CN209140882U - A kind of omni-directional moving mechanism and hoisting machine people's system - Google Patents
A kind of omni-directional moving mechanism and hoisting machine people's system Download PDFInfo
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- CN209140882U CN209140882U CN201821723527.7U CN201821723527U CN209140882U CN 209140882 U CN209140882 U CN 209140882U CN 201821723527 U CN201821723527 U CN 201821723527U CN 209140882 U CN209140882 U CN 209140882U
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Abstract
The utility model provides a kind of omni-directional moving mechanism and hoisting machine people's system, comprising: the total pedestal of robot is a rigid body platform, for carrying other component；Double freedom mobile mechanism, is arranged in the bottom of the total pedestal of the robot, including movable pulley, and the movable pulley is able to achieve axial-rotation and radial rotary；Elevating mechanism, be arranged on the total pedestal top of the robot, the elevating mechanism is the movement mechanism for having elevating function, drive the robot platform plane in lifting process with the total base plane keeping parallelism of the robot；Robot platform is arranged on the elevating mechanism, is driven by the elevating mechanism and carries out elevating movement.The utility model structure is simple, and it is convenient to operate, and can move quickly near building, and drives multi-freedom robot to carry out constructing operation to the building of certain altitude by elevating mechanism.
Description
Technical field
The utility model belongs to robotic technology field, and in particular to a kind of omni-directional moving mechanism, and be made of it
Hoisting machine people's system.
Background technique
The appearance of First industrial robot in history is the material processing work for General Motors, with robot
Technology is constantly progressive and develops, and the work that they can do also becomes diversification.Spraying, stacking, carrying, packaging, weldering
Connect, assemble etc..
Research of the robot for building trade is initially started in Japan, the integrated manufacture body of today from starting to walk to being formed
It is the course passed by 25 years.Nineteen eighty-two, Japanese Shimizu company be " steel skeleton spray refractory covering material
I humanoid robot of SSR-" was once the robot that First is applied to construction in the world.Up to the present, construction machine
The type of people is increasing, and there are concrete prefabricated big board assembly line, framework of steel reinforcement molding, form assembly in the field of application and tear open
Unload, large container assembling, welding and spray painting, concrete distributing, air conditioning wind pipe inspection and cleaning, exterior wall finish inspection, face pressure
Light and cleaning etc..It was verified that not only can be improved using robot productivity, improve product quality, more it is main still
Complete what human body can not be completed in the adverse circumstances such as danger, high temperature, toxic, dust, vibration, noise instead of people
Although robot is widely used in construction, due to the limitation of robot itself working space, it is difficult to right
The scene of larger boundary of works area works.
Utility model content
In view of the deficiencies of the prior art, the utility model provides a kind of omni-directional moving mechanism and hoisting machine people's system,
It is provided simultaneously with mobile and elevating function, to solve the problems, such as that existing robot boundary of works area is limited.
The technical solution that the utility model solves above-mentioned technical problem is as follows:
First purpose according to the present utility model, provides a kind of omni-directional moving mechanism, comprising:
The total pedestal of robot is a rigid body platform, for carrying the other component of omni-directional moving mechanism；
The bottom of the total pedestal of the robot, the double freedom mobile mechanism packet is arranged in double freedom mobile mechanism
Movable pulley is included, the movable pulley is able to achieve axial-rotation and radial rotary；
Elevating mechanism, is arranged in the top of the total pedestal of the robot, and the elevating mechanism is the fortune for having elevating function
Motivation structure,
Robot platform is arranged on the elevating mechanism；
Wherein, the elevating mechanism drives the robot platform to carry out elevating movement, and the robot platform is flat
Face is parallel with the plane of the robot total pedestal during elevating movement.
