponding fourth rotating shaft 245 through the fourth belt 246 and drives the corresponding third flange 247 to rotate;
as shown in fig. 4 and 6, the inner side surface of one long end of each second L-shaped plate 244 is screwed and fixed with the other end surface of the second flange 237 of the previous first joint 23, so that each second joint 24 is linked and connected with the previous first joint 23 through the second flange 237; the other end face of each third flange 247 is screwed and fixed to the other side face of the fixing plate 238 of the next first joint 23, so that each second joint 24 is linked and connected to the next first joint 23 through the third flange 247. According to the invention, the mechanical arm base 22, the first joint 23, the second joint 24 and the mechanical claw mounting plate 25 are in linkage connection, so that the movement range of the mechanical claw 26 is wider, the grabbing efficiency is improved, and the application range is wider.
In the present invention, a camera 28 is further disposed at the middle position of the upper surface of the backing plate 27, as shown in fig. 1, the type of the camera 28 is blue demon M2200 twilight color for collecting image information.
The working principle of the invention is as follows:
1) when the wheel type movement is needed, the mechanical arm mechanism supports the ground to enable the connecting plate 11 to be suspended, then the first rotating motor 2 drives the first rotating shaft 5 and drives the connecting plate 11 to rotate, the first walking gear 17 is meshed with the driving gear 8, then the mechanical arm mechanism is lifted up, and under the driving of the driving motor 7, the supporting frame 1 is driven to perform wheel type movement through the tire 20;
2) when the crawler-type movement is needed, the mechanical arm mechanism supports the ground to enable the connecting plate 11 to be suspended, then the first rotating motor 2 drives the first rotating shaft 5 and drives the connecting plate 11 to rotate, the second walking gear 19 is meshed with the driving gear 8, then the mechanical arm mechanism is lifted up, and under the driving of the driving motor 7, the support frame 1 is driven to perform crawler-type movement through the matching of the first belt 13 and the crawler wheel 14;
3) when the support frame 1 is moved to the working position, the robot arm structure adjusts the gripper 26 to a suitable gripping position through the linkage between the robot arm base 22, the first joint 23, the second joint 24, and the gripper mounting plate 25, and then starts the gripping work.
The invention has the following beneficial effects: the wheel-track switching mechanism is arranged, so that the wheel-track movement and the track-track movement are mutually converted, the multi-arm coordinated grabbing is adopted, the working efficiency is improved, and the application range is wider.
The above-mentioned embodiments are merely descriptions of the preferred embodiments of the present invention, and do not limit the concept and scope of the present invention, and various modifications and improvements made to the technical solutions of the present invention by those skilled in the art should fall into the protection scope of the present invention without departing from the design concept of the present invention, and the technical contents of the present invention as claimed are all described in the technical claims.
Claims (10)
1. A multi-arm cooperative carrying robot based on a wheel-track switching mechanism is characterized in that: the device comprises a support frame, a first rotating motor, a rotating master gear, a rotating slave gear, a first rotating shaft, a driving mechanism, a wheel-track switching mechanism, a base plate and a mechanical arm mechanism; the supporting frame is of a horizontally arranged trapezoid frame structure, first rotating shafts are symmetrically arranged on the inner bottom surface of the supporting frame in the left-right direction, each first rotating shaft is horizontally and longitudinally arranged, two ends of each first rotating shaft respectively extend out of the supporting frame vertically and are respectively and rotatably connected with the supporting frame; a rotary driven gear is further fixedly sleeved at the middle position of each first rotating shaft, a first rotating motor is further horizontally arranged on one side of each rotary driven gear, each first rotating motor is fixedly arranged on the inner bottom surface of the supporting frame, a rotary main gear is further fixedly sleeved at the output end of each first rotating motor, each rotary main gear is meshed with the corresponding rotary driven gear, and each first rotating motor is in linkage connection with the corresponding first rotating shaft; wheel-track switching mechanisms are respectively and vertically and fixedly arranged at two ends of each first rotating shaft, driving mechanisms are further horizontally arranged on the inner sides of the wheel-track switching mechanisms, fixed ends of the driving mechanisms are respectively and fixedly connected with the lower surface of the supporting frame, and the arrangement directions of output ends of the driving mechanisms are respectively consistent with the arrangement directions of the corresponding first rotating shafts and are respectively in linkage connection with the corresponding wheel-track switching mechanisms; the upper surface of support frame is the fixed backing plate that is equipped with of level still, and the upper surface both sides of backing plate still symmetry are equipped with mechanical arm mechanism, two mechanical arm mechanism locates respectively the direction of motion both sides of support frame, and its stiff end respectively with the upper surface fixed connection of backing plate.
