CN210233004U

CN210233004U - Multipurpose walking executor

Info

Publication number: CN210233004U
Application number: CN201920685983.5U
Authority: CN
Inventors: Qin Wang; 王沁; Jia Wang; 王佳; Lu Qiao; 乔路; Xingang Wang; 王鑫刚; Lin Feng; 冯琳; Siyi Wang; 汪思祎
Original assignee: Xian Technological University
Current assignee: Xian Technological University
Priority date: 2019-05-14
Filing date: 2019-05-14
Publication date: 2020-04-03
Anticipated expiration: 2029-05-14

Abstract

The utility model discloses a multipurpose walking type actuator, which comprises a robot walking base, a robot executing body and a robot head; the robot execution body is fixed above the robot walking base through a plurality of support frames, and the robot head is installed on the upper side of the robot execution body; two mechanical arms are symmetrically arranged on two sides of the body of the robot respectively, and a mechanical arm is arranged at the executing tail end of each mechanical arm; the utility model has simple structure, and can realize multiple functions of sprinkling and humidifying, fetching objects and camera monitoring; and the device is also provided with an automatic charging head extending mechanism, so that the robot is in a shrinking state in the working process, and is prevented from being damaged by water splashing and the like.

Description

Multipurpose walking executor

Technical Field

The invention belongs to the field of robots.

Background

The smart home has been deepened into the family of people, but the existing smart home can only realize simple functions, for example, a floor sweeping robot can only be used for sweeping the ground, and advanced functions such as helping a user to clamp articles cannot be realized.

Disclosure of Invention

The purpose of the invention is as follows: in order to overcome the defects in the prior art, the invention provides a multipurpose walking type actuator which can clamp high-grade functions such as articles.

The technical scheme is as follows: in order to achieve the purpose, the multipurpose walking type actuator comprises a robot walking base, a robot execution body and a robot head; the robot execution body is fixed above the robot walking base through a plurality of support frames, and the robot head is installed on the upper side of the robot execution body; two mechanical arms are symmetrically arranged on two sides of the body of the robot respectively, and a mechanical arm is arranged at the executing tail end of each mechanical arm; the water tank is installed inside the robot execution body, the camera unit is installed on the front side of the robot execution body, and the water sprinkling unit is installed on the back side of the robot execution body; and the water inlet end of the sprinkling unit is communicated with the water tank.

Furthermore, a vertical water spraying head probing groove is formed in the back side of the body of the robot; the water spraying unit comprises a large first steering engine fixedly arranged inside the body of the robot, the output end of the first steering engine is synchronously provided with a steering engine output gear, the water spraying unit further comprises a swinging rod, the root part of the swinging rod is fixedly provided with a sector gear, the axis of the sector gear is rotatably connected with a rotating shaft, the rotating shaft is connected to the shell of the first steering engine, and the rotating energy of the output gear can be meshed with the sector gear to drive the sector gear to rotate along the rotating shaft; the tail end of the swinging rod is fixedly provided with a liquid pump, and the water inlet end of the liquid pump is communicated with a water tank in the robot execution body through a flexible water guide pipe; the water outlet end of the liquid pump is provided with a water spraying head, and the water outlet end of the water spraying head extends out of the water spraying head extending groove.

Further, the mechanical arm comprises a mechanical arm seat, the mechanical arm seat is fixedly mounted at the waist position of the robot executing body, the mechanical arm comprises a first arm, a second arm and a third arm, the root of the first arm is fixed on the mechanical arm seat, the tail end of the first arm is rotatably connected with one end of the second arm, and a driving device on the first arm can drive the second arm to swing; one end of the third arm is rotatably connected with the other end of the second arm, and a driving device on the second arm can drive the third arm to swing; and the other end of the third arm is fixedly provided with a second steering engine, and the manipulator is arranged at the tail end of an output shaft of the second steering engine.

