CN207983350U - A kind of crawl robot - Google Patents
A kind of crawl robot Download PDFInfo
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- CN207983350U CN207983350U CN201820123112.XU CN201820123112U CN207983350U CN 207983350 U CN207983350 U CN 207983350U CN 201820123112 U CN201820123112 U CN 201820123112U CN 207983350 U CN207983350 U CN 207983350U
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Abstract
The utility model is related to amusement robot technical fields, disclose crawl robot.It includes robot body that the utility model, which captures robot, the mechanical arm being rotatably dispose on robot body and the manipulator being rotatablely connected with mechanical arm, mechanical arm is rotatablely connected with robot body by the first rotation axis, first rotation axis and the output end of the first driving motor are rotatablely connected, first driving motor is also electrically connected with driving cable, it includes the first cable set gradually to drive cable, second cable, third cable, on the side of rotation axis, it is equipped with for third cable along the opening gone out corresponding at the position in mechanical arm, first cable is fixedly arranged on robot body, second cable is set to along the axis of rotation axis in rotation axis, third cable is from the opening of rotation axis along going out, and it is fixedly arranged in mechanical arm.The crawl robot of the utility model avoid driving cable between the problem of pullling, squeeze, significantly improve capture robot service life.
Description
Technical field
The utility model is related to amusement robot technical fields, more particularly, to a kind of crawl robot.
Background technology
Amusement robot is so that people is ornamental, based on amusement, has the surface of robot, can express the part mankind
Emotion completes part mankind's activity, walking, representation language etc..Crawl robot is one kind in amusement robot, crawl
The cable of robot is tended to be pullled, be squeezed, often relatively rotate at shaft, cable exists when by shaft
When being run under this environment, the service life can substantially shorten, and the service life of robot is caused to be unable to get guarantee.
Utility model content
For overcome the deficiencies in the prior art, the utility model provides a kind of crawl that avoidable cable is pullled, squeezed
Robot.
Technical solution adopted by the utility model to solve its technical problems is：A kind of crawl robot, including machine are provided
Device human agent, mechanical arm, manipulator, described mechanical arm one end are rotatably dispose on the robot body, and other end rotation connects
It is connected to the manipulator, the robot body rotates at the mechanical arm rotation connection equipped with the first driving motor, first
Axis and driving cable, the mechanical arm are tightly placed in first rotation axis, and robot body's turning set is set to described
In first rotation axis, the output end of first driving motor is rotatablely connected with first rotation axis, first rotation axis
Side, correspond to the setting that is open at the mechanical arm position, the driving cable is electrically connected with first driving motor, institute
It includes the first cable, the second cable, third cable set gradually, first cable and second electricity to state driving cable
Cable, second cable and the third cable are vertically arranged, and first cable is fixedly arranged on the robot body, described
Second cable is inserted into from the port of first rotation axis in first rotation axis, and is set along the axis of first rotation axis
Set, the third cable from the opening of first rotation axis along going out, and in the mechanical arm.
As a further improvement of the above technical scheme, the left and right sides of the robot body is equipped with for driving
The mobile mechanism of robot body's movement is stated, the mobile mechanism includes be respectively arranged on the robot body rear and front end one
To synchronizing wheel and with the matched mobile band of a pair of synchronizing wheel.
As a further improvement of the above technical scheme, in the circumferential direction of the synchronizing wheel, the circle of the synchronous belt
Circumferential surface is equipped with several uniform and spaced gear teeth, and along the length direction for moving band, the movement, which takes, to be equipped with
Several uniform and spaced band tooth, the gear teeth are connect with the band tooth engagement.
As a further improvement of the above technical scheme, the robot includes being respectively arranged on the robot body
End, lower end, the upper shell of front end, lower housing, procapsid, the upper shell, lower housing, procapsid are mutually permanently connected, with
A hollow cavity body structure is formed between the upper shell, lower housing, procapsid.
As a further improvement of the above technical scheme, it is rotatably connected to robot head on the procapsid.
