CN209831649U - Robot - Google Patents

Abstract

The utility model provides a robot, which comprises a robot body and a telescopic device, wherein the telescopic device is arranged on the robot body and comprises a driving part and a telescopic part, and the telescopic part comprises a first arm section, a last arm section and at least one middle arm section; the first-stage arm section comprises an outer cylinder and a first-stage screw, the middle arm section comprises a middle cylinder, a middle screw and a middle nut, and the last-stage arm section comprises a last-stage cylinder and a last-stage nut; the outer cylinder, the middle cylinder and the final cylinder are sequentially and telescopically sleeved and cannot relatively rotate; the first-stage screw is rotatably supported in the outer cylinder and is connected with the driving part, and the first-stage screw is sequentially in threaded sleeve joint with the middle screw; the middle nut is in threaded connection with the middle screw rod or the first-stage screw rod of the upper stage, and the middle nut is rotatably connected with the middle cylinder; the last-stage nut is in threaded connection with the middle screw of the previous stage and is fixedly connected with the last-stage cylinder; the middle screw and the first-stage screw are provided with stopping parts for preventing the middle nut or the last-stage nut from being separated.

Description

Robot

Technical Field

The utility model relates to a mechanical equipment field particularly, relates to a robot.

Background

In order to realize the requirements of different heights, parameters of different positions and image detection. The existing robot can install the detection equipment on the telescopic device so as to meet the requirements of shooting at different positions and angles. The existing telescopic device of the robot is large in size and weight, large in occupied space, high in cost, complex in structure, low in reliability of a transmission mode and a telescopic structure, easy to cause problems in long-term use and use, complex in structure, difficult to maintain and replace and high in use and maintenance cost.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a robot to the extending structure who solves current robot is complicated, uses and the problem that the maintenance cost is high.

The utility model provides a robot, which comprises a robot body and a telescopic device, wherein the telescopic device is arranged on the robot body, the detection device comprises a driving part and a telescopic part, and the telescopic part comprises a first-stage arm section, a last-stage arm section and at least one middle arm section; the first-stage arm section comprises an outer cylinder and a first-stage screw, the middle arm section comprises a middle cylinder, a middle screw and a middle nut, and the last-stage arm section comprises a last-stage cylinder and a last-stage nut; the outer cylinder, the middle cylinder and the final cylinder are sequentially and telescopically sleeved and cannot relatively rotate; the first-stage screw is rotatably supported in the outer cylinder and is connected with the driving part, and the first-stage screw is sequentially in threaded sleeve joint with the middle screw; the middle nut is in threaded connection with the middle screw rod or the first-stage screw rod of the upper stage, and the middle nut is rotatably connected with the middle cylinder; the last-stage nut is in threaded connection with the middle screw of the previous stage and is fixedly connected with the last-stage cylinder; the middle screw and the first-stage screw are provided with stopping parts for preventing the middle nut or the last-stage nut from being separated.

Optionally, the middle nut moves along the screw under the driving of the screw with thread fit to push the corresponding middle cylinder and the middle screw to move; or the screw rods are matched with the threads to rotate so as to drive the corresponding middle screw rods to rotate.

Alternatively, when the last-stage intermediate screw rod matched with the last-stage nut rotates, the last-stage nut moves along the last-stage intermediate screw rod under the driving of the last-stage intermediate screw rod so as to push the fixedly connected last-stage cylinder body to move.

Optionally, the end portion of the middle cylinder is provided with an end cover structure, the end cover structure is provided with an accommodating cavity, the middle nut is provided with a stopping protrusion, and the stopping protrusion extends into the accommodating cavity.

Optionally, the end cover structure includes an end cover body and a blocking cover, the end cover body is fixedly connected to the middle cylinder body, and the blocking cover is detachably connected to the end cover body and is matched with the end cover body to form an accommodating cavity.

