CN112959303B

CN112959303B - 5G-based shell structure of service robot

Info

Publication number: CN112959303B
Application number: CN202110177557.2A
Authority: CN
Inventors: 王娟; 王宜举; 梁作松; 赵雪芹; 刘云龙; 林近山
Original assignee: Qufu Normal University
Current assignee: Qufu Normal University
Priority date: 2021-02-07
Filing date: 2021-02-07
Publication date: 2023-08-01
Anticipated expiration: 2041-02-07
Also published as: CN112959303A

Abstract

The invention discloses a 5G-based shell structure of a service robot, which comprises a first shell, a second shell, a third shell, a connecting mechanism, a wiring mechanism and a mounting mechanism, wherein the first shell is connected with the second shell; the connecting mechanism comprises a first fixed block, a second fixed block and a fixed shaft; the wiring mechanism comprises a first fixed block, a second fixed block, a first pin shaft and a second pin shaft; the mounting mechanism comprises a partition plate, a mounting plate, a limiting block and an inserting block. The spliced shell is convenient for the installation of the arm part of the robot, and effective transmission among the shells is realized in the transmission process; the cavity is arranged in the fixing block to realize wire connection, so that wire connection and fixation between the shells are facilitated; the stable installation of driving motor is realized through setting up the mounting panel inside the casing, can realize the spacing of motor after the casing is fixed, realizes effective connection through spacing between plug block and the stopper when the installation.

Description

5G-based shell structure of service robot

Technical Field

The invention belongs to the field of mechanical design and manufacturing, and particularly relates to a 5G-based shell structure of a service robot.

Background

The robot is a target-oriented device with perception information, planning decisions and movement functions. The robot realizes the functions of grabbing, welding, spraying paint, assembling, stacking and the like of the robot or drives the robot to reach a designated position by sensing environment information and combining with a work target task, planning decision and executing movement, and realizes the services of cleaning, nursing, rehabilitation and the like. The former is representative of widely used industrial robots, and the latter is representative of rapidly developing service robots, which are also a trend of future robots. Service robots face two special and significant classes of challenges: firstly, the operation and the mobile environment of the service robot are more and more complex and changeable; secondly, the service robot needs to ensure the safety of the service object and the workplace. Service robots are fusion products of control, mechanical, electronic information, mathematics, computer, biology, and have important uses in the fields of heavy industry, agriculture, medicine, food, textile, construction, military, etc.

The service robot generally comprises a supporting structure, a sensing mechanism, a transmission mechanism, a driving mechanism, an executing mechanism, a control system, a detection mechanism and the like, and the mechanical arm of the service robot mostly comprises a multi-joint connecting rod mechanism and an arm shell. In the process of executing tasks, programmable design and intelligent operation can be realized, but the circuit is not easy to be effectively connected when the shell of the mechanical arm is used, the lead is easy to be pulled when the arm of the robot is driven, and equipment faults are easy to occur. In addition, the installation of the shell is complicated and inconvenient, the motor for driving the arms to move is not easy to install, the installation difficulty of the shell is increased, and the effective transmission of the arms cannot be coordinated. Therefore, a 5G-based service robot housing structure is proposed for the above problems.

Disclosure of Invention

A5G-based service robot shell structure comprises a first shell, a second shell, a third shell, a connecting mechanism, a wiring mechanism and an installation mechanism;

the connecting mechanism comprises a first fixed block, a second fixed block and a fixed shaft, wherein the first fixed block and the second fixed block are respectively and fixedly connected with the first shell and the second shell, the inside of the first fixed block and the inside of the second fixed block are respectively and fixedly connected with a first pin shaft and a second pin shaft, the end part of the first pin shaft is provided with or connected with a connecting shaft, the fixed shaft is fixedly connected with the third shell, and the fixed shaft is rotationally connected with the inside of the first shell;

the wiring mechanism comprises a first fixed block, a second fixed block, a first pin shaft and a second pin shaft, wherein cavities are formed in the first pin shaft and the second pin shaft, wiring grooves are formed in the first fixed block and the second fixed block, the cavities are communicated with the wiring grooves, and the first fixed block and the second fixed block are in threaded connection with the knob;

the mounting mechanism comprises a partition plate, a mounting plate, a limiting block and a plug-in block, wherein the partition plate is fixedly connected with the inside of the first shell, the mounting plate is fixedly mounted between the partition plate and the first shell, the limiting block is arranged on one side of the mounting plate, the inside of the limiting block is movably plugged with the plug-in block, the side wall of the limiting block is fixedly connected with a metal sheet, the end part of the metal sheet is provided with or connected with a plug-in rod, and the limiting block is fixedly connected with a gear through a rotating shaft.