Further, the manipulator comprises a manipulator support, and the manipulator support is fixedly mounted at the tail end of an output shaft of the second steering engine; the manipulator support is symmetrically meshed with a left gear and a right gear in a left-right mode; the left driving rod and the right driving rod are symmetrical left and right; the roots of the left driving rod and the right driving rod are respectively and fixedly connected with the left gear and the right gear, and the rotation energy of the left gear and the right gear respectively drives the left driving rod and the right driving rod to swing synchronously; a third steering engine is further mounted on the manipulator support and is in driving connection with the left gear or the right gear; the left driven rod and the right driven rod are respectively parallel to the front sides of the left driving rod and the right driving rod, and the inner side ends of the left driven rod and the right driven rod are respectively hinged and connected to the manipulator bracket; the tail ends of the left clamping claw and the right clamping claw are respectively hinged and connected with the tail ends of the left driving rod and the right driving rod; the middle parts of the left clamping claw and the right clamping claw are respectively hinged with the outer side ends of the left driven rod and the right driven rod; the clamping sides of the front ends of the left clamping claw and the right clamping claw are symmetrically provided with clamping concave arc surfaces respectively, and two ends of each clamping concave arc surface are provided with sawtooth surfaces respectively.

Has the advantages that: the multifunctional water spraying and humidifying device is simple in structure, and can realize multiple functions of water spraying and humidifying, object taking and camera shooting and monitoring; and the device is also provided with an automatic charging head extending mechanism, and the charging head is in a retracting state in the working process of the robot, so that the robot is prevented from being damaged by water splashing and the like.

Drawings

FIG. 1 is a schematic front view of a robot;

FIG. 2 is a schematic backside view of the robot;

FIG. 3 is a schematic view of a robot arm structure;

FIG. 4 is a schematic structural view of a manipulator;

FIG. 5 is a schematic view of the internal transmission structure of the manipulator;

FIG. 6 is a schematic view of a robot walking base;

fig. 7 is a partially enlarged schematic view of a charging head detection window of a robot walking base;

FIG. 8 is a schematic diagram of the transmission of a driving wheel in a robot walking base;

FIG. 9 is a schematic structural view of a sprinkler unit;

fig. 10 is a schematic structural view of a charging connector extending mechanism;

fig. 11 is a cut-away schematic view of the charging connector.

Detailed Description

The present invention will be further described with reference to the accompanying drawings.

The structure of the scheme is introduced to a multipurpose walking actuator as shown in fig. 1 to 11, which comprises a robot walking base 42, a robot execution body 49 and a robot head 47; the robot execution trunk 49 is fixed above the robot walking base 42 through a plurality of support frames 108, and the robot head 47 is installed on the upper side of the robot execution trunk 49; two mechanical arms 48 are respectively and symmetrically arranged at two sides of the robot execution body 49, and a manipulator 16 is arranged at the execution tail end of each mechanical arm 48; a water tank is installed inside the robot execution body 49, a camera unit 50 is installed on the front side of the robot execution body 49, and a water sprinkling unit is installed on the back side of the robot execution body 49; and the water inlet end of the sprinkling unit is communicated with the water tank.

A vertical sprinkler head detecting groove 29 is arranged on the back side of the robot execution body 49; the water sprinkling unit comprises a large first steering gear 22 fixedly installed inside a robot execution body 49, a steering gear output gear 24 is synchronously arranged at the output end of the first steering gear 22, the water sprinkling unit further comprises a swinging rod 26, a sector gear 23 is fixedly arranged at the root of the swinging rod 26, a rotating shaft 25 is rotatably connected to the axis of the sector gear 23, the rotating shaft 25 is connected to a shell of the first steering gear 22, and the rotation of the output gear 24 can be meshed to drive the sector gear 23 to rotate along the rotating shaft 25; the tail end of the swinging rod 26 is fixedly provided with a liquid pump 28, and the water inlet end of the liquid pump 28 is communicated with a water tank in the robot execution body 49 through a flexible water guide pipe 27; the water outlet end of the liquid pump 28 is provided with a sprinkler head 29.1, and the water outlet end of the sprinkler head 29.1 extends out of the sprinkler head extending groove 29.

The mechanical arm 48 comprises a mechanical arm seat 21, the mechanical arm seat 21 is fixedly installed at the waist position of the robot execution body 49, the mechanical arm 48 comprises a first arm 20, a second arm 19 and a third arm 17, the root of the first arm 20 is fixed on the mechanical arm seat 21, the tail end of the first arm 20 is rotatably connected with one end of the second arm 19, and a driving device on the first arm 20 can drive the second arm 19 to swing; one end of the third arm 17 is rotatably connected with the other end of the second arm 19, and the driving device on the second arm 19 can drive the third arm 17 to swing; the other end of the third arm 17 is fixedly provided with a second steering engine 019, and the manipulator 16 is installed at the tail end of an output shaft of the second steering engine 019.