Optionally, the telescopic device further includes a sliding conductive mechanism, the sliding conductive mechanism includes a conductive portion and a sliding conductive unit, each arm section is provided with a conductive portion, the sliding conductive unit is disposed between two adjacent arm sections, and when the two adjacent arm sections move relatively, the conductive portions in the two adjacent arm sections are electrically connected.

Optionally, the sliding conductive unit is arranged on the arm section at the next stage in the two adjacent stages, and can move with the arm section relative to the arm section at the previous stage.

Optionally, the sliding conductive unit includes a conductive contact member and an elastic member, the conductive contact member is movably connected to the arm section via the elastic member, and is pressed against the conductive portion of the previous arm section by the elastic member.

Optionally, the conductive contact includes an electric brush, a through hole is provided on the arm section where the sliding conductive mechanism is located, and the corresponding conductive structure penetrates out of the through hole and is connected with the electric brush.

Optionally, the robot further comprises a movement mechanism, the movement mechanism comprising a wheeled movement mechanism, a tracked movement mechanism, a flying mechanism and a surface/underwater movement mechanism.

According to the utility model discloses a robot, the drive division of the telescoping device of installation on it provides power for the pars contractilis, makes the pars contractilis can stretch out and draw back as required to adjustment length. In the telescopic part, a first-stage arm section, a middle arm section and a last-stage arm section are connected in sequence and can move relatively to realize the telescopic part. First-stage barrel, middle barrel and last-stage barrel etc. are scalable cup jointing in proper order and can not rotate relatively, can promote the holistic structural strength of telescoping device, and avoid relatively twisting the problem that causes easy wearing and tearing. The first-stage screw, the middle nut and the last-stage nut are mutually matched to realize transmission so as to drive the matched barrel to move and ensure the telescopic part to stretch stably and reliably. The utility model discloses a telescoping device that robot adopted, compact structure is reliable, and occupation space is little, and spare part is small in quantity, and long service life, time and number of times that can be by a wide margin the reduction maintenance reduce full life cycle's use cost.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification. In the drawings:

fig. 1 is a schematic cross-sectional structural view of a telescopic device of a robot in a contracted state according to the present invention;

fig. 2 is a schematic side view of a telescopic device of a robot according to the present invention;

fig. 3 is a schematic cross-sectional structural view of the telescoping device of the robot in an extended state according to the present invention;

FIG. 4 is an enlarged view of a portion of the telescoping device of the robot of FIG. 3;

fig. 5 is a partially enlarged view of a portion a in fig. 4.

Fig. 6 is a schematic view of the robot of the present invention.

Description of reference numerals:

10. a drive section; 11. a drive motor; 12. a transmission belt; 13. a driving wheel; 14. a bearing; 20. a telescopic part; 21. a housing assembly; 211. a housing; 212. an end cap body; 213. a blocking cover; 22. a transmission assembly; 221. a drive nut; 221a, a stop projection; 222. a transmission rod; 23. a limiting member; 24. a conductive portion; 25. an elastic conductive connection structure; 251. a carbon brush; 252. a spring; 100. a robot.

Detailed Description

The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

Fig. 6 shows the robot of the embodiment of the present invention, which comprises a robot body, a telescopic device and a detection device, wherein the telescopic device is connected with the robot body and the detection device.

As shown in fig. 1 to 5, according to an embodiment of the present invention, a telescopic device of a robot includes a driving part 10, a telescopic part 20, the telescopic part 20 includes a first arm section, a last arm section, and at least one middle arm section; the first-stage arm joint comprises an outer cylinder body 211 and a first-stage screw 212, the middle arm joint comprises a middle cylinder body 221, a middle screw 222 and a middle nut 223, and the last-stage arm joint comprises a last-stage cylinder body 231 and a last-stage nut 232; the outer cylinder 211, the middle cylinder 221 and the final cylinder 231 are sequentially telescopically sleeved and cannot relatively rotate; the first-stage screw 212 is rotatably supported in the outer cylinder 211 and connected with the driving part 10, and the first-stage screw 212 and the middle screw 222 are sequentially in threaded sleeve; the middle nut 223 is in threaded connection with the middle screw 222 or the first-stage screw 212 of the upper stage, and the middle nut 223 is rotatably connected with the middle cylinder 221; the final nut 232 is in threaded connection with the middle screw 222 of the previous stage, and the final nut 232 is fixedly connected with the final cylinder 231; the intermediate screw 222 and the first screw 212 are provided with stoppers 26 for preventing the intermediate nut 223 or the last nut 232 from coming off.