2. The multi-arm cooperative carrying robot based on the wheel-track switching mechanism according to claim 1, characterized in that: a vertical bearing is also vertically arranged at the joint of each first rotating shaft and the support frame, and each vertical bearing is fixedly arranged on the inner bottom surface of the support frame; each first rotating shaft is sleeved with the corresponding vertical bearing, and two ends of each first rotating shaft respectively extend out of the corresponding vertical bearing and are respectively connected with the supporting frame in a rotating mode through the vertical bearings.
3. The multi-arm cooperative carrying robot based on the wheel-track switching mechanism as claimed in claim 2, wherein: each driving mechanism comprises a driving motor, a driving gear, a driving motor mounting plate and a fixing column; fixed columns are vertically and symmetrically arranged on the left side and the right side below each vertical bearing, and the upper end of each fixed column is fixedly connected with the lower surface of the support frame; driving motor mounting plates are also vertically arranged on the outer sides of the two adjacent fixing columns, and each driving motor mounting plate respectively slides up and down along the corresponding fixing column and is respectively fixed with the corresponding fixing column through bolts in a threaded manner; a driving motor is vertically and fixedly arranged in the middle of the inner side surface of each driving motor mounting plate, and the output end of each driving motor vertically extends out of the corresponding driving motor mounting plate and respectively extends to the two sides of the support frame; each driving motor's output still cup joints fixedly and is equipped with drive gear, and each drive gear all with the support frame mutually noninterfere sets up.
4. The multi-arm cooperative carrying robot based on the wheel-track switching mechanism as claimed in claim 3, wherein: each wheel-track switching mechanism comprises a connecting plate, a crawler wheel mounting plate, a first belt, a crawler wheel, a first driven shaft, a first walking gear, a second driven shaft, a second walking gear and a tire; each connecting plate is of a vertically arranged rectangular structure, and the middle position of each connecting plate is fixedly connected with two ends of the corresponding first rotating shaft respectively and is in linkage connection with the corresponding first rotating motor through the corresponding first rotating shaft respectively; a first driven shaft vertically penetrates through the upper position of the outer side surface of each connecting plate, and each first driven shaft is rotatably connected with the corresponding connecting plate; tires are fixedly sleeved at one end of each first driven shaft, are arranged on the outer sides of the corresponding connecting plates, and are respectively in rotating connection with the corresponding connecting plates through the first driven shafts; a first traveling gear is fixedly sleeved at the other end of each first driven shaft, is arranged in a non-interfering manner with the support frame and is respectively connected with the corresponding connecting plate in a rotating manner through the first driven shaft; a crawler wheel mounting plate is vertically attached to the lower position of the outer side surface of each connecting plate, and each crawler wheel mounting plate is fixedly connected with the corresponding connecting plate in a threaded manner; a second driven shaft vertically penetrates through the upper position of the outer side surface of each crawler wheel mounting plate, vertically penetrates through the inner side surface of the corresponding connecting plate, and is respectively in rotating connection with the corresponding crawler wheel mounting plate and the corresponding connecting plate; a plurality of crawler wheels are further arranged on the outer side surface of each crawler wheel mounting plate along the four peripheral edges of the outer side surface at intervals, the uppermost crawler wheel is fixedly sleeved with one end corresponding to the second driven shaft and is respectively connected with the corresponding crawler wheel mounting plate in a rotating mode through the second driven shaft, and the rest crawler wheels are respectively connected with the corresponding crawler wheel mounting plates in a rotating mode; a first belt is sleeved on the crawler wheel of each crawler wheel mounting plate, each first belt is arranged in a crawler shape, and the rotating direction of each first belt is consistent with the moving direction of the support frame; and a second walking gear is fixedly sleeved at the other end of each second driven shaft, and each second walking gear is arranged in a mutually noninterfere way with the support frame and is respectively connected with the corresponding connecting plate in a rotating way through the second driven shaft.
5. The multi-arm cooperative carrying robot based on the wheel-track switching mechanism according to claim 4, characterized in that: the locking nut is also included; a through hole is vertically arranged in the middle of the outer side surface of each connecting plate in a penetrating manner, and each through hole is matched with the corresponding first rotating shaft; and two ends of each first rotating shaft respectively extend out of the through holes corresponding to the connecting plates and are fixedly connected with the corresponding connecting plates through locking nuts.
