CN113146602A - Robot structure suitable for computer control - Google Patents
Robot structure suitable for computer control Download PDFInfo
- Publication number
- CN113146602A CN113146602A CN202110339766.2A CN202110339766A CN113146602A CN 113146602 A CN113146602 A CN 113146602A CN 202110339766 A CN202110339766 A CN 202110339766A CN 113146602 A CN113146602 A CN 113146602A
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- swing
- fixedly connected
- support
- joint
- computer control
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
- B25J9/1045—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons comprising tensioning means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a robot structure, in particular to a robot structure suitable for computer control, which comprises a pulling bracket, a pull rope, a swinging joint I, a spring component, a rotating mechanism, a device bracket, a swinging joint II, a pulling mechanism and a traveling mechanism, different pull ropes can be pulled by the pulling mechanism, the pull ropes are expanded outwards to pull the joint mechanisms I on the two sides to swing, the spring component is extruded, the joint mechanisms I drive the joint mechanisms II to swing, the joint mechanisms II drive the travelling mechanism to swing to simulate the swing of joints, meanwhile, the rotating mechanism drives the dragging bracket to rotate, the dragging bracket drives the joint mechanism I to rotate, the joint mechanism I rotates on the joint mechanism II, and further the deflection position of the joint mechanism II is changed, the all-dimensional swing motion of the human joint can be simulated, and the deflection direction of the walking mechanism is changed.
Description
Technical Field
The invention relates to a robot structure, in particular to a robot structure suitable for computer control.
Background
For example, publication No. CN108238126A discloses a wheel-foot omnidirectional moving robot, including: the robot comprises a rack, a wheel type advancing assembly fixedly connected with the rack and a leg type advancing assembly fixedly connected with the rack, wherein the rack is of an integrated axisymmetric structure, and the wheel type advancing assembly and the leg type advancing assembly are mutually independent and work alternately to form a wheel-foot omnidirectional exercise robot. The wheel-foot omnidirectional moving robot with strong environmental adaptability is formed by arranging wheel type advancing assemblies and leg type advancing assemblies which are mutually independent and work alternately on a rack and adjusting different extension and contraction states of the leg type advancing assemblies; the disadvantage of this invention is that it does not simulate human joint motion.
Disclosure of Invention
The invention aims to provide a robot structure suitable for computer control, which can simulate human joint movement.
The purpose of the invention is realized by the following technical scheme:
a robot structure suitable for computer control comprises a pulling support, a pull rope, a swinging joint I, a spring component, a rotating mechanism, a device support, a swinging joint II, a pulling mechanism and a traveling mechanism, wherein the pulling support comprises support rings, a connecting column I, a gap ball and perforating rings;
the swing joint I comprises a swing bottom plate, a rotating ring and a hemispherical cavity, the rotating ring and the hemispherical cavity are fixedly connected to two sides of the swing bottom plate, the hemispherical cavity is in clearance fit with each of two clearance spheres, pull ropes penetrate through a plurality of perforated rings, two ends of each pull rope are respectively and fixedly connected to the two swing bottom plates, and spring components are fixedly connected between the two support rings and the two swing bottom plates;
the device support comprises a side support and a connecting column II, the left end and the right end of the connecting column II are fixedly connected with the side support, the rotating mechanism comprises a driving shaft and driving belt wheels, the two side supports are rotatably connected with the driving belt wheels, the two driving belt wheels are in transmission connection with the driving shaft through belts, the driving shaft is provided with a driving mechanism for driving the driving shaft to rotate, the driving mechanism can be a motor, and the two driving belt wheels are respectively and fixedly connected to two supporting rings;
the swing joint II comprises a swing support and a centering component, the two rotating rings are both rotatably connected with the swing support, a plurality of centering components are hinged between the two swing supports and the two side supports, each centering component comprises a hinge block I, a hinge block II and a centering spring, the centering springs are fixedly connected between the hinge blocks I and the hinge blocks II, the hinge blocks II are all hinged on the corresponding swing supports, and the hinge blocks I are all hinged on the corresponding side supports;
the pulling mechanism comprises a rotating motor, a telescopic mechanism I and an arc push plate, the telescopic mechanism I is fixedly connected to an output shaft of the rotating motor, the arc push plate is fixedly connected to the telescopic end of the telescopic mechanism I, and the rotating motor is fixedly connected to a support ring on one side;
the walking mechanism comprises a joint motor I, a swing arm I, a joint motor II, a joint belt wheel and a swing arm II, the sliding column, the sliding cylinder, telescopic machanism II, joint motor III and crawler, fixedly connected with swing arm I on the output shaft of joint motor I, the one end fixedly connected with joint motor II of swing arm I, the other end of swing arm I is rotated and is connected with the joint band pulley, the output shaft of joint band pulley and joint motor II is connected through the belt drive, fixedly connected with swing arm II on the joint band pulley, fixedly connected with sliding column on the swing arm II, sliding connection has the sliding cylinder on the sliding column, sliding connection has telescopic machanism II on the sliding column, telescopic machanism II's telescopic end fixed connection is on the sliding cylinder, III fixed connection of joint motor is on crawler, III's output shaft fixed connection is on the sliding cylinder, equal fixedly connected with joint motor I in the outside of two swing supports.