The front side and the rear side of the bottom end of the robot walking base 42 are respectively provided with two universal wheels 43, and the left side and the right side of the bottom end of the robot walking base 42 are respectively provided with a left driving wheel 44.1 and a right driving wheel 44.2; a first driving wheel motor 104 and a second driving wheel motor 103 are respectively arranged at the front side and the rear side in the robot walking base 42; the first driving pulley motor 104 and the second driving pulley motor 103 are respectively connected with the right driving pulley 44.2 and the left driving pulley 44.1 through the first synchronous belt unit 102 and the second synchronous belt unit 101.

The manipulator 16 comprises a manipulator support 46, and the manipulator support 46 is fixedly installed at the tail end of an output shaft of the second steering engine 019; the manipulator support 46 is symmetrically engaged with the left gear 33 and the right gear 32; the left driving rod 34 and the right driving rod 304 are symmetrical left and right; the roots of the left driving rod 34 and the right driving rod 304 are respectively and fixedly connected with the left gear 33 and the right gear 32, and the rotation energy of the left gear 33 and the right gear 32 respectively and synchronously drives the left driving rod 34 and the right driving rod 304 to swing; a third steering gear 30 is further mounted on the manipulator support 46, and the third steering gear 30 is in driving connection with the left gear 33 or the right gear 32; the left driven rod 38 and the right driven rod 39 are symmetrical left and right, the left driven rod 38 and the right driven rod 39 are parallel to the front sides of the left driving rod 34 and the right driving rod 304 respectively, and the inner side ends of the left driven rod 38 and the right driven rod 39 are hinged to the manipulator support 46 respectively; the clamping device further comprises a left clamping claw 35 and a right clamping claw 40 which are symmetrical left and right, and the tail ends of the left clamping claw 35 and the right clamping claw 40 are respectively hinged with the tail ends of the left driving rod 34 and the right driving rod 304; the middle parts of the left clamping claw 35 and the right clamping claw 40 are respectively hinged with the outer side ends of the left driven rod 38 and the right driven rod 39; the clamping sides of the front ends of the left clamping claw 35 and the right clamping claw 40 are respectively symmetrically provided with a clamping concave cambered surface 36, and two ends of each clamping concave cambered surface 36 are respectively provided with a sawtooth surface 37.

The front end of the robot walking base 42 is provided with a charging connector detection window 1; a charging connector extending mechanism is arranged in the robot walking base 42;

the charging connector extending-out mechanism comprises a mechanism base 0107, an output motor 9 is mounted on the mechanism base 0107, and a bearing seat 5 is fixedly mounted on the upper side of a motor shell of the output motor 9; a gear 8 is synchronously arranged on a motor shaft 15 of the output motor 9; the gear box is characterized by further comprising a threaded linkage rod 3 and a transmission gear 4, wherein the transmission gear 4.1 is in meshed connection with the gear 8; a threaded transmission hole 4.1 is formed in the axis of the transmission gear 4 in a penetrating manner with the same axis, and the external thread of the threaded linkage rod 3 is in threaded fit with the threaded transmission hole 4.1; one end of the transmission gear 4 close to the bearing seat 5 is integrally and coaxially provided with a cylinder body 12, and the inner diameter of the cylinder body 12 is larger than the outer diameter of the threaded linkage rod 3; a bearing 11 is rotatably arranged in the bearing seat 5, and an inner ring of the bearing 11 is tightly matched with the outer wall of the cylinder 12;

one end of the threaded linkage rod 3, which is close to the charging connector detection window 1, is connected with a buffer spring 2, and one end of the buffer spring 2 is coaxially connected with the charging connector 1; one end of the threaded linkage rod 3, which is far away from the charging connector 1, is coaxially and fixedly connected with a guide pillar 6 with a regular hexagonal section; the mechanism base 0107 is also fixedly provided with a guide post seat 10, the top of the guide post seat 10 is provided with a hexagonal guide hole 7 which is transversely penetrated, and the guide post 6 slidably penetrates through the hexagonal guide hole 7; and a lead channel 13 is arranged in the threaded linkage rod 3 and the guide post 6 in a coaxial through manner.

