CN203331021U

CN203331021U - Household carrying robot

Info

Publication number: CN203331021U
Application number: CN201320312074XU
Authority: CN
Inventors: 焦浩; 贾娜; 樊炳辉; 孟乐; 闫照东; 郭倩何; 胡令冲; 李安花; 李建功; 彭琛
Original assignee: Shandong University of Science and Technology
Current assignee: Shandong University of Science and Technology
Priority date: 2013-06-03
Filing date: 2013-06-03
Publication date: 2013-12-11
Anticipated expiration: 2023-06-03

Abstract

The utility model provides a household carrying robot and belongs to the technical field of robots. The household carrying robot comprises a rotating motor, a big arm steering gear, a small arm steering gear, a wrist pitch steering gear, a wrist rotating steering gear and a finger steering gear. The rotating motor, the big arm steering gear, the small arm steering gear, the wrist pitch steering gear, the wrist rotating steering gear and the finger steering gear are controlled by a computer and respectively control rotation of devices above a whole big arm motor support, pitching of a big arm, pitching of a small arm, pitching of a mechanical hand, rotation of the mechanical hand and opening and closing of the mechanical hand. The household carrying robot has six freedom degrees, a vehicle body has two freedom degrees which are back-and-forth movement and rotation, and the household carrying robot has eight freedom degrees in total and is flexible and reliable. The rotating motor and the big arm steering gear are large-torque stepping motors, gear mesh transmission is matched simultaneously, an output torque is increased, and the household carrying robot can grab heavy food materials.

Description

The family expenses transfer robot

Technical field

The utility model belongs to the Robotics field, is specifically related to a kind of family expenses transfer robot.

Background technology

At present, along with social development, science and technology is maked rapid progress, and people's living standard improves constantly, and rhythm of life is also constantly accelerated.In people's idea, also more and more higher to the requirement of quality of life.People are under busy work, and more pursuit living environment is comfortable and pay close attention to the light atmosphere of life.Transfer robot replaces the people with robot exactly, workpiece by the operating position of shifting to somewhere appointment, or processed with workpiece manipulation according to job requirement, greatly reduce the labour, and greatly increased operating efficiency and the cost that has reduced product, very important effect has been played to by modern social development.

But present transfer robot is relatively less with respect to the research of family expenses transfer robot just at dangerous operation (broad sense), many dust, high temperature, noise, the working space environment that is unsuitable for manual work such as narrow and small.

Its free degree great majority of transfer robot of the prior art are in six, and workflow is relatively fixing; The occasion that is usually used in large labour, not light, be unsuitable for family expenses; Car body and manipulator are non-disconnectable to be closed, and has limited to a certain extent flexibility.As can be seen here, prior art awaits development and progress.

The utility model content

In order to solve above-mentioned problems of the prior art, the utility model proposes one multivariantly can move and realize walking by car body, by mechanical paw, carried and the light weight domestic transfer robot of Detachable, this robot is specially adapted to family expenses.

The utility model is achieved through the following technical solutions:

A kind of family expenses transfer robot, comprise base, described base is fixed on car body, the top of described base is fixed with the motor stationary magazine creel, in described motor stationary magazine creel, is fixed with rotary electric machine, and described rotary electric machine is the high pulling torque stepper motor, be connected with the transition circular shaft on the main shaft of described rotary electric machine, the motor stationary magazine creel is provided with bearing, and described transition circular shaft inserts in bearing, between the main shaft of described rotary electric machine and transition circular shaft, is connected with shaft coupling two;

The top of described transition circular shaft is fixedly connected with the large arm electric machine support of a U-shaped, be provided with an energy in described large arm electric machine support and make the large arm motor of pitching action along large arm steering wheel frame, described large arm motor is the high pulling torque stepper motor, described large arm motor one end connects transition axis by shaft coupling one, be fixed wtih pinion on transition axis, pinion is by meshing transmission of power to gear wheel, gear wheel is fixed on large arm pitch axis, described large arm electric machine support two ends fluting is put into bearing, and bearing (ball) cover positions above-mentioned bearing respectively;

The top of described large arm pitch axis is fixed with under a large arm ring flange, under large arm ring flange, with large arm, by pin, be connected, large arm upper end connects on large arm ring flange, connect forearm steering wheel frame on large arm ring flange, be provided with an energy in described forearm steering wheel frame and do the forearm steering wheel of pitching action along forearm steering wheel frame;

