CN214067664U

CN214067664U - Robot holder

Info

Publication number: CN214067664U
Application number: CN202022503138.7U
Authority: CN
Inventors: 李庆民; 邵红臣; 郑华; 尹衍斌; 宋洁; 王建华
Original assignee: Chuangze Intelligent Robot Group Co ltd
Current assignee: Chuangze Intelligent Robot Group Co ltd
Priority date: 2020-11-03
Filing date: 2020-11-03
Publication date: 2021-08-27
Anticipated expiration: 2030-11-03

Abstract

The utility model discloses a cloud platform of robot, include: the horizontal rotating system comprises a horizontal rotating encoder, and the output end of the horizontal rotating system is connected with the rotating bottom plate of the holder; the vertical rotation system comprises a vertical rotation encoder, the output end of the vertical rotation system is connected with the pitching shaft, and the vertical rotation system is arranged on the rotating bottom plate of the holder; the horizontal rotation system and the vertical rotation system are respectively in communication connection with the holder main control device, and the holder main control device is used for determining the rotation angle of the horizontal rotation system driving the holder rotating bottom plate according to the detection result of the horizontal rotation encoder and determining the rotation angle of the vertical rotation system driving the pitching shaft according to the detection result of the vertical rotation encoder. The detection result of the vertical and horizontal rotary encoder of the cloud platform can be used for monitoring the rotation angles of the pitching shaft and the cloud platform rotating bottom plate, a foundation can be provided for the automatic driving of the pitching shaft and the cloud platform rotating bottom plate, and the degree of automation of the angle control is high.

Description

Robot holder

Technical Field

The utility model relates to the technical field of robot, in particular to cloud platform of robot.

Background

In the field of special robots, the robots need holders to carry certain loads to perform tasks, such as net guns, spraying, lighting, and the like, so as to perform directional control on the loads. However, the conventional tripod head has a high degree of dependence on labor in angle control, which results in low operating efficiency of the tripod head.

Therefore, how to improve the automation degree of the pan-tilt angle control is a technical problem that needs to be solved by those skilled in the art at present.

SUMMERY OF THE UTILITY MODEL

In view of this, the present invention provides a robot platform, the degree of automation of its angle control is higher.

In order to achieve the above object, the utility model provides a following technical scheme:

a robot head, comprising:

the horizontal rotating system comprises a horizontal rotating encoder, and the output end of the horizontal rotating system is connected with a holder rotating bottom plate;

the vertical rotation system comprises a vertical rotation encoder, the output end of the vertical rotation system is connected with a pitching shaft, and the vertical rotation system is arranged on the rotating bottom plate of the holder;

the horizontal rotation system and the vertical rotation system are respectively in communication connection with the holder main control device, and the holder main control device is used for determining the rotation angle of the horizontal rotation system driven by the holder rotating bottom plate according to the detection result of the horizontal rotation encoder and determining the rotation angle of the vertical rotation system driven by the pitching shaft according to the detection result of the vertical rotation encoder.

Preferably, the horizontal rotation system further comprises a horizontal rotation driving motor and the horizontal gear transmission assembly connected between the horizontal rotation driving motor and the holder rotation base plate.

Preferably, the device further comprises a holder assembly bottom plate, wherein the holder assembly bottom plate is fixedly connected with a rotating shaft, and the holder rotating bottom plate is rotatably connected to the top of the rotating shaft; the horizontal gear transmission assembly is connected between the rotating shaft and the horizontal rotation driving motor in a transmission mode.

Preferably, the horizontal rotation driving motor, the horizontal rotation encoder, the pitch axis, the vertical rotation system and the pan/tilt head main control device are sequentially connected to the pan/tilt head rotation base plate around the rotating shaft.

Preferably, the horizontal gear transmission assembly comprises a rotary supporting fluted disc fixedly sleeved on the rotating shaft, a horizontal encoder driving gear meshed and matched with the rotary supporting fluted disc and a horizontal driving gear meshed and matched with the rotary supporting fluted disc; the shell of the horizontal rotation driving motor is fixed on the rotating bottom plate of the holder, and an output shaft of the horizontal rotation driving motor is connected to the horizontal driving gear; the horizontal rotary encoder is connected to the horizontal encoder drive gear.

