CN210158694U

CN210158694U - Movable mechanical arm

Info

Publication number: CN210158694U
Application number: CN201920373752.0U
Authority: CN
Inventors: 王了; 王勇
Original assignee: Chongqing Jinshan Medical Robot Co Ltd
Current assignee: Chongqing Jinshan Medical Robot Co Ltd
Priority date: 2019-03-22
Filing date: 2019-03-22
Publication date: 2020-03-20
Anticipated expiration: 2029-03-22

Abstract

The utility model discloses a movable manipulator, including crossbeam (1), crossbeam (1) links to each other with the longeron, and the longeron setting is provided with on crossbeam (1) and hangs the mechanism on the platform truck. The utility model discloses can solve the technical problem that the terminal stability of manipulator can not be guaranteed to the manipulator among the prior art, simultaneously, can make whole device satisfy high load, high rigidity, the actual requirement of high accuracy.

Description

Movable mechanical arm

Technical Field

The utility model relates to a medical manipulator especially relates to a portable manipulator.

Background

In the existing medical operation, such as some minimally invasive operations, the operation precision and efficiency of doctors are required to be high, in the operation, surgeons generally need peripheral auxiliary doctors and the like to help to take operation tools, and when the number of peripheral auxiliary people is too many, the periphery of the operation is too dense, so that the minimally invasive operation robot can be produced.

The minimally invasive surgery robot can reduce the physical labor of a doctor in the surgery process and simultaneously achieve the purpose of accurate surgery. However, to achieve the above purpose, the minimally invasive surgical robot needs one upright post to support a plurality of manipulators at the same time. When a plurality of manipulators are supported by one upright column, the stability of the manipulators in the operation process can be ensured only by the fact that the manipulator lifting overall layout structure has enough rigidity, strength and motion precision. The rigidity, the strength and the movement precision of a manipulator lifting overall layout structure in the prior art are insufficient, so that the stability of the manipulator in the operation process cannot be ensured.

Therefore, those skilled in the art have devoted themselves to develop a mobile robot to solve the technical problem that the stability of the end of the robot cannot be guaranteed by the robot in the prior art.

SUMMERY OF THE UTILITY MODEL

In view of the above-mentioned defects in the prior art, the technical problem to be solved by the present invention is to provide a mobile manipulator.

In order to achieve the purpose, the utility model provides a movable manipulator, including the crossbeam, the crossbeam links to each other with the longeron, and the longeron setting is provided with on the crossbeam and hangs the mechanism on the platform truck.

In order to ensure that the connection between the connecting parts of the mechanical arm cross beam of the surgical robot is more reliable and the positioning is more accurate, the connection reliability is ensured, and the connecting parts are convenient to disassemble, store and transport.

In order to enable the deflection of the cross beam to be small even no obvious deformation when the overturning moment on the cross beam comes from the front direction, the rear direction, the left direction and the right direction, so as to meet the actual control requirement of workers, save the space for installing empty slots, lead wires or install electrical elements more conveniently, wherein the first connecting plate is connected with the web plate, the web plate is connected with the second connecting plate, and the web plate is provided with a lower wing plate; the webs comprise a first web and a second web which are arranged at intervals; the first web plate and the second web plate are respectively perpendicular to the first connecting plate.

In order to make the utility model relates to a portable manipulator's compact structure, great degree save space, and increase stand bending strength, realize that the stand material is external, the load is built-in, improve the rigidity and the motion precision of system, the longeron includes lift gyration coupling mechanism, lift gyration coupling mechanism includes the stand, the stand is the I shape, the spout has been seted up to the stand, is equipped with the connecting block in the spout, the one end of connecting block links to each other with elevating system, the other end links to each other with a actuating mechanism.

In order to increase the bending strength of the manipulator support upright, realize that the base material is external and the load is internal, overcome the problem of 'heavy head and light foot', and improve the precision of rotary motion, the upright comprises an a support plate which is arranged between a second support plate and a third support plate and is connected with the second support plate and the third support plate; the spout sets up in a backup pad.

