CN116277068A

CN116277068A - Robot

Info

Publication number: CN116277068A
Application number: CN202310405687.6A
Authority: CN
Inventors: 唐伟杰; 陈俊毅; 朱熙; 吴俊乐; 徐悦; 陈鸿彪; 莫明诚
Original assignee: Beijing Institute of Technology Zhuhai
Current assignee: Beijing Institute of Technology Zhuhai
Priority date: 2023-04-14
Filing date: 2023-04-14
Publication date: 2023-06-23

Abstract

The invention discloses a robot, which belongs to the technical field of robots, and comprises: the device comprises a base, a transmitting mechanism and a picking mechanism, wherein the transmitting mechanism is arranged on the base, and an initial station is arranged at the top of the transmitting mechanism; the pickup mechanism comprises a supporting seat, a clamping assembly, a mechanical arm and a driving steering engine, wherein the supporting seat is arranged on the base, the driving steering engine is arranged at the top of the supporting seat, and an output shaft of the driving steering engine penetrates through the supporting seat and is connected with the mechanical arm; wherein, the movable radius of the mechanical arm covers the initial station; the mechanical arm is movably matched with the clamping assembly, the end part of the clamping assembly is provided with a telescopic clamping position, and the clamping position is arranged away from the transmitting direction of the transmitting mechanism; the emission ball is clamped by the clamping component, the mechanical arm rotates anticlockwise, the emission is moved to an initial station of the emission mechanism, the emission ball can be directly or quickly placed on the emission mechanism after being picked up, and the radiation efficiency of the robot is improved.

Description

Robot

Technical Field

The invention belongs to the technical field of robots, and particularly relates to a robot.

Background

When the existing robot picks up the launching balls to launch, the launching balls need to be picked up firstly, then the launching balls are moved to the launching station, the whole process generally needs manual assistance, or the whole process is completed by a plurality of robots, the existing robot has a single function, and the launching balls cannot be directly or quickly placed on the launching station after being picked up.

Disclosure of Invention

The invention aims to provide a robot, which can be directly or quickly placed on a launching mechanism after picking up a launching ball and improves the launching efficiency of the robot.

The technical scheme is as follows:

a robot, comprising:

a base, a base seat and a base seat,

the transmitting mechanism is arranged on the base, and an initial station is arranged at the top of the transmitting mechanism;

the pick-up mechanism comprises a supporting seat, a clamping assembly, a mechanical arm and a driving steering engine, wherein the supporting seat is arranged on the base, the driving steering engine is arranged at the top of the supporting seat, and an output shaft of the driving steering engine penetrates through the supporting seat and is connected with the mechanical arm; wherein the movable radius of the mechanical arm covers the initial station;

the mechanical arm is in movable fit with the clamping assembly, the end part of the clamping assembly is provided with a telescopic clamping position, and the clamping position and the transmitting direction of the transmitting mechanism are arranged in a deviating mode.

In one embodiment, the clamping assembly includes a first clamping bar and a second clamping bar; the mechanical arm comprises a supporting frame, an electric cylinder, a first connecting rod assembly and a second connecting rod assembly;

the first clamping rod is hinged with the first end of the first connecting rod assembly, the middle part of the first connecting rod assembly is rotatably connected with the supporting frame, and the second end of the first connecting rod assembly is arranged on the side wall of the electric cylinder; the second clamping rod is hinged with a third end of the second connecting rod assembly, the middle part of the second connecting rod assembly is rotationally connected with the supporting frame, and a fourth end of the second connecting rod assembly is arranged on the side wall of the electric cylinder;

the electric cylinder comprises a cylinder body and a screw rod, the cylinder body is mounted on the supporting frame, at least one part of the screw rod is positioned in the cylinder body, and the rear end of the screw rod is mounted on the output end of the cylinder body; the front end of the screw rod is positioned between the first clamping rod and the second clamping rod and is close to the clamping position.

In one embodiment, the first clamping rod and the second clamping rod are in arc structures, and the intrados of the first clamping rod and the intrados of the second clamping rod are arranged oppositely and form the clamping position; and/or the number of the groups of groups,

the first clamping rod and the second clamping rod are bent, and the bending direction of the first clamping rod and the bending direction of the second clamping rod face the clamping position.

In one embodiment, a suction cup is arranged between the first clamping rod and the second clamping rod, the suction cup is arranged at the front end of the screw rod, an air suction opening is arranged at the outer end of the suction cup, and the air suction opening is positioned in the clamping position; the sucking disc is telescopic along the length direction of the wire rod.

