CN208914131U - Bluetooth transmission linkage robot - Google Patents
Bluetooth transmission linkage robot Download PDFInfo
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- CN208914131U CN208914131U CN201821601357.5U CN201821601357U CN208914131U CN 208914131 U CN208914131 U CN 208914131U CN 201821601357 U CN201821601357 U CN 201821601357U CN 208914131 U CN208914131 U CN 208914131U
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 70
- 238000012544 monitoring process Methods 0.000 claims abstract description 10
- 238000009434 installation Methods 0.000 claims description 14
- 230000004308 accommodation Effects 0.000 claims description 11
- 230000007246 mechanism Effects 0.000 claims description 6
- 230000033001 locomotion Effects 0.000 claims description 5
- 238000007514 turning Methods 0.000 claims description 3
- 230000002787 reinforcement Effects 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 abstract description 6
- 238000000034 method Methods 0.000 description 6
- 238000001514 detection method Methods 0.000 description 5
- 230000004888 barrier function Effects 0.000 description 4
- 239000000463 material Substances 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000003139 buffering effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000003754 machining Methods 0.000 description 2
- 230000001960 triggered effect Effects 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000012512 characterization method Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000004080 punching Methods 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
- 238000005303 weighing Methods 0.000 description 1
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Abstract
The utility model discloses a Bluetooth transmission linkage robot, which replaces manual work to take and place workpieces by arranging a manipulator, thereby greatly improving the automation degree of production; the Bluetooth transmission linkage robot can also drive the workpiece to move to a required position, so that the time consumption for processing the whole workpiece is shortened, and the processing efficiency is improved; the processing information is transmitted to the background monitoring equipment in real time through Bluetooth transmission, so that an operator can monitor a plurality of Bluetooth transmission linkage robots simultaneously, and the labor cost of production is effectively reduced.
Description
Technical field
The utility model relates to a kind of robot more particularly to a kind of Bluetooth transmission linkage robots.
Background technique
In the work piece production of factory, the pick-and-place of workpiece and mobile typically pass through manually are carried out, artificial to pick and place and move
Part of starting building is time-consuming and laborious, low efficiency, and cost of labor is big.
Therefore, the existing technology needs to be improved and developed.
Summary of the invention
The purpose of this utility model is to provide a kind of Bluetooth transmission linkage robots, it is intended to solve existing artificial pick-and-place
It is time-consuming and laborious with travelling workpiece, low efficiency, the big problem of cost of labor.
The technical solution of the utility model is as follows: a kind of Bluetooth transmission linkage robot, wherein including supporting total
Chassis structure and the robot body that is arranged on chassis structure, control Bluetooth transmission gear is provided in chassis structure
The dynamic structure and controller architecture of device people walking, are provided with pulley, the dynamic structure and control in the bottom of chassis structure
The connection of device structure, the pulley are connect with dynamic structure, are driven and are slided by dynamic structure；The robot body includes Double-linkage
The manipulator of ground clamping workpiece.
The Bluetooth transmission linkage robot, wherein the chassis structure includes bottom plate, and the pulley is arranged the bottom of at
The side of plate；It is provided with lid on bottom plate, forms installation accommodation space, control Bluetooth transmission connection between the bottom plate and lid
The dynamic structure and controller architecture of mobile robot walking are mounted in installation accommodation space；There are three ultrasounds for setting on lid
Wave sensor and three infrared sensors, the ultrasonic sensor and outer sensor height are staggered；The ultrasonic wave passes
Sensor and infrared sensor are connect with controller architecture.
The Bluetooth transmission links robot, wherein the bottom plate is arranged to that class is rectangular, 4 angles of class square floor
It is arranged to fillet, 4 fillets are connected by the arc-shaped side of indent；The lid includes main cover body, the shape of main cover body and class side
Shape bottom plate adaptation, the top surface of main cover body are a flat surface, and the containment structures and nozzle structure are arranged on the top surface of main cover body,
It is respectively arranged with semicircle orifice on the angle of the bottom of main cover body 4, the lid of 1/4 spherical shape is installed at each semicircle orifice
Plate, each cover board correspondence are coupled with a fillet, and cover board is placed in the top of fillet.
