CN111251272B - Humanoid self-feeding robot - Google Patents
Humanoid self-feeding robot Download PDFInfo
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- CN111251272B CN111251272B CN202010299769.3A CN202010299769A CN111251272B CN 111251272 B CN111251272 B CN 111251272B CN 202010299769 A CN202010299769 A CN 202010299769A CN 111251272 B CN111251272 B CN 111251272B
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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
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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Abstract
The invention relates to a robot, in particular to a humanoid self-feeding robot which comprises a device support, a moving mechanism, a lifting mechanism, a rotating mechanism, a top frame, a clamping mechanism, a bottom supporting mechanism and a centering mechanism.
Description
Technical Field
The invention relates to a robot, in particular to a humanoid self-feeding robot.
Background
For example, the publication number CN105215971a is a pipe conveying robot, which comprises a robot body, a detection device for detecting the position of a pipe, and a control device for controlling the robot to move and move the pipe; the robot body at least comprises wheels, a frame, a mechanical arm for clamping a pipeline and a driving device for driving the wheels and the mechanical arm, wherein the mechanical arm comprises a first hydraulic telescopic rod coaxially and rotatably connected with the frame, a second hydraulic telescopic rod connected with the first hydraulic telescopic rod in a bending mode, a rolling bearing arranged at the tail end of the second hydraulic telescopic rod, a supporting block arranged at one end of the rolling bearing, a motor arranged on the supporting block and an arc-shaped clamping head arranged on an output shaft of the motor and used for clamping a pipe; the invention has the beneficial effects that: the disadvantage of this invention is that rectangular objects of different sizes cannot be transported through different locations.
Disclosure of Invention
The invention aims to provide a humanoid self-feeding robot which can transport rectangular objects with different sizes through different positions.
The purpose of the invention is realized by the following technical scheme:
the utility model provides an imitative anthropomorphic self-feeding robot, includes device support, moving mechanism, elevating system, slewing mechanism, roof-rack, clamping machine constructs, holds in the palm end mechanism and right mechanism, moving mechanism is provided with two, and two moving mechanism connect both ends around device support respectively, are connected with elevating system on the device support, are connected with slewing mechanism on the elevating system, and fixedly connected with roof-rack on the slewing mechanism is connected with clamping machine and constructs on the roof-rack, and the lower extreme fixedly connected with of roof-rack front side holds in the palm end mechanism, and the upper end fixedly connected with of roof-rack rear side rights mechanism.
As a further optimization of the technical scheme, the humanoid self-feeding robot comprises a device support, wherein the device support comprises two connecting plates, four bottom plates and four sliding cylinders, the two bottom plates are fixedly connected to the front end and the rear end of the connecting plates respectively, and the four sliding cylinders are fixedly connected to the connecting plates.
As a further optimization of the technical scheme, the humanoid self-feeding robot comprises a swing motor I, swing rods, steering motors, moving motors and moving wheels, wherein the swing motor I is a motor with double output shafts, the swing rods are fixedly connected to two ends of an output shaft of the swing motor I, the steering motors are fixedly connected to lower ends of the two swing rods, the moving motors are fixedly connected to output shafts of the two steering motors, the moving wheels are fixedly connected to output shafts of the two moving motors, the two swing motors I are respectively and fixedly connected to two bottom plates, and output shafts of the two swing motors I are respectively and rotatably connected to the corresponding bottom plates.
As a further optimization of the technical scheme, the humanoid self-feeding robot comprises a lifting mechanism I, four lifting bottom plates, gear rings, sliding blocks, connecting rods and sliding columns, wherein the number of the sliding columns is four, the lifting bottom plates are fixedly connected to the first telescoping mechanism I, the lifting bottom plates are fixedly connected to the telescopic ends of the first telescoping mechanism I, the gear rings are fixedly connected to the lifting bottom plates, the number of the sliding blocks is two, the two sliding blocks are respectively and slidably connected to the two bottom plates, extension springs are fixedly connected between the two sliding blocks and the corresponding bottom plates, the four sliding columns are respectively and slidably connected to the corresponding sliding cylinders, and the connecting rods are hinged between the telescopic ends of the first telescoping mechanism I and the two sliding blocks.