The robot structure suitable for computer control has the beneficial effects that:
the invention relates to a robot structure suitable for computer control, wherein different pull ropes can be pulled through a pulling mechanism, the pull ropes are expanded outwards to pull joint mechanisms I on two sides to swing, a spring component is extruded, the joint mechanisms I drive joint mechanisms II to swing, the joint mechanisms II drive a walking mechanism to swing to simulate the swing of joints, meanwhile, a rotating mechanism drives a pulling support to rotate, the pulling support drives the joint mechanisms I to rotate, the joint mechanisms I rotate on the joint mechanisms II to further change the deflection positions of the joint mechanisms II, the omnibearing swinging motion of human joints can be simulated, and the deflection direction of the walking mechanism is further changed.
Drawings
The invention is described in further detail below with reference to the accompanying drawings and specific embodiments.
FIG. 1 is a schematic diagram of a first embodiment of a robot structure suitable for computer control according to the present invention;
FIG. 2 is a schematic diagram of a second embodiment of a robot structure suitable for computer control according to the present invention;
FIG. 3 is a schematic diagram of a second embodiment of a robot structure suitable for computer control according to the present invention;
FIG. 4 is a first schematic structural diagram of a third embodiment of a robot structure suitable for computer control according to the present invention;
FIG. 5 is a schematic view of a pull stent configuration of the present invention;
FIG. 6 is a schematic view of the device mounting structure of the present invention;
FIG. 7 is a schematic view of the rotating mechanism of the present invention;
FIG. 8 is a schematic view of the pulling mechanism of the present invention;
FIG. 9 is a second schematic structural view of a third embodiment of a robot configuration suitable for computer control in accordance with the present invention;
FIG. 10 is a partial schematic diagram of a third embodiment of a robot configuration suitable for computer control in accordance with the present invention;
FIG. 11 is a third schematic structural view of a third embodiment of a robot configuration suitable for computer control in accordance with the present invention;
FIG. 12 is a schematic diagram of a cross-sectional view of a third embodiment of a robot configuration suitable for computer control in accordance with the present invention;
FIG. 13 is a first schematic structural diagram of a fourth embodiment of a robot structure suitable for computer control according to the present invention;
FIG. 14 is a second schematic structural view of a fourth embodiment of a robot configuration suitable for computer control in accordance with the present invention;
fig. 15 is a schematic view of the pulling mechanism of the present invention urging the pull cord outwardly.
In the figure:
a support ring 101;
a connecting column I102;
a gap sphere 103;
a perforated ring 104;
a pull rope 200;
a swing floor 301;
a rotating ring 302;
a hemispherical cavity 303;
a spring member 400;
a drive shaft 501;
a drive pulley 502;
a connecting column II 601;
a swing bracket 701;
a centering member 702;
a hinge block I703;
the hinge block II 704;
a centering spring 705;
a rotating motor 801;
a telescoping mechanism I802;
a circular arc push plate 803;
a joint motor I901;
a swing arm I902;
a joint motor II 903;
a joint pulley 904;
a swing arm II 905;
a sliding post 906;
a slide cylinder 907;
a telescoping mechanism II 908;
a joint motor III 910;
a track mechanism 911.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The following describes a first embodiment with reference to fig. 1, 5, 8, and 15, and the robot structure suitable for computer control includes a pulling support, a pulling rope 200, a swing joint i, a spring member 400, a rotating mechanism, a device support, a swing joint ii, a pulling mechanism, and a traveling mechanism, where the pulling support includes support rings 101, a connection post i 102, a gap sphere 103, and perforated rings 104, both ends of the connection post i 102 are fixedly connected with the support rings 101, outer sides of the two support rings 101 are fixedly connected with the gap sphere 103, and the two support rings 101 are each provided with a plurality of perforated rings 104;
the swing joint I comprises a swing bottom plate 301, a rotating ring 302 and a hemispherical cavity 303, the rotating ring 302 and the hemispherical cavity 303 are fixedly connected to two sides of the swing bottom plate 301, the hemispherical cavity 303 is in clearance fit with two clearance spheres 103, pull ropes 200 penetrate through a plurality of perforated rings 104, two ends of each pull rope 200 are fixedly connected to the two swing bottom plates 301 respectively, and spring components 400 are fixedly connected between the two support rings 101 and the two swing bottom plates 301;
