CN217975247U

CN217975247U - Robot

Info

Publication number: CN217975247U
Application number: CN202222015809.4U
Authority: CN
Inventors: 王焕捷; 赵国增; 季瑞南
Original assignee: Guangdong Bozhilin Robot Co Ltd
Current assignee: Guangdong Bozhilin Robot Co Ltd
Priority date: 2022-08-01
Filing date: 2022-08-01
Publication date: 2022-12-06
Anticipated expiration: 2032-08-01

Abstract

The utility model provides a pair of robot relates to the robot design field. The robot includes running gear, frame and manipulator, installation face and spacing face prescribe a limit to the storage space jointly, the bottom in storage space is the installation face, storage space has the first side that is located between bottom and the top, the second side, the third side and fourth side, the first side is spacing face, and storage space's top, the second side, the third side, the fourth side is open structure, also be when the manipulator is accomodate in storage space, because storage space's top, the second side, the third side, the fourth side is open structure, therefore when the operation, need not expand the manipulator and stretch out storage space with the manipulator, just can be to the top in storage space, the second side, the third side, the fourth side is worked, the operating efficiency has been promoted effectively.

Description

Robot

Technical Field

The utility model relates to a robot design field particularly, relates to a robot.

Background

The coating is used as a link with larger workload in decoration, the traditional coating work is usually carried out in a mode of manual coating, and because the manual coating is low in efficiency, high in labor cost and poor in construction quality, a large amount of reworking is needed. Meanwhile, the construction site has a severe environment, and occupational disease risks exist in long-time work. Therefore, part of the painting work starts to be performed using the automatic painting robot.

The inventor researches and discovers that when the existing robot works, the robot hand provided with the coating mechanism needs to be unfolded and extends out of the containing space, so that the coating operation can be carried out, and the efficiency is low.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a robot, it includes running gear, frame and manipulator, installation face and spacing face inject the storage space jointly, the bottom in storage space is the installation face, the storage space has the first side that is located between bottom and the top, the second side, third side and fourth side, the first side is spacing face, and the top in storage space, the second side, the third side, fourth side are open structure, also when the manipulator is accomodate in storage space, because storage space's top, the second side, the third side, fourth side is open structure, therefore when the operation, need not expand the manipulator and stretch out storage space with the manipulator, just can be to the top in storage space, the second side, the third side, fourth side is operated, the operating efficiency has been promoted effectively.

The embodiment of the utility model is realized like this:

in a first aspect, the present invention provides a robot, including:

the walking device is provided with a mounting surface;

the rack is provided with a limiting surface, the rack is arranged on the mounting surface, the mounting surface and the limiting surface jointly define a storage space, the bottom of the storage space is a mounting surface, the top of the storage space is an open structure, the storage space is provided with a first side, a second side, a third side and a fourth side which are positioned between the bottom and the top, the first side is opposite to the third side, the second side is opposite to the fourth side, the first side is the limiting surface, and the second side, the third side and the fourth side of the storage space are also open structures;

the manipulator is arranged on the rack and can be contained in the containing space.

The top, the second side, the third side and the fourth side in the storage space are of an open structure, and the manipulator does not need to be unfolded to stretch out the manipulator to the storage space during operation, so that the manipulator can operate the top, the second side, the third side and the fourth side in the storage space, and the operation efficiency is effectively improved.

In an optional embodiment, the manipulator comprises a manipulator body, a movement mechanism and an operation mechanism, one end of the manipulator body is connected with one end, away from the installation surface, of the rack, the other end of the manipulator is connected with the movement mechanism, the movement mechanism is connected with the operation mechanism, and the movement mechanism is used for driving the operation mechanism to operate towards any one of the top, the second side, the third side and the fourth side in the accommodating space.

The movement mechanism can ensure that the operation mechanism can move freely in the space, and the movement mechanism can also ensure that the operation can be carried out towards any one side of the top, the second side, the third side and the fourth side according to the operation requirement.

In an alternative embodiment, the working mechanism is a spraying mechanism.

The spraying mechanism can realize spraying to the area to be operated at a certain distance, and the coating operation efficiency is improved through the spraying structure.

In an optional embodiment, the manipulator body comprises a base, a first rotary joint and a first manipulator arm, the base is connected with the rack, the first rotary joint is rotatably connected with the base and can rotate around the axis of the first rotary joint, one end of the first manipulator arm is connected with the first rotary joint in an included angle, and the other end of the first manipulator arm is connected with the motion mechanism.

The working range of the working mechanism can be enlarged by the cooperation of the first rotary joint and the first mechanical arm.

In an optional embodiment, the manipulator body further includes a second rotary joint and a second manipulator, one end of the first manipulator, which is far away from the first rotary joint, is connected to the second rotary joint, the second rotary joint can rotate around its own axis, one end of the second manipulator is connected to the second rotary joint, and the other end of the second manipulator is connected to the motion mechanism.