As a further optimization of the technical scheme, the humanoid self-feeding robot comprises a rotating mechanism, wherein the rotating mechanism comprises a rotating motor, a rotating bottom frame, four rotating top frames and four gears, the rotating motor is fixedly connected to a lifting bottom plate, the rotating bottom frame is fixedly connected to an output shaft of the rotating motor, the four gears are rotatably connected to the rotating bottom frame, the four gears are in meshing transmission with a gear ring, the rotating top frames are fixedly connected to the rotating bottom frame, and the top frames are fixedly connected to the upper ends of the rotating top frames.
As a further optimization of the technical scheme, the humanoid self-feeding robot comprises a clamping mechanism, wherein the clamping mechanism comprises a swing motor II, a transmission shaft, a transmission mechanism, a telescopic mechanism II, a telescopic mechanism III and side clamping plates, the swing motor II is fixedly connected to a top frame, the transmission mechanism is rotatably connected to the top frame, the swing motor II is in transmission connection with the transmission mechanism, the transmission ratio between the swing motor II and the transmission mechanism is one, the transmission shaft is rotatably connected to the top frame and is in transmission connection with the transmission mechanism, the transmission ratio between the transmission shaft and the transmission mechanism is one, the telescopic mechanisms II are provided with two telescopic mechanisms, the two telescopic mechanisms II are respectively and fixedly connected to an output shaft and a transmission shaft of the swing motor II, the telescopic ends of the two telescopic mechanisms II are respectively and fixedly connected with the telescopic mechanisms III, and the telescopic ends of the two telescopic mechanisms III are respectively and fixedly connected with the side clamping plates.
As further optimization of the technical scheme, the humanoid self-feeding robot comprises a transverse moving support I, a transverse moving motor I, a telescopic mechanism IV, a telescopic mechanism V and a bottom supporting folded plate, wherein the transverse moving motor I is fixedly connected to the transverse moving support I, the telescopic mechanism IV is connected to an output shaft of the transverse moving motor I through threads, the telescopic mechanism IV is connected to the transverse moving support I in a sliding mode, the transverse moving support I is fixedly connected to the lower end of the front side of a top frame, the telescopic end of the telescopic mechanism IV is fixedly connected with the telescopic mechanism V, and the telescopic end of the telescopic mechanism V is fixedly connected with the bottom supporting folded plate.
As further optimization of the technical scheme, the humanoid self-feeding robot comprises a transverse moving support II, a transverse moving motor II, a transverse moving support III, a transverse moving motor III, a telescopic mechanism VI, a transverse moving motor VII and a straightening folded plate, wherein the transverse moving support II is fixedly connected to a top frame, the transverse moving motor II is fixedly connected to the transverse moving support II, an output shaft of the transverse moving motor II is connected with the transverse moving support III through threads, the transverse moving motor III is fixedly connected to the transverse moving support III, the telescopic mechanism VI is connected to an output shaft of the transverse moving motor III through threads, a telescopic end of the telescopic mechanism VI is fixedly connected with the transverse moving motor VII, and the straightening folded plate is fixedly connected to a telescopic end of the transverse moving motor VII.
The humanoid self-feeding robot has the beneficial effects that:
the invention relates to a humanoid self-feeding robot which can move through a moving mechanism driving device, wherein a lifting mechanism drives a rotating mechanism, a top frame, a clamping mechanism, a bottom supporting mechanism and a righting mechanism to lift, the height of a device is adjusted, the top frame, the clamping mechanism, the bottom supporting mechanism and the righting mechanism are driven to rotate through the rotating mechanism, the lifting mechanism and the rotating mechanism are matched with the moving mechanism to move the clamping position of the adjusting device, the clamping mechanism clamps the side edges of rectangular objects with different sizes, the bottom supporting mechanism supports the bottom edges of the rectangular objects with different sizes, and the righting mechanism supports the top edges of the rectangular objects with different sizes.
Drawings
The invention is described in further detail below with reference to the accompanying drawings and specific embodiments.
In the description of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "top", "bottom", "inner", "outer" and "upright", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, it should be noted that unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected, directly or indirectly connected through an intermediate medium, and may be a communication between two members. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In addition, in the description of the present invention, the meaning of "a plurality", and "a plurality" is two or more unless otherwise specified.