The utility model is further arranged to, and the total pedestal of robot is equipped with motor drive controller, lifting electromechanics
Drive control device and master controller, the master controller are connected to the motor drive controller and the elevator electric drive control
Device processed；Wherein:
The motor drive controller is connected to the double freedom mobile mechanism, and double freedom described in drive control is mobile
Rotation speed, the rotation angle of the driving part of mechanism；
Driving device is installed, the elevator electric drive controller is connected to the driving device on the elevating mechanism
Heave amplitude for elevating mechanism described in drive control；
The master controller realizes drive control institute for controlling motor drive controller and elevator electric drive controller
State the heave amplitude of elevating mechanism and the movement speed and motion track of the entire omni-directional moving mechanism of drive control.
The utility model is further arranged to, the driving part of the double freedom mobile mechanism and the elevating mechanism
Driving device is connected to power supply.
Through the above technical solutions, the power supply, which can choose battery, provides electric energy, battery is fixed on the machine
On the total pedestal of device people, electric energy can also be provided to the double freedom mobile mechanism and the elevating mechanism by external power supply.
The utility model is further arranged to, and the double freedom mobile mechanism also includes driving part and L-type support, institute
Stating driving part includes axial-rotation motor and radial rotary motor；
The rotor of the axial-rotation motor connects the movable pulley, and the movable pulley is driven to carry out axial-rotation movement；
The L-type support for fixing the total pedestal of the movable pulley and the robot, consolidate on one side by the L-type support
The stator of the fixed axial-rotation motor, the rotor of the fixed radial rotary motor in another side；
The radial rotary motor is used to provide the described the radial rotary of movable pulley, and the stator of the radial rotary motor connects
The total pedestal of the robot is connect, the rotor of the radial rotary motor connects one side of the L-type support.
Through the above technical solutions, passing through the cooperation of Ji Zu double freedom mobile mechanism, all-around mobile, nothing may be implemented
Turning radius.When needing to turn, the radial rotary motor of all double freedom mobile mechanisms rotates to the angle of turning, later
By the coordination rotation of the axial-rotation motor of all double freedom mobile mechanisms, the turning that no turning radius can be realized is dynamic
Make.
The utility model is further arranged to, axial-rotation motor and the radial rotary electricity of the double freedom mobile mechanism
Machine is using one of AC servo motor, direct current permanent magnet motor, DC brushless motor or DC stepper motor.
The utility model is further arranged to, and the axial-rotation motor and the radial rotary motor are using directly output
Rotation torque, or using one in planetary gear, harmonic speed reducer, RV retarder, cycloid reducer, gear reduction unit
Kind, rotation torque is exported after torque is amplified.
The utility model is further arranged to, the elevating mechanism packet moving component and executing agency；Wherein:
The moving component provides rotation and/or linear motion, drives executing agency's movement finally by the machine
People's platform is elevated to desired height；
Experiencing small oscillating movements are converted into significantly moving by the executing agency by the drive of the moving component.
The utility model is further arranged to, and the structure of rotating electric machine connection lead screw can be used in the moving component, or
Using the structure of rotating electric machine connection worm and gear, perhaps driven using the structure of linear hydraulic driving or using straight line cylinder
Dynamic structure carries out movement output.
The utility model is further arranged to, and the executing agency is straight arm type, crank arm type, scissor-type, column type, guide rail
One of formula or chain-type lifting configuration.
Second purpose according to the present utility model provides a kind of hoisting machine people system, including above-mentioned all-around mobile machine
The robot body, the machine is arranged on the robot platform of the omni-directional moving mechanism in structure and robot body
Human body is the series and parallel robot system or parallel robot system for having multi-joint freedom degree.
The utility model is further arranged to, and the robot body is 4DOF SCARA humanoid robot, 4DOF string
Join one in humanoid robot, 6DOF series connection humanoid robot, 6DOF type parallel robot or 7 freedom degrees series connection humanoid robot
Kind.
Compared with prior art, the utility model at least have it is following a kind of the utility model has the advantages that
(1) omni-directional moving mechanism of the utility model, can be real by the cooperation such as double freedom mobile mechanism, elevating mechanism
Existing all-around mobile, and structure is simple, itself Foldable, it is small to occupy space for easily mobile storage.
