CN217703481U - Operation device and operation robot - Google Patents

Abstract

The embodiment of the application relates to the technical field of robots and discloses an operation device and an operation robot. The working device includes: a lifting and rotating mechanism and at least one mechanical arm; the lifting and rotating mechanism comprises a lifting unit, a rotating unit and a first guide rod; the lifting unit comprises a lifting frame sleeved on the first guide rod, and the lifting frame is driven by a first actuator to move up and down along the first guide rod; the rotating unit comprises a second actuator and a rotating frame which is rotatably sleeved on the outer side of the lifting frame, and the rotating frame is in transmission connection with the output end of the second actuator; the mechanical arm is connected with the rotating frame, so that the mechanical arm is driven by the first actuator to do linear motion along the length direction of the first guide rod, and/or driven by the second actuator to do rotary motion. The embodiment of the application has the characteristics of reliable and stable structure, light weight and high integration.

Description

Operation device and operation robot

Technical Field

The embodiment of the application relates to the technical field of robots, in particular to a working device and a working robot.

Background

With the development and progress of science and technology, the robot technology has been developed. Robots are increasingly used in a variety of fields, as they are capable of performing many tasks that are complex, cumbersome and inconvenient to perform manually.

For some works requiring adjustment of the working range and the working height, such as automatic picking in the agricultural field, the robot is required to perform lifting, rotating or both lifting and rotating actions, but in the prior art, different devices are usually adopted to realize different actions, and the requirements of light weight and high integration cannot be met.

SUMMERY OF THE UTILITY MODEL

An object of the embodiment of this application is to provide a working device and work robot to adopt different devices to go to realize different actions among the solution prior art, can't satisfy the problem of lightweight, highly integrated demand.

In order to solve the above technical problem, an embodiment of the present application provides an operation device, including: a lifting and rotating mechanism and at least one mechanical arm; the lifting and rotating mechanism comprises a lifting unit, a rotating unit and a first guide rod; the lifting unit comprises a lifting frame sleeved on the first guide rod, and the lifting frame is driven by a first actuator to move up and down along the first guide rod; the rotating unit comprises a second actuator and a rotating frame which is rotatably sleeved on the outer side of the lifting frame, and the rotating frame is in transmission connection with the output end of the second actuator; the mechanical arm is connected with the rotating frame, so that the mechanical arm is driven by the first actuator to do linear motion along the length direction of the first guide rod, and/or is driven by the second actuator to do rotary motion.

Furthermore, an embodiment of the present application also provides an operation robot including: the operation device, the trunk and the movement mechanism; the operation device is arranged on the trunk; the movement mechanism is arranged on the trunk and is used for driving the trunk and the operation device to move together.

In addition, the embodiment of the application also provides a working robot, which comprises a trunk, a working device and a movement mechanism; the operation device is arranged on the trunk and comprises two mechanical arms with a plurality of movable joints; the movement mechanism is arranged on the trunk and is used for driving the trunk to move together with the operation device.

The embodiment of the application provides a working device and a working robot, including lifting and drop rotating mechanism to and at least one arm. Specifically, lifting and rotating mechanism includes lift unit, rotary unit and first guide bar, and first guide bar provides the slip track for elevating movement. The lifting unit comprises a lifting frame and a first actuator, and the lifting frame moves up and down along a first guide rod under the driving of the first actuator; the rotating unit comprises a rotating frame which is rotatably sleeved on the outer side of the lifting frame, and the rotating frame can rotate around the lifting frame under the driving of the second actuator. Wherein, the arm links to each other with the swivel mount. It can be seen that this application embodiment drives the arm through lifting and drop rotating mechanism and moves for the arm can realize elevating movement alone, also can realize rotary motion alone, also can realize elevating movement and rotary motion simultaneously equally, and the structure is reliable stable, and has lightweight, highly integrated's characteristics.

In addition, a spiral sliding groove is formed in the outer side face of the first guide rod; the lifting unit further comprises a support frame sleeved on the first guide rod and a first guide piece arranged on the spiral sliding groove in a sliding mode; the support frame with crane fixed connection, the one end of first guide with the support frame rotates to be connected, the other end is connected with the output transmission of first executor.