Be fixed with the steering wheel link on described forearm steering wheel, described steering wheel link is connected with under the forearm ring flange; under the forearm ring flange, with the forearm pin, be connected; the forearm upper end is connected with on the forearm ring flange; be fixed with the wrist steering wheel frame of a U-shaped on the forearm ring flange, is provided with an energy in described wrist steering wheel frame and does the wrist pitch-control motor of pitching action along wrist steering wheel frame;

The top of described wrist pitch-control motor is fixed with a wrist and rotates steering wheel;

Be connected with mechanical paw on the main shaft of described wrist rotation steering wheel, described mechanical paw is provided with the finger steering wheel of driving device paw folding;

Described rotary electric machine, large arm motor, forearm steering wheel, wrist pitch-control motor, wrist are rotated steering wheel and are pointed steering wheel by computer control.

Preferably, described car body below is fixed with two road wheels and a directive wheel, but car body passes through the oneself motor ground-engaging wheel, rotates, and directive wheel plays the control directive effect.

Preferably, described base is that detachable is connected with car body, and base and car body can be carried fixedly the time at a distance, when base separates with car body, can carry out closely, carrying among a small circle, is suitable for multiple environment and uses.

The useful technique effect that the utility model brings:

The utility model proposes a kind of family expenses transfer robot, it comprises rotary electric machine, large arm steering wheel, forearm steering wheel, wrist pitch-control motor, wrist rotation steering wheel and finger steering wheel, these six motors are controlled respectively the rotation of the above device of whole large arm electric machine support, pitching, the pitching of forearm, the pitching of mechanical paw, the rotation of mechanical paw and the folding of mechanical paw of large arm, there is six-freedom degree, and car body moves and rotates two frees degree before and after having, altogether there are eight frees degree, thereby flexibility and reliability more;

Chassis and car body can be torn open and close as required, and hull and car body can be carried fixedly the time at a distance, when hull separates with car body, can closely carry among a small circle, and therefore, the utility model robot is suitable for multiple environment to be used;

Rotary electric machine of the present utility model and large arm motor are the high pulling torque stepper motor, and the mate gear engaged transmission, increase output torque simultaneously, allows transfer robot can capture heavier food materials;

The robot the utility model proposes, can help people to carry article, carry out the simple operations of cleaning, can also take for example hot baking tray etc. of some more dangerous article.

The accompanying drawing explanation

Below in conjunction with accompanying drawing and the specific embodiment, the utility model is described further:

The front view that Fig. 1 is the utility model robot;

Fig. 2 is the utility model robot architecture schematic diagram;

In figure, 1, base, 2, the motor stationary magazine creel, 3, rotary electric machine, 4, large arm electric machine support, 5, bearing (ball) cover, 6, transition axis, 7, pinion, 8, bearing (ball) cover, 9, gear wheel, 10, large arm contiguous block, 11, under large arm ring flange, 12, on large arm ring flange, 13, the steering wheel link, 14, under the forearm ring flange, 15, on the forearm ring flange, 16, wrist steering wheel frame, 17, mechanical paw, 18, the finger steering wheel, 19, wrist is rotated steering wheel, 20, the wrist pitch-control motor, 21, forearm, 22, the forearm steering wheel, 23, forearm steering wheel frame, 24, large arm, 25, large arm pitch axis, 26, large arm motor cylinder, 27, large arm motor, 28, bearing (ball) cover, 29, shaft coupling one, 30, the transition circular shaft, 31, shaft coupling two, 32, road wheel, 33, car body, 34, directive wheel.

The specific embodiment

In conjunction with Fig. 1, Fig. 2, a kind of family expenses transfer robot, comprise base 1, base 1 is fixed on car body, be fixed with motor stationary magazine creel 2 above base 1, be fixed with rotary electric machine 3 in motor stationary magazine creel 2, rotary electric machine 3 is the high pulling torque stepper motor, rotary electric machine 3 is the mate gear engaged transmission simultaneously, increase output torque, allow transfer robot can capture heavier food materials, be connected with transition circular shaft 30 on the main shaft of this rotary electric machine 3, motor stationary magazine creel 2 is provided with bearing, transition circular shaft 30 inserts in bearing, be connected with shaft coupling 2 31 between the main shaft of rotary electric machine 3 and transition circular shaft 30,