(2) omni-directional moving mechanism of the utility model can move quickly near building, flexibly easily-controllable.
(3) omni-directional moving mechanism of the utility model has flexible elevating mechanism, and goes up and down steady；
(4) the utility model includes hoisting machine people's system of omni-directional moving mechanism, is driven mostly certainly by elevating mechanism
Constructing operation is carried out by building of the degree robot to certain altitude, it is convenient to operate, and improves working efficiency.
Detailed description of the invention
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other spies of the utility model
Sign, objects and advantages will become more apparent upon:
Fig. 1 is the structural schematic diagram of one preferred embodiment of the utility model；
Fig. 2 a, Fig. 2 b are the structural schematic diagram of the lifting two states of one preferred embodiment of the utility model；
Fig. 3 is the structural schematic diagram of the double freedom mobile mechanism of one preferred embodiment of the utility model；
Fig. 4 a, Fig. 4 b are the schematic diagram of the comprehensive steering of one preferred embodiment of the utility model；
Fig. 5 is the structural schematic diagram of the elevating mechanism of one preferred embodiment of the utility model.
Wherein, the total pedestal of 010- robot；020- double freedom mobile mechanism；030- elevating mechanism；040- robot is flat
Platform；050- robot body；021- movable pulley；022- axial-rotation motor；023-L type bracket；024- radial rotary motor；
031- moving component；032- executing agency；011- motor drive controller；012- elevator electric drive controller；013- master control
Device processed.
Specific embodiment
The utility model is described in detail combined with specific embodiments below.Following embodiment will be helpful to this field
Technical staff further understands the utility model, but does not limit the utility model in any form.It should be pointed out that ability
For the those of ordinary skill in domain, without departing from the concept of the premise utility, various modifications and improvements can be made.
These are all within the protection scope of the present invention.
As shown in Fig. 1 and Fig. 2 a, Fig. 2 b, be the utility model omni-directional moving mechanism and hoisting machine people's system one
Preferred embodiment schematic diagram.
In the embodiments illustrated in the figures, omni-directional moving mechanism includes the total pedestal 010 of robot, double freedom moving machine
Structure 020, elevating mechanism 030 and robot platform 040.The total pedestal 010 of robot is a rigid body platform, carries elevating mechanism
030 and robot platform 040, double freedom mobile mechanism 020 includes at least three movable pulleys 021 convenient for moving freely.Machine
The total pedestal 010 of people can be set battery and provide electric energy to double freedom mobile mechanism 020, elevating mechanism 030, can also pass through
External power supply provides electric energy to double freedom mobile mechanism 020, elevating mechanism 030.
In the embodiments illustrated in the figures, hoisting machine people system includes above-mentioned omni-directional moving mechanism and robot sheet
Body 050 is equipped with robot body 050 on robot platform 040, and robot body 050 is the string for having multi-joint freedom degree
Join parallel robot system or parallel robot system.
In a preferred embodiment, motor drive controller 011, lifting electromechanics are fixed on the total pedestal 010 of robot
Drive control device 012 and master controller 013, master controller 013 are connected to motor drive controller 011 and elevator electric drive control
Device 012 processed.Wherein, motor drive controller 011 is connected to double freedom mobile mechanism, instructs for receiving master controller 013,
Rotation speed, the rotation angle of the motor of drive control double freedom mobile mechanism 020.Elevator electric drive controller 012 is used
In the heave amplitude of drive control elevating mechanism 030.For example, when elevating mechanism 030 use hydraulic-driven, then control hydraulic valve and
Hydraulic pump controls heave amplitude；When elevating mechanism 030 use pneumatic actuation, then control pneumatic operated valve to control heave amplitude；When
Elevating mechanism 030 uses motor driven, then controls the rotation angle of motor to drive the heave amplitude of elevating mechanism 030.Always
Controller 013 realizes drive control elevator for controlling motor drive controller 011 and elevator electric drive controller 012
The movement speed and motion track of the entire robot of heave amplitude and drive control of structure 030.