In one embodiment, the emission mechanism comprises an emission bracket, an emission assembly and two mounting plates, wherein the bottom of the emission bracket is arranged on the base, the two mounting plates are arranged on two sides of the emission bracket, and the emission assembly is arranged on the top of the emission bracket and is positioned between the two mounting plates;

the transmitting assembly comprises a moving frame and at least two groups of upper chamber parts, wherein the upper chamber parts are arranged on the moving frame and are oppositely arranged; a transmitting station is formed between the two groups of the upper chamber parts, and the transmitting station is positioned in the transmitting direction;

the loading piece comprises a transmitting wheel and a driving motor, the driving motor is installed at the front end of the movable frame, the transmitting wheel is installed at the output end of the driving motor, and the outer end of the transmitting wheel is used for being abutted with the transmitting ball.

In one embodiment, the transmitting assembly is provided with a limiting block, and the limiting block is arranged at the front end of the movable frame and is positioned at one side of the transmitting wheel; the limiting block is located above the launching station and made of elastic materials and is used for being abutted with the launching balls.

In one embodiment, the moving frame comprises a transmitting part and a supporting part, the transmitting part is in an annular structure, the transmitting part is arranged at the front end of the supporting part, and the driving motor and the limiting block are both positioned in the circumferential direction of the transmitting part; the initial station is located at the upper end of the supporting portion.

In one embodiment, the launching assembly further comprises an electric push rod and two guide rails, and the two guide rails are installed at the rear end of the supporting part; the two guide rails are arranged in parallel, the supporting surfaces of the two guide rails are arranged in a relatively inclined mode, the initial station is formed, and the electric push rod is located on one side of the initial station and is arranged away from the transmitting direction.

In one embodiment, the transmitting mechanism is provided with an adjusting component, the adjusting component comprises an adjusting motor, a rotating shaft and a brake disc, the adjusting motor is installed on any mounting plate, the brake disc is sleeved on the outer wall of the rotating shaft, one end of the rotating shaft is installed on the side wall of the movable frame, the other end of the rotating shaft is in running fit with the mounting plate, and the outer end of the brake disc is in contact with the output end of the adjusting motor.

In one embodiment, the base comprises an outer frame, a honeycomb plate and a supporting rod, wherein the supporting rod is positioned in the outer frame, two ends of the supporting rod are fixedly connected with the inner side of the outer frame, and the honeycomb plate is installed in the outer frame and connected with the supporting rod; the transmitting bracket is arranged on the supporting rod.

The technical scheme provided by the invention has the following advantages and effects:

1. the transmitting ball is clamped by the clamping component and is connected with the driving steering engine through the mechanical arm, the driving steering engine is used for driving the mechanical arm to enable the mechanical arm to rotate clockwise or anticlockwise, and the mechanical arm can rotate and move in the horizontal direction or the vertical direction according to the installation positions of the driving steering engine and the mechanical arm; when the mechanical arm rotates in the vertical direction, the movable radius of the mechanical arm covers the initial station, so that the clamping assembly drives the steering engine to drive the launching ball to move to the initial station along the circumferential direction of the mechanical arm after picking up the launching ball, and the clamping assembly releases the launching ball to enable the launching ball to drop to the initial station; moreover, the transmission direction of clamping position and emission mechanism deviates from the setting, only needs the circumference distance of its half of arm rotation, can place the launching ball of clamping position on initial station, has improved the efficiency that the mechanical arm placed the launching ball. The device can be directly or quickly placed on the launching mechanism after the launching balls are picked up, and the radiation efficiency of the robot is improved.

2. The first clamping rod is hinged with the supporting frame through a first connecting rod assembly, the second clamping rod is hinged with the supporting frame through a second connecting rod assembly, the first connecting rod assembly and the second connecting rod assembly are both arranged on the side wall of the screw rod, and the first connecting rod assembly and the second connecting rod assembly form a lever structure on the supporting frame; the cylinder body drives the screw rod to move back and forth, so that the screw rod drives the first connecting rod assembly and the second connecting rod assembly to rotate, and the first clamping rod and the second connecting rod can be driven to move towards the clamping position at the same time, and then the clamping position is opened or closed, so that the shooting ball is clamped; simultaneously, lead screw and cylinder body cooperation, when the lead screw moved forward, can drive clamping assembly moved to the position of launching ball, the lead screw moved backward can make clamping assembly shrink, and then presss from both sides and get the launching ball, has improved clamping assembly's flexibility.

3. The first clamping rod and the second clamping rod adopt arc structures, and the inner cambered surface of the house type structure is matched with the outer cambered surface of the transmitting ball, so that the inner side of the clamping assembly is better attached to the transmitting ball, the transmitting ball is prevented from falling from the clamping position, and the clamping efficiency of the clamping assembly is improved; meanwhile, the first clamping rod and the second clamping rod can be bent and used for picking up articles in other shapes, such as square or diamond-shaped articles, and the adaptability of the clamping assembly is improved.