In order to increase the bending strength of the upright column, realize that the upright column material is externally arranged and the load is internally arranged, and improve the rigidity and the motion precision of the system, the lifting mechanism comprises a linear guide rail, the linear guide rail is arranged on a supporting plate a, and a chute is arranged on the supporting plate a; a slide block is matched in the linear guide rail, the slide block is fixedly connected with a carriage, and the carriage is fixedly connected with the lifting body; the carriage is fixedly connected with the connecting block.

In order to improve the reliability of the system, reduce the influence of other external forces on the first speed reducer and improve the bending strength and the motion precision of the column, the column comprises a rotary column mounting flange, the rotary column mounting flange is connected with a first crossed roller bearing, and the first crossed roller bearing is arranged on the base module support.

In order to enable the transmission mechanism to load larger radial torque, enable the size and the weight of the manipulator terminal to be smaller, obviously lighten the burden of the manipulator terminal and increase the stability of the surgical robot, the suspension mechanism comprises a transmission mechanism of the manipulator terminal, and the transmission mechanism of the manipulator terminal is connected with the key connection mechanism; the transmission mechanism of the manipulator terminal comprises a wire passing shaft, a second crossed roller bearing is concentrically sleeved on the wire passing shaft, a speed reducer support is arranged in the wire passing shaft, the wire passing shaft and the speed reducer support are combined to form an accommodating cavity, and the second crossed roller bearing is arranged in the accommodating cavity and is connected with a cross beam bolt; the key connecting mechanism comprises a wire passing shaft and a steel sleeve, and a first key groove is formed in the outer wall of the wire passing shaft; a second key groove is formed in the inner wall of the steel sleeve corresponding to the first key groove; the widths of the first key groove and the second key groove are smaller than the width of the key groove corresponding to the nominal diameter of the wire passing shaft; the wire through shaft is connected with the steel sleeve through a key.

In order to better fix the longitudinal beam on the trolley and further stabilize the manipulator, the input flange is arranged on a third crossed roller bearing, the third crossed roller bearing is connected with a base module support, and the base module support is connected with a trolley base.

In order to ensure the complete contact between the stop mechanism and the ground, improve the stop effect and the stop stability of the stop mechanism, improve the stop stability of the base of the operation trolley, ensure the stop uniformity of the base of the operation trolley and further improve the stability and the reliability of the operation trolley in the stop process, the trolley is provided with the stop mechanism, the stop mechanism comprises supporting legs, and the supporting legs are connected with a piston rod of an electric cylinder; the electric cylinder is connected with the motor; the power output end of the motor is connected with one end of the gearbox; the other end of the gearbox is connected with a power input end in the synchronous box; and a power output end in the synchronous box is connected with the electric cylinder.

In order to realize the omnidirectional movement of the idler wheels, the idler wheels can still stably move under the condition of uneven road surface, the omnidirectional movement of the base of the operation trolley is realized, and the four idler wheels can be in contact with the ground, so that the base of the operation trolley is flexible and stable in the moving process; the height adjusting assembly comprises a first fixing frame and a connecting plate; the first fixed frame is composed of a vertical plate and a fixed plate; the side surface of the connecting plate is connected with the outer side surface of the vertical plate in a sliding manner; the top surface of the connecting plate is connected with the fixed plate through a spring; the vertical plate is erected outside the power input part of the roller; the connecting plate is sleeved outside the power input part of the roller.

The utility model has the advantages that:

1) the utility model relates to a movable manipulator, which comprises a beam, wherein the beam is connected with a lifting rotary connecting mechanism, and the lifting rotary connecting mechanism is connected with a base of an operation trolley; the cross beam is connected with the suspension mechanism, so that the technical problem that the stability of the tail end of the manipulator cannot be guaranteed by the manipulator in the prior art can be solved, and meanwhile, the whole mechanism can meet the actual requirements of high load, high rigidity and high precision.