Robot platform 040 is driven by elevating mechanism 030 and carries out elevating movement, carries robot body 050.Robot sheet
Body 050 is including but not limited to following several robot modelings: 4DOF SCARA humanoid robot, 4DOF series connection humanoid robot,
6DOF series connection humanoid robot, 6DOF type parallel robot, 7 freedom degrees series connection humanoid robot.
In a preferred embodiment, as shown in figure 3, double freedom mobile mechanism 020 is fixed on the total pedestal 010 of robot
On, movable pulley 021 includes two freedom degrees, and axial-rotation and radial rotary may be implemented；Double freedom mobile mechanism 020
Also include: axial-rotation motor 022, L-type support 023 and radial rotary motor 024.Wherein, the stator of axial-rotation motor 022
It is fixed on one side of L-type support 023, the rotor of axial-rotation motor 022 connects movable pulley 021, movable pulley 021 is driven to carry out axis
To spinning movement.L-type support 023 is used for the total pedestal 010 of movable pulley 021 and robot, one side fixing axle of L-type support 023
To the stator of rotating electric machine 022, the rotor of one side fixed radial rotating electric machine 024.Radial rotary motor 024 is for providing movement
The radial rotary of wheel 021, the stator of radial rotary motor 024 connect the total pedestal 010 of robot, and radial rotary motor 024 turns
One side of son connection L-type support 023.
As shown in Fig. 1, Fig. 4 a and Fig. 4 b, by the cooperation of Ji Zu double freedom mobile mechanism 020, it may be implemented comprehensive
It is mobile, no turning radius.When needing to turn, the radial rotary motor 024 of all double freedom mobile mechanisms 020, which rotates to, to be turned
Nothing can be realized by the coordination rotation of the axial-rotation motor 022 of all double freedom mobile mechanisms 020 later in curved angle
The turning action of turning radius.The axial-rotation motor 022 and radial rotary motor 024 of double freedom mobile mechanism 020 can be with
Using one of AC servo motor, direct current permanent magnet motor, DC brushless motor or DC stepper motor.Axial-rotation electricity
Machine 022 and radial rotary motor 024 can directly export rotation torque, can also be subtracted using planetary gear, harmonic speed reducer, RV
One of fast device, cycloid reducer, gear reduction unit carry out torque to send out big rear output rotation torque.Axial-rotation electricity
The encoder of machine 022 and radial rotary motor 024 can be using in photoelectric encoder, magnetic coder, potentiometer, rotation deflection machine
A kind of carry out motor rotation speed position detection.
In a preferred embodiment, as shown in Figure 1 and Figure 5, elevating mechanism 030 is that one kind has a wide range of elevating function
Movement mechanism, drive robot platform 040 go up and down, can remain 040 plane of robot platform in lifting process with machine
The total 010 plane keeping parallelism of pedestal of device people.Elevating mechanism 030 includes moving component 031 and executing agency 032, wherein movement portion
Part 031 provides rotation and/or linear motion, drives executing agency 032 to move, is finally elevated to robot platform 040 centainly
Highly.Experiencing small oscillating movements are converted into significantly moving by executing agency 032 by the drive of moving component 031.Moving component
031 can be used the structure of rotating electric machine connection lead screw, perhaps using the structure of rotating electric machine connection worm and gear or using straight
The structure of line hydraulic-driven, or movement output is carried out using the structure of straight line cylinder driving.Executing agency 032 may include but
Several lifting configurations not limited to the following: straight arm type, crank arm type, scissor-type, column type, guide tracked, chain-type etc., these execution
Mechanism 032 realizes vertical up-or-down movement in lifting process.In embodiment as shown in Fig. 5, executing agency 032 uses and cuts
Fork structure, from the figure, it can be seen that scissor structure uses multiple connecting rods, even by activity between multiple connecting rod head and the tail
It connects, constituting multiple can realize parallel four side by moving component 031 by adjusting the parallelogram mechanism of variable angle
The variation of shape included angle, two opposite side of parallelogram remain in parallel, to realize 032 vertical direction of executing agency
Elevating movement, in lifting process, 040 plane of robot platform for being connected to parallelogram mechanism upper end is parallel with being connected to
Total 010 plane of pedestal of the robot of quadrangular mechanism lower end can remain parallel.
