CN217943354U - Working robot - Google Patents

Abstract

The embodiment of the application relates to the technical field of robots and discloses an operating robot. The robot comprises a lifting rotating mechanism, a mechanical arm, a moving mechanism and a trunk; the lifting and rotating mechanism is arranged on the trunk and is provided with a movable seat, and the mechanical arm is connected to the movable seat so as to lift and/or rotate along with the movable seat; the trunk has a loading portion; the movement mechanism is arranged on the trunk and used for driving the trunk and the operation device to move together. Therefore, the mechanical arm can independently realize lifting motion and rotation motion, and can simultaneously realize lifting motion and rotation motion, the structure is reliable and stable, and the mechanical arm has the characteristics of light weight and high integration. Meanwhile, the trunk is also provided with a loading part to conveniently contain articles; and the movement mechanism drives the trunk and the lifting and rotating mechanism to move together, so that the operation robot has comprehensive functions and is beneficial to being applied to more fields.

Description

Working robot

Technical Field

The embodiment of the application relates to the technical field of robots, in particular to an operating robot.

Background

With the development and progress of science and technology, the robot technology has been developed. Robots are increasingly used in various fields, since 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 automated picking work in the agricultural field, a robot is required to perform lifting action, rotating action, or both lifting action and rotating action, 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 this application embodiment is to provide a work robot to adopt different devices to go to realize different actions among the solution prior art, can't satisfy the problem of lightweight, high integration demand.

To solve the above technical problem, an embodiment of the present application provides an operation robot, including: the lifting and rotating mechanism, the mechanical arm, the movement mechanism and the trunk; the lifting and rotating mechanism is arranged on the trunk and is provided with a movable seat, and the mechanical arm is connected to the movable seat so as to lift and/or rotate along with the movable seat; the trunk has a loading portion; the movement mechanism is arranged on the trunk and is used for driving the trunk and the lifting and rotating mechanism to move together.

The utility model provides a work robot, including the truck, the arm, and motion, wherein, install lifting and drop rotating mechanism on the truck, lifting and drop rotating mechanism has the sliding seat, the arm is connected in the sliding seat, make lifting and drop rotating mechanism can drive the arm and be lift and/or rotary motion along with the sliding seat in the lump, make the arm can realize elevating movement alone from this, also can realize rotary motion alone, also can realize elevating movement and rotary motion simultaneously equally, the reliable and stable structure, and have the lightweight, high integrated's characteristics. Meanwhile, the trunk is also provided with a loading part to conveniently contain articles; and the motion mechanism drives the trunk and the lifting and rotating mechanism to move together, so that the operation robot has comprehensive functions and is beneficial to being applied to more fields.

In addition, 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 movable seat, 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.

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

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 part of the first guide rod, is larger than the inner diameter size of the outer ring.

In addition, two mechanical arms are symmetrically arranged on the movable seat.

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 forearm, a wrist joint actuator and an end actuator, wherein 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 forearm is connected with the elbow joint actuator, the other end of the forearm 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 movable seat.

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 lifting and rotating mechanism.

In addition, the motion mechanism is the drive wheel, the motion mechanism includes the fixing base, and install in at least two wheels on the fixing base.

In addition, the loading part is surrounded by a plurality of enclosing barriers, the opening of the loading part faces upwards, and the opening is located in the moving range of the mechanical arm.

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 an operation robot provided in an embodiment of the present application;

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 elevating and rotating 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 another work robot provided in an embodiment of the present application.

Detailed Description

An embodiment of the application provides an operation robot, include: the lifting and rotating mechanism, the mechanical arm, the movement mechanism and the trunk; the lifting and rotating mechanism is arranged on the trunk and is provided with a movable seat, and the mechanical arm is connected to the movable seat so as to lift and/or rotate along with the movable seat; the trunk has a loading portion; the movement mechanism is arranged on the trunk and used for driving the trunk and the operation device to move together. Therefore, the mechanical arm can independently realize lifting motion and rotation motion, and can simultaneously realize lifting motion and rotation motion, the structure is reliable and stable, and the mechanical arm has the characteristics of light weight and high integration. Meanwhile, the trunk is also provided with a loading part to conveniently contain articles; and the movement mechanism drives the trunk and the lifting and rotating mechanism to move together, so that the operation robot has comprehensive functions and is beneficial to being applied to more fields.

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the following describes each embodiment of the present application in detail 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 associated objects are in an "or" relationship.

In the description of the embodiments of the present application, unless otherwise explicitly stated or limited, the terms "mounted," "connected," "fixed," and the like are used in a broad sense, and for example, may be fixedly connected, detachably connected, or integrated; mechanical connection or electrical connection is also possible; they may be directly connected or indirectly connected through intervening media, or may be connected through the use of two elements or the interaction of two elements. The 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, an embodiment of the present application provides an operation robot including: elevating and rotating mechanism 10, robot arm 20, motion mechanism 30, and trunk. The lifting and rotating mechanism 10 is installed on the trunk and has a movable seat, and the robot arm 20 is connected to the movable seat to lift and/or rotate with the movable seat; the trunk has a loading portion 40; the moving mechanism 30 is disposed on the trunk and is used for moving the trunk together with the elevating and rotating mechanism 10.