2) The utility model relates to a portable manipulator adopts the crossbeam to include first connecting plate, and first connecting plate links to each other with the web, and the web links to each other with the second connecting plate, is provided with the design of pterygoid lamina down on the web, when can make the moment of overturning on the crossbeam come from four directions in the front, back, left and right, the deflection of crossbeam is less, prevents that the crossbeam is unstable, and needs to bring the obstacle for the work of reality.

3) The movable manipulator of the utility model adopts a lifting rotary connecting mechanism which comprises a vertical column, a lifting mechanism and a first driving mechanism; the upright post is I-shaped and is provided with a sliding chute; a connecting block is arranged in the sliding groove, and two ends of the connecting block extend out of the sliding groove; the design that one end and elevating system of connecting block are connected, the other end with first actuating mechanism connects can increase stand bending strength, realizes that the stand material is external, and the load is built-in, improves the rigidity and the motion precision of system.

Drawings

FIG. 1 is a schematic structural diagram of an embodiment of the present invention;

fig. 2 is a schematic structural view of a cross beam according to the present invention;

FIG. 3 is an enlarged view of a portion of FIG. 2 at B;

fig. 4 is a schematic structural view of a first connection plate according to the present invention;

fig. 5 is a schematic structural view of a cross beam according to the present invention;

fig. 6 is a schematic structural view of a cross beam according to the present invention;

FIG. 7 is a schematic structural view of the elevating rotary connection mechanism of the present invention;

FIG. 8 is a schematic structural view of the elevating rotary connection mechanism of the present invention;

fig. 9 is a schematic structural diagram of a transmission mechanism according to the present invention;

fig. 10 is a schematic structural view of a transmission mechanism according to the present invention;

FIG. 11 is an enlarged view of a portion of FIG. 10 at A;

fig. 12 is a partial enlarged view at B in fig. 10;

FIG. 13 is a schematic structural view of a key connecting mechanism according to the present invention;

FIG. 14 is a schematic structural view of a key connecting mechanism according to the present invention;

FIG. 15 is a schematic view of the stop mechanism of the present invention;

fig. 16 is a schematic structural view of a stop mechanism according to the present invention;

fig. 17 is a schematic structural view of a stop mechanism according to the present invention;

fig. 18 is a schematic structural view of the trolley involved in the present invention;

fig. 19 is a schematic structural view of a driving mechanism according to the present invention;

fig. 20 is a schematic structural view of a driving mechanism according to the present invention;

fig. 21 is a schematic structural view of a driving mechanism according to the present invention;

fig. 22 is a schematic view of a driving mechanism according to the present invention;

fig. 23 is a connecting structure diagram of the longitudinal beam and the trolley involved in the present invention;

fig. 24 is a schematic view of the entire mechanism of the robot arm according to the present invention.

Detailed Description

The present invention will be further described with reference to the accompanying drawings and examples, wherein it is noted that, in the description of the invention, the terms "upper", "lower", "left", "right", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular manner, and therefore should not be construed as limiting the present invention. The terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "communicating" are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

As shown in the figure, in order to solve the technical problem, the utility model provides a portable manipulator, including crossbeam 1, crossbeam 1 links to each other with the longeron, and the longeron setting is provided with on crossbeam 1 and hangs the mechanism on the platform truck.

The crossbeam includes first backup pad 112, is provided with first locating plate 19 perpendicularly on the first backup pad 112, and first locating plate 19 links to each other with first connecting plate 11 is perpendicular, and links to each other with third connecting plate 111.

The first connecting plate 11 is connected to the second positioning plate 110, and the first connecting plate 11 is vertically disposed on the first support plate 112. The second positioning plate 112 is vertically connected to the third connecting plate 111. The first positioning plate 19 is vertically connected to the first lower wing plate 14, and the first lower wing plate 14 is disposed on the first support plate 112.