As a further improvement of the above technical scheme, the robot head includes hollow setting, the robot head
Photographic device and display device are equipped in portion, the front end face of the robot head is equipped with transparent region, the display device
Display information is outwardly transmitted by the transparent region, and camera is additionally provided on the front end face of the robot head, it is described
Camera is electrically connected with the photographic device, for receiving extraneous visual information.
As a further improvement of the above technical scheme, microphone and loudspeaker are installed on the front housing.
As a further improvement of the above technical scheme, the manipulator includes the machine being rotationally connected on the mechanical arm
Tool hand ontology, the manipulator ontology are equipped with a pair of symmetrically arranged gripping body, and the gripping body includes the second driving
Motor, transmission component and clamping jaw, the transmission component both ends are connect with second driving motor and the clamping jaw respectively,
The clamping jaw is rotatably dispose on the manipulator ontology, and a pair of second driving motor rotates backward, to drive a pair of of institute
It states clamping jaw and does opposite close up or expansion action.
As a further improvement of the above technical scheme, the transmission component include the first bar set gradually, the second bar,
Third bar, first bar one end are rotatably connected to the second driving motor, and the rotation of third bar one end is set to the manipulator
On ontology, first bar, the second bar, third bar are sequentially connected to form crank and rocker mechanism, and the clamping jaw is equipped with first
It supports arm, second support arm, described first, which supports arm, supports arm with described second and be connected to form a v-shaped structure, the third bar
One end is rotatablely connected equipped with the sticking part that arm is bonded is supported with described first with the manipulator ontology, and the third bar is close to institute
It states second bar one end and is additionally provided with and support the groove that arm supports with described second.
As a further improvement of the above technical scheme, the mechanical arm includes the upper arm shell and underarm being mutually permanently connected
Shell, the U-shaped profile structure of the upper arm shell and the underarm shell, so that the mechanical arm is in hollow cavity body structure.
The utility model has the beneficial effects that：
The crawl robot of the utility model, driving cable include the first cable, the second cable, the third electricity being once arranged
Cable, the first cable are fixedly arranged on robot body, and the second cable is arranged along the axis direction of the first rotation axis, and third cable is from the
The opening of one rotation axis is along going out, and in mechanical arm, when work, the first cable is static relative to robot body, and second
Cable and the first rotation axis common rotation, third cable are moved with mechanical arm, the first cable, the second cable, third cable
Between connection relation avoid the problem of pullling, squeeze of cable caused by the movement of robot, significantly increased electricity
The service life of cable, and then the significant service life for improving crawl robot.
Description of the drawings
The utility model is further illustrated with reference to the accompanying drawings and examples.
Fig. 1 is the overall structure diagram of the crawl robot of the utility model；
Fig. 2 is the structural schematic diagram of the robot body and mobile mechanism of the crawl robot of the present invention；
Fig. 3 is the structural schematic diagram of mechanical arm of the present invention；
Fig. 4 is the structural schematic diagram of mechanical arm removal surface particles of the present invention；
Fig. 5 is the driving cable routing structural schematic diagram of the present invention；
Fig. 6 is the structural schematic diagram of manipulator；
Fig. 7 is the structural schematic diagram of synchronizing wheel.
Specific implementation mode
The technique effect of the design of the utility model, concrete structure and generation is carried out below with reference to embodiment and attached drawing
Clear, complete description, to be completely understood by the purpose of this utility model, scheme and effect.It should be noted that not conflicting
In the case of, the features in the embodiments and the embodiments of the present application can be combined with each other.
It should be noted that unless otherwise specified, when a certain feature is referred to as " fixing ", " connection " is in another feature,
It can directly fix, be connected in another feature, can also fix, be connected in another feature indirectly.In addition, this
The descriptions such as the up, down, left, right, before and after used in utility model are only relative to each composition portion of the utility model in attached drawing
For the mutual alignment relation divided.
In addition, unless otherwise defined, the technology of all of technologies and scientific terms used here by the article and the art
The normally understood meaning of personnel is identical.Term used in the description is intended merely to description specific embodiment herein, without
It is to limit the utility model.Term " and or " used herein includes appointing for one or more relevant Listed Items
The combination of meaning.