The Bluetooth transmission linkage robot, wherein the pulley is arranged 4, and 4 pulleys include 2 chassis drivings
Wheel and 2 universal wheels, 2 chassis driving wheels and 2 universal wheels respectively correspond and are arranged at a fillet of bottom plate, 2 chassis
Driving wheel is connect with dynamic structure respectively.
The Bluetooth transmission linkage robot, wherein be provided with mounting plate, the power knot in installation accommodation space
On a mounting board, dynamic structure includes the direct current for driving entire Bluetooth transmission linkage robot mobile for structure and controller architecture installation
Motor module, the direct current generator module are connect with controller architecture, by controller architecture control action, 2 chassis driving wheels
It is connect with direct current generator module.
The Bluetooth transmission linkage robot, wherein be respectively provided between the fillet and corresponding cover board of each bottom plate
There is a touch sensing buffer structure, the touch sensing buffer structure includes buffer board, spring and microswitch, the buffering
Plate is placed in the fillet position of bottom plate, and microswitch is mounted in installation accommodation space, and spring one end is connect with buffer board, and spring is another
One end is connect with the supporting block being mounted on bottom plate, and microswitch frizzen is connect with buffer board, microswitch and controller knot
Structure connection.
The Bluetooth transmission linkage robot, wherein the robot body further includes for shooting with video-corder bluetooth biography in real time
Defeated linkage machine manually makees the camera of situation and the working condition for shooting with video-corder camera is transmitted to background monitoring equipment
Bluetooth transmission means, the camera are connect with controller architecture, and controller architecture is connect with bluetooth transmission means, the bluetooth
Transmitting device and background monitoring equipment are conveyed by bluetooth to be connected.
The Bluetooth transmission linkage robot, wherein the manipulator includes carrier base, bracket, piston rod, driving
Plate, superstructure and substructure, the superstructure is consistent with the structure of substructure and is correspondingly arranged up and down, the top
Structure includes that drive link, linkage connecting rod, gripper connecting rod and gripper, the gripper include horizontal gripping section and vertical fixation
Section, gripping section and fixed section are integrally formed L shape, and gripping section medial surface is provided with piece-holder notch, and fixed section is equipped with hinged
Portion is equipped with stiffening plate between gripping section and fixed section, gripping section, fixed section, articulated section and stiffening plate are wholely set；It is tied on chassis
Clamping cylinder is provided on structure, the cylinder axis of the clamping cylinder is connect with piston rod, and clamping cylinder is connect with controller architecture,
Clamping cylinder drive piston rod be moved forward and backward, piston rod pass through bracket and with bracket slide fit, on the bracket of piston rod two sides
Equipped with upper linking arm and lower linking arm, the upper linking arm is consistent with the structure of lower linking arm and is correspondingly arranged up and down, it is described on
Portion's structure is connect with upper linking arm, and substructure is connect with lower linking arm；The upper linking arm includes linkage section and hinge segment, is connected
It connects a section one end to be fixedly connected with bracket, the linkage section other end is fixedly connected with hinge segment, and linkage section, hinge segment and bracket are integrally set
It sets, linkage section and hinge segment overall structure are L-shaped；Free end of the driving plate between linkage section and with piston rod is fixed to be connected
It connects, linkage connecting rod two end is hinged with articulated section, linkage section respectively, and gripper connecting rod is located on the outside of linkage connecting rod, gripper connecting rod front end
It is hinged with articulated section, the turning point between linkage section and hinge segment, drive link one end and driving are articulated in the middle part of gripper connecting rod
Plate is hinged, and the drive link other end and gripper rod rear end are hinged.
The Bluetooth transmission linkage robot, wherein being equipped between driving plate and bracket prevents piston rod from occurring partially
The guiding mechanism of shifting, the guiding mechanism include upper guide part and lower guide part, the structure of the upper guide part and lower guide part
Consistent and be symmetrically set in piston rod two sides up and down, the lower guide part includes guide rod and limited block, guide rod pass through bracket and with branch
Frame slide fit, guide rod are fixedly connected with driving plate, and the guide rod other end is fixedly connected with limited block, driving plate and bracket, limit
Buffer spring is arranged on guide rod between block and bracket.