The first positioning plate 19 is connected with the third connecting plate 111 through bolts; the first connecting plate 11 is bolted to the second positioning plate 110.

Five bolts are arranged on the first positioning plate 19 and comprise a first bolt 191, the first bolt 191, a second bolt 192 and a third bolt 193 are horizontally arranged on a first straight line, the first straight line is close to the vertical edge of the first positioning plate 19 and is parallel to the vertical edge of the first positioning plate 19, and the interval distance between every two adjacent bolts is equal; the fourth bolt 194, the fifth bolt 195 and the sixth bolt 196 are horizontally arranged on a second straight line and are arranged in the middle of the first positioning plate 19, the second straight line is parallel to the vertical edge of the first positioning plate 19, and the spacing distance between the fourth bolt 194 and the fifth bolt 195 is greater than the spacing distance between the fifth bolt 195 and the sixth bolt 196; the spacing distance between fourth bolt 194 and sixth bolt 196 is greater than the spacing distance between first bolt 191 and third bolt 193.

The first bolt 191 is positioned above the connecting line of the fifth bolt 195 and the sixth bolt 196, and the spacing distance between the first bolt 191 and the sixth bolt 196 is equal to the spacing distance between the first bolt 191 and the fifth bolt 195; the second bolt 192 is located in the middle of the line connecting the first bolt 191 and the third bolt 193, the second bolt 192 is located above the line connecting the fifth bolt 195 and the fourth bolt 194, and the spacing distance between the second bolt 192 and the fifth bolt 195 is equal to the spacing distance between the second bolt 192 and the third bolt 195.

The third bolt 193 is located above the connecting line of the fifth bolt 195 and the fourth bolt 194, and the spacing distance between the third bolt 193 and the second bolt 192 is equal to the spacing distance between the fourth bolt 194 and the third bolt 193; the fifth bolt 195 is located between the sixth bolt 196 and the line connecting the fourth bolt 194.

Screw holes to which bolts are connected are provided on the third connecting plate 111.

Three bolts are arranged on the first connecting plate 11 and comprise a seventh bolt 113, the spacing distance between the seventh bolt 113 and the eighth bolt 114 is equal to the spacing distance between the eighth bolt 114 and the ninth bolt 115, the seventh bolt 113, the eighth bolt 114 and the ninth bolt 115 are arranged on a third straight line and are positioned in the middle of the first connecting plate 11, and the third straight line is parallel to the vertical edge of the first connecting plate 11.

The eighth bolt 18 is disposed in the middle of the line connecting the seventh bolt 113 and the ninth bolt 115; screw holes connected with the bolts are provided on the second positioning plate 110. The first connecting plate 11 is connected with a web plate, the web plate is connected with the second connecting plate 16, and a lower wing plate is arranged on the web plate.

The first connecting plate 11 is respectively connected with a first web 12 and a second web 13 through bolts; the first lower wing plate 14 is connected with the first web plate 12 through bolts; the second lower wing plate 15 is connected with the second web plate 13 through bolts; the second connecting plate 16 is bolted to the first and

second webs

12, 13.

The lifting rotary connecting structure 2 comprises an upright post 24, a lifting mechanism and a first driving mechanism; the upright post 24 is I-shaped, and the upright post 24 is provided with a chute 2101; a connecting block 216 is arranged in the chute 2101, and two ends of the connecting block 216 extend out of the chute 2101; one end of the connecting block 216 is connected with the lifting mechanism, and the other end is connected with the first driving mechanism.

The column 24 includes an a-support plate 21, a second support plate 22, and a third support plate 23; the second support plate 22 and the third support plate 23 are connected through the a-support plate 21; the slide groove 2101 is provided on the a-support plate 21.