The driving unit 10 of the telescopic device supplies power to the telescopic unit 20, so that the telescopic unit 20 can be extended and contracted as necessary to adjust the length. In the telescopic part 20, the first-stage arm section, the middle arm section and the last-stage arm section are connected in sequence and can move relatively to realize the telescopic part 20 to stretch out and draw back, thereby meeting the use requirement. First stage barrel 211, middle barrel 221 and last stage barrel 231 etc. are scalable cup jointing in proper order and can not rotate relatively, can promote the holistic structural strength of telescoping device, and avoid twisting relatively and cause the problem of easy wearing and tearing. The first-stage screw 212, the middle screw 222, the middle nut 223 and the last-stage nut 232 are mutually matched to realize transmission so as to drive the matched barrel to move, the telescopic part 20 is ensured to be stably and reliably telescopic, the structure is compact and reliable, the occupied space is small, the number of parts is small, the service life is long, the maintenance time and times can be greatly reduced, and the use cost of the whole life cycle is reduced.

The robot using the telescopic device can install the detection device on the telescopic device, so that the detection device can adjust the length and the position as required when acquiring data, the adaptability is better, the use is more convenient, and the telescopic device is stable and reliable.

According to different use requirements, the detection device can be any appropriate device, and when image acquisition is required, the detection device can be a video camera, a camera and the like; when sound collection is needed, the collection device can be a microphone and the like; when temperature acquisition is needed, the acquisition device can be a temperature sensor and the like.

Further, in order to better meet the requirements, a cloud deck and other structures can be arranged between the detection device and the telescopic device, so that multi-angle and multi-height adjustment is realized, and the flexibility is better.

In addition, the telescopic device can be provided with any other operating device.

Optionally, the robot further comprises a movement mechanism, the movement mechanism comprising a wheeled movement mechanism, a tracked movement mechanism, a flying mechanism and a surface/underwater movement mechanism. The movement mechanism may be any known movement mechanism suitable for movement by wheels, tracks, or capable of flying or moving on or under the water.

As shown in fig. 1, in the present embodiment, the driving portion 10 includes a driving motor 11, a belt 12, a transmission wheel 13, a bearing 14, and the like.

Driving motor 11 passes through support frame fixed connection on the base to the realization is to driving motor 11's support and fixed. An output shaft of the driving motor 11 is connected with a driving wheel 13 through a transmission belt 12 to drive the driving wheel 13 to rotate. Since the transmission wheel 13 is connected with the first-stage screw 212, the transmission wheel 13 drives the first-stage screw 212 to move in the rotation process. The bearing 14 is used to support the primary cylinder 211.

The driving part 10 in this embodiment provides power through the driving motor 11, so that the structure of the driving part 10 is more compact, and the driving part is suitable for a use scene with a smaller occupied space. Of course, in other embodiments, other drives, such as hydraulic drives, etc., may be desired.

As for the expansion part 20, as shown in fig. 1, in the present embodiment, the middle nut 223 is driven by the screw with thread fit to move along the screw to push the corresponding middle cylinder 221 and middle screw 222 to move; or rotate with the screw engaged with the thread to drive the corresponding middle screw 222 to rotate. Therefore, stable and reliable transmission can be ensured, the connected middle cylinder 221 is driven to move by the driving part 10, the length adjustment of the telescopic part 20 is realized, the connected middle cylinder 221 cannot rotate along with the middle cylinder 221, and the image acquisition equipment is reliably supported.