The Bluetooth transmission linkage robot, wherein be provided with mounting base and lifting cylinder on chassis structure, pacifying
It is provided with vertical guide groove on dress seat, sliding block is provided on carrier base, the sliding block is arranged in vertical guide groove and vertically leads
Slot slides up and down, and described bracket one end is fixed on carrier base, and the cylinder of the lifting cylinder is connect with carrier base, lifting cylinder
It is connect with controller architecture, lifting cylinder drives carrier base vertically guide groove oscilaltion.
The utility model has the beneficial effects that the utility model is linked robot by providing a kind of Bluetooth transmission, by setting
It sets manipulator and replaces the artificial pick-and-place for carrying out workpiece, substantially increase the degree of automation of production；And Bluetooth transmission gear
Device people can also drive workpiece to be moved to the position of requirement, shorten the time-consuming of entire work pieces process, improve processing efficiency；Pass through
Machining information real-time Transmission to background monitoring equipment is allow an operator to monitor multiple bluetooths simultaneously and passed by Bluetooth transmission
Defeated linkage robot, is effectively reduced the cost of labor of production.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of Bluetooth transmission linkage robot in the utility model.
Fig. 2 is the structural schematic diagram of chassis structure in the utility model.
Fig. 3 is the structural schematic diagram of the utility model insole board.
Specific embodiment
The embodiments of the present invention is described below in detail, the example of the embodiment is shown in the accompanying drawings, wherein
Same or similar label indicates same or similar element or element with the same or similar functions from beginning to end.Lead to below
It crosses the embodiment being described with reference to the drawings to be exemplary, is only used for explaining the utility model, and should not be understood as practical to this
Novel limitation.
In the description of the present invention, it should be understood that term " center ", " longitudinal direction ", " transverse direction ", " length ", " width
Degree ", " thickness ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside",
The orientation or positional relationship of the instructions such as " clockwise ", " counterclockwise " be based on the orientation or positional relationship shown in the drawings, be only for
Convenient for description the utility model and simplify description, rather than the device or element of indication or suggestion meaning must have specifically
Orientation is constructed and operated in a specific orientation, therefore should not be understood as limiting the present invention.In addition, term " first ",
" second " is used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance or implicitly indicates indicated technology
The quantity of feature.Define " first " as a result, the feature of " second " can explicitly or implicitly include it is one or more
The feature.The meaning of " plurality " is two or more in the description of the present invention, unless otherwise clearly specific
It limits.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " is pacified
Dress ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally
Connection；It can be mechanical connection, be also possible to be electrically connected or can mutually communicate；It can be directly connected, it can also be in
Between medium be indirectly connected, can be the connection inside two elements or the interaction relationship of two elements.For this field
For those of ordinary skill, the concrete meaning of above-mentioned term in the present invention can be understood as the case may be.
In the present invention unless specifically defined or limited otherwise, fisrt feature the "upper" of second feature or it
"lower" may include that the first and second features directly contact, and also may include that the first and second features are not direct contacts but lead to
Cross the other characterisation contact between them.Moreover, fisrt feature includes above the second feature " above ", " above " and " above "
One feature is right above second feature and oblique upper, or is merely representative of first feature horizontal height higher than second feature.First is special
Sign is directly below and diagonally below the second feature including fisrt feature under the second feature " below ", " below " and " below ", or only
Indicate that first feature horizontal height is less than second feature.
Following disclosure provides many different embodiments or example is used to realize the different structure of the utility model.
In order to simplify the disclosure of the utility model, hereinafter the component of specific examples and setting are described.Certainly, they are only
Example, and purpose does not lie in limitation the utility model.In addition, the utility model can in different examples repeat reference numerals
And/or reference letter, this repetition are for purposes of simplicity and clarity, itself not indicate discussed various embodiments
And/or the relationship between setting.In addition, the example of various specific techniques and material that the utility model provides, but this
Field those of ordinary skill can be appreciated that the application of other techniques and/or the use of other materials.