The lifting mechanism comprises a linear guide rail 217 and a lifting body 218, wherein the linear guide rail 217 is arranged on the a support plate 21; a sliding block 227 is matched in the linear guide rail 217, the sliding block 227 is fixedly connected with the carriage 220, and the carriage 220 is fixedly connected with the lifting body 218; the carriage 20 is fixedly connected with the connecting block 216.

The first driving mechanism includes a lead screw 221 arranged in parallel with the chute 2101; two ends of the screw rod 221 are fixedly connected with the a supporting plate 21 through a mounting seat 225; the lead screw 221 is fitted to the connection block 216.

The first driving mechanism further comprises a second motor 224, a second speed reducer 226 and a brake 222, wherein the second motor 224, the second speed reducer 226 and the brake 222 are connected in sequence; the lead screw 221 is connected to the stopper 222. The ratio of a first distance from the front end of the upper end surface of the second support plate 22 to the front surface of the a-support plate 21 to a second distance from the rear end of the upper end surface of the second support plate 22 to the rear surface of the a-support plate 21 is equal to the ratio of the elevating mechanism to the aforementioned weight. The weight ratio of the lifting mechanism to the first driving mechanism is

The upright column 24 comprises a rotary upright column mounting flange 26 and an input flange 25, wherein the rotary upright column mounting flange 26 is arranged at the lower part of the upright column 24, and the input flange 25 is arranged at the lower end of the upright column 24; the ratio of the length of the rotating column mounting flange 26 from the input flange 25 to the overall length of the column 24 is

The installation flange of the rotary upright post is arranged in the range, so that the mechanical assembly can be rotated and erectedThe column mounting flanges are mounted above and below to leave appropriate space and also to improve the bending resistance of the column, and in some embodiments, the ratio of the length of the rotating column mounting flange 26 from the input flange 25 to the total length of the column 24 is

The ratio of the length of the rotating column mounting flange 26 from the input flange 25 to the overall length of the column 24 is

In some embodiments, the ratio of the length of the rotating column mounting flange 26 from the input flange 25 to the overall length of the column 24 is

The runner 2101 is disposed above the rotating column mounting flange 26. A second motor 224 and a second speed reducer 226 are disposed between the rotary column mounting flange 26 and the input flange 25, and a brake 222 is positioned on the rotary column mounting flange 26.

The rotary upright mounting flange 26 is arranged on the base module bracket 29, and a first crossed roller bearing 210 is arranged between the rotary upright mounting flange 26 and the base module bracket 29; wherein the rotating column mounting flange 26 is bolted to the first cross roller bearing 210. The utility model discloses be equipped with first cross roller bearing 210 between gyration stand mounting flange 26 and base module support 29, first cross roller bearing 210 can select the enough big model of sufficient load parameter, and gravity, the side direction upset moment of stand are whole to be undertaken by first cross roller bearing 210, have promoted system reliability.

The bottom of the lifting and rotating connection structure is connected with a first speed reducer (not shown), a first motor (not shown) is connected with the first speed reducer (not shown), the first motor is used for driving the rotating structure 8 to rotate, and the first speed reducer is used for driving the first motor.

In this embodiment, a part of the structure of the swing structure 8 below the base module support 29 (excluding the base module support 29) is provided in the cart, and the lower surface of the base module support 29 is engaged with the upper surface of the cart, and the base module support 29 and the cart are fixedly connected, and the swing structure 8 is fixedly mounted on the cart by fixing the base module support 29 and the cart, and the position of the robot is easily transferred by the cart.

Further, the input flange 25 is arranged on a third cross roller bearing 7, the third cross roller bearing 7 is connected with a base module support 29, and the base module support 29 is connected with the trolley base. The input flange 25 is bolted to the third crossed roller bearing 7, the third crossed roller bearing 7 is bolted to the base module support 29, and the base module support 29 is bolted to the trolley base.