Referring to Fig.1, the overall structure diagram of the crawl robot of the utility model, such as Fig. 1, the utility model are shown
Crawl robot include robot body 1, mechanical arm 2, manipulator 3, robot head 4 and mobile mechanism 5.
In the utility model, 2 one end of mechanical arm is rotatably dispose on robot body 1, makes mechanical arm 2 can be relative to machine
Human agent 1 does pendulum motion, and manipulator 3 is rotatably dispose in the other end of mechanical arm 2, and mechanical arm 2 is for executing grasping movement, machine
Set on the front end of robot body 1, robot head 4 can be swung up and down the rotation of device head part 4, and mobile mechanism 5 is set to machine
The left and right sides of device human agent 1 drives robot body 1 to move by mobile mechanism 5.
Such as Fig. 2, robot body 1 includes upper shell 10, the lower casing set on 1 upper end of robot body, lower end and front end
Body 11, procapsid 12, upper shell 10, lower housing 11, procapsid 12 are mutually permanently connected to form an enclosed construction, in upper shell
10, there is hollow cavity body structure, the driving device for installing control robot motion between lower housing 11 and procapsid 12
And control device.
In conjunction with Fig. 3, mounting base 20 is installed on upper shell 10, one end of mechanical arm 2 is rotatably dispose in mounting base 20, on
Limited block (not shown) is additionally provided on shell 10, the extreme position for limiting the swing of mechanical arm 2.
Such as Fig. 3 to Fig. 5, mechanical arm 2 is in hollow cavity body structure, and one end is rotatablely connected inside mechanical arm 2, with mounting base 20
It is installed with the first driving motor 21, the output end of the first driving motor 21 is rotatably connected to the first rotation axis 22, the first rotation axis
22 one end for being away from the first driving motor 21 are arranged through the shell of mechanical arm 2, and 20 turning set of mounting base is set to the first rotation
On axis 22, mechanical arm 2 is fixed to be set in the first rotation axis 22, so that mechanical arm 2 can be with 22 common rotation of the first rotation axis.
In the present embodiment, the driving cable 23 being electrically connected with the first driving motor 21, driving are equipped in the first rotation axis 22
Cable 23 includes the first cable 230, the second cable 231, the third cable 232 set gradually, the first cable 230, the second cable
231 are mutually perpendicular to, and the second cable 231, third cable 232 are mutually perpendicular to, and the first rotation axis 22 corresponds to the position inside mechanical arm 2
The place of setting is offered for driving cable 23 along the opening 220 gone out, and when installation, the first cable 230 is fixedly arranged in mounting base 20, the second electricity
Cable 231 is penetrated outside mechanical arm 2 in first rotation axis 22, and the second cable 231 is arranged along the axis of the first rotation axis 22,
Third cable 232 is from the opening of the first rotation axis 22 along going out, and all three cables 232 are fixedly arranged on inside mechanical arm 2, with mechanical arm 2
Rotation common rotation, when work, the first cable 230 and 20 common remains stationary of mounting base, the second cable 231 is with the first rotation
The rotation of axis 22 and common rotation, third cable 232 keep opposing stationary with mechanical arm 2, in this way, in the fortune of the crawl robot
During dynamic, between the first cable 230, the second cable 231, third cable 232 will not there is a phenomenon where mutually pullling, squeezing,
It ensure that the service life of driving cable 23, and then the crawl robot enable to ensure to work normally for a long time, service life
It is significantly improved.
Such as Fig. 6, manipulator 3 is for executing grasping movement comprising the manipulator ontology being rotationally connected on mechanical arm 2
30, a pair of symmetrically arranged gripping body is provided on manipulator ontology 30, gripping body includes being fixedly arranged on manipulator ontology 30
On the second driving motor 31, the transmission component 32 that is movably set on the manipulator ontology 30 and clamping jaw 33, a pair of folder
Pawl 33 is symmetrically disposed on the both sides of manipulator ontology 30, and a pair of of clamping jaw 33 does opposite counter motion, to realize gripping or open
Start work.