When the upper-stage intermediate screw 222 engaged with the final-stage nut 232 is rotated, the final-stage nut 232 is moved along the upper-stage intermediate screw 222 by the upper-stage intermediate screw 222 to push the fixedly coupled final-stage cylinder 231 to move. The final nut 232 is fixedly connected to the final cylinder 231 so that it can move the final cylinder 231.

In this embodiment, an end cover structure is disposed at an end of the middle cylinder 221, an accommodating cavity is disposed on the end cover structure, a stopping protrusion 223a is disposed on the middle nut 223, and the stopping protrusion 223a extends into the accommodating cavity, so that the middle nut 223 can be connected with the corresponding middle cylinder 221, when the middle nut 223 moves, due to the matching of the stopping protrusion 223a and the accommodating cavity, the middle cylinder 221 can move along with the middle nut 223, and can rotate relative to the middle cylinder 221 when the middle nut 223 rotates, and the middle cylinder 221 cannot rotate along with the middle cylinder 221.

Optionally, in order to facilitate installation and to enable the middle nut 223 to cooperate with the end cover structure, the end cover structure includes an end cover body 241 and a blocking cover 242, the end cover body 241 is fixedly connected to the middle cylinder 221, and the blocking cover 242 is detachably connected to the end cover body 241 and cooperates with the end cover body 241 to form an accommodating cavity.

The telescoping process of the telescoping device is described below with reference to fig. 4:

when not in use, the telescoping section 20 of the telescoping device is in a collapsed state, as shown in FIG. 1.

When the expansion part 20 needs to be expanded, the driving motor 11 of the driving part 10 is started and drives the first-stage screw 212 to rotate, and the middle nut 223 is in threaded fit with the first-stage screw 212, so that the middle nut 212 moves along the first-stage screw 212 under the driving of the middle nut. Since the middle nut 223 is matched with the end cover structure of the middle cylinder 221 and the stopping protrusion 223a stops with the end cover structure, the middle cylinder 221 is driven by the middle nut 223 to protrude from the first-stage arm section 211. At the same time, the middle screw 222 is moved in cooperation with the middle nut 223.

When the middle nut 223 moves to the end of the screw with the thread fit, the middle nut 223 stops moving due to the blocking of the blocking portion 26 (the blocking portion 26 may be a blocking nail or the like), and the middle nut 223 and the middle screw 222 both rotate along with the first-stage screw 212, so that the middle nut 223 of the next stage starts moving, and the middle cylinder 221 of the next stage starts extending. This allows the arm sections of the telescopic portion 20 to be extended step by step, thereby increasing the length. When the length of the telescopic part 20 needs to be reduced, the driving motor 11 may be rotated in the reverse direction.

Because the screw-thread fit between the latter-stage nut and the former-stage screw rod, therefore, when the expansion part 20 expands and contracts, the expansion part can be stopped at any time, so that the expansion part 20 is kept at a certain length, more length requirements are met, and the adjustment precision is better.

Optionally, in order to meet different requirements and ensure that power can be supplied to the equipment supported by the telescopic device when the telescopic portion 20 is telescopic, the telescopic device further includes a sliding conductive mechanism 25, the sliding conductive mechanism 25 includes a conductive portion 251 and a sliding conductive unit, each arm section is provided with the conductive portion 251, the sliding conductive unit is disposed between two adjacent arm sections, and when the two adjacent arm sections move relatively, the conductive portions 251 in the two adjacent arm sections are connected with each other.

The conductive structure 25 may be a conductive wire, such as a copper wire, capable of conducting electrical energy. Of course, the conductive wires may be made of any other suitable material according to the different materials (such as electric energy, optical signal, and electrical signal) to be transmitted. Preferably, the conductive portion 25 is in the form of a strip extending in the longitudinal direction of the arm segment.

In order to ensure reliable transmission of electric energy and/or signals when the arm sections of the telescopic part 20 are telescopic, the sliding conductive unit is arranged on the arm section at the next stage of the adjacent two stages of arm sections and can move along with the arm section relative to the arm section at the previous stage.