The working range of the working structure is further enlarged by adding the second mechanical arm and the second rotary joint.

In an alternative embodiment, the axis of rotation of the first revolute joint is parallel to the axis of the second revolute joint, and both the axis of the first revolute joint and the axis of the second revolute joint are parallel to the mounting surface.

Because the axis of the first rotary joint is parallel to the axis of the second rotary joint, the first mechanical arm and the second mechanical arm can be ensured to be in the same straight line in a certain state, and when the state is a storage state, the space required for storage is minimum.

In an alternative embodiment, the length of the first robotic arm is greater than the length of the second robotic arm.

Because the length of the first mechanical arm is greater than that of the second mechanical arm, when the mechanical arm is unfolded, the operation mechanism can have a larger adjustable operation range through different unfolding angles of the first mechanical arm and the second mechanical arm when the mechanical arm is unfolded.

In an optional embodiment, the movement mechanism includes a third rotation joint and a fourth rotation joint, the third rotation joint is connected to one end of the second mechanical arm away from the second rotation joint and can rotate around its axis, the third rotation joint is connected to the fourth rotation joint and can rotate around its axis, the axis of the third rotation joint is perpendicular to the axis of the fourth rotation joint, and the fourth rotation joint is connected to the operation mechanism.

Because the axes of the third rotary joint and the fourth rotary joint are mutually vertical, the operation mechanism connected with the motion mechanism can be ensured to rotate around different axes under the driving of the third rotary joint and the fourth rotary joint, and the operation range of the operation mechanism is enlarged.

In an optional embodiment, the motion mechanism further comprises a fifth rotary joint, the fifth rotary joint is connected with the fourth rotary joint and can rotate around the axis of the fifth rotary joint, the axis of the fifth rotary joint is perpendicular to the axis of the fourth rotary joint and parallel to the axis of the third rotary joint, and the fifth rotary joint is connected with the operation mechanism.

The addition of the fifth rotary joint further increases the operating range of the operating mechanism.

In an alternative embodiment, the axis of the third rotary joint is parallel to the axis of the second rotary joint.

Because the axis of third rotary joint is parallel with the axis of second rotary joint, consequently under certain state of manipulator, can make the manipulator be vertical state, guarantee to accomodate the space minimum.

In an alternative embodiment, when the manipulator is in the storage state, the axes of the first rotary joint, the second rotary joint and the third rotary joint are all on a preset plane.

First revolute joint, second revolute joint and third revolute joint are in when guaranteeing the state of accomodating and predetermine on the plane, and then make the manipulator be in vertical state in order to guarantee to accomodate the space minimum.

The embodiment of the utility model provides a beneficial effect is: the embodiment of the utility model provides a robot includes running gear, frame and manipulator. The walking device is provided with an installation surface, the rack is provided with a limiting surface, the rack is arranged on the installation surface, the installation surface and the limiting surface define a containing space together, the bottom of the containing space is the installation surface, the top of the containing space is of an open structure, the containing space is provided with a first side, a second side, a third side and a fourth side between the bottom and the top, the first side is opposite to the third side, the second side is opposite to the fourth side, the first side is the limiting surface, and the second side, the third side and the fourth side of the containing space are of liquid level open structures. The manipulator is arranged on the rack and can be stored in the storage space, when the manipulator is stored in the storage space and needs to operate, the top, the second side, the third side and the fourth side of the storage space are all of an open structure, so that the manipulator does not need to be unfolded and extra actions are not needed, the pose adjustment time of the manipulator can be saved, the top, the second side, the third side and the fourth side can be operated in the storage space, and the operation efficiency is effectively improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

Fig. 1 is a schematic structural diagram of a robot according to an embodiment of the present invention at a first viewing angle;

fig. 2 is a schematic structural diagram of a robot according to an embodiment of the present invention at a second viewing angle;

fig. 3 is a schematic structural diagram of a robot at a third viewing angle according to an embodiment of the present invention.

1-robot; 10-a walking device; 11-a mounting surface; 20-a frame; 21-a limiting surface; 30-a storage space; 40-a manipulator; 41-manipulator body; 411-a base; 412-a first rotational joint; 413-a first robot arm; 414-a second rotational joint; 415-a second robotic arm; 42-a motion mechanism; 421-a third rotational joint; 422-fourth rotary joint; 423-fifth rotary joint; 43-a working mechanism; 44-a preset plane; 2-a wall; 3-spray area.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiments of the present invention, all other embodiments obtained by a person skilled in the art without making creative efforts belong to the protection scope of the present invention.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate the position or positional relationship based on the position or positional relationship shown in the drawings, or the position or positional relationship which is usually placed when the product of the present invention is used, and are only for convenience of description and simplification of the description, but do not indicate or imply that the device or element referred to must have a specific position, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another, and are not to be construed as indicating or implying relative importance.