6. The multi-arm cooperative carrying robot based on the wheel-track switching mechanism according to claim 4, characterized in that: each first walking gear, each second walking gear and each driving gear are vertically arranged in the same vertical plane, and each first walking gear and each second walking gear are respectively matched with the corresponding driving gear; each first rotating motor drives the connecting plate to rotate through the first rotating shaft, and the first walking gear or the second walking gear is meshed and connected with the corresponding driving gear.
7. The multi-arm cooperative carrying robot based on the wheel-track switching mechanism according to claim 1, characterized in that: each mechanical arm mechanism comprises a mechanical arm base, a mechanical claw mounting plate, a mechanical claw, a first joint and a second joint; one end face of each mechanical arm base is fixedly connected with the upper surface of the base plate in a threaded manner, a plurality of first joints are sequentially arranged on the other end face of each mechanical arm base at intervals, one end face of each first joint is rotatably connected with the other end face of the corresponding mechanical arm base, and a second joint is arranged between every two adjacent first joints; one end face of each second joint is rotatably connected with the other end face of the previous first joint, and the other end face of each second joint is rotatably connected with one end face of the next first joint; each gripper mounting panel is L shape structure, and its long limit medial surface all with the last another terminal surface of first joint rotates to be connected, and each the minor face lateral surface of gripper mounting panel still perpendicular fixed gripper that is equipped with.
8. The multi-arm cooperative carrying robot based on the wheel-track switching mechanism according to claim 7, characterized in that: each mechanical arm base comprises a second rotating motor, a first rotating motor mounting plate, a first side plate, a second rotating shaft, a second belt, a first flange and a plurality of studs; each first side plate, the first rotating motor mounting plate and the second side plate are of vertically arranged rectangular structures, are sequentially arranged in parallel at intervals and are fixedly connected at intervals through studs respectively; the lower edge of each first rotating motor mounting plate is arranged below the lower edge of the corresponding first side plate and above the lower edge of the corresponding second side plate; a second rotating motor is also vertically arranged at a position below one side face of each first rotating motor mounting plate, each second rotating motor is arranged at one side close to the corresponding first side plate, the output end of each second rotating motor vertically extends out of the corresponding first rotating motor mounting plate, and the output end of each second rotating motor is not interfered with the corresponding second side plate; a second rotating shaft vertically penetrates through the upper position of one side face of each first rotating motor mounting plate, is rotatably connected with the corresponding first side plate at one end, is rotatably connected with the corresponding second side plate at the other end, vertically extends out of the corresponding second side plate, and is fixedly connected with one end face of the corresponding first flange plate; a second belt is vertically arranged between each first rotating motor mounting plate and the corresponding second side plate, each second belt is annularly sleeved on the output end of the corresponding second rotating motor and the corresponding second rotating shaft, and each second rotating motor is in linkage connection with the corresponding second rotating shaft through the second belt and drives the corresponding first flange plate to rotate; each second curb plate lean on a side of second rotating electrical machines lower position all with the upper surface spiro union of backing plate is fixed, and each the arm base all through the second curb plate with backing plate fixed connection.
9. The multi-arm cooperative carrying robot based on the wheel-track switching mechanism according to claim 8, wherein: each first joint comprises a third rotating motor, a second rotating motor mounting plate, a third side plate, a first L-shaped plate, a third rotating shaft, a third belt, a second flange plate, a fixing plate and a plurality of studs; each fixing plate is of a vertically arranged rectangular structure, a first L-shaped plate is horizontally arranged at the position above one side surface of each fixing plate, one end of the short edge of each first L-shaped plate is vertically and upwards arranged, and the outer side surface of the short edge of each first L-shaped plate is fixedly connected with the corresponding fixing plate; second rotating motor mounting plates are horizontally arranged under the long edges of the first L-shaped plates at intervals, each second rotating motor mounting plate is of a rectangular structure, the upper surface of each second rotating motor mounting plate is fixedly connected with the outer side face of the corresponding long edge of the first L-shaped plate at intervals through studs, and the side faces of each second rotating motor mounting plate are fixedly connected with the corresponding fixing plate; a third side plate is horizontally arranged on one side, away from the fixed plate, of the lower surface of each second rotating motor mounting plate at intervals, each third side plate is of a rectangular structure, and is fixedly connected with the corresponding second rotating motor mounting plate at intervals through studs; a third rotating motor is vertically arranged on one side, close to the fixed plate, of the lower surface of each second rotating motor mounting plate, and the output end of each third rotating motor vertically extends out of the corresponding second rotating motor mounting plate and is not interfered with the corresponding first L-shaped plate; a third rotating shaft is vertically arranged in the middle of the upper surface of each third side plate, and one end of each third rotating shaft is rotatably connected with the corresponding third side plate; the other end of each third rotating shaft vertically and upwards sequentially extends to correspond to the second rotating motor mounting plate and the first L-shaped plate, is fixedly connected with one end face corresponding to the second flange plate and is rotatably connected with the second rotating motor mounting plate and the first L-shaped plate; a third belt is horizontally arranged between each second rotating motor mounting plate and the corresponding first L-shaped plate, each third belt is annularly sleeved on the output end of the corresponding third rotating motor and a third rotating shaft, and each third rotating motor is in linkage connection with the corresponding third rotating shaft through the third belt and drives the corresponding second flange plate to rotate; the other side surface of the fixing plate of the first joint is fixedly connected with the other end surface of the first flange plate corresponding to the mechanical arm base in a threaded manner, and the first joint is connected with the mechanical arm base in a linkage manner through the first flange plate; and the other end face of the second flange of the last joint is fixedly connected with the inner side face of the long edge corresponding to the gripper mounting plate in a threaded manner, and the last joint is connected with the gripper mounting plate in a linkage manner through the second flange.