4. The suction opening of this sucking disc is located the clamping position, and the sucking disc can be used for the intercommunication equipment of breathing in, makes the outer end of sucking disc possess the adsorption effort, and after clamping assembly opened the clamping position, the sucking disc utilized self suction, makes the lighter launching ball of weight driven by the suction of sucking disc to remove to the clamping position, under the effect of electric jar, the lead screw is backward moved, and clamping assembly contracts, and then the gripping launching ball, further improves clamping assembly's pick up efficiency.

5. At least two groups of loading pieces are adopted and are oppositely arranged to form a launching station, after a launching ball enters the launching station, the outer end of a launching wheel is abutted against the outer surface of the launching ball, so that the launching ball is fixed, the launching ball is prevented from falling or sliding off, then the rotating speed of a driving motor is regulated, the driving motor drives the launching wheel to rotate rapidly, and the static friction between the launching wheel and the launching ball is instantaneously converted into rolling friction due to the abutting of the launching wheel and the launching ball, so that the launching ball is launched; the rotating speed of the driving motor can be adjusted, so that the rotating speeds of the two transmitting wheels are different, the transmitting angle of the transmitting ball can be changed, the transmitting angle of the transmitting ball is finely adjusted, and the flexibility of the transmitting mechanism is improved.

6. The adoption has elastic stopper to install in one side of launching wheel, makes stopper and launching ball butt, when adjusting the rotational speed of launching wheel, can adopt the stopper restriction launching ball to remove, makes the launching ball be difficult for dropping on the transmission station, further improves the stability of launching ball.

7. The launching part is in an annular structure, a spherical launching station is arranged in the launching part and matched with the shape of the launching ball, a driving motor and a limiting block are arranged in the circumferential direction of the launching part, a launching wheel is positioned around the launching ball and acts on the launching ball from multiple directions, so that the acceleration of the launching ball during launching is improved, and the flight distance of the launching ball is increased; meanwhile, the limiting block is used for limiting the launching balls from multiple directions, so that the stability of the launching balls on the launching station is improved.

8. The two guide rails are adopted, the supporting surfaces of the two guide rails are arranged in a relatively inclined mode to form an initial station, the launching balls can be stably placed on the initial station, the electric push rod is located on one side of the initial station and is arranged away from the launching direction, the electric push rod is moved to enable the launching balls to move from the initial station to the launching station, the launching balls are clamped by the limiting blocks, and the launching balls are in a state to be launched on the launching station.

9. Adopt accommodate motor and brake dish to cooperate, the brake dish is installed in the pivot, and the pivot is installed on the lateral wall of removing the frame, removes the frame and passes through pivot and mounting panel normal running fit, and accommodate motor's output and brake dish's outer end contact, accommodate motor is used for driving the brake dish and rotates to adjust the pitch angle of removing the frame, and then adjust the firing angle of emission ball.

10. The support rod is arranged on the inner side of the outer frame, so that the support strength of the base is improved, and meanwhile, the honeycomb plate can also improve the integrity of the base.

Drawings

Fig. 1 is a schematic view of a robot in an embodiment of the invention.

FIG. 2 is a schematic diagram of a pick-up mechanism in an embodiment of the invention.

Fig. 3 is an exploded view of a picking mechanism in an embodiment of the invention.

Fig. 4 is an enlarged partial view of the outlet a of fig. 2 in an embodiment of the invention.

Fig. 5 is a top view of a clamping assembly according to an embodiment of the invention.

Fig. 6 is a schematic diagram of a launching mechanism in an embodiment of the present invention.

Fig. 7 is a schematic diagram of a launching mechanism in an embodiment of the present invention.

Fig. 8 is a schematic diagram of a launching mechanism in an embodiment of the present invention.

FIG. 9 is a schematic view of a base in an embodiment of the invention.

Reference numerals illustrate:

1. a base; 11. an outer frame; 12. a support rod; 13. a mounting position; 14. a honeycomb panel; 15. a positioning seat; 2. a mobile steering device; 3. a pick-up mechanism; 31. a support base; 311. a support column; 312. a chassis; 32. a mechanical arm; 321. a support frame; 322. an electric cylinder; 3221. a screw rod; 323. a first link assembly; 3231. a protruding shaft; 324. a first bracket; 325. a second link assembly; 326. a support plate; 327. a support block; 328. a shaft hole; 329. a second bracket; 33. a clamping assembly; 331. a suction cup; 332. a first clamping bar; 333. a second clamping bar; 334. a connecting plate; 34. driving a steering engine; 35. a connecting shaft; 4. a transmitting mechanism; 41. a launch support; 42. a mounting plate; 43. an adjustment assembly; 431. adjusting a motor; 432. a brake disc; 45. a transmitting assembly; 451. a loading piece; 4511. a launch wheel; 452. a guide rail; 453. a moving rack; 4531. a transmitting section; 4532. a support part; 454. a limiting block; 455. a rotating shaft; 5. a clamping position; 6. an initial station; 7. a launching ball; 8. and (5) a transmitting station.