FIG. 1 is a schematic view of the overall structure of a humanoid self-feeding robot of the present invention;
FIG. 2 is a schematic view of the device support structure of the present invention;
FIG. 3 is a schematic view of the moving mechanism of the present invention;
FIG. 4 is a schematic view of the lift mechanism of the present invention;
FIG. 5 is a schematic view of the rotating mechanism of the present invention;
FIG. 6 is a schematic view of the top frame structure of the present invention;
FIG. 7 is a schematic view of the chuck mechanism of the present invention;
FIG. 8 is a schematic view of the bottom supporting mechanism of the present invention;
fig. 9 is a schematic structural view of the centering mechanism of the present invention.
In the figure: a device holder 1; a connecting plate 101; a base plate 102; a slide cylinder 103; a moving mechanism 2; a swing motor I201; a swing lever 202; a steering motor 203; a movement motor 204; a moving wheel 205; a lifting mechanism 3; a telescoping mechanism I301; a lifting floor 302; ring gear 303; a slider 304; a link 305; a sliding post 306; a rotating mechanism 4; a rotating motor 401; rotating the chassis 402; rotating the top frame 403; a gear 404; a top frame 5; a clamping mechanism 6; a swing motor II 601; a drive shaft 602; a transmission mechanism 603; a telescoping mechanism II 604; a telescoping mechanism III 605; a side-mounted clamp plate 606; a bottom supporting mechanism 7; a transverse moving bracket I701; a traversing motor I702; a telescoping mechanism IV 703; a telescoping mechanism V704; a bottom flap 705; a righting mechanism 8; transversely moving the bracket II 801; a traversing motor II 802; a transverse moving bracket III 803; a traversing motor III 804; a telescoping mechanism VI 805; a traverse motor VII 806; a righting flap 807.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The first embodiment is as follows:
the following describes the present embodiment with reference to fig. 1 to 9, in which a humanoid self-feeding robot includes a device support 1, two moving mechanisms 2, two lifting mechanisms 3, two rotating mechanisms 4, a top frame 5, two clamping mechanisms 6, two bottom supporting mechanisms 7, and two centering mechanisms 8, the two moving mechanisms 2 are respectively connected to the front and rear ends of the device support 1, the lifting mechanisms 3 are connected to the device support 1, the rotating mechanisms 4 are connected to the lifting mechanisms 3, the top frame 5 is fixedly connected to the rotating mechanisms 4, the clamping mechanisms 6 are connected to the top frame 5, the bottom supporting mechanisms 7 are fixedly connected to the lower end of the front side of the top frame 5, and the centering mechanisms 8 are fixedly connected to the upper end of the rear side of the top frame 5; can move through 2 drive arrangement of moving mechanism, elevating system 3 drives slewing mechanism 4, the roof-rack 5, clamping machine constructs 6, hold in the palm end mechanism 7 and right mechanism 8 and go up and down, adjusting device's height, drive roof-rack 5 through slewing mechanism 4, clamping machine constructs 6, hold in the palm end mechanism 7 and right mechanism 8 and rotate, the position of elevating system 3 and 4 cooperation motion adjusting device's of slewing mechanism clamping, carry out the clamping through clamping machine constructs 6 side to the rectangle object of different sizes, hold in the palm end mechanism 7 and hold up the base of the rectangle object of different sizes, right mechanism 8 and carry out the right holding up to the topside of the rectangle object of different sizes.
The second embodiment is as follows:
the present embodiment is described below with reference to fig. 1 to 9, and the present embodiment further describes the first embodiment, where the apparatus bracket 1 includes a connection plate 101, two bottom plates 102, and four sliding cylinders 103, where the two bottom plates 102 are provided, the four sliding cylinders 103 are provided, the two bottom plates 102 are respectively and fixedly connected to the front and rear ends of the connection plate 101, and the four sliding cylinders 103 are all and fixedly connected to the connection plate 101.
The third concrete implementation mode:
the following describes the present embodiment with reference to fig. 1 to 9, and the present embodiment further describes an embodiment two, where the moving mechanism 2 includes a swing motor i 201, swing rods 202, a steering motor 203, a moving motor 204, and moving wheels 205, the swing motor i 201 is a dual-output shaft motor, both ends of an output shaft of the swing motor i 201 are fixedly connected with the swing rods 202, lower ends of the two swing rods 202 are fixedly connected with the steering motor 203, output shafts of the two steering motors 203 are fixedly connected with the moving motors 204, output shafts of the two moving motors 204 are fixedly connected with the moving wheels 205, the two swing motors i 201 are respectively fixedly connected to the two bottom plates 102, and output shafts of the two swing motors i 201 are respectively rotatably connected to the corresponding bottom plates 102.