10. The multi-arm cooperative carrying robot based on the wheel-track switching mechanism according to claim 9, wherein: each second joint comprises a fourth rotating motor, a third rotating motor mounting plate, a fourth side plate, a second L-shaped plate, a fourth rotating shaft, a fourth belt, a third flange disc and a plurality of studs; each second L-shaped plate is horizontally arranged, and one end of the short edge of each second L-shaped plate is vertically and downwards arranged; a third rotating motor mounting plate and a fourth side plate are sequentially and vertically arranged on the inner side of the short side of each second L-shaped plate at intervals, and the inner side surface of the short side of each second L-shaped plate, the third rotating motor mounting plate and the fourth side plate are fixedly connected at intervals through studs; the lower edge of each third rotating motor mounting plate is arranged below the lower edge of the corresponding fourth side plate, a fourth rotating motor is vertically arranged at the position, close to the lower side of one side face of the fourth side plate, of the fourth rotating motor, the output end of each fourth rotating motor vertically extends out of the corresponding third rotating motor mounting plate, and the output end of each fourth rotating motor is not interfered with the corresponding second L-shaped plate; a fourth rotating shaft vertically penetrates through the upper position of one side face of each third rotating motor mounting plate, each fourth rotating shaft is rotatably connected with the corresponding third rotating motor mounting plate, one end of each fourth rotating shaft is rotatably connected with the corresponding fourth side plate, the other end of each fourth rotating shaft is rotatably connected with the corresponding second L-shaped plate, extends out of the corresponding second L-shaped plate vertically and is fixedly connected with one end face of the corresponding third flange plate; a fourth belt is vertically arranged between each third rotating motor mounting plate and the inner side face of the short side corresponding to the second L-shaped plate, each fourth belt is annularly sleeved on the output end corresponding to the fourth rotating motor and a fourth rotating shaft, and each fourth rotating motor is in linkage connection with the corresponding fourth rotating shaft through the fourth belt and drives the corresponding third flange plate to rotate; the inner side face of one long side end of each second L-shaped plate is fixedly connected with the other end face of the second flange of the previous first joint in a threaded manner, and each second joint is connected with the previous first joint in a linkage manner through the second flange; the other end face of each third flange plate is fixedly connected with the other side face of the fixing plate of the next first joint in a threaded manner, and each second joint is connected with the next first joint in a linkage manner through the third flange plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911180265.3A CN110815163A (en) | 2019-11-27 | 2019-11-27 | Multi-arm cooperative carrying robot based on wheel-track switching mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911180265.3A CN110815163A (en) | 2019-11-27 | 2019-11-27 | Multi-arm cooperative carrying robot based on wheel-track switching mechanism |
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| CN110815163A true CN110815163A (en) | 2020-02-21 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911180265.3A Pending CN110815163A (en) | 2019-11-27 | 2019-11-27 | Multi-arm cooperative carrying robot based on wheel-track switching mechanism |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114633819A (en) * | 2022-04-27 | 2022-06-17 | 吉林大学 | Crawler belt walking device |
-
2019
- 2019-11-27 CN CN201911180265.3A patent/CN110815163A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114633819A (en) * | 2022-04-27 | 2022-06-17 | 吉林大学 | Crawler belt walking device |
| CN114633819B (en) * | 2022-04-27 | 2023-02-03 | 吉林大学 | Crawler belt walking device |
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