Detailed Description

In order that the invention may be readily understood, a more particular description of specific embodiments thereof will be rendered by reference to specific embodiments that are illustrated in the appended drawings.

As used herein, the terms "first and second …" are used merely to distinguish between names and not to represent a particular number or order unless otherwise specified or defined.

The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items, unless specifically stated or otherwise defined.

The term "fixed" or "connected" as used herein may be directly fixed or connected to an element, or indirectly fixed or connected to an element.

Example 1

As shown in fig. 1 to 9, a robot includes: the device comprises a base 1, a transmitting mechanism 4 and a picking mechanism 3, wherein the transmitting mechanism 4 is arranged on the base 1, and an initial station 6 is arranged at the top of the transmitting mechanism 4; the pickup mechanism 3 comprises a supporting seat 31, a clamping assembly 33, a mechanical arm 32 and a driving steering engine 34, wherein the supporting seat 31 is arranged on the base 1, the driving steering engine 34 is arranged at the top of the supporting seat 31, and an output shaft of the driving steering engine 34 penetrates through the supporting seat 31 and is connected with the mechanical arm 32; wherein the radius of movement of the robotic arm 32 covers the initial station 6; the mechanical arm 32 is movably matched with the clamping assembly 33, the end part of the clamping assembly 33 is provided with a telescopic clamping position 5, and the clamping position 5 is arranged away from the transmitting direction of the transmitting mechanism 4.

The transmitting ball 7 is clamped by the clamping assembly 33 and is connected with the driving steering engine 34 through the mechanical arm 32, the driving steering engine 34 is used for driving the mechanical arm 32, the mechanical arm 32 rotates clockwise or anticlockwise, and the mechanical arm 32 can rotate and move in the horizontal direction or the vertical direction according to the installation positions of the driving steering engine 34 and the mechanical arm 32. When the mechanical arm 32 rotates in the vertical direction, the movable radius of the mechanical arm 32 covers the initial station 6, so that the clamping assembly 33 drives the steering engine 34 to drive the launching balls 7 to move onto the initial station 6 along the circumferential direction of the mechanical arm 32 after picking up the launching balls 7, and the clamping assembly 33 releases the launching balls 7 to enable the launching balls 7 to fall onto the initial station 6. Moreover, the transmission direction of the clamping position 5 and the transmission mechanism 4 is deviated, and the transmission ball 7 of the clamping position 5 can be placed on the initial station 6 only by rotating the mechanical arm 32 by half of the circumference distance, so that the efficiency of placing the transmission ball 7 by the mechanical arm 32 is improved. It is achieved that after picking up the launching balls 7, they can be placed directly or quickly on the launching mechanism 4 and the radiation efficiency of the robot is improved.

The use principle of the robot is as follows: the electric cylinder 322 is matched with the clamping assembly 33, the electric cylinder 322 drives the clamping assembly 33 to move forwards to the position of the launching ball 7, when the launching ball 7 is located at the clamping position 5, the electric cylinder 322 drives the screw rod 3221 to move backwards, and the first clamping rod 332 and the second clamping rod 333 are driven to shrink, so that the launching ball 7 is clamped. When the launching balls 7 are clamped and stabilized by the clamping assemblies 33, the driving steering engine 34 is used for driving the mechanical arm 32 to rotate around an output shaft of the driving steering engine 34, namely, the mechanical arm 32 rotates in a vertical direction anticlockwise direction, so that half of the circumference of the mechanical arm 32 rotates, and a specific rotating path is based on the circumferential position of the initial station 6 on the mechanical arm 32; the clamping assembly 33 at the end of the mechanical arm 32 moves to the position of the launching mechanism 4 and is located above the initial station 6, the electric cylinder 322 is driven again to enable the screw rod 3221 to move forwards, the clamping position 5 is opened, the launching ball 7 falls onto the initial station 6, and the picking up of the robot and the launching preparation of the launching ball 7 are completed.