The transmission structure 3 of the manipulator terminal comprises a wire shaft 35, and a second crossed roller bearing 36 is concentrically sleeved on the wire shaft 35. The spool 35 is provided inside the reducer bracket 34. The spool 35 is combined with the reducer bracket 34 to form a housing chamber 314, and the second cross roller bearing 36 is installed in the housing chamber 314 and bolted to the cross member 1.

A thread passing hole 312 is arranged in the thread passing shaft 35, and a thread passing port 313 is arranged on the thread passing shaft 35. A key groove is formed on the wire passing shaft 35; a steel sleeve 37 is concentrically sleeved outside the wire passing shaft 35; the wire through shaft 35 is connected with the steel sleeve 37 in a key mode; the steel sleeve 37 is bolted to the rotary platform 311.

The spool 35 is concentrically provided with an inter-shaft retainer ring 39, and the inter-shaft retainer ring 39 is concentrically provided with the retainer ring 310. The wire through shaft 35 is connected with the harmonic reducer 32; a harmonic reducer 32 is provided in connection with the synchronous pulley 31.

The key connection mechanism comprises a wire passing shaft 35 and a steel sleeve 37, and a first key groove 3a is formed in the outer wall of the wire passing shaft 35; a second key groove 3b is arranged on the inner wall of the steel sleeve 37 corresponding to the first key groove 3 a; the widths of the first key groove 3a and the second key groove 3b are smaller than the width of the key groove corresponding to the nominal diameter of the wire passing shaft 35; the spool 35 and the steel sleeve 37 are connected by a key 38.

The first key groove 3a is a half-open key groove, the second key groove 3b is a full-open key groove, and an inter-shaft retainer ring 39 is arranged in the steel sleeve 37 corresponding to the second key groove 3 b. The inter-shaft retainer ring 39 is provided with a yielding notch. A collar 310 is provided between the inter-shaft retainer 39 and the key 38. The tail end of the second crossed roller bearing 36 is connected with the mechanical arm supporting frame through a key connection mechanism.

The stopping mechanism 5 comprises a supporting foot 536, and the supporting foot 536 is connected with the piston rod of the electric cylinder 534; the electric cylinder 534 is connected to the motor 531. The power output end of the motor 531 is connected with one end of the gearbox 532; the other end of the gearbox 532 is connected with a power input end in the synchronous box 533; the power output end in the synchronization box 533 is connected with the electric cylinder 534. The electric cylinder 534 is sleeved with a fixing frame 535.

The bottom surface of the supporting leg 536 is provided with a shock pad 537. Shock pad 537 is a rubber shock pad. The electric cylinder 534 is a linear electric cylinder. The base 51 is arranged on the frame 52; the bottom of the frame 52 is provided with a plurality of stopping mechanisms 5; the stop mechanism 5 for the base of the surgical trolley is connected to the frame 52 by a fixed frame 535.

The fixing frame 535 comprises a bottom plate 5351; two sides of the bottom plate 5351 are respectively provided with a vertical support plate 5352; the end part of the vertical support plate 5352 is provided with a strap lug 5353; the fixed frame 535 is connected to the frame 52 by lugs 5353. Four stop mechanisms 5 for the base of the operating trolley are arranged on the bottom of the frame 52. Four stop mechanisms 5 for the base of the surgical trolley are respectively arranged in the middle of the four sides of the bottom of the frame 52.

The driving mechanism 6 includes a roller 625, and further includes a height adjustment assembly, which is fixedly disposed at a power input portion of the roller 625. The height adjusting assembly includes a first fixing frame 628 and a connecting plate 624; the first fixed frame 628 is constituted by a vertical plate 6281 and a fixed plate 6282; the side surface of the connecting plate 624 is slidably connected with the outer side surface of the vertical plate 6281; the top surface of the connecting plate 624 is connected with a fixing plate 6282 through a spring 626; the vertical plate 6281 is erected outside the power input portion of the roller 625; the connecting plate 624 is sleeved outside the power input portion of the roller 625.