In addition, the lifting frame further comprises a second guide rod arranged in parallel with the first guide rod, and the second guide rod sequentially penetrates through the lifting frame and the supporting frame; and a second guide piece is arranged on the support frame in a penetrating manner, and the support frame is arranged on the second guide rod through the second guide piece in a sliding manner.

In addition, be close to on the support frame in first executor one side still is provided with first locating part, be provided with on the first locating part and be used for the cover to establish the pilot hole on the second guide bar, the internal diameter size of pilot hole is less than the radial dimension of second guide.

In addition, the first guide piece is in transmission connection with the output end of the first actuator through a first transmission structure, and the first transmission structure comprises a first connecting piece, a lifting transmission gear and a driven gear which are meshed with each other; the output end of the first actuator is in transmission connection with the lifting transmission gear, and the driven gear is fixedly connected with the first guide piece; the first connecting piece comprises two opposite end faces, one end face is connected with the first actuator, and the other end face is provided with the lifting transmission gear and the driven gear; the other end face exposes at least part of the lifting transmission gear in the direction perpendicular to the axis of the first guide rod.

In addition, a bearing is clamped between the rotating frame and the lifting frame, and the bearing comprises an inner ring and an outer ring which are sequentially arranged from inside to outside; and a second limiting piece is further arranged at one end, far away from the first actuator, of the first guide rod, and the size of the second limiting piece, perpendicular to the axis of the first guide rod, is larger than the inner diameter of the outer ring.

In addition, the lifting and rotating mechanism is symmetrically provided with two mechanical arms.

In addition, the mechanical arm is provided with a plurality of movable joints.

In addition, each mechanical arm comprises a shoulder joint actuator, an upper arm, an elbow joint actuator, a front arm, a wrist joint actuator and an end actuator, one end of the upper arm is installed on the shoulder joint actuator, the other end of the upper arm is connected with the elbow joint actuator, one end of the front arm is connected with the elbow joint actuator, the other end of the front arm is connected with the wrist joint actuator, and the end actuator is connected with the wrist joint actuator; the shoulder joint actuator is also connected with the rotating frame.

In addition, the motion mechanism is a mechanical leg or a driving wheel.

In addition, the movement mechanism is a mechanical leg, the movement mechanism comprises a fixed seat and a hip joint actuator arranged on the fixed seat, and the hip joint actuator is also connected with a leg part; the leg part comprises a thigh, a connecting rod, a knee joint actuator, a shank, an ankle joint actuator and a sole, wherein the thigh and one end of the connecting rod are both arranged on the hip joint actuator, the other ends of the thigh and the connecting rod are both hinged with the knee joint actuator, one end of the shank is hinged with the knee joint actuator, the other end of the shank is connected with the ankle joint actuator, and the sole is hinged with the ankle joint actuator; the hip joint actuator drives the thigh and the connecting rod to rotate around the axial direction and the radial direction of the hip joint actuator; the knee joint actuator drives the lower leg to rotate around the knee joint actuator in the radial direction; the ankle joint actuator drives the sole to rotate around the ankle joint actuator in the radial direction; the fixed seat is provided with the first guide rod to bear the operation device.

Drawings

One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to scale unless otherwise specified.

Fig. 1 is a perspective view of a working device according to an embodiment of the present disclosure;

fig. 2 is a perspective view of the lifting and rotating mechanism in the embodiment of the present application;

fig. 3 is an exploded perspective view of the lifting and rotating mechanism in the embodiment of the present application;

fig. 4 is a schematic structural view of the lifting and rotating mechanism in the embodiment of the present application;

fig. 5 is a sectional view of the lifting and lowering mechanism in the embodiment of the present application;

FIG. 6 is a schematic illustration of a robot arm portion in an embodiment of the present application;

fig. 7 is a perspective view of an operation robot provided in an embodiment of the present application.

Detailed Description

An embodiment of the present application provides an operation device, including: a lifting and rotating mechanism and at least one mechanical arm; the lifting unit comprises a lifting frame sleeved on the first guide rod, and the lifting frame is driven by a first actuator to move up and down along the first guide rod; the rotating unit comprises a second actuator and a rotating frame which is rotatably sleeved on the outer side of the lifting frame, and the rotating frame is in transmission connection with the output end of the second actuator; the mechanical arm is connected with the rotating frame, so that the mechanical arm is driven by the first actuator to do linear motion along the length direction of the first guide rod, and/or is driven by the second actuator to do rotary motion. So, drive the arm through lifting and drop rotating mechanism and move for the arm can realize elevating movement alone, also can realize rotary motion alone, also can realize elevating movement and rotary motion simultaneously equally, and the structure is reliable stable, and has light in weight, highly integrated's characteristics.