As shown in Figure 1 to Figure 3, a kind of Bluetooth transmission linkage robot, is realized by Bluetooth transmission and is linked, may be implemented more
People manipulates linkage, can apply in different fields, such as applies and races in robot, realizes and fights each other, race, etc.；It can also make
With in plant produced.In the present embodiment, the Bluetooth transmission links robot application (pick-and-place of workpiece) in plant produced,
Including the robot body for supporting the chassis structure of total and being arranged on chassis structure, control is provided in chassis structure
The dynamic structure and controller architecture of Bluetooth transmission linkage robot ambulation processed, are provided with pulley 150 in the bottom of chassis structure,
The dynamic structure is connected with controller architecture, and the pulley 150 is connect with dynamic structure, is driven and is slided by dynamic structure；Institute
Stating robot body includes the manipulator for clamping workpiece, and the manipulator includes carrier base 218, bracket 201, piston rod
202, driving plate 203, superstructure and substructure are provided with mounting base 219 and lifting cylinder (in figure not on chassis structure
Draw), it is provided with vertical guide groove in mounting base 219, sliding block is provided on carrier base 218, the sliding block is arranged vertical
In guide groove and vertically guide groove slides up and down, and described 201 one end of bracket is fixed on carrier base 218, the gas of the lifting cylinder
Cylinder is connect with carrier base 218, and lifting cylinder is connect with controller architecture, and lifting cylinder drive carrier base 218 is vertically on guide groove
Lower lifting makes manipulator adapt to the station pickup of different height to adjust the height of entire manipulator；The superstructure and
The structure of substructure is consistent and is correspondingly arranged up and down, and the superstructure includes drive link 204, linkage connecting rod 205, gripper
Connecting rod 206 and gripper, the gripper include horizontal gripping section 212 and vertical fixed section 213, gripping section 212 and fixed section
213 overall structure L shapes, 212 medial surface of gripping section are provided with piece-holder notch 214, and fixed section 213 is equipped with articulated section 215,
Stiffening plate 216, gripping section 212, fixed section 213, articulated section 215 and stiffening plate are equipped between gripping section 212 and fixed section 213
216 are wholely set；It is provided on chassis structure clamping cylinder (being not drawn into figure), the cylinder axis and piston of the clamping cylinder
Bar 202 connects, and clamping cylinder is connect with controller architecture, and clamping cylinder drives piston rod 202 to be moved forward and backward, and piston rod 202 is worn
Cross bracket 201 and with 201 slide fit of bracket, positioned at 202 two sides of piston rod bracket 201 be equipped with upper linking arm and lower linking arm,
The upper linking arm is consistent with the structure of lower linking arm and is correspondingly arranged up and down, and the superstructure is connect with upper linking arm, under
Portion's structure is connect with lower linking arm；The upper linking arm includes linkage section 210 and hinge segment 211,210 one end of linkage section and bracket
201 are fixedly connected, and 210 other end of linkage section is fixedly connected with hinge segment 211, linkage section 210, hinge segment 211 and bracket 201 1
Body setting, linkage section 210 and 211 overall structure of hinge segment are L-shaped；Driving plate 203 between linkage section 210 and and piston
The free end of bar 202 is fixedly connected, and linkage 205 both ends of connecting rod are hinged with articulated section 211, linkage section 210 respectively, gripper connecting rod
206 are located at 205 outside of linkage connecting rod, and 206 front end of gripper connecting rod and articulated section 211 are hinged, the company of being articulated in the middle part of gripper connecting rod 206
The turning point between section 210 and hinge segment 211 is connect, 204 one end of drive link and driving plate 203 are hinged, and drive link 204 is another
It holds hinged with 206 rear end of gripper connecting rod.