The fourth concrete implementation mode is as follows:
the embodiment is described below with reference to fig. 1 to 9, and the third embodiment is further described in the present embodiment, the lifting mechanism 3 includes a telescoping mechanism i 301, a lifting bottom plate 302, two sliding blocks 303, sliding blocks 304, connecting rods 305 and sliding columns 306, the number of the sliding columns 306 is four, the telescoping mechanism i 301 is fixedly connected to the connecting plate 101, the telescoping end of the telescoping mechanism i 301 is fixedly connected to the lifting bottom plate 302, the lifting bottom plate 302 is fixedly connected to the gear rings 303, the two sliding blocks 304 are respectively slidably connected to the two bottom plates 102, extension springs are fixedly connected between the two sliding blocks 304 and the corresponding bottom plates 102, the four sliding columns 306 are respectively slidably connected to the corresponding sliding cylinders 103, and the connecting rods 305 are respectively hinged between the telescoping end of the telescoping mechanism i 301 and the two sliding blocks 304.
The fifth concrete implementation mode:
the fourth embodiment is described below with reference to fig. 1 to 9, and is further described, where the rotating mechanism 4 includes a rotating motor 401, a rotating base frame 402, a rotating top frame 403, and four gears 404, the rotating motor 401 is fixedly connected to the lifting bottom plate 302, the rotating base frame 402 is fixedly connected to an output shaft of the rotating motor 401, the number of the gears 404 is four, the four gears 404 are all rotatably connected to the rotating base frame 402, the four gears 404 are all in meshing transmission with the gear ring 303, the rotating top frame 403 is fixedly connected to the rotating base frame 402, and the top frame 5 is fixedly connected to the upper end of the rotating top frame 403.
The sixth specific implementation mode:
the present embodiment is described below with reference to fig. 1 to 9, and the fifth embodiment is further described in this embodiment, where the clamping mechanism 6 includes a swing motor ii 601, a transmission shaft 602, a transmission mechanism 603, a telescoping mechanism ii 604, a telescoping mechanism iii 605, and a side clamping plate 606, the swing motor ii 601 is fixedly connected to the top frame 5, the transmission mechanism 603 is rotatably connected to the top frame 5, the swing motor ii 601 is in transmission connection with the transmission mechanism 603, a transmission ratio between the swing motor ii 601 and the transmission mechanism 603 is one, the transmission shaft 602 is rotatably connected to the top frame 5, the transmission shaft 602 is in transmission connection with the transmission mechanism 603, a transmission ratio between the transmission shaft 602 and the transmission mechanism 603 is one, two telescoping mechanisms ii 604 are provided, the two telescoping mechanisms ii 604 are fixedly connected to an output shaft of the swing motor ii 601 and the transmission shaft 602, telescopic ends of the two telescoping mechanisms ii 604 are fixedly connected to a telescoping mechanism iii 605, and telescopic ends of the two telescoping mechanisms iii are fixedly connected to the side clamping plate 606.
The seventh embodiment:
the present embodiment is described below with reference to fig. 1 to 9, and the present embodiment further describes an embodiment six, where the bottom supporting mechanism 7 includes a traverse support i 701, a traverse motor i 702, a telescoping mechanism iv 703, a telescoping mechanism v 704, and a bottom supporting flap 705, the traverse motor i 702 is fixedly connected to the traverse support i 701, the telescoping mechanism iv 703 is connected to an output shaft of the traverse motor i 702 through a screw thread, the telescoping mechanism iv 703 is slidably connected to the traverse support i 701, the traverse support i 701 is fixedly connected to a lower end of a front side of the top frame 5, the telescoping mechanism v 704 is fixedly connected to a telescoping end of the telescoping mechanism iv 703, and the bottom supporting flap 705 is fixedly connected to a telescoping end of the telescoping mechanism v 704.
The specific implementation mode is eight:
the following describes the present embodiment with reference to fig. 1 to 9, and the seventh embodiment is further described in the present embodiment, where the centering mechanism 8 includes a traverse support ii 801, a traverse motor ii 802, a traverse support iii 803, a traverse motor iii 804, a telescoping mechanism vi 805, a traverse motor vii 806, and a centering flap 807, the traverse support ii 801 is fixedly connected to the top frame 5, the traverse motor ii 802 is fixedly connected to the traverse support ii 801, the traverse support iii 803 is connected to an output shaft of the traverse motor ii 802 through a thread, the traverse motor iii 804 is fixedly connected to the traverse support iii 803, the telescoping mechanism vi 805 is connected to an output shaft of the traverse motor iii 804 through a thread, the traverse motor vii 806 is fixedly connected to a telescoping end of the telescoping mechanism vi 805, and the centering flap 807 is fixedly connected to a telescoping end of the traverse motor vii 806.