To make the objects, technical solutions and advantages of the embodiments of the present application clearer, embodiments of the present application will be described in detail below with reference to the accompanying drawings. However, it will be appreciated by those of ordinary skill in the art that numerous technical details are set forth in various embodiments of the present application in order to provide a better understanding of the present application. However, the technical solution claimed in the present application can be implemented without these technical details and various changes and modifications based on the following embodiments. The following embodiments are divided for convenience of description, and should not constitute any limitation to the specific implementation manner of the present application, and the embodiments may be mutually incorporated and referred to without contradiction.

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 application belongs; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "including" and "having," and any variations thereof, in the description and claims of this application and the description of the above figures are intended to cover non-exclusive inclusions.

In the description of the embodiments of the present application, the technical terms "first", "second", and the like are used only for distinguishing different objects, and are not to be construed as indicating or implying relative importance or implicitly indicating the number, specific order, or primary-secondary relationship of the technical features indicated. In the description of the embodiments of the present application, "a plurality" means two or more unless specifically defined otherwise.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.

In the description of the embodiments of the present application, the term "and/or" is only one kind of association relationship describing an associated object, and means that three relationships may exist, for example, a and/or B, and may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.

In the description of the embodiments of the present application, unless otherwise explicitly specified or limited, the terms "mounted," "connected," "fixed," and the like are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integrated; mechanical connection or electrical connection is also possible; either directly or indirectly through intervening media, either internally or in any other relationship. Specific meanings of the above terms in the embodiments of the present application can be understood by those of ordinary skill in the art according to specific situations.

As shown in fig. 1, a first embodiment of the present application provides a work apparatus including: an elevating and rotating mechanism 10, and at least one robotic arm 20. Referring to fig. 2 and 3, the lifting and rotating mechanism 10 includes: a lifting unit 110, a rotating unit 120, and a first guide bar 130. Specifically, the lifting unit 110 includes a lifting frame 111 sleeved on the first guide rod 130, and the lifting frame 111 moves up and down along the first guide rod 130 under the driving of the first actuator 116. The rotating unit 120 comprises a rotating frame 121 rotatably sleeved on the outer side of the lifting frame 111, the supporting frame 112 is connected with a second actuator 123, and one side of the rotating frame 121 close to the supporting frame 112 is in transmission connection with the output end of the second actuator 123; the lifting frame 111 drives the rotating frame 121 to make linear motion along the length direction of the first guide rod 130 under the driving of the first actuator 116, and the rotating frame 121 makes rotary motion at the outer side of the lifting frame 111 under the driving of the second actuator 123.

More specifically, the robot arm 20 is connected to the rotating frame 121 so that the lifting and lowering mechanism 10 moves the robot arm 20 together. Alternatively, the robot arm 20 may be attached to the outer side of the rotating frame 121 for easy installation. In addition, the number of the mechanical arms 20 may be one, two, or more, according to actual requirements.

To sum up, this application embodiment drives arm 20 through lifting and drop rotating mechanism 10 and moves for arm 20 can realize elevating movement alone, also can realize rotary motion alone, also can realize elevating movement and rotary motion simultaneously equally, and the reliable structure is stable, and has lightweight, highly integrated's characteristics. Therefore, the working device provided by the embodiment of the application can be suitable for working environments in more circumferential directions and working environments with different heights.

In some embodiments of the present application, as shown in fig. 3 and 4, the outer side surface of the first guide bar 130 is provided with a spiral sliding groove (not shown), and the first guide bar 130 provides a sliding track for the elevating movement. It will be appreciated that the helical chutes are distributed along the length of the first guide bar 130. The lifting unit further comprises a support frame 112 sleeved on the first guide rod 130, and a first guide part 113 arranged on the spiral chute in a sliding manner; the lifting frame 111 is fixedly connected with the supporting frame 112, one end of the first guide part 113 is rotatably connected with the lifting frame 111, and the other end is in transmission connection with the output end of the first actuator 116. Specifically, the first guide member 113 moves up and down along the first guide rod 130 under the driving of the first actuator 116, and drives the crane 111 and the support frame 112 connected thereto to move linearly along the length direction of the first guide rod 130. It should be noted that, the crane 111 and the support frame 112 have corresponding openings (for example, a hole for the first guide rod 130 to pass through) on the crane 111 and the support frame 112, and then the crane 111 and the support frame 112 are fixedly connected, where the specific manner of the fixed connection may be welding, riveting or fixing by a connecting member.