Further, the first shell, the second shell and the third shell are composed of two semicircular annular metal shells, and the two metal shells are fixedly connected through screws.

Further, the first fixed block and the second fixed block are identical in shape, the thickness of one end of the first fixed block is larger than that of the other end of the first fixed block, a first pin shaft and a second pin shaft are respectively arranged in the first fixed block and the second fixed block, a connecting shaft is arranged between the first fixed block and the second fixed block, and the connecting shaft is in rotary connection with the second pin shaft.

Further, a round hole is formed in the middle of the connecting shaft, the round hole in the middle of the connecting shaft is respectively communicated with two cavities, and each cavity is provided with a knob.

Further, the ends of the first pin shaft and the second pin shaft are fixedly connected with the end head, one side of a cavity formed by the first pin shaft and the second pin shaft is communicated with the wiring groove, wires are arranged in the cavity and the wiring groove, and a knob on one side of the wiring groove is contacted with the wires.

Further, the baffle comprises two semicircle ring plate bodies, two splice each other between the baffle, baffle one end is equipped with the mounting panel that is used for driving motor installation, the opening that is used for driving shaft pivoted has been seted up to mounting panel one side.

Further, the fixed shaft is composed of two semi-circular plate bodies which are spliced with each other, a gear ring used for gear engagement is arranged on the surface of the fixed shaft, and the fixed shaft is positioned between the first shell and the partition plate.

Further, the stopper is U-shaped structure, stopper one side middle part is equipped with the pivot, pivot and the inside swivelling joint of baffle.

Further, the gear and the limiting block are respectively positioned at two sides of the partition board, metal sheets with bending structures are respectively arranged at two sides of the limiting block, and the inserted bar at one side of the metal sheets is movably inserted into the limiting block.

Further, the plug-in block is of a flat structure, a through hole for plugging the plug-in rod is formed in the middle of the plug-in block, and the plug-in block is connected with the inner wall of the limiting block in a fitting mode.

Drawings

FIG. 1 is a schematic perspective view of an embodiment of the present application;

FIG. 2 is a schematic diagram of a front view of a stationary shaft according to an embodiment of the present application;

FIG. 3 is a schematic view of an external top view of one embodiment of the present application;

FIG. 4 is a schematic top view of a first fixing block according to an embodiment of the present disclosure;

FIG. 5 is a schematic side view of a stationary shaft according to one embodiment of the present application;

FIG. 6 is a schematic view of a partial enlarged structure at A in FIG. 4 according to an embodiment of the present application;

fig. 7 is a schematic view of a partial enlarged structure at B in fig. 2 according to an embodiment of the present application.

In the figure: 1. the first casing, 2, the second casing, 3, the third casing, 4, first fixed block, 5, the second fixed block, 6, first round pin axle, 7, the second round pin axle, 8, the connecting axle, 9, the cavity, 10, wiring groove, 11, end, 12, knob, 13, fixed axle, 14, baffle, 15, mounting panel, 16, stopper, 17, the inserted block, 18, drive shaft, 19, sheetmetal, 20, inserted bar, 21, pivot, 22, gear, 23, screw.

Detailed Description

In order for those skilled in the art to better understand the present application, the following description will clearly and fully describe the technical solutions of the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, shall fall within the scope of the present application.

It should be noted that the terms "first," "second," and the like in the description and claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It will be appreciated that such data may be interchanged where appropriate in order to describe embodiments of the present application. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a system, process, method, or article that comprises a list of steps or elements is not necessarily limited to only those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such system, process, method, or article.

In the present application, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal" and the like indicate an azimuth or a positional relationship based on that shown in the drawings. These terms are used to better describe the present application and its embodiments and are not intended to limit the scope of the indicated devices, elements or components to the particular orientations or to configure and operate in the particular orientations.

Also, some of the terms described above may be used to indicate other meanings besides azimuth or positional relationships, for example, the term "upper" may also be used to indicate some sort of attachment or connection in some cases. The specific meaning of these terms in this application will be understood by those of ordinary skill in the art as appropriate.

