CN212825354U

CN212825354U - Multifunctional robot

Info

Publication number: CN212825354U
Application number: CN202020945796.9U
Authority: CN
Inventors: 史银花; 党丽峰; 左文艳; 施琴; 张星亮
Original assignee: ZHENJIANG VOCATIONAL TECHNICAL COLLEGE
Current assignee: ZHENJIANG VOCATIONAL TECHNICAL COLLEGE
Priority date: 2020-05-29
Filing date: 2020-05-29
Publication date: 2021-03-30
Anticipated expiration: 2030-05-29

Abstract

The utility model discloses a multifunctional robot, which comprises a ground disc mechanism; the lower part of the ground disc mechanism is provided with a push-pull device and a chassis frame, the chassis frame is provided with a first sliding sleeve, the push-pull device is provided with a chassis lifting arm, the chassis lifting arm is connected with the first sliding sleeve, and two sides of the chassis frame are provided with driving devices; a lifting arm is arranged at the upper part of the ground plate mechanism, and comprises a fixed arm and a mechanical lifting arm; the mechanical lifting arm is connected with the fixed arm in a sliding mode, the mechanical lifting arm is connected with a mechanical gripper, the mechanical gripper is provided with a speed reducing device, the speed reducing device is connected with an adjusting arm, and the speed reducing device drives the adjusting arm to change the grabbing angle of the mechanical gripper; a mobile power supply module is arranged on the side part of the lifting arm; the utility model discloses robot device mechanism sets up the simplification, through chassis upgrading mechanism, improves the trafficability characteristic, makes the work efficiency of whole robot improve greatly.

Description

Multifunctional robot

Technical Field

The utility model relates to a multifunctional robot belongs to the robotechnology field.

Background

In recent years, the robot application technology is paid more attention by many industries and schools, and in order to enhance the skill improvement technology for students, many schools encourage the students to independently design robots to see matches of different projects, and the main problems of the current competition robot devices are as follows: the sports competition needs to comprehensively consider factors such as quick and stable movement, accurate and quick action, quick passing performance and the like, but the existing robot device mechanism is complicated in arrangement, slow and slow in action and extremely poor in passing performance, so that the working efficiency of the whole robot is greatly reduced.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a multifunctional robot to it complicates to solve prior art current robot device mechanism, and the action is slow, and the trafficability characteristic is extremely poor, makes the defect of whole robot's work efficiency greatly reduced.

A multifunctional robot comprises a ground disc mechanism;

the lower part of the ground disc mechanism is provided with a push-pull device and a chassis frame, the chassis frame is provided with a first sliding sleeve, the push-pull device is provided with a chassis lifting arm, the chassis lifting arm is connected with the first sliding sleeve, and two sides of the chassis frame are provided with driving devices;

a lifting arm is arranged at the upper part of the ground plate mechanism, and comprises a fixed arm and a mechanical lifting arm; the mechanical lifting arm is connected with the fixed arm in a sliding mode, the mechanical lifting arm is connected with a mechanical gripper, the mechanical gripper is provided with a speed reducing device, the speed reducing device is connected with an adjusting arm, and the speed reducing device drives the adjusting arm to change the grabbing angle of the mechanical gripper;

and a mobile power supply module is arranged on the side part of the lifting arm.

Furthermore, the push-pull device comprises a guide rail, a second sliding sleeve and a push-pull motor arranged on the second sliding sleeve; the two sides of the second sliding sleeve are connected with the guide rail through linear bearings, supporting legs are arranged at the two ends of the guide rail, a connecting piece is arranged at the output end of the push-pull motor, the two ends of the connecting piece are respectively connected with the supporting legs, one end of the chassis lifting arm is connected with the first sliding sleeve of the chassis frame, and the other end of the chassis lifting arm is connected with the second sliding sleeve.

Furthermore, the first sliding sleeve is provided with a chassis lifting wheel, the top end inside the chassis lifting arm is provided with a fixed wheel, one side of the second sliding sleeve is provided with a chassis motor, and the output end of the chassis motor penetrates through the fixed wheel on the second sliding sleeve to be connected with the chassis lifting wheel on the first sliding sleeve through a rope.