Further, piston rod 202 shifts in order to prevent, influences clamping effect, in driving plate 203 and bracket 201
Between be equipped with prevent piston rod 202 from shifting guiding mechanism, the guiding mechanism includes upper guide part and lower guide part, institute
It is consistent with the structure of lower guide part and be symmetrically set in about 202 two sides of piston rod to state guide part, the lower guide part includes leading
Bar 207 and limited block 208, guide rod 207 pass through bracket 201 and fix with 201 slide fit of bracket, 207 one end of guide rod and driving plate 203
Connection, 207 other end of guide rod is fixedly connected with limited block 208, driving plate 203 and bracket 201, limited block 208 and bracket 201 it
Between guide rod 207 on be arranged with buffer spring 209.
The operational process of this manipulator are as follows: when needing gripper to clamp workpiece, the cylinder axis of clamping cylinder stretches out, and drives and lives
Stopper rod 202, which forward extends out, pushes driving plate 203, and driving plate 203 pushes forward drive link 204, in the effect of drive link 204
Lower gripper connecting rod 206, linkage connecting rod 205 push that gripper is made to clamp workpiece simultaneously, and when needing gripper to unclamp workpiece, folder
The cylinder axis of tight cylinder retracts, and piston rod 202 is driven to pull driving plate 203 to after-contraction, and driving plate 203 pulls back driving and connects
Bar 204, gripper connecting rod 206, linkage connecting rod 205 are upwarped simultaneously so that gripper release work under the action of drive link 204
The clamping and release of gripper, linkage connecting rod 205 and gripper connecting rod 206 can be realized by the stretching and contraction of piston rod 202 for part
Forced synchronism linkage is cooperatively formed, movement clearance is not present between gripper, so that the opening and closing of manipulator is consistent, workpiece uniform force
Unanimously.
Specifically, the chassis structure includes bottom plate 110, and the pulley 150 is arranged in the side of bottom plate 110；The bottom of at
It is provided with lid 120 on plate 110, forms installation accommodation space, control Bluetooth transmission connection between the bottom plate 110 and lid 120
The dynamic structure and controller architecture of mobile robot walking are mounted in installation accommodation space；On lid 120 there are three settings
Ultrasonic sensor 130 and three infrared sensors 140, the ultrasonic sensor 130 and outer sensor 140 are just staggeredly set
It sets；The ultrasonic sensor 130 and infrared sensor 140 are connect with controller architecture: ultrasonic sensor 130 and infrared
Sensor 140 detects the barrier of ambient enviroment, and feeds back detection information to controller architecture, controller architecture control
Dynamic structure band movable pulley 150 acts, and Bluetooth transmission linkage robot is made to carry out automatically walk.By on lid 120 simultaneously
Ultrasonic sensor 130 and infrared sensor 140 are set, eliminating ultrasonic listening blind area (because ultrasonic listening is that have
Certain detection angle, the region outside detection angle is exactly the detection blind area of ultrasonic wave) while, effectively improve closely and
Super close distance obstacle detection precision, guarantee Bluetooth transmission linkage robot during walking will not collision obstacle, favorably
In the service life for extending Bluetooth transmission linkage robot and improve using effect.
Further, the bottom plate 110 is arranged to that class is rectangular (as shown in Figure 3), 4 angles setting of class square floor 110
At fillet, 4 fillets are connected by the arc-shaped side of indent；The lid 120 includes main cover body, and the shape and class of main cover body are rectangular
Bottom plate 110 is adapted to, and the top surface of main cover body is a flat surface, and the containment structures and nozzle structure are arranged at the top surface of main cover body
On, it is respectively arranged with semicircle orifice on the angle of the bottom of main cover body 4,1/4 spherical shape is installed at each semicircle orifice
Cover board, each cover board correspondence are coupled with a fillet, and cover board is placed in the top of fillet.
Further, the pulley 150 is arranged 4, and 4 pulleys 150 are conducive to that entire chassis structure is made to keep stress flat
Weighing apparatus makes more steady in the moving process of Bluetooth transmission linkage robot；4 pulleys 150 include 2 chassis driving wheels and
2 universal wheels, 2 chassis driving wheels and 2 universal wheels, which respectively correspond, is arranged at a fillet of bottom plate 110 (i.e. each circle
One chassis driving wheel or a universal wheel are set at angle), 2 chassis driving wheels are connect with dynamic structure respectively.