A sliding rail 623 is arranged on the outer side surface of the vertical plate 6281; a slide block is arranged on the slide rail 623; the side surface of the slide block is fixedly connected with the connecting plate 624; the sliding block is provided with a limiting block 629; the limiting block 629 is fixedly arranged on the side surface of the vertical plate 6281; the fixing plate 6282 is provided with an installation groove 6283; the spring 626 is fixed in the mounting groove 6283 through the adjusting screw 627; the end of the adjustment screw 627 is provided with a shaft end stop 6271.

The roller 625 is connected with the power output end of the first gearbox 622; the power input end of the first gearbox 622 is connected with the first motor 621; the vertical plate 6281 of the first fixed frame 628 is erected on the outer shell of the first gearbox 622; a connecting plate 624 extends through the first gearbox 622 housing. Roller 625 is a Mecanum wheel.

The utility model discloses the portable manipulator that involves, longeron are fixed on the platform truck, and actuating mechanism 6 of installation on the platform truck drives the platform truck and removes. A stopping mechanism 5 is further mounted on the trolley, the stopping mechanism 5 comprises supporting legs 536, and the supporting legs 536 are connected with the piston rod of the electric cylinder 534; the electric cylinder 534 is connected to the motor 531.

In use, when the operating trolley is moved, the motor 531 is started, and the electric cylinder 534 is driven through the synchronization box, so that the supporting legs 536 are retracted relative to the ground; when the operating vehicle needs to be stopped, the motor 531 is started, the electric cylinder 534 is driven through the synchronous box, the supporting legs 536 extend out relative to the ground, whether the supporting surface is completely contacted with the ground or not is judged through the current of the motor 531, and when the current is large enough, the supporting surface is completely contacted with the ground, the motor is turned off, and the stability of the manipulator is ensured.

Further, in the using process, the second motor 224 drives the connecting block 216 on the lifting body 218 to move up and down, so as to drive the lifting body 218 to move up and down, and the second reducer 226 brakes the lifting body 218, so as to control the lifting body 218 to move up and down.

Further, in the using process, the lifting body 218 is connected with the cross beam 1, and the up-and-down movement of the lifting body drives the up-and-down movement of the cross beam.

Further, in the use, crossbeam 1 links to each other with drive mechanism 3 at manipulator terminal, and driving motor drive rotates on the spool 35, and the spool 35 is connected through the keyway key-type that sets up on drive mechanism 3 at manipulator terminal with the manipulator support frame to the realization passes through the spool 35 to convey power to the manipulator supporting rack.

The foregoing has described in detail preferred embodiments of the present invention. It should be understood that numerous modifications and variations can be devised by those skilled in the art in light of the teachings of the present invention without undue experimentation. Therefore, the technical solutions that can be obtained by a person skilled in the art through logic analysis, reasoning or limited experiments based on the prior art according to the concepts of the present invention should be within the scope of protection defined by the claims.

Claims

1. A mobile manipulator comprises a beam (1), and is characterized in that: crossbeam (1) links to each other with the longeron, the longeron sets up on the platform truck, be provided with on crossbeam (1) and hang the mechanism, the crossbeam includes first backup pad (112), be provided with first locating plate (19) on first backup pad (112) perpendicularly, first locating plate (19) link to each other with first connecting plate (11) perpendicularly, and link to each other with third connecting plate (111).

2. The mobile robot of claim 1, wherein: the first connecting plate (11) is connected with a web plate, the web plate is connected with a second connecting plate (16), and a lower wing plate is arranged on the web plate;

the webs comprise a first web (12) and a second web (13) which are arranged at intervals;

the first web (12) and the second web (13) are perpendicular to the first connecting plate (11).