Furthermore, the push-pull motor is provided with double grooved wheels, and the connecting piece is connected with the supporting legs through the double grooved wheels.

Furthermore, the driving device comprises a driving wheel, a first driven wheel and a second driven wheel which are sequentially arranged on two sides of the chassis frame, the driving wheel is connected through a first driving motor, and the driving wheel, the first driven wheel and the second driven wheel are connected through a synchronous belt.

Further, be equipped with the arm motor on the chassis underframe, the top and the bottom of fixed arm respectively are equipped with the fixed pulley, mechanical lift arm top and bottom respectively are equipped with the lifting wheel, arm motor output is equipped with the roller, the roller walks around the fixed pulley of fixed arm lower part, the fixed pulley on upper portion, the lifting wheel of arm motor lower part, the lifting wheel on upper portion in proper order and is connected with decelerator upper portion through the rope.

Further, the mechanical gripper comprises a holding arm and a cylinder; the power output end of the air cylinder is connected with the enclasping arm, and the enclasping arm is driven to open and close through the output end of the air cylinder;

the end part of the enclasping arm is provided with an enclasping wheel and a second driving motor, and the second driving motor drives the enclasping wheel to rotate.

Furthermore, the other end of the adjusting arm is provided with a fixed frame, and the other end of the air cylinder is connected with the fixed frame; the top of the fixing frame is provided with a supporting frame, two sides of the supporting frame are provided with auxiliary arms, a rotating shaft is arranged between the auxiliary arms, and the rotating shaft is provided with a roller and a driving wheel.

Furthermore, the auxiliary arm is provided with an auxiliary motor, and the auxiliary motor drives the rotating shaft through a synchronous belt.

Furthermore, the mechanical lifting arm is provided with a sliding block connected with the fixed arm, the top of the fixed arm is provided with guide wheels connected with two sides of the mechanical lifting arm, the guide wheels are connected with fixed blocks, and the side part of the sliding block is provided with limiting wheels matched with the fixed blocks.

Compared with the prior art, the utility model discloses the beneficial effect who reaches: the utility model discloses robot device mechanism sets up the simplification, through chassis upgrading mechanism, improves the trafficability characteristic, makes the work efficiency of whole robot improve greatly.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic view of the floor mechanism of the present invention;

FIG. 3 is a schematic view of the push-pull device of the present invention;

FIG. 4 is a schematic view of the structure of the robot gripper of the present invention;

FIG. 5 is a schematic view of the reduction gear arrangement;

FIG. 6 is a schematic view of a lift arm configuration;

fig. 7 is a schematic side view of a lift arm.

In the figure: 1. a ground mechanism; 10. a chassis frame; 11. driving a motor I; 12. a drive wheel; 13. a driven wheel I; 14. a second driven wheel; 15. a chassis lifting arm; 16. a chassis lifting wheel; 17. fixing the wheel; 18. a guide rail; 19. a push-pull motor; 20. supporting legs; 21. a linear bearing; 22. a first sliding sleeve; 23. a second sliding sleeve; 24. A first guide wheel; 25. a connecting member; 26. a double grooved pulley; 27. a chassis motor; 28. a mechanical arm motor; 3. a mechanical gripper; 31. a reduction motor; 32. a deceleration shaft; 33. an adjusting arm; 34. a fixed mount; 35. a support frame; 36. an auxiliary arm; 37. an auxiliary motor; 38. a main synchronizing wheel; 39. an auxiliary synchronizing wheel; 40. a driving wheel; 41. a rotating shaft; 42. a roller; 43. a clasping arm; 44. embracing a wheel; 45. a second driving motor; 46. a cylinder; 47. a driving gear; 48. a driven gear; 49. a driving wheel; 50. an indirect speed-reducing wheel; 51. an indirect deceleration driven wheel; 52. a reduction gear; 53. a deceleration main sprocket; 54. a reduction sub-sprocket; 6. a lifting arm; 61. a base; 62. a fixed arm; 63. a mechanical lifting arm; 64. a fixed block; 65. a second guide wheel; 66. A lifting wheel; 67. a moving wheel; 68. a limiting rod; 69. reinforcing the beam; 70. a slider; 71. a limiting wheel; 72. A fixed pulley; 8. and a mobile power supply module.