The invention relates to a humanoid self-feeding robot, which has the working principle that:
when the device is used, the mobile motor 204 is started, the output shaft of the mobile motor 204 starts to rotate, the output shaft of the mobile motor 204 drives the mobile wheel 205 to rotate, the mobile wheel 205 is in contact with the ground, the driving device moves when the mobile wheel 205 rotates, the steering motor 203 is started, the output shaft of the steering motor 203 drives the corresponding mobile wheel 205 to deflect, the deflection angle driving devices of the four mobile wheels 205 turn, the swing motor I201 is started, the output shaft of the swing motor I201 starts to rotate, the output shaft of the swing motor I201 drives the two corresponding swing rods 202 to deflect, the deflection angles of the front and rear corresponding swing rods 202 are different, so that the device support 1 deflects, the device support 1 drives the clamping mechanism 6, the bottom supporting mechanism 7 and the centering mechanism 8 to incline, and when the device support 1 deflects, the clamping mechanism 6, the bottom supporting mechanism 7 and the centering mechanism 8 are matched to simulate the wrist bending motion of a human hand when the clamping object, and the device support is better suitable for the grabbing motion; the telescopic mechanism I301 can be a hydraulic cylinder or an electric push rod, the telescopic end of the telescopic mechanism I301 pushes the lifting bottom plate 302 to move upwards or downwards, the lifting bottom plate 302 drives the sliding column 306 to slide in the sliding cylinder 103, the lifting bottom plate 302 drives the rotating mechanism 4, the top frame 5, the clamping mechanism 6, the bottom supporting mechanism 7 and the righting mechanism 8 to lift, the height of the device is adjusted, the connecting rod 305 is driven to move when the telescopic end of the telescopic mechanism I301 is telescopic, the connecting rod 305 drives the sliding block 304 to slide on the corresponding bottom plate 102, the bottom plate 102 stretches the extension spring, and the extension spring can play a certain buffering role when the lifting bottom plate 302 is lifted; the rotating motor 401 is started, the output shaft of the rotating motor 401 starts to rotate, the output shaft of the rotating motor 401 drives the rotating bottom frame 402 to rotate, the rotating bottom frame 402 drives the rotating top frame 403 to rotate, the rotating bottom frame 402 drives the gears 404 to rotate, the gears 404 are in meshing transmission with the gear ring 303, and the gears 404 can play a certain supporting role when the rotating mechanism 4 rotates; the rotating top frame 403 drives the top frame 5 to rotate, the rotating mechanism 4 drives the top frame 5, the clamping mechanism 6, the bottom supporting mechanism 7 and the righting mechanism 8 to rotate, the lifting mechanism 3 and the rotating mechanism 4 are matched with the clamping position of the motion adjusting device, when the device moves to a specified clamping position, the swinging motor II 601 is started, the output shaft of the swinging motor II 601 starts to rotate, the output shaft of the swinging motor II 601 drives the transmission mechanism 603 to rotate, the rotating directions of the transmission mechanism 603 and the swinging motor II 601 are opposite, the transmission mechanism 603 drives the transmission shaft 602 to rotate, the rotating directions of the output shafts of the transmission shaft 602 and the swinging motor II 601 are opposite, the rotating speeds of the output shafts of the transmission shaft 602 and the swinging motor II 601 are the same, the output shafts of the transmission shaft 602 and the swinging motor II 601 respectively drive the corresponding telescopic mechanisms II 604 to carry out clasping motion, the two telescopic mechanisms II 604 are clasping with each other to drive the two telescopic mechanisms III 605 to clasp each other, two telescoping mechanisms III 605 drive two side clamping plates 606 to be clasped with each other, a telescoping mechanism II 604 and a telescoping mechanism III 605 can be hydraulic cylinders or electric push rods, the two side clamping plates 606 clamp the sides of rectangular objects with different sizes, a transverse moving motor I702 is started, the output shaft of the transverse moving motor I702 starts to rotate, the output shaft of the transverse moving motor I702 drives a telescoping mechanism IV 703 to move, a telescoping mechanism IV 703 drives a telescoping mechanism V704 to move, a telescoping mechanism V704 drives a bottom supporting folded plate 705 to move, the relative position of the bottom supporting folded plate 705 is adjusted, the telescoping mechanism IV 703 and the telescoping mechanism V704 can be hydraulic cylinders or electric push rods, the telescoping mechanism IV 703 and the telescoping mechanism V704 are quota and move to drive the bottom supporting folded plate 705 to move, and the bottom supporting mechanism 7 supports the bottoms of the rectangular objects with different sizes, the transverse moving motor II 802 is started, an