Further, it is provided with mounting plate in installation accommodation space, the dynamic structure and controller architecture are mounted on
On mounting plate, dynamic structure includes the direct current generator module for driving entire Bluetooth transmission linkage robot mobile, the direct current
Machine module is connect with controller architecture, and by controller architecture control action, 2 chassis driving wheels are connect with direct current generator module:
Chassis driving wheel uses direct current generator module independent control, and the motion profile of piggyback controller structure storage joins Bluetooth transmission
No matter mobile robot, which starts, is also off all natural and tripping, raising Bluetooth transmission linkage robot motion control accuracy, effectively drop
Low motor rotation blockage risk of damage improves electrical machinery life.
Specifically, in order to protect Bluetooth transmission link robot, extend Bluetooth transmission linkage robot service life,
A touch sensing buffer structure 160 is provided between the fillet and corresponding cover board of each bottom plate 110.In the present embodiment,
The touch sensing buffer structure 160 includes buffer board, spring and microswitch, and the buffer board is placed in the fillet of bottom plate 110
Position, microswitch be mounted on installation accommodation space in, spring one end is connect with buffer board, the spring other end be mounted on bottom plate
Supporting block connection on 110, microswitch frizzen are connect with buffer board, and microswitch is connect with controller architecture: working as bluetooth
When barrier is encountered by transmission linkage robot, buffer board stress is inwardly moved, and compressed spring absorbs impact kinetic energy, while fine motion
Switch triggering bar gives controller architecture one signal of transmission after being triggered by buffer board, and controller architecture first controls chassis driving wheel and stops
It only moves, then controls chassis driving wheel and moved to the opposite direction triggered, when buffer board is detached from barrier, spring pushes slow
Punching resets, and after buffer board moves outwardly to the limit, the microswitch contacted therewith resets, and sends one to controller architecture
A signal, controller architecture rotate an angle according to logic built algorithm with avoiding obstacles, then proceed to travel forward.It is logical
Setting touch sensing buffer structure 160 is crossed, in Bluetooth transmission linkage robot in collision obstacle, buffer board can be played effectively
Buffer function, but also can by trigger microswitch, make controller architecture control Bluetooth transmission linkage robot toward barrier
Hinder the opposite direction of object to move, avoids Bluetooth transmission linkage robot from continuing collision obstacle and generate damage, extend Bluetooth transmission
The service life of linkage robot.Preferentially, two block buffering plates, two block buffering plates are respectively provided at each fillet of bottom plate 110
Relative to the right setting of one the first from left of fillet.
Specifically, in order to further save human cost, the robot body further includes for shooting with video-corder bluetooth biography in real time
Defeated linkage machine manually makees the camera of situation and the working condition for shooting with video-corder camera is transmitted to background monitoring equipment
Bluetooth transmission means, the camera are connect with controller architecture, and controller architecture is connect with bluetooth transmission means, the bluetooth
Transmitting device and background monitoring equipment are conveyed by bluetooth to be connected.The technical program is passed machining information by Bluetooth transmission in real time
Background monitoring equipment is transported to, an operator is allow to monitor the working condition of multiple Bluetooth transmission linkages robot simultaneously,
The cost of labor of production is effectively reduced.
Further, the background monitoring equipment can be PC computer, tablet computer, and mobile phone, etc. facilitates operator
Policer operation.
In the description of this specification, reference term " embodiment ", " certain embodiments ", " schematically implementation
What the description of mode ", " example ", " specific example " or " some examples " etc. meant to describe in conjunction with the embodiment or example
Particular features, structures, materials, or characteristics are contained at least one embodiment or example of the utility model.In this explanation
In book, schematic expression of the above terms are not necessarily referring to identical embodiment or example.Moreover, the specific spy of description
Sign, structure, material or feature can be combined in any suitable manner in any one or more embodiments or example.