The utility model provides a work robot, including the truck, arm 20, and motion 30, wherein, install lifting and drop rotating mechanism 10 on the truck, lifting and drop rotating mechanism 10 has the sliding seat, arm 20 is connected in the sliding seat, make lifting and drop rotating mechanism 10 can drive arm 20 and do lift and/or rotary motion along with the sliding seat in the lump, make arm 20 realize elevating movement alone from this, also can realize rotary motion alone, also can realize elevating movement and rotary motion simultaneously, the structure is reliable and stable, and have the lightweight, highly integrated's characteristics. Meanwhile, the trunk is also provided with a loading part 40 to conveniently contain articles; and the movement mechanism 30 drives the trunk and the lifting and rotating mechanism 10 to move together, so that the operation robot has comprehensive functions and is beneficial to being applied to more fields.

In some embodiments of the present application, 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. 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. It is understood that the movable seat is located at the outer side of the rotating frame 121. Under the condition that the movable seat is fixedly connected with the rotating frame 121, the mechanical arm can be connected to the movable seat; under the condition that the movable seat is rotatably connected with the rotating frame 121, a plurality of digging holes are formed in the movable seat, and the mechanical arm 20 can extend into the outer side face connected with the rotating frame 121 from the digging holes. In addition, the number of the mechanical arms 20 may be one, two, or more, according to actual requirements. Accordingly, the number of pockets may be the same as the number of robotic arms 20.

In addition, the motion mechanism 30 is used for moving the belt-moving robot, so the implementation of the motion mechanism 30 is not particularly limited. The shape of the loading portion 40 includes, but is not limited to, a cylindrical shape, a square shape, and a rectangular shape, and is not particularly limited thereto.

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 structure is reliable stable, and has lightweight, highly integrated's characteristics. In which the robot arm 20 is connected to the rotating frame 121, and the moving mechanism 30 is connected to a side of the first guide bar 130 close to the first actuator 116, so as to form the elevating and rotating mechanism 10 as a robot for the trunk. Further, the moving mechanism 30 is provided with a loading portion 40 to conveniently accommodate the articles. Therefore, the working robot provided by the embodiment of the application can be suitable for working environments in more circumferential directions and working environments with different heights while having the action capability, and has loading capability and more comprehensive functions.

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, 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 is understood that the spiral sliding grooves are distributed along the length direction 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 of effectively avoiding producing when carrying out rotary motion or elevating movement rocks, perhaps produces the problem appearance of moment of torsion to first guide bar 130. 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 guide member 150 can not only guide the movement of the support frame 112 along the second guide rod 140, but also prevent the support frame 112 from directly cooperating with the second guide rod 140 to cause abrasion in the relative movement. Specifically, the second guide 150 may be a linear bearing, which has the advantages of small friction, stability, no variation with 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 perform a spiral lifting motion along the first guide rod 130, and drives the lifting frame 111 connected thereto to perform a linear motion along the length direction of the first guide rod 130 together with the supporting frame 112. 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 surface exposes at least a part of the elevation drive gear 115b in a direction perpendicular to the axis of the first guide bar 130 so as 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 with respect 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 cooperation 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 sequentially arranged from inside to outside, in order to limit the highest position of the lifting movement, a second limiting member 190 is further disposed on an end of the first guide rod 130 away from the first actuator 116, and a dimension of the second limiting member 190 perpendicular to the axial line portion of 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 limiting piece 170 and a bearing outer ring limiting 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 be 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 robot 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 perform 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 robot provided by the embodiment of the present application needs to adjust the position of the robot arm 20 in the circumferential direction (to realize 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 then the rotating frame 121 connected to the second guide 150 is driven to rotate around the lifting frame 111.

When the working robot 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 (simultaneously perform the lifting movement and the rotating movement), 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 vertical line, the lifting and rotating mechanism 10 realizes a lifting and rotating movement without an inclination 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 mechanical arms 20 are symmetrically disposed on the movable seat, as shown in fig. 1 and 7. For example, the working apparatus includes two arms 20 symmetrically disposed on the left and right sides of the movable base, respectively, so that the work can be performed more conveniently and efficiently. As described above, the connection position of the robot arm 20 may be provided on the movable base or directly on the rotating frame 121 in the lifting/rotating mechanism 10, as the case may be.

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 thereof 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 thereof 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 forearm 240 in a radial rotation 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. The shoulder joint actuator 210 is further connected to the movable base to connect the robot arm 20 and the lifting and rotating mechanism 10.

It should be noted that in other embodiments, the robot arm 20 of the work robot may be partially detached and replaced with a different robot arm 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.

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; ankle actuator 335 drives rotation of sole 336 in a radial direction about ankle 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, with continued reference to fig. 1. 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 calf 334, an ankle joint actuator 335 and a sole 336, wherein one ends of the thigh 331 and the connecting rod 332 (the connecting rod 332 and the thigh 331 are arranged in parallel at the same position) 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 calf 334 is hinged with the knee joint actuator 333, the other end of the calf 334 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; ankle actuator 335 drives rotation of sole 336 in a radial direction about ankle actuator 335; the fixing base 310 is provided with a first guiding rod 130 for carrying the lifting and rotating mechanism 10.