The clamping assembly 33 includes a first clamping bar 332 and a second clamping bar 333; the mechanical arm 32 includes a support frame 321, an electric cylinder 322, a first link assembly 323, and a second link assembly 325; the first clamping rod 332 is hinged with a first end of a first link assembly 323, the middle part of the first link assembly 323 is rotatably connected with the supporting frame 321, and a second end of the first link assembly 323 is arranged on the side wall of the electric cylinder 322; the second clamping rod 333 is hinged with a third end of the second connecting rod assembly 325, the middle part of the second connecting rod assembly 325 is rotatably connected with the supporting frame 321, and a fourth end of the second connecting rod assembly 325 is arranged on the side wall of the electric cylinder 322; the electric cylinder 322 comprises a cylinder body and a screw rod 3221, the cylinder body is arranged on the supporting frame 321, at least one part of the screw rod 3221 is positioned in the cylinder body, and the rear end of the screw rod 3221 is arranged on the output end of the cylinder body; the front end of the screw 3221 is located between the first clamping bar 332 and the second clamping bar 333, and is close to the clamping position 5.

The first clamping rod 332 is hinged with the supporting frame 321 through a first connecting rod assembly 323, the second clamping rod 333 is hinged with the supporting frame 321 through a second connecting rod assembly 325, the first connecting rod assembly 323 and the second connecting rod assembly 325 are both arranged on the side wall of the screw rod 3221, and the first connecting rod assembly 323 and the second connecting rod assembly 325 form a lever structure on the supporting frame 321; the cylinder body drives the screw rod 3221 to move back and forth, so that the screw rod 3221 drives the first connecting rod assembly 323 and the second connecting rod assembly 325 to rotate, namely the first clamping rod 332 and the second connecting rod are driven to move towards the clamping position 5 at the same time, and the clamping position 5 is opened or closed, so that the launching balls 7 are clamped; simultaneously, lead screw 3221 and cylinder body cooperation, when lead screw 3221 moved forward, can drive clamping assembly 33 to the position of launching ball 7, and lead screw 3221 moves backward, can make clamping assembly 33 shrink, and then presss from both sides and get launching ball 7, has improved clamping assembly 33's flexibility.

In this embodiment, two groups of supporting seats 31 of the pickup mechanism 3 are provided, the two groups of supporting seats 31 are oppositely arranged, the driving steering engine 34 is mounted at the top of one group of supporting seats 31, the top of the other group of supporting seats 31 is fixed with the supporting frame 321 through the connecting shaft 35, the supporting frame 321 is positioned between the two groups of supporting seats 31, the two groups of supporting seats 31 are mounted on any bottom corner of the base 1, the supporting seats 31 are composed of two supporting columns 311 and a chassis 312, and the driving steering engine 34 is fixed at the top of the two supporting columns 311 and positioned between the two supporting columns 311; the chassis 312 is mounted on the base 1, and the two supporting seats 31 are fixed with the chassis 312, so that the pickup mechanism 3 has a relatively stable supporting structure, and further the mechanical arm 32 and the clamping assembly 33 are supported to complete the actions of pickup and rotation. The support frame 321 includes two support plates 326 and a plurality of support blocks 327, the two support plates 326 are disposed in parallel and opposite to each other, and the end of the support plate 326 has a shaft hole 328 through which the connection shaft 35 passes, so that the end of the support plate 326 is fixed to the connection shaft 35 or an output shaft of the driving steering engine 34. The supporting blocks 327 are arranged between the two supporting plates 326, the integrity of the two supporting plates 326 is improved, the electric cylinder 322 is fixed in the supporting blocks 327, the electric cylinder 322 is positioned between the two supporting plates 326, the screw rod 3221 of the electric cylinder moves along the length direction of the supporting plates 326, the mechanical arm 32 adopts the structure, the coordination between a picking assembly and the electric cylinder 322 is better, the picking mechanism 3 is more miniaturized, and accessories of the picking mechanism 3 are reduced as much as possible.

In this embodiment, the clamping assembly 33 is further provided with a connecting plate 334, the connecting plate 334 is provided with a first bracket 324 and a second bracket 329, the first bracket 324 and the second bracket 329 are fixed on the connecting plate 334, the first connecting rod assembly 323 is in a zigzag shape, the first connecting rod assembly 323 is installed on the connecting plate 334 through the second bracket 329, the middle part of the first connecting rod assembly 323 is installed on the connecting plate 334 through the first bracket 324, the outer wall of the first connecting rod assembly 323 is provided with a protruding shaft 3231, the end parts of the first bracket 324 and the second bracket 329 are provided with through holes, the first connecting rod assembly 323 is respectively in running fit with the first bracket 324 and the second bracket 329 through the protruding shaft 3231, the first end of the first connecting rod assembly 323 is also in running fit with the first clamping rod 332 through the protruding shaft 3231, the second end of the first connecting rod assembly 323 is installed on the side wall of the screw rod 3221, when the screw rod 3221 moves forwards and backwards, the screw rod 3221 drives the first clamping rod assembly 323 to rotate and swing, the connection mode of the second clamping rod 333 and the first connecting rod assembly 332 is not similar to that of the first connecting rod assembly 323.