the pulling mechanism comprises a rotating motor 801, a telescopic mechanism I802 and an arc push plate 803, the telescopic mechanism I802 is fixedly connected to an output shaft of the rotating motor 801, the arc push plate 803 is fixedly connected to the telescopic end of the telescopic mechanism I802, and the rotating motor 801 is fixedly connected to the support ring 101 on one side;
when the telescopic mechanism I802 is started, the telescopic mechanism I802 and the telescopic mechanism II 908 can be hydraulic cylinders or electric push rods, the telescopic end of the telescopic mechanism I802 moves upwards, the telescopic mechanism I802 drives the arc push plate 803 to move upwards, the arc push plate 803 moves upwards to be contacted with the pull rope 200, the pull rope 200 is pushed by the arc push plate 803 to move outwards, the pull rope 200 expands outwards, the middle part of the pull rope 200 contracts, the two sides of the pull rope 200 move inwards, the pull rope 200 pulls the two corresponding swing bottom plates 301 on the two sides to move, the two swing bottom plates 301 deflect, the spring part 400 is compressed at the same time, the hemispherical cavity 303 moves on the gap sphere 103, the arc push plate 803 pushes different pull ropes 200, the rotating motor 801 is started, the output shaft of the rotating motor 801 starts to rotate, the output shaft of the rotating motor 801 drives the telescopic mechanism I802 to rotate, the telescopic mechanism I802 drives the arc push plate 803 to rotate so as to adjust the position of the arc push plate 803, the arc push plate 803 can push pull ropes 200 at different positions, so that the two swing base plates 301 move to different positions, and the different swing base plates 301 deflect to different directions, so as to simulate the motion of a human joint part, the rotating motor 801 can be started when the telescopic end of the telescopic mechanism I802 extends out, the rotating motor 801 can also be started when the telescopic end of the telescopic mechanism I802 retracts, the rotating motor 801 is started when the telescopic end of the telescopic mechanism I802 retracts, the output shaft of the rotating motor 801 drives the arc push plate 803 to move, so that the arc push plate 803 can be adjusted to push the position of the pull rope 200, the rotating motor 801 is started when the telescopic end of the telescopic mechanism I802 extends out, so that the arc push plate 803 can move under the condition that the pull rope 200 is pushed to move outwards, the arc push plate 803 pushes the pull ropes 200 adjacent to the pull ropes 200, so that the pull ropes 200 are sequentially pulled, and the swing base plate 301 continuously deflects to simulate the rotary motion of the joint.
A second embodiment is described below with reference to fig. 2, 3, and 7, the device bracket includes a side bracket 602 and a connecting column ii 601, the left and right ends of the connecting column ii 601 are both fixedly connected with the side bracket 602, the rotating mechanism includes a driving shaft 501 and a driving pulley 502, the two side brackets 602 are both rotatably connected with the driving pulley 502, the two driving pulleys 502 are both connected with the driving shaft 501 through belt transmission, the driving shaft 501 is provided with a driving mechanism for driving the driving shaft 501 to rotate, the driving mechanism may be a motor, and the two driving pulleys 502 are respectively and fixedly connected to the two support rings 101;
a driving mechanism for driving the driving shaft 501 to rotate is arranged on the driving shaft 501, the driving mechanism may be a motor, the motor on the driving shaft 501 is started, an output shaft of the motor starts to rotate, the output shaft of the motor drives the driving shaft 501 to rotate, the driving shaft 501 drives the driving pulley 502 to rotate, the driving pulley 502 drives the supporting ring 101 to rotate, the supporting ring 101 drives the gap ball 103 to rotate, the gap ball 103 drives the corresponding swing bottom plate 301 thereon to rotate through the centering spring 705, the swing bottom plate 301 drives the rotating ring 302 to rotate, so as to adjust the position of the rotating ring 302, and simultaneously, the telescoping mechanism i 802 is started, the telescoping end of the telescoping mechanism i 802 drives the arc push plate 803 to move, the arc push plate 803 pushes the corresponding pull rope 200 to move, the pull rope 200 pulls the rotating ring 302 to move, so that the rotating ring 302 deflects, the rotating ring 302 deflects in the rotating process, so that the deflection position of the rotating ring 302 is adjusted, the movement mode of a human shutdown part is further simulated, and the deflection degree of the rotating ring 302 can be adjusted through the extension length of the extension end of the extension mechanism I802.