output shaft of the transverse moving motor II 802 drives the transverse moving support III 803 to move through threads, the transverse moving motor III 804 is started, an output shaft of the transverse moving motor III 804 starts to rotate, an output shaft of the transverse moving motor III 804 drives the telescoping mechanism VI 805 to move through threads, the telescoping mechanism VI 805 drives the transverse moving motor VII 806 to move, the transverse moving motor VII drives the righting folded plate 807 to move, the relative position of the righting folded plate 807 is adjusted, the telescoping mechanism VI 805 and the transverse moving motor VII 806 can be hydraulic cylinders or electric push rods, quota and movement of the telescoping mechanism VI 805 and the transverse moving motor VII are used for driving the righting folded plate 807 to move, and the righting mechanism 8 is used for righting the top edges of rectangular objects with different sizes.
It is to be understood that the above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and that various changes, modifications, additions and substitutions which are within the spirit and scope of the present invention and which may be made by those skilled in the art are also within the scope of the present invention.
Claims (4)
1. The utility model provides an imitative anthropomorphic self-feeding robot, includes device support (1), moving mechanism (2), elevating system (3), slewing mechanism (4), roof-rack (5), clamping machine structure (6), holds in the palm end mechanism (7) and right mechanism (8), its characterized in that: the device is characterized in that the number of the moving mechanisms (2) is two, the two moving mechanisms (2) are respectively connected to the front end and the rear end of the device support (1), the device support (1) is connected with a lifting mechanism (3), the lifting mechanism (3) is connected with a rotating mechanism (4), the rotating mechanism (4) is fixedly connected with an upper frame (5), the upper frame (5) is connected with a clamping mechanism (6), the lower end of the front side of the upper frame (5) is fixedly connected with a bottom supporting mechanism (7), and the upper end of the rear side of the upper frame (5) is fixedly connected with a centering mechanism (8);
the device support (1) comprises a connecting plate (101), two bottom plates (102) and four sliding cylinders (103), wherein the two bottom plates (102) are arranged, the two sliding cylinders (103) are respectively and fixedly connected to the front end and the rear end of the connecting plate (101), and the four sliding cylinders (103) are respectively and fixedly connected to the connecting plate (101);
the moving mechanism (2) comprises a swing motor I (201), swing rods (202), steering motors (203), moving motors (204) and moving wheels (205), the swing motor I (201) is a motor with double output shafts, the swing rods (202) are fixedly connected to two ends of an output shaft of the swing motor I (201), the steering motors (203) are fixedly connected to the lower ends of the two swing rods (202), the moving motors (204) are fixedly connected to output shafts of the two steering motors (203), the moving wheels (205) are fixedly connected to output shafts of the two moving motors (204), the two swing motors I (201) are respectively and fixedly connected to the two bottom plates (102), and output shafts of the two swing motors I (201) are respectively and rotatably connected to the corresponding bottom plates (102);
the lifting mechanism (3) comprises a telescopic mechanism I (301), a lifting bottom plate (302), gear rings (303), sliding blocks (304), connecting rods (305) and sliding columns (306), the number of the sliding columns (306) is four, the telescopic mechanism I (301) is fixedly connected to a connecting plate (101), the lifting bottom plate (302) is fixedly connected to the telescopic end of the telescopic mechanism I (301), the gear rings (303) are fixedly connected to the lifting bottom plate (302), the number of the sliding blocks (304) is two, the two sliding blocks (304) are respectively and slidably connected to the two bottom plates (102), extension springs are fixedly connected between the two sliding blocks (304) and the corresponding bottom plates (102), the four sliding columns (306) are respectively and slidably connected to the corresponding sliding cylinders (103), and the connecting rods (305) are hinged between the telescopic end of the telescopic mechanism I (301) and the two sliding blocks (304);
slewing mechanism (4) are including rotating motor (401), rotate chassis (402), rotate roof-rack (403) and gear (404), rotate motor (401) fixed connection on lifting floor (302), fixedly connected with rotates chassis (402) on the output shaft of rotation motor (401), gear (404) are provided with four, four gear (404) are all rotated and are connected on rotating chassis (402), four gear (404) all mesh transmission with ring gear (303), fixedly connected with rotates roof-rack (403) on rotating chassis (402), the upper end fixedly connected with roof-rack (5) of rotating roof-rack (403).