It is the preferred structure design in the utility model above, certainly in other embodiments, each preferred structure can be with
It is used alone, under the premise of not conflicting mutually, can also be used in any combination, effect can be more preferable when being applied in combination.
The utility model above-described embodiment is able to achieve all-around mobile function, and structure is simple, and stability is good, and it is convenient to operate,
Can move quickly near building, lifting freely, can be adjusted flexibly, can the building to certain altitude carry out construction behaviour
Make.
Specific embodiment of the utility model is described above.It is to be appreciated that the utility model not office
It is limited to above-mentioned particular implementation, those skilled in the art can make various deformations or amendments within the scope of the claims,
This has no effect on the substantive content of the utility model.
Claims (10)
1. a kind of omni-directional moving mechanism, it is characterised in that: include:
The total pedestal of robot is a rigid body platform, for carrying the other component of omni-directional moving mechanism；
Double freedom mobile mechanism, is arranged in the bottom of the total pedestal of the robot, and the double freedom mobile mechanism includes moving
Driving wheel, the movable pulley are able to achieve axial-rotation and radial rotary；
Elevating mechanism, is arranged in the top of the total pedestal of the robot, and the elevating mechanism is the fitness machine for having elevating function
Structure；
Robot platform is arranged on the elevating mechanism；
Wherein, the elevating mechanism drives the robot platform to carry out elevating movement, and the plane of the robot platform exists
It is parallel with the plane of the robot total pedestal during elevating movement.
2. omni-directional moving mechanism according to claim 1, it is characterised in that: the total pedestal of robot is equipped with motor
Drive control device, elevator electric drive controller and master controller, the master controller are connected to the motor drive controller
With the elevator electric drive controller；
The motor drive controller is connected to the double freedom mobile mechanism, and double freedom moving machine described in drive control
The rotation speed and/or rotation angle of the driving part of structure；
Driving device is installed, the elevator electric drive controller is connected to the driving device and is used on the elevating mechanism
The heave amplitude of elevating mechanism described in drive control；
The master controller is realized and is risen described in drive control for controlling motor drive controller and elevator electric drive controller
The movement speed and motion track of the entire omni-directional moving mechanism of heave amplitude and drive control of descending mechanism.
3. omni-directional moving mechanism according to claim 1, it is characterised in that: the driving of the double freedom mobile mechanism
The driving device of component and the elevating mechanism is connected to power supply.
4. omni-directional moving mechanism according to claim 1, it is characterised in that: the double freedom mobile mechanism further includes
Driving part and L-type support, the driving part include axial-rotation motor and radial rotary motor；
The rotor of the axial-rotation motor connects the movable pulley, and the movable pulley is driven to carry out axial-rotation movement；
For the L-type support for fixing the total pedestal of the movable pulley and the robot, the L-type support fixes institute on one side
State the stator of axial-rotation motor, the rotor of the fixed radial rotary motor in another side；
The radial rotary motor is used to drive the radial rotary of the movable pulley, and the stator of the radial rotary motor connects institute
The total pedestal of robot is stated, the rotor of the radial rotary motor connects one side of the L-type support.
5. omni-directional moving mechanism according to claim 4, it is characterised in that: the axial direction of the double freedom mobile mechanism
Rotating electric machine and radial rotary motor are using AC servo motor, direct current permanent magnet motor, DC brushless motor and direct current stepping electricity
Any one of machine.