The operation method, the process and the technical progress of the robot are organized as follows:

the robot walking method comprises the following steps: if the straight walking is needed, the first driving wheel motor 104 and the second driving wheel motor 103 respectively drive the right driving wheel 44.2 and the left driving wheel 44.1 to rotate forwards or reversely synchronously through the first synchronous belt unit 102 and the second synchronous belt unit 101; if the pivot steering is needed, the rotating directions of the right driving wheel 44.2 and the left driving wheel 44.1 are controlled to be opposite, and the pivot steering of the robot can be realized by the equal rotating speed; if temporary turning is needed, the rotating speed difference of the right driving wheel 44.2 and the left driving wheel 44.1 is respectively controlled, so that the turning amplitude is controlled, and if the straight walking state needs to be recovered, the rotating speeds of the right driving wheel 44.2 and the left driving wheel 44.1 are only required to be adjusted to be the same again;

the watering and humidifying method comprises the following steps: the robot walks to a designated position, then the liquid pump 28 is started, the liquid pump 28 pumps water in the water tank through the flexible water guide pipe 27, the pumped water is sprayed out to the rear of the robot through the water spray head 29.1, and in the process that the water spray head 29.1 sprays out backwards, the robot slowly walks forwards, so that the places where the robot walks are sprayed and humidified; the robot can walk forwards while spraying water backwards, so that the phenomenon that the robot slips when walking on the sprayed bottom surface is avoided; meanwhile, the swinging rod 26 is continuously swung up and down by controlling the first steering engine 22; thereby the coverage area of the water sprayed by the water spray head 29.1 is larger;

the method for clamping the object comprises the following steps: controlling a third steering engine 30 to rotate in the forward direction, so that the left gear 33 and the right gear 32 do meshing motion until the left clamping jaw 35 and the right clamping jaw 40 are completely opened, and the distance between the clamping concave arc surface 36 of the left clamping jaw 35 and the clamping concave arc surface 36 of the right clamping jaw 40 is larger than that of an object to be clamped; the robot walks to the vicinity of an object to be clamped, and then adjusts the posture of the manipulator 16 through the cooperation of the first arm 20, the second arm 19 and the third arm 17, so that the object to be clamped is positioned between the left clamping claw 35 and the right clamping claw 40 of the manipulator 16; then, controlling a third steering engine 30 to rotate reversely, so that the left gear 33 and the right gear 32 do meshing motion until the clamping concave arc surface 36 of the left clamping jaw 35 and the clamping concave arc surface 36 of the right clamping jaw 40 clamp the object inwards; then the posture of the object clamped by the manipulator 16 is adjusted through the cooperation of the first arm 20, the second arm 19 and the third arm 17, and then the robot travels to a specified position;

the charge connector exploring method comprises the following steps:

in the use process of the robot, the charging connector 1 is positioned at the inner side of the charging connector detection window 1, and if the electric quantity blocks carried by the robot are completely exhausted, the robot is controlled to walk to the position of the specified charging socket, and the charging connector detection window 1 on the robot walking base 42 is aligned to the external charging socket; then starting an output motor 9, wherein the output motor 9 drives a gear 8 to rotate, and then the gear 8 drives a transmission gear 4 to rotate under the meshing action, and the transmission gear cannot move along the axis under the constraint of a cylinder 12 and a bearing 11 in a close fit state; meanwhile, the thread linkage rod 3 can not rotate but can move along the axis under the constraint of the regular hexagonal guide post 6 and the hexagonal guide hole 7; because the external thread of the threaded linkage rod 3 is in threaded fit with the threaded transmission hole 4.1 on the transmission gear 4, the transmission gear 4 drives the threaded linkage rod 3 to displace along the axis through threaded transmission, and further the charging connector 1 at the front end of the threaded linkage rod 3 synchronously displaces until the charging connector 1 outwards protrudes out of the charging connector detection window 1, and then the charging connector 1 protruding out of the charging connector detection window 1 is inserted into an external charging socket; when the charging connector 1 needs to be retracted, only the output motor 9 needs to be operated reversely.

The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.