A third embodiment is described below with reference to fig. 4, 9, 10, 11, and 12, where the swing joint ii includes a swing bracket 701 and a centering member 702, the swing brackets 701 are rotatably connected to the two rotating rings 302, a plurality of centering members 702 are hinged between the two swing brackets 701 and the two side brackets 602, the centering member 702 includes a hinge block i 703, a hinge block ii 704, and a centering spring 705, the centering spring 705 is fixedly connected between the hinge block i 703 and the hinge block ii 704, the hinge blocks ii 704 are hinged to the corresponding swing brackets 701, and the hinge blocks i 703 are hinged to the corresponding side brackets 602;
in order to connect with an external mechanism, a swing joint II is arranged, the outer sides of two connecting columns II 602 are both provided with the swing joints II, a centering part 702 is fixedly connected between the swing joints II and the side brackets 602, the centering part 702 mainly plays a role of centering and limiting one to prevent the swing joints II and the rotating rings 302 from rotating together, the outer sides of the two rotating rings 302 are respectively and rotatably connected to the two swing brackets 701, when the rotating rings 302 swing, the rotating rings 302 drive the corresponding swing brackets 701 to swing so as to enable the swing brackets 701 to simulate joints to move, a driving mechanism for driving the driving shaft 501 to rotate is arranged on the driving shaft 501, the driving mechanism can be a motor, the motor on the driving shaft 501 is started, the output shaft of the motor starts to rotate, and the output shaft of the motor drives the driving shaft 501 to rotate, the driving shaft 501 drives the driving pulley 502 to rotate, the driving pulley 502 drives the supporting ring 101 to rotate, the supporting ring 101 drives the gap ball 103 to rotate, the gap ball 103 drives the corresponding swing base plate 301 to rotate through the centering spring 705, the swing base plate 301 drives the rotating ring 302 to rotate, the position of the rotating ring 302 is adjusted, meanwhile, the telescoping mechanism i 802 is started, the telescoping end of the telescoping mechanism i 802 drives the arc push plate 803 to move, the arc push plate 803 pushes the corresponding pull rope 200 to move, the pull rope 200 pulls the rotating ring 302 to move, so that the rotating ring 302 deflects, the rotating ring 302 deflects in the rotating process, and then the deflection position of the rotating ring 302 is adjusted, the rotating ring 302 drives the swing bracket 701 to move in the deflection and rotation process, and then the swing bracket 701 can move to any angle, the shortcoming that the pull rope 200 can only be pulled in one direction is overcome, and meanwhile the centering component 702 limits the device, so that when a walking mechanism connected to the swing support 701 or other mechanisms capable of enabling the device to move or a mechanical arm and the like in the prior art are arranged on the swing support 701, the device support is supported through the centering component 702, the device support is prevented from being unsupported, and normal movement of the device is guaranteed.
Referring to fig. 13 and 14, a fourth embodiment is described, the traveling mechanism includes a joint motor i 901, a swing arm i 902, a joint motor ii 903, a joint pulley 904, a swing arm ii 905, a sliding column 906, a sliding cylinder 907, a telescopic mechanism ii 908, a joint motor iii 910 and a crawler 911, the swing arm i 902 is fixedly connected to an output shaft of the joint motor i 901, the joint motor ii 903 is fixedly connected to one end of the swing arm i 902, the joint pulley 904 is rotatably connected to the other end of the swing arm i 902, the joint pulley 904 and an output shaft of the joint motor ii 903 are connected through belt transmission, the swing arm ii 905 is fixedly connected to the joint pulley 904, the sliding column 906 is fixedly connected to the swing arm ii 905, the sliding cylinder 907 is slidably connected to the sliding column 906, the telescopic mechanism ii 908 is slidably connected to the sliding column 906, and a telescopic end of the telescopic mechanism ii 908 is fixedly connected to the sliding cylinder 907, the joint motor III 910 is fixedly connected to the crawler 911, an output shaft of the joint motor III 910 is fixedly connected to the sliding cylinder 907, and the outer sides of the two swing brackets 701 are fixedly connected with a joint motor I901;
the two swing supports 701 are fixedly connected with a traveling mechanism, so that the device can move, other mechanisms needing joint movement can be installed on the two swing supports 701, a joint motor I901 is started, an output shaft of the joint motor I901 starts to rotate, the output shaft of the joint motor I901 drives a swing arm I902 to move, so that the swing position of the swing arm I902 is adjusted, the swing arm I902 drives a joint motor II 903 and a joint belt wheel 904 to move, so that the position of the swing arm II 905 is adjusted, a joint motor II 903 is started, the output shaft of the joint motor II 903 starts to rotate, the output shaft of the joint motor II 903 drives the joint belt wheel 904 to rotate, the joint belt wheel 904 drives the swing arm II 905 to rotate, so that the deflection position of the swing arm II 905 is adjusted, the swing arm II 905 drives a sliding column 906 to rotate, the sliding column 906 drives the sliding cylinder 907 to rotate, the sliding cylinder 907 drives the joint motor III 910 to move, the joint motor III 910 drives the crawler 911 to move, and then the position of the crawler 911 is adjusted, the crawler 911 can be a crawler in the prior art, mainly a driving device moves, the telescopic mechanism II 908 is started, the telescopic end of the telescopic mechanism II 908 moves, and then the sliding cylinder 907 is driven to slide on the sliding column 906, so that the height of the device is adjusted, or the extending length of the walking mechanism is adjusted, the joint motor III 910 is started, the output shaft of the joint motor III 910 starts to rotate, the output shaft of the joint motor III 910 drives the crawler 911 to deflect, the inclination angle of the crawler 911 is adjusted, and the obstacle crossing capability of the device is improved.