In some embodiments of the present application, the lifting and rotating mechanism 10 further includes a second guide rod 140 disposed parallel to the first guide rod 130, the second guide rod 140 sequentially passes through the lifting frame 111 and the supporting frame 112, and the second guide rod 140 is connected to the supporting frame 112. Through setting up in the second guide bar 140 that first guide bar 130 parallels, by first guide bar 130 and the cooperation of second guide bar 140, the structure that effectively avoids producing when carrying out rotary motion or elevating movement rocks, or the problem of producing the moment of torsion to first guide bar 130 appears. In consideration of reducing the design difficulty, the radial dimension of the second guide rod 140 and the radial dimension of the first guide rod 130 can be set to be the same, so that the sizes of the openings for penetrating the first guide rod 130 and the second guide rod 140 on the lifting frame 111 are the same, and the production convenience is improved. Preferably, the second guide bar 140 and the first guide bar 130 may be made of the same material and have the same length.

The supporting frame 112 further has a second guiding element 150, and the supporting frame 112 is slidably disposed on the second guiding rod 140 through the second guiding element 150. The second guiding element 150 not only guides the movement of the supporting frame 112 along the second guiding rod 140, but also prevents the supporting frame 112 from directly cooperating with the second guiding rod 140 to cause wear during the relative movement. Specifically, the second guiding element 150 may be a linear bearing, which has the advantages of small friction, stability, no variation with the bearing speed, and capability of obtaining stable linear motion with high sensitivity and high precision.

In some embodiments of the present application, a first limiting member 160 is further disposed on the supporting frame 112 near the first actuator 116, a mounting hole 161 is disposed on the first limiting member 160 for being sleeved on the second guiding rod 140, and an inner diameter of the mounting hole 161 is smaller than a radial dimension of the second guiding member 150. The lifting frame 111 limits one side of the second guide member 150, and limits the other side of the second guide member 150 by arranging the first limiting member 160, so that the effect of supporting the second guide member 150 is achieved, and the problem that the second guide member 150 is separated from the support frame 112 is avoided.

In some embodiments of the present application, the first guide 113 is in driving connection with the output of the first actuator 116 through a first transmission structure 115. Specifically, the first transmission structure 115 includes a first connecting member 115a, and a lifting transmission gear 115b and a driven gear 115c which are engaged with each other; wherein, the output end of the first actuator 116 is connected with the lifting transmission gear 115b in a transmission way, and the driven gear 115c is connected with the first guide member 113. Specifically, the output end of the first actuator 116 is started to transmit the torque to the lifting transmission gear 115b; since the lifting transmission gear 115b is engaged with the driven gear 115c, the driven gear 115c is driven to rotate; the driven gear 115c drives the first guide member 113 to move up and down along the first guide rod 130, and drives the crane 111 and the support frame 112 connected thereto to move linearly along the length direction of the first guide rod 130. More specifically, the first connecting member 115a includes two end surfaces which are oppositely arranged, one end surface is connected with the first actuator 116, and the other end surface is provided with a lifting transmission gear 115b and a driven gear 115c; the other end face exposes at least a part of the elevation drive gear 115b in a direction perpendicular to the axis of the first guide bar 130 to adjust the elevation drive gear 115b and the driven gear 115c in a meshed state for easy operation.

Also, the first guide 113 may be configured as a screw nut slidably disposed on the spiral-shaped sliding groove of the first guide rod 130, so that a spiral type elevating movement along the first guide rod 130 may be realized.

In addition, one end of the first guiding element 113 is rotatably connected to the supporting frame 112 through a third connecting element 114, the third connecting element 114 includes an upper bearing fixing flange 114a and a lower bearing fixing flange 114b, the upper bearing fixing flange 114a sequentially passes through the supporting frame 112 and the first limiting element 160 to be connected to the lower bearing fixing flange 114b, a bearing is disposed between the upper bearing fixing flange 114a and the supporting frame 112, and the lower bearing fixing flange 114b is connected to the lead screw nut, so that the supporting frame 112 and the first limiting element 160 cannot move away from each other in the axial direction without affecting the radial movement of the two.