Preferably, the housing of the horizontal rotation driving motor is fixed above the rotational bottom plate of the holder.

Preferably, the horizontal gear transmission component is arranged between the holder assembly bottom plate and the holder rotating bottom plate.

Preferably, the vertical rotation system further comprises a vertical rotation driving motor and a vertical synchronous belt transmission assembly connected between the vertical rotation driving motor and the pitch axis.

Preferably, a first supporting plate and a second supporting plate are fixed above the rotating bottom plate of the holder, and two ends of the pitching shaft are respectively and rotatably connected to the first supporting plate and the second supporting plate; one end of the pitching shaft is connected with the vertical rotary encoder, and the other end of the pitching shaft is connected with the vertical rotary driving motor through the vertical synchronous belt transmission assembly.

Preferably, the vertical synchronous belt transmission assembly is connected to the end portion of the pitch shaft extending out of the first support plate, and the housing of the vertical rotation driving motor is fixed to the first support plate and the output shaft penetrates through the first support plate and is connected to the vertical synchronous belt transmission assembly.

The utility model provides a cloud platform of robot, include: the horizontal rotating system comprises a horizontal rotating encoder, and the output end of the horizontal rotating system is connected with a holder rotating bottom plate; the vertical rotation system comprises a vertical rotation encoder, the output end of the vertical rotation system is connected with a pitching shaft, and the vertical rotation system is arranged on the rotating bottom plate of the holder; the horizontal rotation system and the vertical rotation system are respectively in communication connection with the holder main control device, and the holder main control device is used for determining the rotation angle of the horizontal rotation system driving the holder rotating bottom plate according to the detection result of the horizontal rotation encoder and determining the rotation angle of the horizontal rotation system driving the pitching shaft according to the detection result of the vertical rotation encoder.

This cloud platform adopts the digitization, the modularized design, accomplishes a standard module, can utilize vertical rotary encoder and horizontal rotary encoder's testing result to realize the corner monitoring to pitch axis and cloud platform rotating bottom plate, can provide the basis for pitch axis and cloud platform rotating bottom plate's automated drive, can further realize functions such as cloud platform rotational speed is adjustable, the position is preset and is called fast, the orbit cruise, the installation is maintained simply, control is accurate, can be better serve for special robot.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.

Fig. 1 is a first direction structure diagram of the robot holder provided by the present invention;

fig. 2 is a second direction structure diagram of the robot holder provided by the present invention;

fig. 3 is a third direction structure diagram of the robot holder provided by the present invention.

Reference numerals:

horizontal drive gear 1, cloud platform master control set 2, horizontal rotation driving motor 3, horizontal rotation encoder 4, horizontal encoder drive gear 5, gyration support fluted disc 6, vertical rotation encoder 7, vertical rotation action wheel 8, hold-in range tight pulley 9, vertical rotation from driving wheel 10, pitch axis 11, cloud platform rotating bottom plate 12, cloud platform assembly bottom plate 13, vertical rotation driving motor 14, vertical rotation hold-in range 15, first backup pad 16, second backup pad 17.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

The core of the utility model is to provide a robot holder, its angle control's degree of automation is higher.

In a specific embodiment of the robot platform, please refer to fig. 1 to 3, including horizontal rotation system, vertical rotation system, platform rotating base plate 12, pitch axis 11 and platform main control unit 2.

The horizontal rotation system comprises a horizontal rotation encoder 4, and the output end of the horizontal rotation system is connected with the holder rotating base plate 12 so as to control the holder rotating base plate 12 to rotate horizontally. The cradle head rotating bottom plate 12 is a mounting body of accessories on the cradle head.

The vertical rotation system comprises a vertical rotation encoder 7, the output end of the vertical rotation system is connected with a pitch shaft 11, and the pitch shaft 11 is used for connecting loads such as a net gun, spray and lamplight. The vertical rotation system is arranged on the pan-tilt rotation base plate 12. Specifically, the horizontal rotary encoder 4 and the vertical rotary encoder 7 are absolute value encoders.