3. The mobile robot of claim 1, wherein: the longitudinal beam comprises a lifting rotary connecting mechanism (2), the lifting rotary connecting mechanism (2) comprises an upright post (24), the upright post (24) is I-shaped, a sliding groove (2101) is formed in the upright post (24), a connecting block (216) is arranged in the sliding groove (2101), one end of the connecting block (216) is connected with the lifting mechanism, and the other end of the connecting block is connected with a first driving mechanism.

4. The mobile robot of claim 3, wherein: the upright post (24) comprises an a support plate (21), and the a support plate (21) is arranged between a second support plate (22) and a third support plate (23) and is connected with the second support plate (22) and the third support plate (23); the chute (2101) is provided on the a-support plate (21).

5. The mobile robot of claim 3, wherein: the lifting mechanism comprises a linear guide rail (217), the linear guide rail (217) is arranged on an a-supporting plate (21), and the a-supporting plate (21) is provided with the sliding groove (2101);

a sliding block (227) is matched in the linear guide rail (217), the sliding block (227) is fixedly connected with a carriage (220), and the carriage (220) is fixedly connected with a lifting body (218);

the carriage (220) is fixedly connected with the connecting block (216).

6. The mobile robot of claim 3, wherein: the column (24) includes a rotating column mounting flange (26), the rotating column mounting flange (26) is coupled to a first cross roller bearing (210), the first cross roller bearing (210) is disposed on a base module support (29).

7. The mobile robot of claim 1, wherein: the suspension mechanism comprises a transmission mechanism (3) of the manipulator terminal, and the transmission mechanism (3) of the manipulator terminal is connected with a key connection mechanism (4);

the transmission mechanism (3) of the manipulator terminal comprises a wire passing shaft (35), a second crossed roller bearing (36) is concentrically sleeved on the wire passing shaft (35), a speed reducer support (34) is arranged in the wire passing shaft (35), the wire passing shaft (35) and the speed reducer support (34) are combined to form an accommodating cavity (314), and the second crossed roller bearing (36) is installed in the accommodating cavity (314) and is connected with the cross beam (1) through a bolt;

the key connection mechanism (4) comprises a wire passing shaft (35) and a steel sleeve (37), and a first key groove (3a) is formed in the outer wall of the wire passing shaft (35); a second key groove (3b) is formed in the inner wall of the steel sleeve (37) corresponding to the first key groove (3 a); the widths of the first key groove (3a) and the second key groove (3b) are smaller than the width of the key groove corresponding to the nominal diameter of the wire passing shaft (35); the wire passing shaft (35) is connected with the steel sleeve (37) through a key (38).

8. The mobile robot of claim 1, wherein: the input flange (25) is arranged on a third crossed roller bearing (7), the third crossed roller bearing (7) is connected with a base module support (29), and the base module support (29) is connected with a trolley base.

9. The mobile robot of claim 1, wherein: the trolley is provided with a stopping mechanism (5), the stopping mechanism (5) comprises supporting legs (536), and the supporting legs (536) are connected with a piston rod of the electric cylinder (534); the electric cylinder (534) is connected with the motor (531);

the power output end of the motor (531) is connected with one end of a gearbox (532); the other end of the gearbox (532) is connected with a power input end in the synchronous box (533); the power output end in the synchronous box (533) is connected with the electric cylinder (534);

the trolley is provided with a driving mechanism (6), the driving mechanism (6) comprises a roller (625) and a height adjusting assembly, and the height adjusting assembly is fixedly arranged at a power input part of the roller (625);

the height adjustment assembly includes a first fixing frame (628) and a connecting plate (624); the first fixed frame (628) is composed of a vertical plate (6281) and a fixed plate (6282); the side surface of the connecting plate (624) is in sliding connection with the outer side surface of the vertical plate (6281); the top surface of the connecting plate (624) is connected with the fixing plate (6282) through a spring (626);

the vertical plate (6281) is erected outside the power input part of the roller (625); the connecting plate (624) is sleeved outside the power input part of the roller (625).