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, referring to fig. 1, 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, it will be appreciated that the lifting and drop rotating mechanism 10, the movement mechanism 30, and each of the robotic arms 20 are each covered with a mating housing. Specifically, the lifting and rotating mechanism 10 is covered with a housing enclosing the lifting unit 110, the rotating unit 120 and the first guiding rod 130, wherein the lifting unit 110 and the rotating unit 120 can share one housing, the first guiding rod 130 uses another housing, and the two housings protect the above components and simultaneously do not affect the movement of the lifting unit 110 and the rotating unit 120 on the first guiding rod 130. And a housing is provided outside the moving mechanism 30, mainly for protecting the leg portion 330. Similarly, the outer casing of the mechanical arm 20 is also used for protecting all parts from being exposed, so as to avoid ash entering and even being clamped by foreign matters, and meanwhile, the mechanical arm can also prevent collision to a certain extent, thereby prolonging the service life of the working robot. In this embodiment, the movable base is a housing shared by the lifting unit 110 and the rotating unit 120 in the lifting and rotating mechanism 10.

With continued reference to fig. 7, where the movement mechanism 30 is a drive wheel, the movement mechanism 30 includes a fixed base 310, and at least two wheels 350 mounted on the fixed base 310. The two wheels 350 can meet the motion requirement of the working robot, and the number of the wheels, such as three wheels and four wheels, can be increased appropriately to improve the stability during the motion. In the present embodiment, the working robot is a four-wheeled robot. It is to be understood that no particular limitation is imposed on the number of drive wheels in the embodiment of the present application.

In some embodiments of the present application, the loading portion 40 is defined by several enclosures and has an opening facing upward, and the opening is located within the range of motion of the robot arm 20. As described above, the shape of the loading portion 40 includes, but is not limited to, a cylinder, a square, and a rectangle, and the loading portion 40 that encloses the above shape may be enclosed by one (formed by bending a whole plate) or a plurality (formed by splicing a plurality of plates), and an appropriate number of enclosures may be selected according to the specific shape. The opening is located in the movable range of the mechanical arm 20, so that the mechanical arm 20 can put the articles into the loading part 40 or take the articles out of the loading part 40.

The second embodiment of the present application provides another working robot, with continued reference to fig. 1, including a trunk, a working device, and a movement mechanism 30; the working device is mounted 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. In the present embodiment, the number of the robot arms 20 is two, and each robot arm 20 has a plurality of movable joints.

Specifically, 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.

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 working robot, characterized by comprising: the lifting and rotating mechanism, the mechanical arm, the movement mechanism and the trunk;

the lifting and rotating mechanism is arranged on the trunk and is provided with a movable seat, and the mechanical arm is connected to the movable seat so as to lift and/or rotate along with the movable seat;

the trunk has a loading portion;

the movement mechanism is arranged on the trunk and is used for driving the trunk and the lifting and rotating mechanism to move together;

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 movable seat, 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 to do rotary motion under the drive of the second actuator;

the motion mechanism is a mechanical leg or a driving wheel.

2. A working robot according to claim 1, characterized in that the outer side of the first guide bar is provided with a helical slide groove;

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.

3. The work robot according to claim 2, further comprising a second guide bar arranged in parallel with the first guide bar, the second guide bar passing through the crane and the stand in sequence;

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

4. The working robot according to claim 3, wherein a first limiting member is further disposed on the supporting 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. A working robot according to claim 2, characterized in that the first guide is in driving connection with the output of the first actuator via a first transmission arrangement comprising a first connecting member, and a lifting transmission gear and a driven gear which are in engagement; 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. A working robot according to claim 5 characterized in that a bearing is interposed between the rotating frame and the lifting frame, the bearing comprising an inner ring and an outer ring arranged in sequence 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 part of the first guide rod, is larger than the inner diameter size of the outer ring.

7. A working robot according to claim 1 characterized in that two robot arms are symmetrically arranged on the movable seat.

8. A working robot according to claim 1, characterized in that the robot arm has several movable joints.

9. The work robot of claim 8 wherein each of the robotic arms includes a shoulder actuator, an upper arm, an elbow actuator, a forearm, a wrist actuator, and an end effector, the upper arm having one end mounted to the shoulder actuator and another end coupled to the elbow actuator, the forearm having one end coupled to the elbow actuator and another end coupled to the wrist actuator, the end effector coupled to the wrist actuator;

the shoulder joint actuator is further connected with the movable seat.

10. A working robot according to claim 1, characterized in that the motion mechanism is a mechanical leg, the motion 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 one end of the thigh and one end of the connecting rod are both arranged on the hip joint actuator, the other end of the thigh and the other end of 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 lifting and rotating mechanism.

11. A working robot according to claim 1, characterized in that the movement means are drive wheels, the movement means comprising a holder and at least two wheels mounted on the holder.

12. A working robot according to claim 1, characterized in that the loading portion is surrounded by several enclosures with an opening facing upwards, said opening being located within the range of motion of the robot arm.

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