Detailed Description

The present invention will be further described with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, 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 by those of ordinary skill in the art through specific situations.

As shown in fig. 1 to 7, disclosed is a multi-function robot, including a floor mechanism 1;

the lower part of the ground disc mechanism 1 is provided with a push-pull device and a chassis frame 10, the chassis frame 10 is provided with a first sliding sleeve 22, the push-pull device is provided with a chassis lifting arm 15, the chassis lifting arm 15 is connected with the first sliding sleeve 22, the first sliding sleeve 22 is further provided with a first guide wheel 24 for reducing the friction force with the chassis lifting arm 15, and two sides of the chassis frame 10 are provided with driving devices; a lifting arm 6 is arranged at the upper part of the ground plate mechanism 1, and the lifting arm 6 comprises a fixed arm 62 and a mechanical lifting arm 63; the mechanical lifting arm 63 is connected with the fixed arm 62 in a sliding manner, the mechanical lifting arm 63 is connected with the mechanical gripper 3, the mechanical gripper 3 is provided with a speed reducing device, the speed reducing device is connected with the adjusting arm 33, and the speed reducing device drives the adjusting arm 33 to change the grabbing angle of the mechanical gripper 3; a mobile power supply module 8 is arranged on the side part of the lifting arm 6;

as shown in fig. 2, the push-pull device comprises a guide rail 18, a second sliding sleeve 23 and a push-pull motor 19 arranged on the second sliding sleeve 23; two sides of the second sliding sleeve 23 are connected with the guide rail 18 through linear bearings 21, supporting legs 20 are arranged at two ends of the guide rail 18, a connecting piece 25 is arranged at the output end of the push-pull motor 19, two ends of the connecting piece 25 are respectively connected with the supporting legs 20, one end of the chassis lifting arm 15 is connected with the first sliding sleeve 22 of the chassis frame 10, and the other end of the chassis lifting arm is connected with the second sliding sleeve 23; the sliding sleeve I22 is provided with a chassis lifting wheel 16, the top end inside the chassis lifting arm 15 is provided with a fixed wheel 17, one side of the sliding sleeve II 23 is provided with a chassis motor 27, and the output end of the chassis motor 27 penetrates through the fixed wheel 17 on the sliding sleeve II 23 through a rope to be connected with the chassis lifting wheel 16 on the sliding sleeve I22; the push-pull motor 19 is provided with a double grooved wheel 26, and the connecting piece 25 is connected with the supporting leg 20 through the double grooved wheel 26; the push-pull motor 19 rotates forwards or reversely to enable the second sliding sleeve 23 to move forwards and backwards on the guide rail 18, so that the chassis frame 10 is driven to move, and the push-pull device is contracted after the driving wheel 12 reaches the contact to pass through the whole body; since the length of the connecting element 25 is exactly equal to the length of one guide rail 18 after passing around the double sheave 26.

As shown in fig. 2, the driving device includes a driving wheel 12, a first driven wheel 13 and a second driven wheel 14 sequentially disposed at two sides of the chassis frame 10, the driving wheel 12 is connected by a first driving motor 11, and the driving wheel 12, the first driven wheel 13 and the second driven wheel 14 are connected by a synchronous belt.

As shown in fig. 2 and 6, the chassis frame 10 is provided with a robot motor 28, the lifting arm 6 is mounted on the chassis frame 10 through a base 61, the side part of the chassis frame is further provided with a reinforcing beam 69, the top and bottom parts of the fixing arm 62 are respectively provided with a fixed pulley 72, the top and bottom parts of the mechanical lifting arm 63 are respectively provided with a lifting wheel 66, the output end of the robot motor 28 is provided with a roller, and the roller sequentially bypasses the fixed pulley 72 at the lower part of the fixing arm 62, the fixed pulley 72 at the upper part, the lifting wheel 66 at the lower part of the robot motor 28, and the lifting wheel 66 at the upper part to be.