Specifically, transmission component 32 includes the first bar 320, the second bar 321, the third bar 322 set gradually, the first bar
320 and second the output end of driving motor 31 be rotatablely connected, third bar 322 is rotatably dispose on manipulator ontology 30, to the
One bar 320, the second bar 321, third bar 322 form a crank and rocker mechanism, it is corresponding, clamping jaw 33 including first support arm 330,
Second supports arm 331, and first supports that arm 330, second to support arm 331 to be connected be in a v-shaped structure, and first supports arm 330 and rotation
On manipulator ontology 30, it is provided on third bar 322 and supports the sticking part 3220 that arm 330 fits with first, work as third
When bar 322 rotates, sticking part 3220 pushes first to support arm 330, so that clamping jaw 33 is rotated relative to manipulator ontology 30, third bar
It is additionally provided on 322 for supporting the groove 3221 that arm 331 supports with second, when third bar 322 rotates, groove 3221 is further
Clamping jaw 33 is pushed to rotate.
In the present embodiment, to realize relative rotation of the manipulator 3 relative to mechanical arm 2, mechanical arm 2 is interior, corresponds in machine
3 one end of tool hand is fixedly provided with third driving motor 24 and the second rotation axis 25 with third driving motor 24, the second rotation axis
It also is provided with driving cable as described above in 25.
Please continue to refer to Fig. 1, in the present embodiment, robot head 4 is rotatably dispose in the procapsid 12 of robot body 1
On, robot head 4 is in hollow cavity body structure, and photographic device and display device are internally provided in robot head 4,
For realizing to external environmental information reception and show emotion to outside, be provided on the leading flank of robot head 4 with
Taking the photograph for photographic device electrical connection, for collecting external environmental information, transparent area is additionally provided on the leading flank of robot head 4
Domain, display device need to information to be shown be dealt on transmission region, and then outside is shown.
Preferably, camera is set to the lower end of 4 leading flank of robot head, before transmission region is set to robot head 4
The intermediate position of side.
Preferably, it is fixedly provided with microphone and loudspeaker (not shown) on procapsid 12, for receiving external voice letter
It ceases and transmits voice messaging to outside.
Incorporated by reference to Fig. 2 and Fig. 7, the left and right sides of robot body 1 are equipped with for driving robot body 1 to move
Mobile mechanism 5, mobile mechanism 5 include being respectively arranged on a pair of of synchronizing wheel 50 of 1 rear and front end of robot body and same with a pair
Step 50 matched mobile bands 51 of wheel.
In the circumferential direction of synchronizing wheel 50, the periphery of synchronous belt is equipped with several uniform and spaced gear teeth
500, corresponding, along the length direction for moving band 51, mobile band 51 is equipped with several uniform and spaced band tooth 510,
The gear teeth 500 are intermeshed connection with tooth 510, it is thus desirable to which the mobile elongation of band 51 can be achieved with synchronizing wheel 50 and mobile band
51 drive connection, installing and dismounting is very convenient, also ensures the transmission stability between synchronizing wheel 50 and mobile band 51.,
It is illustrating for progress to be implemented to the preferable of the utility model, but the utility model creation is not limited to institute above
Embodiment is stated, those skilled in the art can also make various be equal without departing from the spirit of the present invention
Deformation is replaced, these equivalent deformations or replacement are all contained in the application claim limited range.
Claims (10)
1. a kind of crawl robot, which is characterized in that including robot body, mechanical arm, manipulator, described mechanical arm one end turns
Dynamic to be set on the robot body, the other end is rotatably connected to the manipulator, the robot body and the machinery
It is equipped with the first driving motor, the first rotation axis and driving cable, the mechanical arm at arm rotation connection and is tightly placed in described first
In rotation axis, robot body's turning set be set to first rotation axis on, the output end of first driving motor with
The first rotation axis rotation connection, the side of first rotation axis corresponds to the setting that is open at the mechanical arm position, institute
It states driving cable to be electrically connected with first driving motor, the driving cable includes the first cable set gradually, the second electricity
Cable, third cable, first cable are vertically arranged with second cable, second cable and the third cable, institute
It states the first cable to be fixedly arranged on the robot body, second cable is inserted into described the from the port of first rotation axis
In one rotation axis, and it is arranged along the axis of first rotation axis, opening of the third cable from first rotation axis
Along going out, and in the mechanical arm.