The horizontal rotation system and the vertical rotation system are respectively connected to the holder main control device 2 in a communication mode, and the holder main control device 2 is used for determining the rotation angle of the holder rotating base plate 12 according to the detection result of the horizontal rotation encoder 4 and determining the rotation angle of the pitching shaft 11 according to the detection result of the vertical rotation encoder 7. In addition, the main control device 2 is used for controlling the horizontal rotation system to drive the rotating bottom plate 12 to rotate horizontally and controlling the vertical rotation system to drive the pitching shaft 11 to rotate in pitching manner.

Based on the difference of the installation positions, the rotation angle detected by the horizontal rotary encoder 4 may be the same as or in a predetermined proportional relationship with the pan/tilt/.

The cloud platform in this embodiment adopts the digitization, the modularized design, accomplishes a standard module, can utilize vertical rotary encoder 7 and horizontal rotary encoder 4's testing result to realize the corner monitoring to pitch axis 11 and cloud platform rotating bottom plate 12, can provide the basis for pitch axis 11 and cloud platform rotating bottom plate 12's automated drive, can further realize that the cloud platform rotational speed is adjustable, the position is preset and is called fast, functions such as orbit cruise, the installation is maintained simply, control is accurate, can be better for special robot service.

Further, as shown in fig. 1 and 2, the horizontal rotation system further includes a horizontal rotation driving motor 3 and a horizontal gear transmission assembly connected between the horizontal rotation driving motor 3 and the pan/tilt/head rotation base plate 12. The horizontal rotation driving motor 3 is a horizontal rotation driving servo motor. And the gear transmission assembly is adopted for transmission, so that the transmission precision is higher. Of course, in other embodiments, the horizontal gear assembly may be replaced with a belt drive assembly.

Further, as shown in fig. 2, the robot platform further includes a platform assembly bottom plate 13, and the platform assembly bottom plate 13 is fixedly connected to the rotating shaft. The rotating bottom plate 12 of the pan/tilt head is rotatably connected to the top of the rotating shaft, specifically, rotatably connected to the rotating shaft through a bearing. The horizontal gear transmission component is connected between the rotating shaft and the horizontal rotation driving motor 3 in a transmission way. The holder assembly bottom plate 13 is an external support mechanism for the structure of the holder and is positioned at the bottom end of the robot holder.

Further, the horizontal rotation driving motor 3, the horizontal rotation encoder 4, the pitch axis 11, the vertical rotation system and the pan/tilt head main control device 2 are sequentially connected to the pan/tilt head rotation base plate 12 around the rotation axis. As shown in fig. 1, since the components are distributed more uniformly around the rotation axis, the bearing uniformity of the rotational base plate 12 of the pan/tilt head can be improved.

Further, the horizontal gear transmission assembly comprises a rotary supporting fluted disc 6 fixedly sleeved on the rotating shaft, a horizontal encoder driving gear 5 meshed and matched with the rotary supporting fluted disc 6 and a horizontal driving gear 1 meshed and matched with the rotary supporting fluted disc 6. The housing of the horizontal rotation driving motor 3 is fixed on the rotational bottom plate 12 of the pan/tilt head and the output shaft is connected to the horizontal driving gear 1. The horizontal rotary encoder 4 is connected to a horizontal encoder drive gear 5. The gyration is supported fluted disc 6 and is fixed motionless, and horizontal rotation driving motor 3 moves, supports the meshing cooperation of fluted disc 6 through horizontal drive gear 1 and gyration, and cloud platform rotating bottom plate 12 rotates, drives horizontal encoder drive gear 5 through horizontal encoder drive gear 5 and the meshing cooperation of gyration support fluted disc 6 simultaneously and rotates to detect the horizontal rotation condition of cloud platform rotating bottom plate 12 through horizontal rotation encoder 4. Horizontal rotary encoder 4 and horizontal drive gear 1 are connected gyration through different gear respectively and are supported fluted disc 6, can conveniently assemble.

Further, the shell of the horizontal rotation driving motor 3 is fixed above the holder rotating base plate 12, and the horizontal gear transmission component is arranged between the holder assembly base plate 13 and the holder rotating base plate 12, so that the space can be reasonably utilized.

Further, the vertical rotation system further comprises a vertical rotation driving motor 14 and a vertical synchronous belt transmission assembly connected between the vertical rotation driving motor 14 and the pitching shaft 11, and the belt transmission is adopted, so that the transmission stability is high. The vertical rotation driving motor 14 is specifically a vertical rotation servo driving motor.