Furthermore, the terms "mounted," "configured," "provided," "connected," "coupled," and "sleeved" are to be construed broadly. For example, it may be a fixed connection, a removable connection, or a unitary construction; may be a mechanical connection, or a circuit connection; may be directly connected, or indirectly connected through intervening media, or may be in communication between two devices, elements, or components. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art as the case may be.

It should be noted that, on the premise of no ambiguity, the embodiments and features in the embodiments in the present application may be combined with each other. The present application will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

Referring to fig. 1 to 7, a 5G-based service robot has a housing structure including a first housing 1, a second housing 2, a third housing 3, a connection mechanism, a wiring mechanism, and an installation mechanism;

the connecting mechanism comprises a first fixed block 4, a second fixed block 5 and a fixed shaft 13, wherein the first fixed block 4 and the second fixed block 5 are respectively and fixedly connected with the first shell 1 and the second shell 2, the inside of the first fixed block 4 and the inside of the second fixed block 5 are respectively and fixedly connected with a first pin shaft 6 and a second pin shaft 7, the end part of the first pin shaft 6 is provided with or connected with a connecting shaft 8, the fixed shaft 13 is fixedly connected with the third shell 3, and the fixed shaft 13 is rotationally connected with the inside of the first shell 1;

the wiring mechanism comprises a first fixed block 4, a second fixed block 5, a first pin shaft 6 and a second pin shaft 7, wherein cavities 9 are formed in the first pin shaft 6 and the second pin shaft 7, wiring grooves 10 are formed in the first fixed block 4 and the second fixed block 5, the cavities 9 are communicated with the wiring grooves 10, and the first fixed block 4 and the second fixed block 5 are in threaded connection with a knob 12;

the mounting mechanism comprises a partition 14, a mounting plate 15, a limiting block 16 and an inserting block 17, wherein the partition 14 is fixedly connected with the inside of the first shell 1, the mounting plate 15 is fixedly arranged between the partition 14 and the first shell 1, one side of the mounting plate 15 is provided with the limiting block 16, the inside of the limiting block 16 is movably inserted with the inserting block 17, the side wall of the limiting block 16 is fixedly connected with a metal sheet 19, the end part of the metal sheet 19 is provided with or connected with an inserting rod 20, and the limiting block 16 is fixedly connected with a gear 22 through a rotating shaft 21.

The first shell 1, the second shell 2 and the third shell 3 are composed of two semicircular annular metal shells, and the two metal shells are fixedly connected through a screw 23; the shape of the first fixed block 4 is the same as that of the second fixed block 5, the thickness of one end of the first fixed block 4 is larger than that of the other end of the first fixed block, a first pin shaft 6 and a second pin shaft 7 are respectively arranged in the first fixed block 4 and the second fixed block 5, a connecting shaft 8 is arranged between the first fixed block 4 and the second fixed block 5, and the connecting shaft 8 is in rotary connection with the inside of the second pin shaft 7; a round hole is formed in the middle of the connecting shaft 8, the round hole in the middle of the connecting shaft 8 is respectively communicated with two cavities 9, and each cavity 9 is correspondingly provided with a knob 12; the ends of the first pin shaft 6 and the second pin shaft 7 are fixedly connected with the end head 11, one side of a cavity 9 formed by the first pin shaft 6 and the second pin shaft 7 is communicated with the wiring groove 10, wires are arranged in the cavity 9 and the wiring groove 10, and a knob 12 on one side of the wiring groove 10 is contacted with the wires; the partition plate 14 consists of two semicircular plate bodies, the two partition plates 14 are spliced with each other, one end of the partition plate 14 is provided with a mounting plate 15 for mounting a driving motor, and one side of the mounting plate 15 is provided with an opening for driving a shaft 18 to rotate; the fixed shaft 13 consists of two semi-circular plate bodies which are spliced with each other, a gear ring for meshing the gear 22 is arranged on the surface of the fixed shaft 13, and the fixed shaft 13 is positioned between the first shell 1 and the partition plate 14; the limiting block 16 is of a U-shaped structure, a rotating shaft 21 is arranged in the middle of one side of the limiting block 16, and the rotating shaft 21 is rotationally connected with the inside of the partition plate 14; the gear 22 and the limiting block 16 are respectively positioned at two sides of the partition plate 14, metal sheets 19 with bending structures are respectively arranged at two sides of the limiting block 16, and a plug rod 20 at one side of the metal sheets 19 is movably inserted into the limiting block 16; the plug-in block 17 is of a flat structure, a through hole for plugging the plug-in rod 20 is formed in the middle of the plug-in block 17, and the plug-in block 17 is in fit connection with the inner wall of the limiting block 16.