The first clamping rod 332 and the second clamping rod 333 are in arc structures, and the inner cambered surface of the first clamping rod 332 and the inner cambered surface of the second clamping rod 333 are oppositely arranged to form a clamping position 5; the arc structure is adopted to first clamping lever 332 and second clamping lever 333, and the intrados of house type structure cooperatees with the extrados of launching ball 7, makes the inboard of clamping assembly 33 and the better laminating of launching ball 7, avoids launching ball 7 to drop from clamping position 5 to improve the efficiency of getting of clamping assembly 33.

A suction cup 331 is arranged between the first clamping rod 332 and the second clamping rod 333, the suction cup 331 is arranged at the front end of the screw rod 3221, the outer end of the suction cup 331 is provided with a suction opening, and the suction opening is positioned in the clamping position 5; the suction cup 331 is retractable along the length direction of the screw rod 3221. This suction opening of sucking disc 331 is located clamping position 5, and sucking disc 331 can be used for the intercommunication equipment of breathing in, makes the outer end of sucking disc 331 possess the adsorption effort, and after clamping component 33 opened clamping position 5, sucking disc 331 utilized self suction, makes lighter weight's launching ball 7 by the suction drive of sucking disc 331 to remove clamping position 5, under the effect of electric jar 322, lead screw 3221 moves backward, clamping component 33 shrink, and then the gripping launching ball 7, further improves the efficiency of picking up of clamping component 33.

The launching mechanism 4 comprises a launching bracket 41, a launching assembly 45 and two mounting plates 42, wherein the bottom of the launching bracket 41 is arranged on the base 1, the two mounting plates 42 are arranged on two sides of the launching bracket 41, and the launching assembly 45 is arranged on the top of the launching bracket 41 and is positioned between the two mounting plates 42; the emission assembly 45 comprises a movable frame 453 and three groups of upper chamber pieces 451, wherein the three groups of upper chamber pieces 451 are arranged on the movable frame 453 and are oppositely arranged; a transmitting station 8 is formed among the three groups of feeding parts 451, and the transmitting station 8 is positioned in the transmitting direction; the loading member 451 includes a launching wheel 4511 and a driving motor mounted at a front end of the moving frame 453, the launching wheel 4511 is mounted at an output end of the driving motor, and an outer end of the launching wheel 4511 is adapted to be abutted with the launching balls 7. Three groups of upper chamber parts 451 are adopted and are oppositely arranged to form a transmitting station 8, after the transmitting balls 7 enter the transmitting station 8, the outer ends of the transmitting wheels 4511 are abutted against the outer surfaces of the transmitting balls 7, so that the transmitting balls 7 are fixed, the transmitting balls 7 are prevented from falling or sliding off, and the three groups of upper chamber parts 451 are oppositely arranged to form three supporting points for supporting the transmitting balls 7.

Then, the rotation speed of the driving motor is regulated, the driving motor drives the launching wheels 4511 to rotate rapidly, and the three launching wheels 4511 are abutted with the launching balls 7, so that the static friction between the three launching wheels 4511 and the launching balls 7 is instantaneously converted into rolling friction, and the launching balls 7 are launched. And the rotation speed of the driving motor can be regulated, so that the rotation speed of one of the three launching wheels 4511 is different from the rotation speed of the other two launching wheels 4511, the rotation speed between the three launching wheels 4511 is slightly changed, the acting force of each action point in the three launching wheels 4511 is changed, the launching angle of the launching ball 7 can be finely adjusted, and the flexibility of the launching mechanism 4 is improved.

The transmitting assembly 45 is provided with a limiting block 454, and the limiting block 454 is arranged at the front end of the movable frame 453 and positioned at one side of the transmitting wheel 4511; the limiting block 454 is located above the launching station 8, and the limiting block 454 is made of elastic materials, and the limiting block 454 is used for being abutted with the launching balls 7. The adoption has elastic stopper 454 to install in the one side of launching wheel 4511, makes stopper 454 and launching ball 7 butt, when adjusting the rotational speed of launching wheel 4511, can adopt stopper 454 to restrict launching ball 7 and remove, makes launching ball 7 be difficult for dropping on launching station 8, further improves launching ball 7's stability.