Optionally, the sliding conductive unit includes a conductive contact element 252 and an elastic element 253, the conductive contact element 252 is movably connected to the arm section via the elastic element 253, and is pressed against the conductive part 251 of the previous arm section by the elastic element 253.

Specifically, as shown in fig. 5, the elastic member 253 may be a spring, and the conductive contact 252 may be a brush, for example, a carbon brush. The electric brush is arranged on the barrel and is electrically connected with the conductive structure on the barrel.

For example, the arm section where the sliding conductive unit is located is provided with a through hole, and the corresponding conductive portion 251 penetrates through the through hole and is connected with the brush.

In this embodiment, the spring pushes the brush against the wire of the previous cylinder, so as to ensure that the brush can still contact with the wire of the previous cylinder during the moving process, thereby ensuring the stability of electric energy and/or signal transmission, ensuring the durability, and avoiding the problem that the wire is easy to break due to the alternating stress action caused by frequent deformation during the repeated stretching process of the stretching part 20 in the prior art.

In addition, because all be provided with slip conducting structure 25 on each back one-level barrel, and back one-level barrel when the one-level barrel removes before relatively, can lead through slip conducting structure 25 for the barrel is more steady at the removal in-process.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (6)

1. A robot is characterized by comprising a robot body and a telescopic device, wherein the telescopic device is installed on the robot body and comprises a driving part (10) and a telescopic part (20), and the telescopic part (20) comprises a first arm section, a last arm section and at least one middle arm section;

the first-stage arm section comprises an outer cylinder (211) and a first-stage screw (212), the middle arm section comprises a middle cylinder (221), a middle screw (222) and a middle nut (223), and the last-stage arm section comprises a last-stage cylinder (231) and a last-stage nut (232);

the outer cylinder body (211), the middle cylinder body (221) and the final-stage cylinder body (231) are sequentially and telescopically sleeved and cannot relatively rotate;

the first-stage screw (212) is rotatably supported in the outer cylinder (211) and connected with the driving part (10), and the first-stage screw (212) is sequentially in threaded sleeve connection with the middle screw (222);

the middle nut (223) is in threaded connection with a middle screw (222) of the previous stage or a first-stage screw (212), and the middle nut (223) is rotatably connected with the middle cylinder (221);

the final nut (232) is in threaded connection with the middle screw (222) of the previous stage, and the final nut (232) is fixedly connected with the final cylinder (231);

the middle screw rod (222) and the first-stage screw rod (212) are provided with stopping parts (26) for preventing the middle nut (223) or the last-stage nut (232) from being disengaged.

2. Robot according to claim 1, characterized in that the intermediate nut (223) is driven by a screw with a screw thread fit to move along the screw to push the corresponding intermediate cylinder (221) and intermediate screw (222) to move; or the screw rods matched with the threads rotate to drive the corresponding middle screw rods (222) to rotate.

3. A robot according to claim 1 or 2, characterized in that when the last-stage intermediate screw (222) engaged with the last-stage nut (232) is rotated, the last-stage nut (232) is moved along the last-stage intermediate screw (222) under the driving of the last-stage intermediate screw (222) to push the fixedly connected last-stage cylinder (231) to move.

4. The robot as recited in claim 1, characterized in that an end cap structure is provided at an end of the middle cylinder (221), the end cap structure is provided with a receiving cavity, the middle nut (223) is provided with a stopping protrusion (223a), and the stopping protrusion (223a) extends into the receiving cavity.

5. The robot as recited in claim 4, characterized in that the end cap structure comprises an end cap body (241) and a blocking cover (242), the end cap body (241) is fixedly connected to the middle cylinder body (221), and the blocking cover (242) is detachably connected to the end cap body (241) and cooperates with the end cap body (241) to form the accommodating cavity.

6. The robot of claim 1, further comprising a motion mechanism including a wheeled motion mechanism, an orbital motion mechanism, a tracked motion mechanism, a flying mechanism, and a surface/underwater motion mechanism.