CN110815179A - Intelligent vehicle control system carrying mechanical arm - Google Patents
Intelligent vehicle control system carrying mechanical arm Download PDFInfo
- Publication number
- CN110815179A CN110815179A CN201911042073.6A CN201911042073A CN110815179A CN 110815179 A CN110815179 A CN 110815179A CN 201911042073 A CN201911042073 A CN 201911042073A CN 110815179 A CN110815179 A CN 110815179A
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- CN
- China
- Prior art keywords
- lower cover
- fixedly connected
- control system
- power conversion
- sleeved
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Classifications
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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
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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
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of mechanical equipment and discloses an intelligent vehicle control system carrying a mechanical arm, which comprises four supporting seats, wherein the supporting seats are arranged at the bottom ends of movable feet, the number of the supporting seats is four, the four supporting seats are respectively arranged at the bottom ends of the movable feet, the top ends of the movable feet are fixedly connected to one end of a traction rope, the other end of the traction rope is fixedly connected to the left side of a power conversion device, an inner cavity of the power conversion device is fixedly sleeved with a transmission rod extending outwards, and the middle part of the transmission rod is fixedly connected with two sleeved rings which are mutually sleeved. The device adopts the design of the movable foot, is matched with the movable foot bottom surface supporting seat for common use, replaces the traditional roller type moving mode, can achieve the purpose of displacement by utilizing the movable foot which reciprocates left and right, can be suitable for different ground surfaces, greatly improves the applicability of the device, and is the embodiment of the feasibility of the device.
Description
Technical Field
The invention relates to the technical field of mechanical equipment, in particular to an intelligent vehicle control system carrying a mechanical arm.
Background
The mechanical arm is a mechanical long-arm-shaped structure, the mechanical arm is divided into a multi-joint mechanical arm, a rectangular coordinate mechanical arm, a spherical coordinate mechanical arm, a polar coordinate mechanical arm, a cylindrical coordinate mechanical arm and the like according to different structural forms, the mechanical arm is matched with a robot trolley and other devices to be used together, a plurality of complex and even dangerous works can be completed by replacing manpower, and great convenience is provided for production and life of people.
At present, the intelligent vehicle with the mechanical arm can basically meet the requirements of production and life in the working process, but the defects of the intelligent vehicle cannot be avoided, and the intelligent vehicle mainly has the following performances: in the using process of the intelligent vehicle with the mechanical arm, the using environments are different according to different mechanical arms, but the moving modes of the existing intelligent vehicle are mostly fixed and cannot be flexibly changed according to different environments; meanwhile, when a working plane is bumpy, the existing intelligent vehicle can not meet the requirement of the environment, the problem that the stability of the device is poor or even the device cannot move easily occurs, the application range of the device is small, the limitation is large, and therefore the intelligent vehicle control system carrying the mechanical arm is provided to solve the problem.
Disclosure of Invention
The invention provides an intelligent vehicle control system carrying a mechanical arm, which has the advantages of strong applicability, good stability and flexible device and solves the problems in the background technology.
The invention provides the following technical scheme: an intelligent vehicle control system carrying a mechanical arm comprises supporting seats, wherein the supporting seats are arranged at the bottom end of a movable foot, the number of the supporting seats is four, the four supporting seats are respectively arranged at the bottom end of the movable foot, the top end of the movable foot is fixedly connected to one end of a traction rope, the other end of the traction rope is fixedly connected to the left side of a power conversion device, an outwards extending transmission rod is fixedly sleeved on an inner cavity of the power conversion device, the middle part of the transmission rod is fixedly connected with two sleeved rings which are mutually sleeved, one end of the transmission rod, far away from the power conversion device, is fixedly sleeved with a rotating ring, the number of the rotating rings is five and uniformly distributed, a transmission belt is movably sleeved on the five rotating rings, the inner cavity of the rotating ring is fixedly sleeved at the middle part of a motor, and the power conversion device and the motor are respectively arranged at the middle, the middle part joint of activity foot is around the lower cover bottom surface, the gyro wheel groove that is located the power conversion equipment below has been seted up around the lower cover, the bottom surface of lower cover is fixedly connected with respectively all around is located the stopper of activity foot side, the top joint of lower cover has the upper cover, main control unit and arm are installed respectively to the upper cover top left and right sides.