The gripper 3 in this embodiment specifically includes the following structures, a clasping arm 43 and a cylinder 46; the power output end of the air cylinder 46 is connected with the enclasping arm 43, and the enclasping arm 43 is driven to open and close through the output end of the air cylinder 46;

the end part of the enclasping arm 43 is provided with an enclasping wheel 44 and a second driving motor 45, and the second driving motor 45 drives the enclasping wheel 44 to rotate; the other end of the adjusting arm 33 is provided with a fixed frame 34, and the other end of the air cylinder 46 is connected with the fixed frame 34; a supporting frame 35 is arranged at the top of the fixed frame 34, auxiliary arms 36 are arranged on two sides of the supporting frame 35, a rotating shaft 41 is arranged between the auxiliary arms 36, and a roller 42 and a driving wheel 49 are arranged on the rotating shaft 41; the auxiliary arm 36 is provided with an auxiliary motor 37, the auxiliary motor 37 is connected with a main synchronizing wheel 38, an auxiliary synchronizing wheel 39 is installed on the auxiliary arm 36, a driving wheel 40 is installed on a moving shaft 41, and the rotating shaft 41 is driven by a synchronous belt;

in this embodiment, the mechanical lifting arm 63 is provided with a sliding block 70 connected with the fixed arm 62, the top of the fixed arm 62 is provided with a second guide wheel 65 connected with two sides of the mechanical lifting arm 63, the inner side of the fixed arm is provided with a moving wheel 67, the top of the fixed arm is provided with a limiting rod 68 for limiting the mechanical lifting arm 63 to be separated from the fixed arm 62, the second guide wheel 65 is connected with a fixed block 64, and the side of the sliding block 70 is provided with a limiting wheel 71 matched with the fixed block 64.

In this embodiment, the speed reduction device is specifically: the mechanical gripper comprises a speed reducing motor 31, a speed reducing shaft 32, a driving gear 47, a driven gear 48, a driving wheel 49, an indirect speed reducing wheel 50, an indirect speed reducing driven wheel 51, a speed reducing gear 52, a speed reducing main chain wheel 53 and a speed reducing auxiliary chain wheel 54, wherein the speed reducing motor 31 drives the driving gear 47 to further drive the driven gear 48, the driven gear 48 drives the driving wheel 49, the indirect speed reducing wheel 50 is driven by the driving wheel 49 to further drive the speed reducing driven wheel 51, the indirect speed reducing driven wheel 51 drives the speed reducing gear 52, the speed reducing gear 52 drives the speed reducing main chain wheel 53 to further drive the speed reducing auxiliary chain wheel 54, the speed reducing shaft 32 is driven by the speed reducing auxiliary chain wheel 54, and the speed reducing shaft 32 is used for driving an adjusting arm.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be considered as the protection scope of the present invention.

Claims

1. A multifunctional robot is characterized by comprising a ground disc mechanism (1);

the lower part of the ground disc mechanism (1) is provided with a push-pull device and a chassis frame (10), the chassis frame (10) is provided with a first sliding sleeve (22), the push-pull device is provided with a chassis lifting arm (15), the chassis lifting arm (15) is connected with the first sliding sleeve (22), and two sides of the chassis frame (10) are provided with driving devices;

a lifting arm (6) is arranged at the upper part of the ground plate mechanism (1), and the lifting arm (6) comprises a fixed arm (62) and a mechanical lifting arm (63); the mechanical lifting arm (63) is connected with the fixed arm (62) in a sliding mode, the mechanical lifting arm (63) is connected with a mechanical gripper (3), the mechanical gripper (3) is provided with a speed reducing device, the speed reducing device is connected with an adjusting arm (33), and the speed reducing device drives the adjusting arm (33) to change the grabbing angle of the mechanical gripper (3);

and a mobile power supply module (8) is arranged on the side part of the lifting arm (6).