The top of transition circular shaft 30 is fixedly connected with the large arm electric machine support 4 of a U-shaped, be provided with an energy in large arm electric machine support 4 and make the large arm motor 27 of pitching action along large arm electric machine support 4, large arm motor 27 is the high pulling torque stepper motor, large arm motor 27 mate gear engaged transmission, increase output torque, allow transfer robot can capture heavier food materials, large arm motor 27 is fixed in 26 li, large arm motor cylinder, the one end connects transition axis 6 by shaft coupling 1, be fixed wtih pinion 7 on transition axis 6, pinion 7 is by meshing transmission of power to gear wheel 7, gear wheel 9 is fixed on large arm pitch axis 25, large arm electric machine support 4 two ends flutings are put into bearing, bearing (ball) cover 5, 8, 28 position above-mentioned bearing respectively,

Be fixed wtih large arm contiguous block 10 on large arm pitch axis 25, its top is fixed with under a large arm ring flange 11, under large arm ring flange, 11 are connected by pin with large arm 24, large arm 24 upper ends connect on large arm ring flange 12, on large arm ring flange, 12 connect forearm steering wheel frame 23, are provided with an energy in forearm steering wheel frame 23 and do the forearm steering wheel 22 of pitching action along forearm steering wheel frame;

Be fixed with steering wheel link 13 on forearm steering wheel 22, steering wheel link 13 with under the forearm ring flange, 14 be connected; under the forearm ring flange, 14 are connected with the forearm pin; forearm 21 upper ends are connected with on the forearm ring flange 15; the 15 wrist steering wheel framves 16 that are fixed with a U-shaped on the forearm ring flange are provided with an energy and do the wrist pitch-control motor 20 of pitching action along wrist steering wheel frame in wrist steering wheel frame 16;

The top of wrist pitch-control motor 20 is fixed with a wrist and rotates steering wheel 19;

Be connected with mechanical paw 17 on the main shaft of wrist rotation steering wheel 19, described mechanical paw 17 is provided with the finger steering wheel 18 of driving device paw folding;

Rotary electric machine 3, large arm motor 27, forearm steering wheel 22, wrist pitch-control motor 20, wrist are rotated steering wheel 19 and are pointed steering wheel 18 by computer control, and this robot is controlled by computer, it is controlled convenient.

As a preferred version of the present utility model, above-mentioned car body below is fixed with two road wheels 32 and a directive wheel 34, but car body passes through the oneself motor ground-engaging wheel, rotates, and directive wheel plays the control directive effect.

As another preferred version of the present utility model, above-mentioned base 1 is that detachable is connected with car body, and base 1 can be carried fixedly the time at a distance with car body, when base 1 separates with car body, can carry out closely, carrying among a small circle, is suitable for multiple environment use.

Should be understood that; those of ordinary skill in the art is under enlightenment of the present utility model; do not breaking away from the scope situation that the utility model claim protects; can also make the various deformation such as replacement, simple combination, the scope of asking for protection of the present utility model should be as the criterion with claims.

Claims

1. a family expenses transfer robot, comprise base, described base is fixed on car body, it is characterized in that: the top of described base is fixed with the motor stationary magazine creel, in described motor stationary magazine creel, is fixed with rotary electric machine, and described rotary electric machine is the high pulling torque stepper motor, be connected with the transition circular shaft on the main shaft of described rotary electric machine, the motor stationary magazine creel is provided with bearing, and described transition circular shaft inserts in bearing, between the main shaft of described rotary electric machine and transition circular shaft, is connected with shaft coupling two;

The top of described large arm pitch axis is fixed with under a large arm ring flange, under large arm ring flange successively with on large arm, large arm ring flange, forearm steering wheel frame is connected, be provided with an energy in described forearm steering wheel frame and do along forearm steering wheel frame the forearm steering wheel that pitching is moved;

Be connected with mechanical paw on the main shaft of described wrist rotation steering wheel, described mechanical paw is provided with the finger steering wheel of driving device hand folding;

2. a kind of family expenses transfer robot according to claim 1, is characterized in that: be fixed with two road wheels and a directive wheel below described car body.

3. a kind of family expenses transfer robot according to claim 2, it is characterized in that: described base is that detachable is connected with car body.