2. crawl robot according to claim 1, which is characterized in that the left and right sides of the robot body is equipped with
Mobile mechanism for driving robot body's movement, the mobile mechanism include before being respectively arranged on the robot body
Afterwards a pair of of synchronizing wheel at both ends and with the matched mobile band of a pair of synchronizing wheel.
3. crawl robot according to claim 2, which is characterized in that described in the circumferential direction of the synchronizing wheel
The periphery of synchronous belt is equipped with several uniform and spaced gear teeth, along the length direction for moving band, the shifting
Dynamic to take equipped with several uniform and spaced band tooth, the gear teeth are connect with the band tooth engagement.
4. crawl robot according to claim 1, which is characterized in that the robot body is described including being respectively arranged on
Robot body upper end, lower end, the upper shell of front end, lower housing, procapsid, the upper shell, lower housing, procapsid are mutually solid
Fixed connection, to form a hollow cavity body structure between the upper shell, lower housing, procapsid.
5. crawl robot according to claim 4, which is characterized in that be rotatably connected to robot head on the procapsid
Portion.
6. crawl robot according to claim 5, which is characterized in that the robot head includes hollow setting, institute
It states and is equipped with photographic device and display device in robot head, the front end face of the robot head is equipped with transparent region, institute
It states display device and outwardly transmits display information by the transparent region, be additionally provided with and take the photograph on the front end face of the robot head
As head, the camera is electrically connected with the photographic device, for receiving extraneous visual information.
7. crawl robot according to claim 4, which is characterized in that be equipped with microphone and loudspeaker on the front housing.
8. crawl robot according to claim 1, which is characterized in that the manipulator includes being rotationally connected with the machine
Manipulator ontology on tool arm, the manipulator ontology are equipped with a pair of symmetrically arranged gripping body, the gripping body packet
Include the second driving motor, transmission component and clamping jaw, the transmission component both ends respectively with second driving motor and institute
Clamping jaw connection is stated, the clamping jaw is rotatably dispose on the manipulator ontology, and a pair of second driving motor rotates backward, with
A pair of clamping jaw is driven to do opposite close up or expansion action.
9. crawl robot according to claim 8, which is characterized in that the transmission component includes first set gradually
Bar, the second bar, third bar, first bar one end are rotatably connected to the second driving motor, and the rotation of third bar one end is set to
On the manipulator ontology, first bar, the second bar, third bar are sequentially connected to form crank and rocker mechanism, the clamping jaw
Arm is supported equipped with first, second supports arm, described first, which supports arm, supports arm with described second and is connected to form a v-shaped structure,
The third bar and the manipulator ontology are rotatablely connected one end and are equipped with supports the sticking part that arm is bonded with described first, and described the
Three bars are additionally provided with close to second bar one end and support the groove that arm supports with described second.
10. crawl robot according to claim 1, which is characterized in that the mechanical arm includes being mutually permanently connected
Upper arm shell and underarm shell, the U-shaped profile structure of the upper arm shell and the underarm shell, so that the mechanical arm is in hollow
Cavity body structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820123112.XU CN207983350U (en) | 2018-01-24 | 2018-01-24 | A kind of crawl robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820123112.XU CN207983350U (en) | 2018-01-24 | 2018-01-24 | A kind of crawl robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207983350U true CN207983350U (en) | 2018-10-19 |
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ID=63821924
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820123112.XU Active CN207983350U (en) | 2018-01-24 | 2018-01-24 | A kind of crawl robot |
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| Country | Link |
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| CN (1) | CN207983350U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108161914A (en) * | 2018-01-24 | 2018-06-15 | 深圳果力智能科技有限公司 | A kind of crawl robot |
-
2018
- 2018-01-24 CN CN201820123112.XU patent/CN207983350U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108161914A (en) * | 2018-01-24 | 2018-06-15 | 深圳果力智能科技有限公司 | A kind of crawl robot |
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