Specifically, the pan/tilt head master control device 2 is responsible for controlling and collecting the state of the whole pan/tilt head, communicates with the robot main body through a bus (can, modbus, etc.), receives a control command sent from the robot main body, and decomposes the command into a control signal, controls the rotation of a motor (a vertical rotation driving motor 14 or a horizontal rotation driving motor 3), and the operation of peripherals (a net gun, lacrimation gas, a lighting lamp, etc.), and feeds back the current state information of the pan/tilt head to the robot main body, mainly including position information, the state of each peripheral, etc. the control signal of the motor includes a rotation direction, a speed, an acceleration, an angle, or a position, etc. In addition, the external connection line of the pan/tilt head main control device 2 only includes a power line and a communication line (can, modbus, etc.).

Specifically, the method for controlling the speed or time of the motor by the pan/tilt head main control device 2 includes:

the initial position of the motor output shaft is p0, the final position is p1, and the position variation is as follows:

Δp＝p1-p0；

the maximum acceleration of the motor is a, the maximum speed is v, and the maximum braking acceleration is b, then the shortest acceleration time should satisfy the following conditions:

when Δ p is equal to or less than (v/a + v/b) × v/2, t is the acceleration time:

therefore, when the vehicle is accelerated at the maximum acceleration t ═ 2b Δ p/(a2+ ab) ]1/2 and then stops at the maximum braking speed, the vehicle can reach the preset position in the shortest time.

When Δ p is equal to or greater than (v/a + v/b) × v/2, t is the high-speed rotation time:

Δp＝v2/2a+v2/2b+vt

therefore, after the vehicle accelerates to v at the maximum acceleration a and keeps rotating for time t, the vehicle runs to a stop at the maximum braking speed b, and the vehicle can reach the preset position in the shortest time.

Of course, in other embodiments, the vertical synchronous belt drive assembly could be replaced with a gear drive.

Further, a first support plate 16 and a second support plate 17 are fixed above the rotating bottom plate 12 of the pan/tilt head, and two ends of the pitch shaft 11 are respectively rotatably connected to the first support plate 16 and the second support plate 17. One end of the pitch shaft 11 is connected with the vertical rotary encoder 7, and the other end is connected with the vertical rotary driving motor 14 through the vertical synchronous belt transmission assembly, so that the space can be reasonably utilized.

Further, a vertical synchronous belt drive assembly is connected to the end of the pitch shaft 11 extending out of the first support plate 16, a housing of the vertical rotation driving motor 14 is fixed to the first support plate 16, and an output shaft penetrates through the first support plate 16 and is connected to the vertical synchronous belt drive assembly. Because the main parts of synchronous belt drive assembly and every single move axle 11 set up respectively in the both sides of first backup pad 16, can avoid synchronous belt drive assembly to interfere the motion of every single move axle 11.

Further, as shown in fig. 2, the vertical timing belt drive assembly includes a vertical rotation driven pulley 10 fixed to the pitch shaft 11, a vertical rotation driving pulley 8 fixed to an output shaft of the vertical rotation driving motor 14, and a vertical rotation timing belt 15 drivingly connected between the vertical rotation driving pulley 8 and the vertical rotation driven pulley 10. In addition, the vertical synchronous belt transmission assembly further comprises a synchronous belt tensioning wheel 9 for tensioning the vertical rotary synchronous belt 15.

The utility model provides a theory of operation of robot digit cloud platform as follows:

horizontal movement: a control signal sent by the holder main control device 2 is sent to the horizontal rotation driving motor 3 to drive the rotary supporting fluted disc 6 to rotate, meanwhile, the position information is transmitted to the horizontal rotation encoder 4 through the horizontal encoder driving gear 5, the horizontal position of the holder is recorded by the horizontal rotation encoder and is collected by the holder main control device 2, and a control command of the next step is made;

pitching motion: the control signal sent from the pan/tilt head main control device 2 is sent to the vertical rotation driving motor 14 and drives the vertical rotation driving wheel 8 to rotate together, the vertical rotation synchronous belt 15 drives the vertical rotation driven wheel 10 to rotate in the same direction, the pitching shaft 11 is driven to rotate, and finally the load is driven to rotate together (shown as a pepper water spray pipe). The pitch axis 11 is connected with the vertical rotary encoder 7, can record the rotation angle of the pitch axis 11, and transmits the rotation angle to the holder main control device 2, and the next control instruction is made by the holder main control device.