The moving frame 453 comprises a transmitting part 4531 and a supporting part 4532, the transmitting part 4531 is in a ring-shaped structure, the transmitting part 4531 is arranged at the front end of the supporting part 4532, and the driving motor and the limiting block 454 are positioned in the circumferential direction of the transmitting part 4531; the initial station 6 is located at the upper end of the support 4532. Adopting a ring-shaped structure of the transmitting part 4531, enabling the transmitting part 4531 to be internally provided with a spherical transmitting station 8 which is matched with the shape of the transmitting ball 7, installing a driving motor and a limiting block 454 in the circumferential direction of the transmitting part 4531, and enabling the transmitting wheel 4511 to be positioned around the transmitting ball 7; the three launching wheels 4511 are distributed at equal intervals in the circumferential direction of the launching part 4531, so that the launching balls 7 are more stable on the launching station 8; and acts on the launching ball 7 from multiple directions, so that the acceleration of the launching ball 7 during launching is improved, and the flight distance of the launching ball 7 is improved; meanwhile, the limiting block 454 is also enabled to limit the launching balls 7 from multiple directions, so that the stability of the launching balls 7 on the launching station 8 is improved. In this embodiment, the supporting portion 4532 has an arc-shaped recess, the receiving space of the recess is the initial station 6, the recess is used for receiving the launching ball 7, and the arc-shaped recess cooperates with the outer surface of the launching ball 7, so that the launching ball 7 can keep a static state in the supporting portion 4532. The supporting part 4532 and the transmitting part 4531 are supported by aluminum plates with holes, so that the dead weight of the moving frame 453 is reduced, and the position of the moving frame 453 is conveniently adjusted by the adjusting motor 431.

The launching assembly 45 further comprises an electric push rod and two guide rails 452, wherein the two guide rails 452 are arranged at the rear end of the supporting part 4532; the two guide rails 452 are arranged in parallel, the supporting surfaces of the two guide rails 452 are arranged in a relatively inclined mode, an initial station 6 is formed, and the electric push rod is located on one side of the initial station 6 and is arranged away from the transmitting direction. Adopt two guide rails 452 to make the supporting surface relative slope setting of two guide rails 452, form initial station 6, make launching ball 7 can stably place on initial station 6, electric putter is located one side of initial station 6, and deviate from the setting with the launching direction, in this embodiment, when needs move launching ball 7 to launching station 8, drive electric putter propelling movement launching ball 7 slides to launching station 8, and make launching ball 7 be clamped by stopper 454, make launching ball 7 be in the state of waiting to launch on launching station 8.

The launching mechanism 4 is provided with two groups of adjusting components 43, each group of adjusting components 43 comprises an adjusting motor 431, a rotating shaft 455 and a brake disc 432, the adjusting motor 431 is installed on any mounting plate 42, the brake disc 432 is sleeved on the rotating shaft 455, one end of the rotating shaft 455 is installed on the side wall of the movable frame 453, the other end of the rotating shaft 455 is in running fit with the mounting plate 42, and the outer end of the brake disc 432 is in contact with the output end of the adjusting motor 431. Adopt adjusting motor 431 to cooperate with brake dish 432, brake dish 432 cup joints on pivot 455, and adjusting motor 431 rotates, removes frame 453 through pivot 455 and mounting panel 42 normal running fit, and the output of adjusting motor 431 contacts with the outer end of brake dish 432, and adjusting motor 431 is used for driving the rotation of brake dish 432 to adjust the pitch angle of removing frame 453, and then adjust the firing angle of launching ball 7.

The base 1 comprises an outer frame 11, a honeycomb plate 14 and a supporting rod 12, wherein the supporting rod 12 is positioned in the outer frame 11, two ends of the supporting rod 12 are fixedly connected with the inner side of the outer frame 11, and the honeycomb plate 14 is installed in the outer frame 11 and connected with the supporting rod 12; the firing bracket 41 is mounted on the support bar 12. The supporting rod 12 is arranged on the inner side of the outer frame 11, so that the supporting strength of the base 1 is improved, and meanwhile, the honeycomb plate 14 can also improve the integrity of the base 1, and the honeycomb plate 14 is provided with a plurality of honeycomb holes which are used for reducing the weight of the base 1 in a large range in a non-bearing area. In this embodiment, the base 1 is triangular, the bottom corner of the base 1 is provided with a mounting position 13 penetrating the base 1, the mobile steering device 2 is placed in the mounting position 13 and fixed with the base 1, and the three bottom corners of the robot are provided with the mobile steering device 2, so that the robot has a mobile steering function, meanwhile, the base 1 is provided with a positioning seat 15, and the positioning seat 15 is used for positioning the transmitting bracket 41 of the transmitting mechanism 4.