It should be understood that the application of the utility model is not limited to above-mentioned citing, those of ordinary skill in the art are come
It says, it can be modified or changed according to the above description, and all these modifications and variations all should belong to the appended power of the utility model
The protection scope that benefit requires.
Claims (10)
- The robot 1. a kind of Bluetooth transmission links, which is characterized in that including supporting the chassis structure of total and being arranged the bottom of at Robot body in dish structure, be provided in chassis structure control Bluetooth transmission linkage robot ambulation dynamic structure and Controller architecture is provided with pulley in the bottom of chassis structure, and the dynamic structure is connected with controller architecture, the pulley with Dynamic structure connection, is driven by dynamic structure and is slided；The robot body include Double-linkage clamp the manipulator of workpiece.
- The robot 2. Bluetooth transmission according to claim 1 links, which is characterized in that the chassis structure includes bottom plate, The side of bottom plate is arranged in the pulley；It is provided with lid on bottom plate, forms installation between the bottom plate and lid and accommodates sky Between, the dynamic structure and controller architecture of control Bluetooth transmission linkage robot ambulation are mounted in installation accommodation space；It is covering There are three ultrasonic sensor and three infrared sensors, the ultrasonic sensor and outer sensor height to interlock for setting on body Setting；The ultrasonic sensor and infrared sensor are connect with controller architecture.
- The robot 3. Bluetooth transmission according to claim 2 links, which is characterized in that it is rectangular that the bottom plate is arranged to class, 4 angles of class square floor are arranged to fillet, and 4 fillets are connected by the arc-shaped side of indent；The lid includes main cover body, main The shape of lid is adapted to class square floor, and the top surface of main cover body is a flat surface, and containment structures and nozzle structure are arranged at master On the top surface of lid, it is respectively arranged with semicircle orifice on the angle of the bottom of main cover body 4, one 1/4 is installed at each semicircle orifice The cover board of spherical shape, each cover board correspondence are coupled with a fillet, and cover board is placed in the top of fillet.
- The robot 4. Bluetooth transmission according to claim 3 links, which is characterized in that the pulley is arranged 4,4 cunnings Wheel includes 2 chassis driving wheels and 2 universal wheels, and 2 chassis driving wheels and 2 universal wheels respectively correspond and are arranged in the one of bottom plate At a fillet, 2 chassis driving wheels are connect with dynamic structure respectively.
- The robot 5. Bluetooth transmission according to claim 4 links, which is characterized in that be provided in installation accommodation space On a mounting board, dynamic structure includes driving entire Bluetooth transmission connection for mounting plate, the dynamic structure and controller architecture installation The mobile direct current generator module of mobile robot, the direct current generator module connect with controller architecture, are controlled by controller architecture Movement, 2 chassis driving wheels are connect with direct current generator module.
- The robot 6. Bluetooth transmission according to claim 5 links, which is characterized in that in the fillet and correspondence of each bottom plate Cover board between be provided with a touch sensing buffer structure, the touch sensing buffer structure include buffer board, spring and Microswitch, the buffer board are placed in the fillet position of bottom plate, and microswitch is mounted in installation accommodation space, spring one end with Buffer board connection, the spring other end are connect with the supporting block being mounted on bottom plate, and microswitch frizzen is connect with buffer board, micro- Dynamic switch is connect with controller architecture.
- The robot 7. Bluetooth transmission according to claim 1 links, which is characterized in that the robot body further includes using In shoot with video-corder in real time Bluetooth transmission linkage machine manually make the camera of situation and for camera to be shot with video-corder working condition transmission To the bluetooth transmission means of background monitoring equipment, the camera is connect with controller architecture, controller architecture and Bluetooth transmission Device connection, the bluetooth transmission means and background monitoring equipment are conveyed by bluetooth to be connected.