As described above, the bearing 122 is interposed between the rotating frame 121 and the lifting frame 111 so that the rotating frame 121 can rotate relative to the lifting frame 111. And the rotating frame 121 can rotate around the lifting frame 111 at the second actuator 123 through the second transmission structure 124. Specifically, the second transmission structure 124 includes an internal gear 124a and a rotation transmission gear 124b, as shown in fig. 2 and 5, the internal gear 124a is disposed on the side of the rotating frame 121 close to the first actuator 116, the axis of the rotation transmission gear 124b is connected to the output end of the second actuator 123, and the gear end is engaged with the internal gear 124 a. Therefore, when the second actuator 123 rotates, the rotation transmission gear 124b is driven to rotate, and finally the rotation frame 121 rotates under the matching of the rotation transmission gear 124b and the inner gear ring 124 a.

In some embodiments of the present application, the bearing 122 includes an inner ring and an outer ring which are sequentially arranged from inside to outside, and in order to limit the highest position of the lifting movement, a second limiting member 190 is further disposed at an end of the first guide rod 130 away from the first actuator 116, and a dimension of the second limiting member 190 along an axis perpendicular to the first guide rod 130 is greater than an inner diameter dimension of the outer ring. In one embodiment, the rotating frame 121 and the lifting frame 111 are rotatably connected through a bearing 122, and a bearing inner ring limit piece 170 and a bearing outer ring limit piece 180 are sequentially arranged on one side of the bearing 122 away from the first actuator 116; the inner diameter of the bearing inner ring limiting piece 170 is larger than or equal to the inner diameter of the inner ring, and the outer diameter of the bearing inner ring limiting piece 170 is smaller than or equal to the outer diameter of the inner ring; the inner diameter of the bearing outer ring retainer 180 is greater than or equal to the inner diameter of the outer ring. The bearing inner ring limiting piece 170 and the bearing outer ring limiting piece 180 are arranged to prevent axial displacement between the inner ring and the outer ring of the bearing 122, so that the inner ring and the outer ring are staggered to cause unsmooth rotation of the bearing 122. The dimension of the second retaining member 190 along the axis perpendicular to the first guide rod 130 may be set to be larger than the inner diameter dimension of the bearing outer ring retaining member 180. Similarly, the lowest position of the lifting motion can be limited by additionally arranging other limiting parts.

The first actuator 116 and the second actuator 123 may adopt actuators with the same model and specification. In some embodiments of the present application, both the first actuator 116 and the second actuator 123 have internal band brakes. The control method of the band-type brake is generally to loosen the band-type brake when power is on and to hold the band-type brake tightly when power is off so as to form power-off protection for the lifting and rotating mechanism 10.

In summary, when the working device provided in the embodiment of the present application needs to adjust the position of the robot arm 20 in the height direction (i.e., to achieve the lifting motion), the first actuator 116 is started, the output end of the first actuator 116 outputs the torque, the first transmission structure 115 drives the first guide member 113 to perform the spiral lifting motion along the first guide rod 130, and finally the lifting frame 111 connected to the first guide member 113 is driven to perform the lifting motion along the first guide rod 130.

When the working device provided by the embodiment of the present application needs to adjust the position of the robot arm 20 in the circumferential direction (to implement the rotational motion), the second actuator 123 is started, the output end of the second actuator 123 outputs the torque, the second guide 150 is driven to rotate by the second transmission structure 124, and the rotating frame 121 connected to the second guide 150 is further driven to rotate around the lifting frame 111.

When the working device provided in the embodiment of the present application needs to adjust the position of the robot arm 20 in the height direction and the position in the circumferential direction (to perform the lifting movement and the rotating movement at the same time), the first actuator 116 and the second actuator 123 may be simultaneously activated.

It should be noted that, when the setting direction of the first guide rail in the lifting and rotating mechanism 10 is parallel to the plumb line, the lifting and rotating mechanism 10 realizes a lifting motion without an inclined angle under the driving of the first actuator 116; when the first guide rail of the lifting and rotating mechanism 10 is disposed in a direction perpendicular to the vertical line, the lifting and rotating mechanism 10 is driven by the first actuator 116 to move horizontally. According to different arrangement directions of the first guide rails, the lifting and rotating mechanism 10 has different representations of lifting movement.