The power conversion device comprises a shell, a half-tooth gear is mounted in the middle of an inner cavity of the shell, a rack is meshed with the top surface of the half-tooth gear, the right end of the rack and the top surface of the right side of the shell are fixedly connected to the two ends of a spring respectively, one end, far away from the spring, of the rack is movably sleeved in the inner cavity of a sliding ring, and the left end of the rack extends out of the outer side of the shell.
And in selection, the upper side and the lower side of the motor are respectively fixedly sleeved with a mounting ring, and the bottom surfaces of the two mounting rings are fixedly connected with the top surface of the lower cover.
Carefully, there are four in the quantity of stopper, four the stopper inclines to the outside respectively, and just two stoppers at front and the back incline to the left side and to the right side respectively.
The middle part of the movable foot is provided with a second rotating ring, two sides of the second rotating ring are respectively and fixedly connected with the bottom surface of the lower cover, and the length value of the movable foot below the lower cover is greater than that of the movable foot above the lower cover.
Carefully selecting, the supporting seat all the time with ground mutually perpendicular, four the top of supporting seat is fixedly connected with bearing respectively, and the bearing joint is in the bottom of four activity feet.
And carefully selecting, wherein one end of the transmission rod, which is far away from the roller groove, is fixedly sleeved in the inner cavity of the rotating ring respectively, and one end of the transmission rod, which is close to the roller groove, is fixedly sleeved in the middle of the half-tooth gear.
And carefully selecting, wherein the transmission belt is respectively parallel to the lower cover and the upper cover, and the upper side and the lower side of the lower cover are not contacted with the lower cover and the upper cover.
The invention has the following beneficial effects:
1. the device adopts the design of the movable foot, is matched with the movable foot bottom surface supporting seat for common use, replaces the traditional roller type moving mode, enables the device to achieve the purpose of displacement by utilizing the movable foot which reciprocates left and right, ensures that the device can be suitable for different ground surfaces, greatly improves the applicability of the device, and embodies the feasibility of the device.
2. The detachable power conversion device is designed, and the device is matched with the roller groove below the power conversion device for common use, so that the device can directly move by using the movable foot or change the roller to roll and displace, the purpose that the device can be suitable for different environments is achieved, the replacement of a moving mode is realized, the problem that the traditional device is large in limitation is solved, and the practicability of the device is also embodied.
3. According to the invention, the design that the four movable feet and the supporting seat are respectively adopted at the periphery of the bottom surface of the lower cover, meanwhile, the supporting seat is rotatably movable, and the bottom surface is always parallel to the ground, so that the device can be always kept parallel to the ground in the movement process of the device, the stability of the device is ensured, and the problem of poor balance effect of the traditional device is solved.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of the structure of the lower cover of the present invention;
FIG. 3 is a schematic structural diagram of a power conversion device according to the present invention.
In the figure: 1. a supporting seat; 2. a movable foot; 3. a hauling rope; 4. a power conversion device; 41. a housing; 42. a half-tooth gear; 43. a rack; 44. a spring; 45. a slip ring; 5. a transmission rod; 6. a sleeving connection ring; 7. rotating the ring; 8. a transmission belt; 9. a motor; 10. a lower cover; 11. a roller groove; 12. a limiting block; 13. an upper cover; 14. a master control device; 15. a robotic arm.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-3, an intelligent vehicle control system for carrying a robot arm comprises a support base 1, wherein the support base 1 is always perpendicular to the ground, the top ends of four support bases 1 are respectively and fixedly connected with bearings which are clamped at the bottom ends of four movable legs 2, the bearings are arranged at the top ends of the support bases 1 and are clamped at the bottom ends of the movable legs 2, so that the support base 1 can droop due to the gravity of the support base during the moving process of the device, the aim of always being parallel to the ground is achieved, the stability of the device is ensured, the support base 1 is arranged at the bottom ends of the movable legs 2, a second swivel ring is arranged at the middle part of the movable legs 2, two sides of the second swivel ring are respectively and fixedly connected with