Claims

1. A multipurpose walking executor is characterized in that: comprises a robot walking base (42), a robot execution body (49) and a robot head (47); the robot execution body (49) is fixed above the robot walking base (42) through a plurality of support frames (108), and the robot head (47) is installed on the upper side of the robot execution body (49); two mechanical arms (48) are respectively and symmetrically arranged at two sides of the robot execution body (49), and a manipulator (16) is arranged at the execution tail end of each mechanical arm (48); a water tank is installed inside the robot execution body (49), a camera unit (50) is installed on the front side of the robot execution body (49), and a water sprinkling unit is installed on the back side of the robot execution body (49); and the water inlet end of the sprinkling unit is communicated with the water tank.

2. The walking-multipurpose actuator of claim 1, wherein: a vertical water spraying head detecting groove (29) is arranged on the back side of the robot execution body (49); the water spraying unit comprises a large first steering engine (22) fixedly installed inside a robot execution body (49), the output end of the first steering engine (22) is synchronously provided with a steering engine output gear (24), the water spraying unit further comprises a swinging rod (26), a sector gear (23) is fixedly arranged at the root of the swinging rod (26), the axis of the sector gear (23) is rotatably connected with a rotating shaft (25), and the rotation of the output gear (24) can be meshed to drive the sector gear (23) to rotate along the rotating shaft (25); the tail end of the swinging rod (26) is fixedly provided with a liquid pump (28), and the water inlet end of the liquid pump (28) is communicated with a water tank in the robot execution body (49) through a flexible water guide pipe (27); the water outlet end of the liquid pump (28) is provided with a water spraying head (29.1), and the water outlet end of the water spraying head (29.1) extends out of the water spraying head extending groove (29).

3. A multi-purpose walking actuator as set forth in claim 2 wherein: the mechanical arm (48) comprises an arm seat (21), the arm seat (21) is fixedly installed at the waist position of the robot execution body (49), the mechanical arm (48) comprises a first arm (20), a second arm (19) and a third arm (17), the root of the first arm (20) is fixed on the arm seat (21), the tail end of the first arm (20) is rotatably connected with one end of the second arm (19), and a driving device on the first arm (20) can drive the second arm (19) to swing; one end of the third arm (17) is rotatably connected with the other end of the second arm (19), and a driving device on the second arm (19) can drive the third arm (17) to swing; the other end of the third arm (17) is fixedly provided with a second steering engine (019), and the manipulator (16) is arranged at the tail end of an output shaft of the second steering engine (019).

4. A multi-purpose walking actuator as set forth in claim 3 wherein: the manipulator (16) comprises a manipulator support (46), and the manipulator support (46) is fixedly mounted at the tail end of an output shaft of the second steering engine (019); the manipulator support (46) is symmetrically meshed with a left gear (33) and a right gear (32) in a left-right mode; the left driving rod (34) and the right driving rod (304) are symmetrical left and right; the roots of the left driving rod (34) and the right driving rod (304) are respectively and fixedly connected with the left gear (33) and the right gear (32), and the rotation energy of the left gear (33) and the right gear (32) respectively drives the left driving rod (34) and the right driving rod (304) to swing synchronously; a third steering gear (30) is further mounted on the manipulator support (46), and the third steering gear (30) is in driving connection with the left gear (33) or the right gear (32); the manipulator further comprises a left driven rod (38) and a right driven rod (39) which are symmetrical left and right, the left driven rod (38) and the right driven rod (39) are respectively parallel to the front sides of the left driving rod (34) and the right driving rod (304), and the inner side ends of the left driven rod (38) and the right driven rod (39) are respectively hinged to the manipulator bracket (46); the clamping device further comprises a left clamping claw (35) and a right clamping claw (40) which are symmetrical left and right, and the tail ends of the left clamping claw (35) and the right clamping claw (40) are respectively hinged with the tail ends of the left driving rod (34) and the right driving rod (304); the middle parts of the left clamping claw (35) and the right clamping claw (40) are respectively hinged with the outer side ends of the left driven rod (38) and the right driven rod (39); clamping concave arc surfaces (36) are symmetrically arranged on the clamping sides of the front ends of the left clamping claw (35) and the right clamping claw (40), and sawtooth surfaces (37) are arranged at two ends of each clamping concave arc surface (36).