In some embodiments of the present application, two robot arms 20 are symmetrically disposed on the lifting and rotating mechanism 10. For example, the working device includes two robot arms 20 symmetrically disposed at both left and right sides of the rotating frame 121, so that the work can be performed more conveniently and efficiently.

In some embodiments of the present application, the robotic arm 20 has several joints that are movable. Specifically, as shown in fig. 6, each of the robot arms 20 includes a shoulder joint actuator 210, an upper arm 220, an elbow joint actuator 230, a forearm 240, a wrist joint actuator 250, and an end effector 260, wherein one end of the upper arm 220 is mounted to the shoulder joint actuator 210, the other end is connected to the elbow joint actuator 230, one end of the forearm 240 is connected to the elbow joint actuator 230, the other end is connected to the wrist joint actuator 250, and the end effector 260 is connected to the wrist joint actuator 250. The shoulder joint actuator 210 drives the upper arm 220 to rotate around the shoulder joint actuator 210 in the axial direction and the radial direction; the elbow actuator 230 drives the radial rotation of the forearm 240 about the elbow actuator 230; the wrist actuator 250 drives the end effector 260 in a radial rotation about the wrist actuator 250.

In order to enable the shoulder joint actuator 210 to drive the upper arm 220 to rotate around the shoulder joint actuator 210 in the axial direction and the radial direction, optionally, the shoulder joint actuator 210 specifically includes a swing arm actuator and a lift arm actuator. The mechanical arm 20 can be driven to swing back and forth through the swing arm actuator; and the lift arm actuator is used in the robot arm 20 to drive the upper arm 220, forearm 240 and end effector 260 up or down. Wherein the shoulder joint actuator 210 is further connected to the rotating frame to realize the connection between the robot arm 20 and the lifting and rotating mechanism 10.

It should be noted that in other embodiments, the robot 20 portion of the work apparatus may be removed and replaced with a different robot 20 module. The end effector 260 may be replaced with a clamp, a suction cup, or the like according to the use requirement, and is not particularly limited herein.

An embodiment of the present application provides a working robot, as shown in fig. 7, including: the working device as described above, and the trunk and movement mechanism 30. The working device is mounted on the trunk. In addition, the end of the first guide rod 130 adjacent to the first actuator 116 is connected to the moving mechanism 30; the movement mechanism 30 is used to move the trunk together with the working device.

In fact, the working robot provided in the second embodiment of the present invention includes the working device that is the same as the working device provided in the first embodiment of the present invention, and therefore, the working robot provided in the second embodiment of the present invention includes the working device that has the same advantageous effects as the working device provided in the first embodiment of the present invention, and details thereof are not repeated herein.

The working robot in the embodiment can be applied to the fields of agricultural picking, industrial carrying and warehousing, service, education and the like. Moreover, the whole operation robot provided by the embodiment of the application can be integrally installed on other products, such as the existing security or inspection robot, and is used for matching inspection, maintaining equipment, carrying and the like.

In some embodiments of the present application, the movement mechanism 30 is a mechanical leg or a drive wheel.

When the motion mechanism 30 is a mechanical leg, the motion mechanism 30 includes a fixed seat 310, a hip joint actuator 320 mounted on the fixed seat 310, and a leg 330 connected to the hip joint actuator 320; the leg part 330 comprises a thigh 331, a connecting rod 332, a knee joint actuator 333, a shank 334, an ankle joint actuator 335 and a sole 336, wherein one ends of the thigh 331 and the connecting rod 332 are both arranged on the hip joint actuator 320, the other ends of the thigh 331 and the connecting rod 332 are both hinged with the knee joint actuator 333, one end of the shank 334 is hinged with the knee joint actuator 333, the other end is connected with the ankle joint actuator 335, and the sole 336 is hinged with the ankle joint actuator 335; the hip joint actuator 320 drives the thigh 331 and the connecting rod 332 to rotate around the axial direction and the radial direction of the hip joint actuator 320; the knee joint actuator 333 drives the lower leg 334 to rotate around the knee joint actuator 333 in the radial direction; the ankle joint actuator 335 drives the sole 336 to rotate in the radial direction of the ankle joint actuator 335; the fixing base 310 is provided with a first guide rod for carrying the working device.