6. omni-directional moving mechanism according to claim 4, it is characterised in that: the axial-rotation motor and the radial direction
Rotating electric machine is slowed down using directly output rotation torque, or using planetary gear, harmonic speed reducer, RV retarder, Cycloidal Wheel
Any one of device and gear reduction unit export rotation torque after amplifying torque.
7. omni-directional moving mechanism according to claim 1, it is characterised in that: the elevating mechanism include moving component and
Executing agency；Wherein:
The moving component provides rotation and/or linear motion, drives the executing agency to move, by the robot platform liter
Drop to desired height；
Experiencing small oscillating movements are converted into significantly moving by the executing agency by the drive of the moving component.
8. omni-directional moving mechanism according to claim 7, it is characterised in that: the executing agency is straight arm type, cranks arm
Any one of formula, scissor-type, column type, guide tracked and chain-type lifting configuration.
9. a kind of hoisting machine people system, including robot body, it is characterised in that: further include claim 1-8 any described
Omni-directional moving mechanism, the robot body, the machine are set on the robot platform of the omni-directional moving mechanism
Device human body is the series and parallel robot system or parallel robot system for having multi-joint freedom degree.
10. hoisting machine people system according to claim 9, it is characterised in that: the robot body is 4DOF
SCARA humanoid robot, 4DOF series connection humanoid robot, 6DOF series connection humanoid robot, 6DOF type parallel robot and 7
Any one of freedom degree series connection humanoid robot.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201821723527.7U CN209140882U (en) | 2018-10-23 | 2018-10-23 | A kind of omni-directional moving mechanism and hoisting machine people's system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201821723527.7U CN209140882U (en) | 2018-10-23 | 2018-10-23 | A kind of omni-directional moving mechanism and hoisting machine people's system |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109227522A (en) * | 2018-10-23 | 2019-01-18 | 广东博智林机器人有限公司 | A kind of omni-directional moving mechanism and hoisting machine people's system |
| CN110644738A (en) * | 2019-10-14 | 2020-01-03 | 广东博智林机器人有限公司 | Spraying robot |
| CN112692759A (en) * | 2020-12-22 | 2021-04-23 | 曹铮杨 | Stable form axial conversion equipment for machining |
| CN113442162A (en) * | 2020-03-26 | 2021-09-28 | 精工爱普生株式会社 | Robot and robot system |
| CN114345575A (en) * | 2021-12-29 | 2022-04-15 | 中钢集团邢台机械轧辊有限公司 | Automatic spraying system for roller sand mold coating |
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2018
- 2018-10-23 CN CN201821723527.7U patent/CN209140882U/en active Active
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109227522A (en) * | 2018-10-23 | 2019-01-18 | 广东博智林机器人有限公司 | A kind of omni-directional moving mechanism and hoisting machine people's system |
| CN110644738A (en) * | 2019-10-14 | 2020-01-03 | 广东博智林机器人有限公司 | Spraying robot |
| CN113442162A (en) * | 2020-03-26 | 2021-09-28 | 精工爱普生株式会社 | Robot and robot system |
| EP3892425A1 (en) * | 2020-03-26 | 2021-10-13 | Seiko Epson Corporation | Robot and robot system |
| CN113442162B (en) * | 2020-03-26 | 2024-01-16 | 精工爱普生株式会社 | Robot and robot system |
| CN112692759A (en) * | 2020-12-22 | 2021-04-23 | 曹铮杨 | Stable form axial conversion equipment for machining |
| CN114345575A (en) * | 2021-12-29 | 2022-04-15 | 中钢集团邢台机械轧辊有限公司 | Automatic spraying system for roller sand mold coating |
| CN114345575B (en) * | 2021-12-29 | 2023-10-20 | 中钢集团邢台机械轧辊有限公司 | Automatic spraying system for roller sand mold coating |
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