It will be understood that when an element is referred to as being "secured" to another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.

It is right above the utility model provides a robot holder has carried out detailed introduction. The principles and embodiments of the present invention have been explained herein using specific examples, and the above descriptions of the embodiments are only used to help understand the method and its core ideas of the present invention. It should be noted that, for those skilled in the art, without departing from the principle of the present invention, the present invention can be further modified and modified, and such modifications and modifications also fall within the protection scope of the appended claims.

Claims

1. A robot holder, comprising:

the horizontal rotation system comprises a horizontal rotation encoder (4), and the output end of the horizontal rotation system is connected with a holder rotation bottom plate (12);

the vertical rotation system comprises a vertical rotation encoder (7), the output end of the vertical rotation system is connected with a pitching shaft (11), and the vertical rotation system is arranged on the holder rotation bottom plate (12);

the horizontal rotating system and the vertical rotating system are respectively in communication connection with the holder main control device (2), and the holder main control device (2) is used for determining the rotating angle of the horizontal rotating system driven by the holder rotating bottom plate (12) according to the detection result of the horizontal rotating encoder (4) and determining the rotating angle of the vertical rotating system driven by the pitching shaft (11) according to the detection result of the vertical rotating encoder (7).

2. A robot head according to claim 1, characterized in that said horizontal rotation system further comprises a horizontal rotation driving motor (3) and a horizontal gear transmission assembly connected between said horizontal rotation driving motor (3) and said head rotation base plate (12).

3. A robot head according to claim 2, further comprising a head assembly base plate (13), said head assembly base plate (13) being fixedly connected to a rotation shaft, said head rotation base plate (12) being rotatably connected to the top of said rotation shaft; the horizontal gear transmission assembly is connected between the rotating shaft and the horizontal rotation driving motor (3) in a transmission mode.

4. A robot head according to claim 3, characterized in that said horizontal rotation driving motor (3), said horizontal rotation encoder (4), said pitch axis (11), said vertical rotation system and said head master control device (2) are connected to said head rotation base plate (12) in sequence around said rotation axis.

5. A robot head according to claim 3, wherein said horizontal gear assembly comprises a rotary supporting toothed disc (6) fixedly mounted on said rotating shaft, a horizontal encoder driving gear (5) engaged with said rotary supporting toothed disc (6), and a horizontal driving gear (1) engaged with said rotary supporting toothed disc (6); a shell of the horizontal rotation driving motor (3) is fixed on the holder rotating bottom plate (12) and an output shaft is connected to the horizontal driving gear (1); the horizontal rotary encoder (4) is connected to the horizontal encoder driving gear (5).

6. A robot head according to claim 5, characterized in that the housing of the horizontal rotation driving motor (3) is fixed above the head rotation base plate (12).

7. A robot head according to claim 5, characterized in that said horizontal gear transmission assembly is arranged between said head assembly base plate (13) and said head rotation base plate (12).

8. A robot head according to any of claims 1 to 7, characterized in that said vertical rotation system further comprises a vertical rotation driving motor (14) and a vertical synchronous belt transmission assembly connected between vertical rotation driving motor (14) and said pitch axis (11).

9. A robot head according to claim 8, characterized in that a first support plate (16) and a second support plate (17) are fixed above said head rotation base plate (12), and the two ends of said pitch axis (11) are rotatably connected to said first support plate (16) and said second support plate (17), respectively; one end of the pitching shaft (11) is connected with the vertical rotary encoder (7), and the other end of the pitching shaft is connected with the vertical rotary driving motor (14) through the vertical synchronous belt transmission assembly.

10. A robot head according to claim 9, characterized in that said vertical synchronous belt drive assembly is connected to the end of said pitch axis (11) protruding from said first support plate (16), said housing of said vertical rotary drive motor (14) being fixed to said first support plate (16) and the output shaft passing through said first support plate (16) and being connected to said vertical synchronous belt drive assembly.