In one embodiment, the working robot may be a biped robot. The movement mechanism 30 comprises a fixed seat 310, two hip joint actuators 320 arranged on the fixed seat 310, and two leg parts 330 corresponding to the two hip joint actuators 320 one by one; each leg part 330 comprises a thigh 331, a connecting rod 332, a knee joint actuator 333, a lower leg 334, an ankle joint actuator 335 and a sole 336, wherein one ends of the thigh 331 and the connecting rod 332 are both arranged on the hip joint actuator 320, the other ends of the thigh 331 and the connecting rod 332 are both hinged with the knee joint actuator 333, one end of the lower leg 334 is hinged with the knee joint actuator 333, the other end is connected with the ankle joint actuator 335, and the sole 336 is hinged with the ankle joint actuator 335; the hip joint actuator 320 drives the thigh 331 and the connecting rod 332 to rotate around the axial direction and the radial direction of the hip joint actuator 320; the knee joint actuator 333 drives the lower leg 334 to rotate around the knee joint actuator 333 in the radial direction; the ankle joint actuator 335 drives the sole 336 to rotate in the radial direction of the ankle joint actuator 335; the fixing base 310 is provided with a first guide bar 130 for carrying the working device.

When the hip actuator 320 drives the thigh 331 and the connecting rod 332 to rotate in the same direction around the axial direction of the hip actuator 320, the leg 330 can be lifted or lowered, when the hip actuator 320 drives the thigh 331 and the connecting rod 332 to rotate in opposite directions around the axial direction of the hip actuator 320, the leg 330 can be bent or extended, and when the hip actuator 320 drives the thigh 331 and the connecting rod 332 to rotate in the same direction or opposite directions around the radial direction of the hip actuator 320, the leg 330 can be yawed, so that the multi-directional motion of the leg 330 of the working robot can be realized, and the multi-directional walking of the working robot can be realized.

In another embodiment, with continued reference to fig. 7, the working robot may be a quadruped robot. The moving mechanism 30 further comprises two rear legs, and a second connecting piece 340 mounted on the fixed base 310; each hind leg includes a hip actuator 320 and a leg 330, with the hip actuator 320 of each hind leg mounted to a second link 340. By adding two rear legs into the biped robot, the quadruped robot can be formed so as to expand the application scene of the robot. It is to be understood that no particular limitation is imposed on the number of mechanical legs in the present embodiment.

In addition, in the case that the moving mechanism 30 is a driving wheel, the moving mechanism 30 includes a fixed base, and at least two wheels mounted on the fixed base. Two wheels can satisfy work robot's motion demand, in order to improve the stability in the motion process, can suitably increase the quantity of wheel, for example three wheel, four wheels. It is to be understood that no particular limitation is imposed on the number of drive wheels in the present embodiment.

An embodiment provides a work robot, continue to refer to fig. 7, including: torso, working device, motion mechanism 30. The working device is arranged on the trunk and comprises two mechanical arms 20 with a plurality of movable joints; the movement mechanism 30 is mounted to the trunk and is adapted to move the trunk together with the working device. Specifically, the working device includes two robot arms 20, and the two robot arms 20 may be symmetrically disposed on the left and right sides of the trunk. Wherein each robot arm 20 has several joints that are movable, thereby providing more degrees of freedom to facilitate work. It is understood that the robot arm 20 in the present embodiment may adopt the arrangement of the robot arm 20 in the above-mentioned embodiment, and may also adopt other arrangements.

More specifically, the moving mechanism 30 is used to drive the trunk to move together with the working device, and the moving mechanism 30 may be a mechanical leg or a driving wheel in the above-mentioned embodiment, which is not described herein again.

It will be understood by those of ordinary skill in the art that the foregoing embodiments are specific examples for carrying out the present application, and that various changes in form and details may be made therein without departing from the spirit and scope of the present application in practice.

Claims (12)

1. A work apparatus, comprising: a lifting and rotating mechanism and at least one mechanical arm;

the lifting and rotating mechanism comprises a lifting unit, a rotating unit and a first guide rod;

the lifting unit comprises a lifting frame sleeved on the first guide rod, and the lifting frame is driven by a first actuator to move up and down along the first guide rod;

the rotating unit comprises a second actuator and a rotating frame which is rotatably sleeved on the outer side of the lifting frame, and the rotating frame is in transmission connection with the output end of the second actuator;

the mechanical arm is connected with the rotating frame, so that the mechanical arm is driven by the first actuator to do linear motion along the length direction of the first guide rod, and/or driven by the second actuator to do rotary motion.