The electrical components that appear in this application all connect external communication power and control switch when using, install the motor that is used for driving in mounting panel 15 inside, make the drive shaft 18 of motor be located the opening inside of one side of mounting panel 15, plug-in block 17 of drive shaft 18 tip is pegged graft to stopper 16 inside this moment, and compress tightly plug-in bar 20 through the sheetmetal 19 that has elastic structure, make it peg graft fixedly with plug-in block 17 inside, realize spacing between plug-in block 17 and the stopper 16, splice fixed first casing 1 after the operation is accomplished in proper order, second casing 2 and third casing 3, and connect gradually through screw 23; when the first shell 1 and the third shell 3 are driven to rotate, the inserting block 17 is driven to rotate through the motor in the mounting plate 15, the limiting positions of the inserting block 17 and the limiting block 16 can drive the rotating shaft 21 to rotate in the partition plate 14, the rotating shaft 21 drives the gear 22 to rotate, the gear 22 is meshed with the gear ring on the surface of the fixed shaft 13, the rotation of the fixed shaft 13 is realized, the first shell 1 is driven to rotate around the third shell 3, the transmission of the robot arm is realized, the driving device is convenient to mount, and the operation convenience and the transmission stability are improved;

the first shell 1 and the second shell 2 are connected through the first fixed block 4 and the second fixed block 5, the second shell 2 drives the second fixed block 5 and the second pin shaft 7 in the second fixed block to rotate when rotating, the stable transmission between the first pin shaft 6 and the second pin shaft 7 is realized through the rotating connection between the second pin shaft 7 and the connecting shaft 8, when wires are connected, the wires pass through the wiring groove 10 and the cavity 9 to connect the wires between the first shell 1 and the second shell 2, the wires are bent and placed in the cavity 9, the wires are tightly pressed by tightening the knob 12, the wires in the cavity 9 are prevented from being straightened and broken, the problem of loosening of the wires is not caused when the second shell 2 rotates, the service life is prolonged, and the maintenance risk is reduced; the signal is transmitted to the single chip microcomputer through the 5G communication equipment to be controlled and processed, the driving motor arranged between the first shell 1 and the second shell 2 is controlled to drive the whole robot arm, the wire is arranged in the wiring groove 10 to carry out circuit transmission, the control of the whole service robot system is realized, the communication equipment of the 5G chip is adopted, the signal transmission has almost no time delay, the reliability of the signal transmission quality is high, the data transmission time is effectively reduced, and the service function of the robot is better realized.

The beneficial point of the application lies in:

1. according to the robot arm, the arm parts of the robot can be conveniently and rapidly installed through the spliced shells, effective transmission among the shells can be achieved in the transmission process, and the stable rotation of the shells can be guaranteed due to the fixed blocks and the pin shafts, so that the transmission stability of the robot is improved;

2. according to the wire connecting device, the cavity is formed in the fixing block to realize connection of the wires, when the wires between the shells are connected, the wires are fixed, the problem that the wires are loosened due to pulling when the shells rotate is prevented, the connection stability is improved, and the overhaul risk is reduced;

3. the utility model discloses a through at the inside stable installation that realizes driving motor of setting up the mounting panel of casing, can realize the spacing of motor after the casing is fixed, realize effective connection through spacing between plug block and the stopper, be favorable to installing drive part fast, improved the convenience of robot casing installation.