It should be noted that the above embodiments may be spliced with each other or all may be combined together for use. 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 (10)
1. The utility model provides a robot structure suitable for computer control, includes pulls support, stay cord (200) and swing joint I, its characterized in that: the left side and the right side of the pulling support are both intermittently matched with swing joints I, and a plurality of pull ropes (200) are fixedly connected between the two swing joints I.
2. A robotic structure adapted for computer control as claimed in claim 1, wherein: still include spring unit (400), two swing joint I and pull equal fixedly connected with spring unit (400) between the support, a plurality of stay cords (200) all pass and pull the support.
3. A robotic structure adapted for computer control as claimed in claim 2, wherein: the pulling mechanism is fixedly connected to the pulling support and pushes one of the pull ropes (200) to expand outwards.
4. A robotic structure adapted for computer control as claimed in claim 3, wherein: the dragging support comprises support rings (101), a connecting column I (102), a gap ball body (103) and perforated rings (104), wherein the support rings (101) are fixedly connected to the two ends of the connecting column I (102), the gap ball body (103) is fixedly connected to the outer sides of the two support rings (101), and the perforated rings (104) are arranged on the two support rings (101).
5. A robotic structure adapted for computer control as claimed in claim 3, wherein: the pulling mechanism comprises a rotating motor (801), a telescopic mechanism I (802) and an arc push plate (803), the telescopic mechanism I (802) is fixedly connected to an output shaft of the rotating motor (801), the arc push plate (803) is fixedly connected to the telescopic end of the telescopic mechanism I (802), and the rotating motor (801) is fixedly connected to the support ring (101) on one side.
6. A robotic structure adapted for computer control as claimed in claim 4, wherein: swing joint I includes swing bottom plate (301), swivel ring (302) and hemisphere cavity (303), fixedly connected with swivel ring (302) and hemisphere cavity (303) on the both sides of swing bottom plate (301), and equal clearance fit has hemisphere cavity (303) on two clearance spheroid (103).
7. A robotic structure adapted for computer control as claimed in claim 6, wherein: spring parts (400) are fixedly connected between the two swing bottom plates (301) and the two support rings (101).
8. A robotic structure adapted for computer control as claimed in claim 6, wherein: a pull rope (200) penetrates through each perforation ring (104), and two ends of each pull rope (200) are respectively and fixedly connected to the two swing bottom plates (301).
9. A robotic structure adapted for computer control according to any of claims 3 to 8, wherein: the device comprises a device support and a rotating mechanism, wherein the device support is connected to the device support in a rotating mode, the rotating mechanism is connected to the device support, and the rotating mechanism is fixedly connected to the rotating mechanism.
10. A robotic structure adapted for computer control as claimed in claim 9, wherein: still include swing joint II, the outside of two swing joints I is all rotated and is connected with swing joint II, and it has rightting part (702) to articulate between swing joint II and the device support.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110339766.2A CN113146602B (en) | 2021-03-30 | 2021-03-30 | Robot structure suitable for computer control |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110339766.2A CN113146602B (en) | 2021-03-30 | 2021-03-30 | Robot structure suitable for computer control |
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| CN113146602A true CN113146602A (en) | 2021-07-23 |
| CN113146602B CN113146602B (en) | 2022-09-02 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114109066A (en) * | 2021-11-29 | 2022-03-01 | 哈尔滨学院 | Cement-based slurry shrinkage crack measuring and filling device |
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