the bottom surface of a lower cover 10, the length value of the movable leg 2 below the lower cover 10 is greater than that of the movable leg 2 above, when a motor 9 drives a rack 43, the traction rope 3 can also drag the top end of the movable foot 2 to move left and right, the middle part of the movable foot 2 is provided with a second rotating ring, so that the bottom end of the movable foot 2 can generate an acting force of opposite movement, which is a main reason that the device can move, the number of the supporting seats 1 is four, the four supporting seats 1 are respectively arranged at the bottom end of the movable foot 2, the top end of the movable foot 2 is fixedly connected at one end of the traction rope 3, the other end of the traction rope 3 is fixedly connected at the left side of the power conversion device 4, the power conversion device 4 comprises a shell 41, a half-tooth gear 42 is arranged at the middle part of the inner cavity of the shell 41, the top surface of the half-tooth gear 42 is meshed with a rack 43, the right end of the rack 43 and the top surface at the right side of the shell 41 are respectively and fixedly connected at two ends of a spring 44, one end of the rack 43, which, the output shaft of the motor 9 is fixedly sleeved in the inner cavity of the half-tooth gear 42, when the motor 9 drives the half-tooth gear 42 to rotate continuously, the rack 43 can move to the left side due to the mutual meshing effect of the half-tooth gear 42 and the rack 43, when the half-tooth gear 42 rotates to the side without a tooth block, the rack 43 loses the acting force meshed with the half-tooth gear 42, and the rack 43 can reset immediately under the pulling of the elastic force of the spring 44, when the motor 9 rotates continuously, the rack 43 can also perform left-right circular operation, so that the acting force generated by the rotation of the motor 9 can be converted into the acting force generated by the left-right circular movement through the power conversion device 4, the inner cavity of the power conversion device 4 is fixedly sleeved with the transmission rod 5 extending outwards, one end of the transmission rod 5, which is far away from the roller groove 11, is fixedly sleeved in the inner cavity of the swivel ring 7, and one end of the transmission, the transmission rod 5 mainly plays a role in power transmission, when the transmission rod 5 is driven to rotate by the transmission belt 8, the transmission rod 5 can transmit self-rotating acting force to the half-tooth gear 42 to achieve the effect of motion mode conversion, the middle part of the transmission rod 5 is fixedly connected with two sleeved rings 6 which are sleeved with each other, one end of the transmission rod 5, far away from the power conversion device 4, is fixedly sleeved with five rotating rings 7, the number of the rotating rings 7 is five, the rotating rings 7 are uniformly distributed, the transmission belt 8 is movably sleeved on the five rotating rings 7, the transmission belt 8 is respectively parallel to the lower cover 10 and the upper cover 13, the upper side and the lower side of the lower cover 10 are not contacted with the lower cover 10 and the upper cover 13, when the device moves, the transmission belt 8 is in a constantly moving state, and the transmission belt 8 can be ensured to be in a good rotating state by the design that the transmission belt 8 is not contacted with the lower, the problem that normal movement of the device is influenced due to friction with a lower cover 10 and an upper cover 13 is avoided, an inner cavity of a middle rotating ring 7 is fixedly sleeved on an inner cavity of a motor 9, mounting rings are respectively and fixedly sleeved on the upper side and the lower side of the motor 9, the bottom surfaces of the two mounting rings are fixedly connected with the top surface of the lower cover 10, the motor 9 is a main source of acting force for moving the device, the position of the motor 9 can be ensured to be stable by respectively sleeving the mounting rings on the upper side and the lower side of the motor 9, a power conversion device 4 and the motor 9 are respectively installed in the middle and the periphery of the lower cover 10, the middle part of a movable foot 2 is clamped around the bottom surface of the lower cover 10, roller grooves 11 positioned below the power conversion device 4 are formed around the lower cover 10, limiting blocks 12 positioned on the side surfaces of the movable foot 2 are respectively and fixedly connected around the bottom surface of, and two stoppers 12 at front and the back incline to the left side and to the right side respectively, stopper 12 mainly plays the effect that hinders the activity of activity foot 2 for the device is at the removal in-process, can be under stopper 12's effect, and activity foot 2 can move about according to the angle of regulation all the time, has guaranteed the stability of device indirectly, and the top joint of lower cover 10 has upper cover 13, and main control unit 14 and arm 15 are installed respectively to the upper cover 13 top surface left and right sides.