2. The humanoid self-feeding robot of claim 1, characterized in that: clamping machine constructs (6) including swing motor II (601), transmission shaft (602), drive mechanism (603), telescopic machanism II (604), telescopic machanism III (605) and side clamping board (606), swing motor II (601) fixed connection is on roof-rack (5), drive mechanism (603) rotate to be connected on roof-rack (5), swing motor II (601) and drive mechanism (603) transmission are connected, the drive ratio between swing motor II (601) and drive mechanism (603) is one, drive shaft (602) rotate to be connected on roof-rack (5), drive shaft (602) and drive mechanism (603) transmission are connected, the drive ratio between transmission shaft (602) and drive mechanism (603) is one, telescopic machanism II (604) is provided with two, two telescopic machanism II (604) are fixed connection respectively on the output shaft and the transmission shaft (602) of swing motor II (601), all fixedly connected with telescopic machanism (605) on the flexible end of two telescopic machanism II (604), all fixedly connected with telescopic machanism III fixed connection on the flexible end of two telescopic machanism (605) side clamping board (606).
3. The humanoid self-feeding robot of claim 2, wherein: the bottom supporting mechanism (7) comprises a transverse moving support I (701), a transverse moving motor I (702), an expansion mechanism IV (703), an expansion mechanism V (704) and a bottom supporting folded plate (705), the transverse moving support I (701) is fixedly connected with the transverse moving motor I (702), an output shaft of the transverse moving motor I (702) is connected with the expansion mechanism IV (703) through threads, the expansion mechanism IV (703) is connected onto the transverse moving support I (701) in a sliding mode, the transverse moving support I (701) is fixedly connected to the lower end of the front side of the top frame (5), the expansion end of the expansion mechanism IV (703) is fixedly connected with the expansion mechanism V (704), and the expansion end of the expansion mechanism V (704) is fixedly connected with the bottom supporting folded plate (705).
4. The humanoid self-feeding robot of claim 3, wherein: righting mechanism (8) including sideslip support II (801), sideslip motor II (802), sideslip support III (803), sideslip motor III (804), telescopic machanism VI (805), sideslip motor VII (806) and right folded plate (807), sideslip support II (801) fixed connection is on roof-rack (5), fixedly connected with sideslip motor II (802) on sideslip support II (801), there is sideslip support III (803) through threaded connection on the output shaft of sideslip motor II (802), fixedly connected with sideslip motor III (804) on sideslip support III (803), there is telescopic machanism VI (805) through threaded connection on the output shaft of sideslip motor III (804), fixedly connected with sideslip motor VII (806) on the flexible end of telescopic machanism VI (805), fixedly connected with right folded plate (807) on the flexible end of sideslip motor VII (806).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010299769.3A CN111251272B (en) | 2020-04-16 | 2020-04-16 | Humanoid self-feeding robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010299769.3A CN111251272B (en) | 2020-04-16 | 2020-04-16 | Humanoid self-feeding robot |
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| CN111251272A CN111251272A (en) | 2020-06-09 |
| CN111251272B true CN111251272B (en) | 2022-12-20 |
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|---|---|---|---|---|
| CN111673340A (en) * | 2020-06-19 | 2020-09-18 | 刘晨辉 | Welding robot |
| CN111673708B (en) * | 2020-06-19 | 2021-08-31 | 山东双鑫研磨材料有限公司 | Intelligent manipulator |
| CN111673766B (en) * | 2020-06-19 | 2021-12-10 | 江西联麓智能装备有限公司 | Industrial cutting robot |
| CN114227093B (en) * | 2021-12-22 | 2024-01-05 | 青岛麒嘉智能系统工程有限公司 | Be used for car intelligent welding's arm |
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| CN111251272A (en) | 2020-06-09 |
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