2. The multi-function robot as claimed in claim 1, wherein said push-pull means comprises a guide rail (18), a second sliding sleeve (23) and a push-pull motor (19) provided on the second sliding sleeve (23); two sides of the second sliding sleeve (23) are connected with the guide rail (18) through linear bearings (21), supporting legs (20) are arranged at two ends of the guide rail (18), a connecting piece (25) is arranged at the output end of the push-pull motor (19), two ends of the connecting piece (25) are connected with the supporting legs (20) respectively, one end of the chassis lifting arm (15) is connected with the first sliding sleeve (22) of the chassis frame (10), and the other end of the chassis lifting arm is connected with the second sliding sleeve (23).

3. The multifunctional robot as claimed in claim 2, wherein the first sliding sleeve (22) is provided with a chassis lifting wheel (16), the top end inside the chassis lifting arm (15) is provided with a fixed wheel (17), one side of the second sliding sleeve (23) is provided with a chassis motor (27), and the output end of the chassis motor (27) is connected with the chassis lifting wheel (16) on the first sliding sleeve (22) by a rope passing through the fixed wheel (17) on the second sliding sleeve (23).

4. The multi-function robot of claim 2, wherein said push-pull motor (19) is provided with a double sheave (26), and said connecting member (25) is connected to said support leg (20) via said double sheave (26).

5. The multifunctional robot as claimed in claim 1, wherein the driving device comprises a driving wheel (12), a driven wheel one (13) and a driven wheel two (14) which are sequentially arranged on two sides of the chassis frame (10), the driving wheel (12) is connected through a driving motor one (11), and the driving wheel (12), the driven wheel one (13) and the driven wheel two (14) are connected through a synchronous belt.

6. The robot of claim 1, wherein the chassis frame (10) is provided with a mechanical arm motor (28), the top and bottom of the fixed arm (62) are respectively provided with a fixed pulley (72), the top and bottom of the mechanical lifting arm (63) are respectively provided with a lifting wheel (66), the output end of the mechanical arm motor (28) is provided with a roller, and the roller sequentially rounds the fixed pulley (72) at the lower part of the fixed arm (62), the fixed pulley (72) at the upper part, the lifting wheel (66) at the lower part of the mechanical arm motor (28), and the lifting wheel (66) at the upper part through a rope to be connected with the upper part of the speed reducer.

7. The multi-function robot of claim 1, wherein said gripper (3) comprises a gripping arm (43) and a cylinder (46); the power output end of the air cylinder (46) is connected with the enclasping arm (43), and the enclasping arm (43) is driven to open and close through the output end of the air cylinder (46);

the end part of the enclasping arm (43) is provided with an enclasping wheel (44) and a second driving motor (45), and the second driving motor (45) drives the enclasping wheel (44) to rotate.

8. The multi-function robot as claimed in claim 7, wherein the other end of the adjusting arm (33) is provided with a fixing frame (34), and the other end of the air cylinder (46) is connected with the fixing frame (34); the top of the fixing frame (34) is provided with a supporting frame (35), two sides of the supporting frame (35) are provided with auxiliary arms (36), a rotating shaft (41) is arranged between the auxiliary arms (36), and the rotating shaft (41) is provided with a roller (42) and a driving wheel (49).

9. The multi-function robot as claimed in claim 8, wherein said auxiliary arm (36) is provided with an auxiliary motor (37), said auxiliary motor (37) driving a rotation shaft (41) through a timing belt.

10. The multifunctional robot of claim 1, wherein the mechanical lifting arm (63) is provided with a sliding block (70) connected with the fixed arm (62), the top of the fixed arm (62) is provided with guide wheels (65) connected with two sides of the mechanical lifting arm (63), the guide wheels (65) are connected with a fixed block (64), and the side part of the sliding block (70) is provided with a limiting wheel (71) matched with the fixed block (64).