- The robot 8. Bluetooth transmission according to claim 1 links, which is characterized in that the manipulator include carrier base, Bracket, piston rod, driving plate, superstructure and substructure, the superstructure are consistent with the structure of substructure and upper and lower It is correspondingly arranged, the superstructure includes that drive link, linkage connecting rod, gripper connecting rod and gripper, the gripper include horizontal Gripping section and vertical fixed section, gripping section and fixed section are integrally formed L shape, and gripping section medial surface is provided with piece-holder slot Mouthful, fixed section is equipped with articulated section, and stiffening plate, gripping section, fixed section, articulated section and reinforcement are equipped between gripping section and fixed section Plate is wholely set；Clamping cylinder is provided on chassis structure, the cylinder axis of the clamping cylinder is connect with piston rod, clamps gas Cylinder is connect with controller architecture, clamping cylinder drive piston rod be moved forward and backward, piston rod pass through bracket and with bracket slide fit, be located at The bracket of piston rod two sides be equipped with upper linking arm and lower linking arm, the upper linking arm it is consistent with the structure of lower linking arm and on Under be correspondingly arranged, the superstructure is connect with upper linking arm, and substructure is connect with lower linking arm；The upper linking arm includes Linkage section and hinge segment, linkage section one end are fixedly connected with bracket, and the linkage section other end is fixedly connected with hinge segment, linkage section, Hinge segment and bracket are wholely set, and linkage section and hinge segment overall structure are L-shaped；Driving plate between linkage section and with work The free end of stopper rod is fixedly connected, and linkage connecting rod two end is hinged with articulated section, linkage section respectively, and gripper connecting rod is located at linkage connecting rod Outside, gripper connecting rod front end and articulated section are hinged, and the turning point between linkage section and hinge segment is articulated in the middle part of gripper connecting rod, drive Dynamic connecting rod one end and driving plate are hinged, and the drive link other end and gripper rod rear end are hinged.
- The robot 9. Bluetooth transmission according to claim 8 links, which is characterized in that be equipped between driving plate and bracket The guiding mechanism that piston rod shifts is prevented, the guiding mechanism includes upper guide part and lower guide part, the upper guide part Consistent with the structure of lower guide part and be symmetrically set in piston rod or more two sides, the lower guide part includes guide rod and limited block, is led Bar pass through bracket and with bracket slide fit, guide rod is fixedly connected with driving plate, and the guide rod other end is fixedly connected with limited block, drive Buffer spring is arranged on guide rod between movable plate and bracket, limited block and bracket.
- The robot 10. Bluetooth transmission according to claim 8 links, which is characterized in that peace is provided on chassis structure Seat and lifting cylinder are filled, vertical guide groove is provided in mounting base, sliding block is provided on carrier base, the sliding block setting is perpendicular Into guide groove and vertically guide groove slides up and down, and described bracket one end is fixed on carrier base, the cylinder of the lifting cylinder with Carrier base connection, lifting cylinder are connect with controller architecture, and lifting cylinder drives carrier base vertically guide groove oscilaltion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821601357.5U CN208914131U (en) | 2018-09-29 | 2018-09-29 | Bluetooth transmission linkage robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821601357.5U CN208914131U (en) | 2018-09-29 | 2018-09-29 | Bluetooth transmission linkage robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208914131U true CN208914131U (en) | 2019-05-31 |
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| CN201821601357.5U Expired - Fee Related CN208914131U (en) | 2018-09-29 | 2018-09-29 | Bluetooth transmission linkage robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111702462A (en) * | 2020-06-28 | 2020-09-25 | 惠安县辰杰科技有限公司 | Press-fitting forming device for electronic product parts |
| CN113772614A (en) * | 2020-06-10 | 2021-12-10 | 中山市北京理工大学研究院 | Combined liquid feeding device of disinfection robot |
-
2018
- 2018-09-29 CN CN201821601357.5U patent/CN208914131U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113772614A (en) * | 2020-06-10 | 2021-12-10 | 中山市北京理工大学研究院 | Combined liquid feeding device of disinfection robot |
| CN111702462A (en) * | 2020-06-28 | 2020-09-25 | 惠安县辰杰科技有限公司 | Press-fitting forming device for electronic product parts |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
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Granted publication date: 20190531 Termination date: 20190929 |