2. The working device according to claim 1, wherein a spiral sliding groove is provided on an outer side surface of the first guide rod;

the lifting unit further comprises a support frame sleeved on the first guide rod and a first guide piece arranged on the spiral sliding groove in a sliding mode; the support frame is fixedly connected with the lifting frame, one end of the first guide piece is rotatably connected with the support frame, and the other end of the first guide piece is in transmission connection with the output end of the first actuator.

3. The working device as claimed in claim 2, further comprising a second guide rod arranged in parallel with the first guide rod, the second guide rod passing through the lifting frame and the supporting frame in sequence;

and a second guide piece is arranged on the support frame in a penetrating manner, and the support frame is arranged on the second guide rod through the second guide piece in a sliding manner.

4. The working device according to claim 3, wherein a first limiting member is further disposed on the support frame near the first actuator, a fitting hole for fitting over the second guide rod is disposed on the first limiting member, and an inner diameter of the fitting hole is smaller than a radial dimension of the second guide member.

5. The work device of claim 2, wherein said first guide member is in driving connection with said output end of said first actuator through a first transmission structure, said first transmission structure comprising a first connecting member, and a lifting transmission gear and a driven gear engaged therewith; the output end of the first actuator is in transmission connection with the lifting transmission gear, and the driven gear is fixedly connected with the first guide piece;

the first connecting piece comprises two opposite end faces, one end face is connected with the first actuator, and the other end face is provided with the lifting transmission gear and the driven gear;

the other end face exposes at least part of the lifting transmission gear in the direction perpendicular to the axis of the first guide rod.

6. The working device as claimed in claim 5, wherein a bearing is clamped between the rotating frame and the lifting frame, and the bearing comprises an inner ring and an outer ring which are arranged from inside to outside in sequence;

and a second limiting part is further arranged at one end of the first guide rod, which is far away from the first actuator, and the size of the second limiting part on the axis perpendicular to the first guide rod is larger than the inner diameter of the outer ring.

7. The working device according to claim 1, wherein the lifting and rotating mechanism is provided with two of the robot arms symmetrically.

8. The work device of claim 1, wherein said robotic arm has a plurality of movable joints.

9. The work device of claim 8, wherein each of said robotic arms comprises a shoulder actuator, an upper arm, an elbow actuator, a forearm, a wrist actuator, and an end effector, wherein said upper arm is mounted to said shoulder actuator at one end and coupled to said elbow actuator at an opposite end, wherein said forearm is coupled to said elbow actuator at one end and to said wrist actuator at an opposite end, and wherein said end effector is coupled to said wrist actuator;

the shoulder joint actuator is also connected with the rotating frame.

10. A working robot, characterized by comprising: the work device of any one of claims 1 to 9, and a torso, a movement mechanism; the operation device is arranged on the trunk;

the movement mechanism is arranged on the trunk and used for driving the trunk and the operation device to move together.

11. A working robot according to claim 10, characterized in that the moving mechanism is a robot leg or a driving wheel.

12. A working robot according to claim 11, characterized in that the moving mechanism is a mechanical leg, the moving mechanism comprises a fixed base, a hip joint actuator mounted on the fixed base, and a leg part connected to the hip joint actuator;

the leg part comprises a thigh, a connecting rod, a knee joint actuator, a shank, an ankle joint actuator and a sole, wherein the thigh and one end of the connecting rod are both arranged on the hip joint actuator, the other ends of the thigh and the connecting rod are both hinged with the knee joint actuator, one end of the shank is hinged with the knee joint actuator, the other end of the shank is connected with the ankle joint actuator, and the sole is hinged with the ankle joint actuator; the hip joint actuator drives the thigh and the connecting rod to rotate around the axial direction and the radial direction of the hip joint actuator; the knee joint actuator drives the lower leg to rotate around the knee joint actuator in the radial direction; the ankle joint actuator drives the sole to rotate around the ankle joint actuator in the radial direction;

the fixing seat is provided with the first guide rod to bear the operation device.

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