The working principle is as follows: when the device is used, firstly, two different moving modes of the movable foot 2 or the roller are adopted according to different use environments of the device, when the movable foot 2 is adopted, the sleeve rings 6 on the transmission rod 5 are sleeved and fixed with each other, so that the rotating acting force of the motor 9 can be transmitted to the power conversion device 4, then the left-right reciprocating motion effect of the movable foot 2 can be realized under the action of the self structure of the power conversion device 4, and thus, when the device is continuously moved, the supporting seat 1 can abut against the ground to achieve the displacement effect of the device; when the moving mode of the roller is adopted, the sleeving ring 6 is firstly pulled out, the top end of the traction rope 3 is taken down from one end of the outer side of the rack 43, at the moment, the whole power conversion device 4 loses fixed acting force, after the power conversion device 4 is taken down, the roller is placed in the inner cavity of the roller groove 11, the middle part of the roller can be fixedly sleeved with the transmission rod 5, when the device works again, the rotating acting force of the motor 9 can be directly transmitted to the roller through the transmission belt 8, and the purpose of rolling displacement is achieved.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Meanwhile, in the drawings of the invention, the filling pattern is only used for distinguishing the layers and is not limited at all.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. The utility model provides a carry on intelligent car control system of arm, includes supporting seat (1), its characterized in that: the supporting seat (1) is arranged at the bottom end of the movable foot (2), the number of the supporting seat (1) is four, the four supporting seats (1) are respectively arranged at the bottom end of the movable foot (2), the top end of the movable foot (2) is fixedly connected with one end of the traction rope (3), the other end of the traction rope (3) is fixedly connected with the left side of the power conversion device (4), the inner cavity of the power conversion device (4) is fixedly sleeved with a transmission rod (5) which extends outwards, the middle part of the transmission rod (5) is fixedly connected with two sleeved rings (6) which are mutually sleeved, one end of the transmission rod (5) far away from the power conversion device (4) is fixedly sleeved with a rotating ring (7), the number of the rotating ring (7) is five and is uniformly distributed, a transmission belt (8) is movably sleeved on the five rotating ring (7), the middle part of the inner cavity of the rotating ring (7) is fixedly sleeved at the inner cavity of the motor, install respectively at the middle part of lower cover (10) and around power conversion equipment (4) and motor (9), the middle part joint of activity foot (2) is around lower cover (10) bottom surface, gyro wheel groove (11) that are located power conversion equipment (4) below are seted up all around of lower cover (10), the bottom surface of lower cover (10) is fixedly connected with stopper (12) that are located activity foot (2) side all around respectively, the top joint of lower cover (10) has upper cover (13), main control unit (14) and arm (15) are installed respectively to upper cover (13) top surface left and right sides.
2. The smart vehicle control system equipped with a robot arm according to claim 1, wherein: the power conversion device (4) comprises a shell (41), a half-tooth gear (42) is installed in the middle of an inner cavity of the shell (41), a rack (43) is meshed with the top surface of the half-tooth gear (42), the right end of the rack (43) and the top surface of the right side of the shell (41) are fixedly connected to the two ends of a spring (44) respectively, one end, far away from the spring (44), of the rack (43) is movably sleeved in the inner cavity of a sliding ring (45), and the left end of the rack (43) extends out of the outer side of the shell (41).
3. The smart vehicle control system equipped with a robot arm according to claim 1, wherein: the upper side and the lower side of the motor (9) are respectively fixedly sleeved with a mounting ring, and the bottom surfaces of the two mounting rings are fixedly connected with the top surface of the lower cover (10).
4. The smart vehicle control system equipped with a robot arm according to claim 1, wherein: the number of the limiting blocks (12) is four, the limiting blocks (12) incline to the outside respectively, and the two limiting blocks (12) on the front side and the back side incline to the left side and the right side respectively.
5. The smart vehicle control system equipped with a robot arm according to claim 1, wherein: the middle part of the movable foot (2) is provided with a second rotating ring, the two sides of the second rotating ring are respectively and fixedly connected with the bottom surface of the lower cover (10), and the length value of the movable foot (2) below the lower cover (10) is greater than that of the movable foot (2) above the lower cover.
6. The smart vehicle control system equipped with a robot arm according to claim 1, wherein: the supporting seat (1) is always vertical to the ground, four bearings are fixedly connected to the top ends of the supporting seat (1) respectively, and the bearings are clamped at the bottom ends of the four movable legs (2).
7. The smart vehicle control system equipped with a robot arm according to claim 1, wherein: one end of the transmission rod (5) far away from the roller groove (11) is fixedly sleeved in the inner cavity of the rotating ring (7) respectively, and one end of the transmission rod (5) close to the roller groove (11) is fixedly sleeved in the middle of the half-tooth gear (42).