The embodiment also provides a picking and launching method for launching balls, which comprises the following steps:

step one: the robot moves to the area of the launching ball 7, and the electric cylinder 322 drives the clamping assembly 33 to enable the clamping position 5 to be close to the launching ball 7 and open the clamping position 5;

step two: the electric cylinder 322 drives the clamping assembly 33 to close the clamping position and clamp the launching balls 7; the driving steering engine 34 drives the mechanical arm 32 to rotate anticlockwise so as to enable the clamping position 5 to move above the launching mechanism 4, and the clamping assembly 33 is opened so as to enable the launching balls 7 to fall onto the initial station 6;

step three: the electric push rod moves the launching balls 7 to the launching station 8 and limits the positions of the launching balls 7; meanwhile, the inner ends of the plurality of transmitting wheels 4511 are propped against the transmitting ball 7; the driving motor is started, the launching wheel 4511 rotates rapidly, the launching balls 7 are launched by the launching wheel 4511 to launch the launching station 8, and launching is completed.

By adopting the picking and launching method, the robot can finish the picking and launching actions of the launching balls at one time, the launching efficiency of the launching balls 7 is improved, and the operation efficiency of the robot is improved.

Example two

In this embodiment, the opening or closing manners of the first clamping lever and the second clamping lever are described in the previous embodiment, and are not described in detail herein; the first clamping rod 332 and the second clamping rod 333 are bent, and the bending direction of the first clamping rod 332 and the bending direction of the second clamping rod 333 face the clamping position 5. The first clamping rod 332 and the second clamping rod 333 may be bent to pick up objects with other shapes, such as square or diamond objects, and the bending angles or bending shapes of the first clamping rod 332 and the second clamping rod 333 may be set according to the shapes of the objects, so that the clamping position 5 is suitable for the shapes of the objects, thereby improving the adaptability of the clamping assembly 33.

The above examples are also not an exhaustive list based on the invention, and there may be a number of other embodiments not listed. Any substitutions and modifications made without departing from the spirit of the invention are within the scope of the invention.

Claims

1. Robot, its characterized in that includes:

a base, a base seat and a base seat,

2. The robot of claim 1 wherein the clamping assembly comprises a first clamping bar and a second clamping bar; the mechanical arm comprises a supporting frame, an electric cylinder, a first connecting rod assembly and a second connecting rod assembly;

3. The robot of claim 2, wherein the first clamping bar and the second clamping bar are in arc-shaped structures, and an intrados of the first clamping bar and an intrados of the second clamping bar are arranged oppositely and form the clamping position; and/or the number of the groups of groups,

4. A robot as claimed in claim 2 or 3, wherein a suction cup is provided between the first clamping bar and the second clamping bar, the suction cup being mounted at the front end of the screw, the suction cup having a suction opening at the outer end thereof, the suction opening being located in the clamping location; the sucking disc is telescopic along the length direction of the wire rod.

5. The robot of claim 1, wherein the launching mechanism comprises a launching bracket, a launching assembly and two mounting plates, wherein the bottom of the launching bracket is mounted on the base, the two mounting plates are mounted on two sides of the launching bracket, and the launching assembly is mounted on the top of the launching bracket and is positioned between the two mounting plates;

the transmitting assembly comprises a moving frame and at least two groups of upper chamber parts, the moving frame is in running fit with the mounting plate, and the two groups of upper chamber parts are mounted on the moving frame and are oppositely arranged; a transmitting station is formed between the two groups of the upper chamber parts, and the transmitting station is positioned in the transmitting direction;

6. The robot of claim 5, wherein the emission assembly is provided with a stopper installed at a front end of the moving frame and located at one side of the emission wheel; the limiting block is located above the launching station and made of elastic materials and is used for being abutted with the launching balls.

7. The robot of claim 6, wherein the moving frame comprises a transmitting part and a supporting part, the transmitting part is in a ring-shaped structure, the transmitting part is arranged at the front end of the supporting part, and the driving motor and the limiting block are both positioned in the circumferential direction of the transmitting part; the initial station is located at the upper end of the supporting portion.

8. The robot of claim 7, wherein the launch assembly further comprises an electric push rod and two rails mounted at the rear end of the support; the two guide rails are arranged in parallel, the supporting surfaces of the two guide rails are arranged in a relatively inclined mode, the initial station is formed, and the electric push rod is located on one side of the initial station and is arranged away from the transmitting direction.

9. The robot of claim 8, wherein the emitting mechanism is provided with an adjusting assembly, the adjusting assembly comprises an adjusting motor, a rotating shaft and a brake disc, the adjusting motor is mounted on any mounting plate, the brake disc is sleeved on the outer wall of the rotating shaft, one end of the rotating shaft is mounted on the side wall of the movable frame, the other end of the rotating shaft is in running fit with the mounting plate, and the outer end of the brake disc is in contact with the output end of the adjusting motor.

10. The robot of any one of claims 5 to 9, wherein the base comprises an outer frame, a honeycomb panel and a support rod, the support rod is positioned in the outer frame, both ends of the support rod are fixedly connected with the inner side of the outer frame, and the honeycomb panel is installed in the outer frame and connected with the support rod; the transmitting bracket is arranged on the supporting rod.