The foregoing description is only of the preferred embodiments of the present application and is not intended to limit the same, but rather, various modifications and variations may be resorted to by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A service robot's shell structure based on 5G, its characterized in that: comprises a first shell (1), a second shell (2), a third shell (3), a connecting mechanism, a wiring mechanism and a mounting mechanism;

the connecting mechanism comprises a first fixed block (4), a second fixed block (5) and a fixed shaft (13), wherein the first fixed block (4) and the second fixed block (5) are respectively and fixedly connected with a first shell (1) and a second shell (2), the first fixed block (4) and the second fixed block (5) are respectively and fixedly connected with a first pin shaft (6) and a second pin shaft (7), the end part of the first pin shaft (6) is provided with or connected with a connecting shaft (8), the fixed shaft (13) is fixedly connected with a third shell (3), and the fixed shaft (13) is rotationally connected with the inside of the first shell (1);

the wiring mechanism comprises a first fixed block (4), a second fixed block (5), a first pin shaft (6) and a second pin shaft (7), wherein cavities (9) are formed in the first pin shaft (6) and the second pin shaft (7), wiring grooves (10) are formed in the first fixed block (4) and the second fixed block (5), the cavities (9) are communicated with the wiring grooves (10), and the first fixed block (4) and the second fixed block (5) are in threaded connection with a knob (12);

the mounting mechanism comprises a partition plate (14), a mounting plate (15), a limiting block (16) and a plug-in block (17), wherein the partition plate (14) is fixedly connected with the inside of the first shell (1), the mounting plate (15) is fixedly mounted between the partition plate (14) and the first shell (1), the limiting block (16) is arranged on one side of the mounting plate (15), the limiting block (16) is movably plugged with the plug-in block (17), the side wall of the limiting block (16) is fixedly connected with a metal sheet (19), a plug-in rod (20) is arranged or connected at the end of the metal sheet (19), and the limiting block (16) is fixedly connected with a gear (22) through a rotating shaft (21).

2. The 5G-based service robot housing structure of claim 1, wherein: the first shell (1), the second shell (2) and the third shell (3) are composed of two semicircular annular metal shells, and the two metal shells are fixedly connected through a screw (23).

3. The 5G-based service robot housing structure of claim 1, wherein: the novel connecting device is characterized in that the first fixing block (4) and the second fixing block (5) are identical in shape, the thickness of one end of the first fixing block (4) is larger than that of the other end of the first fixing block, a first pin shaft (6) and a second pin shaft (7) are respectively arranged inside the first fixing block (4) and the second fixing block (5), a connecting shaft (8) is arranged between the first fixing block (4) and the second fixing block (5), and the connecting shaft (8) is connected with the second pin shaft (7) in a rotating mode.

4. The 5G-based service robot housing structure of claim 1, wherein: the middle part of the connecting shaft (8) is provided with a round hole, the round hole in the middle part of the connecting shaft (8) is respectively communicated with two cavities (9), and each cavity (9) is correspondingly provided with a knob (12).

5. The 5G-based service robot housing structure of claim 1, wherein: the end parts of the first pin shaft (6) and the second pin shaft (7) are fixedly connected with the end head (11), one side of a cavity (9) formed by the first pin shaft (6) and the second pin shaft (7) is communicated with the wiring groove (10), wires are arranged inside the cavity (9) and the wiring groove (10), and a knob (12) on one side of the wiring groove (10) is contacted with the wires.

6. The 5G-based service robot housing structure of claim 1, wherein: the baffle (14) comprises two semicircular plate bodies, two baffle (14) are spliced with each other, one end of the baffle (14) is provided with a mounting plate (15) for mounting a driving motor, and one side of the mounting plate (15) is provided with an opening for driving a shaft (18) to rotate.

7. The 5G-based service robot housing structure of claim 1, wherein: the fixed shaft (13) consists of two semi-circular plate bodies which are spliced with each other, a gear ring used for meshing a gear (22) is arranged on the surface of the fixed shaft (13), and the fixed shaft (13) is positioned between the first shell (1) and the partition plate (14).

8. The 5G-based service robot housing structure of claim 1, wherein: the limiting block (16) is of a U-shaped structure, a rotating shaft (21) is arranged in the middle of one side of the limiting block (16), and the rotating shaft (21) is connected with the inside of the partition plate (14) in a rotating mode.

9. The 5G-based service robot housing structure of claim 1, wherein: the gear (22) and the limiting block (16) are respectively positioned at two sides of the partition plate (14), metal sheets (19) with bending structures are respectively arranged at two sides of the limiting block (16), and the inserted rod (20) at one side of each metal sheet (19) is movably inserted into the limiting block (16).

10. The 5G-based service robot housing structure of claim 1, wherein: the plug-in block (17) is of a flat structure, a through hole for plugging the plug-in rod (20) is formed in the middle of the plug-in block (17), and the plug-in block (17) is connected with the inner wall of the limiting block (16) in a fitting mode.