8. The smart vehicle control system equipped with a robot arm according to claim 1, wherein: the transmission belt (8) is parallel to the lower cover (10) and the upper cover (13) respectively, and the upper side and the lower side of the lower cover (10) are not in contact with the lower cover (10) and the upper cover (13) mutually.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911042073.6A CN110815179B (en) | 2019-10-30 | 2019-10-30 | Intelligent vehicle control system carrying mechanical arm |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911042073.6A CN110815179B (en) | 2019-10-30 | 2019-10-30 | Intelligent vehicle control system carrying mechanical arm |
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| CN110815179A true CN110815179A (en) | 2020-02-21 |
| CN110815179B CN110815179B (en) | 2020-12-29 |
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| CN2122800U (en) * | 1991-10-21 | 1992-11-25 | 冯建光 | Walking vehicle |
| CN102897245A (en) * | 2012-10-30 | 2013-01-30 | 同济大学 | Robot body modularization linkage device for single-drive multi-legged robot |
| US20140183320A1 (en) * | 2012-12-27 | 2014-07-03 | Hyundai Motor Company | Apparatus for variable supporting foot of robot |
| CN105035204A (en) * | 2015-08-11 | 2015-11-11 | 哈尔滨工业大学 | Wheel-leg combined type intelligent mobile robot |
| CN206840060U (en) * | 2017-05-04 | 2018-01-05 | 淮安创新伙伴机器人科技有限公司 | It is a kind of can remote control joint type rescue robot |
| CN207450061U (en) * | 2017-09-15 | 2018-06-05 | 上海市宝山区青少年科学技术指导站 | Bio-robot |
| CN109794920A (en) * | 2019-02-27 | 2019-05-24 | 燕山大学 | A kind of bionical restructural rescue robot |
| KR20190090588A (en) * | 2018-01-25 | 2019-08-02 | 부산대학교 산학협력단 | Three-legged walking robot |
| CN110228546A (en) * | 2019-06-17 | 2019-09-13 | 河海大学常州校区 | A kind of simulating crawling robot |
| CN209535272U (en) * | 2019-01-30 | 2019-10-25 | 清华大学 | A kind of robot deformation leg with the sufficient ability to transform of wheel |
-
2019
- 2019-10-30 CN CN201911042073.6A patent/CN110815179B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2122800U (en) * | 1991-10-21 | 1992-11-25 | 冯建光 | Walking vehicle |
| CN102897245A (en) * | 2012-10-30 | 2013-01-30 | 同济大学 | Robot body modularization linkage device for single-drive multi-legged robot |
| US20140183320A1 (en) * | 2012-12-27 | 2014-07-03 | Hyundai Motor Company | Apparatus for variable supporting foot of robot |
| CN105035204A (en) * | 2015-08-11 | 2015-11-11 | 哈尔滨工业大学 | Wheel-leg combined type intelligent mobile robot |
| CN206840060U (en) * | 2017-05-04 | 2018-01-05 | 淮安创新伙伴机器人科技有限公司 | It is a kind of can remote control joint type rescue robot |
| CN207450061U (en) * | 2017-09-15 | 2018-06-05 | 上海市宝山区青少年科学技术指导站 | Bio-robot |
| KR20190090588A (en) * | 2018-01-25 | 2019-08-02 | 부산대학교 산학협력단 | Three-legged walking robot |
| CN209535272U (en) * | 2019-01-30 | 2019-10-25 | 清华大学 | A kind of robot deformation leg with the sufficient ability to transform of wheel |
| CN109794920A (en) * | 2019-02-27 | 2019-05-24 | 燕山大学 | A kind of bionical restructural rescue robot |
| CN110228546A (en) * | 2019-06-17 | 2019-09-13 | 河海大学常州校区 | A kind of simulating crawling robot |
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| CN110815179B (en) | 2020-12-29 |
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Inventor after: Liu Wei Inventor after: Jing Cheng Inventor after: Wan Yidong Inventor after: Li Fengpeng Inventor before: Liu Wei Inventor before: Li Fengpeng Inventor before: Jing Cheng Inventor before: Wan Yidong |
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Effective date of registration: 20220722 Address after: 255000 Zone 8, advanced manufacturing industrial innovation park, No. 52, Huabei Road, high tech Zone, Zibo City, Shandong Province Patentee after: ZIBO NEWSTART ROBOT SYSTEM TECHNOLOGY Co.,Ltd. Address before: 224000 middle road of hope Avenue, Yancheng City, Jiangsu Province, No. 1 Patentee before: YANCHENG INSTITUTE OF TECHNOLOGY |