Furthermore, the terms "horizontal", "vertical" and the like do not imply that the components are required to be absolutely horizontal or pendant, but rather may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.

In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

To the above problem, the embodiment of the utility model provides a robot includes running gear frame and manipulator, installation face and spacing face inject the storage space jointly, the bottom in storage space is the installation face, the storage space has the first side that is located between bottom and the top, the second side, third side and fourth side, the first side is spacing face, and the top in storage space, the second side, the third side, fourth side are open structure, also when the manipulator is accomodate in storage space, because storage space's top, the second side, the third side, fourth side are open structure, consequently, when the operation, need not expand the manipulator, just can be to the top in storage space, the second side, the third side, fourth side operate, the effectual operating efficiency that has promoted.

The following describes a specific structure of a robot and corresponding technical effects brought by the structure in detail with reference to the accompanying drawings.

Referring to fig. 1-3, a robot 1 according to an embodiment of the present invention includes a walking device 10, a frame 20, and a manipulator 40.

The walking device 10 is provided with an installation surface 11, the rack 20 is provided with a limiting surface 21, the rack 20 is arranged on the installation surface 11, the installation surface 11 and the limiting surface 21 jointly define a storage space 30, the bottom of the storage space 30 is the installation surface 11, the top of the storage space is an open structure, the storage space 30 is provided with a first side, a second side, a third side and a fourth side between the bottom and the top, the first side and the third side are opposite, the second side and the fourth side are opposite, the first side is the limiting surface 21, and the second side, the third side and the fourth side of the storage space 30 are of an open liquid level structure. The robot 40 is provided in the rack 20 and can be accommodated in the accommodation space 30.

It is easy to understand that the bottom and the first side of the storage space 30 are respectively formed by the mounting surface 11 and the limiting surface 21, and the top, the second side, the third side and the fourth side of the storage space 30 are open structures, which means that the top, the second side, the third side and the fourth side of the storage space 30 are all communicated with the outside, that is, when the robot 40 is stored in the storage space 30, when an operation is required, since the top, the second side, the third side and the fourth side of the storage space 30 are all open structures, and the robot 40 can be stored in the storage space 30 in an expanded state, in other words, when the robot 40 is stored, the paint structure can be operated toward the open structure when being started, so that the robot 40 does not need to be expanded, and no additional operation is needed, thereby saving the posture adjustment time of the robot, and further, the top, the second side, the third side and the fourth side can be operated in the storage space 30, thereby effectively improving the operation efficiency.

Further, in the present embodiment, the robot 40 includes a robot body 41 and a moving mechanism 42, one end of the robot body 41 is connected to one end of the rack 20 away from the mounting surface 11, the other end of the robot 40 is connected to the moving mechanism 42, the moving mechanism 42 is connected to the working mechanism 43, and the moving mechanism 42 is configured to drive the working mechanism to perform a work in the storage space 30 toward any one of the top, the second side, the third side, and the fourth side. In other words, the moving mechanism 42 can make the operation mechanism 43 rotate 720 ° in the storage space 30, and the moving mechanism 42 can perform operation toward any one of the top, the second side, the third side, and the fourth side according to the operation requirement. In addition, since the movement mechanism 42 can rotate the working mechanism 43 during the work, the working mechanism 43 can perform work in a complicated working space.

Specifically, the working mechanism 43 in the present embodiment is a spraying mechanism, which is easy to understand, and is used for spraying the wall 2 to be operated, and with reference to fig. 1, since the spraying mechanism has a certain distance from the wall 2, the paint sprayed by the spraying mechanism when spraying is performed emits a spraying area 3 with a shape, and it is easy to understand that the spraying area 3 is determined by the nozzle shape of the spraying mechanism, and the spraying area 3 in fig. 1 is a spraying sector area as an example. With the above configuration, it can be understood that when the manipulator 40 is located in the storage space 30, the orientation of the working mechanism 43 is adjusted only by the movement mechanism 42, and as long as the working mechanism 43 is oriented to any one of the top, the second side, the third side, and the fourth side of the open structure, the manipulator 40 does not need to be unfolded, and the painting operation can be started even when the manipulator 40 is located in the storage space 30, and at the start of the operation, the manipulator 40 does not need to be unfolded, and an additional operation is not needed, and the efficiency of the operation performed by the robot 1 can be effectively improved.

Of course, in other embodiments, the operation mechanism 43 is not limited to a spraying mechanism, and the spraying mechanism can spray paint to the area to be operated at a certain distance, so that the efficiency of paint operation is improved by the spraying mechanism.

Other mechanisms are possible, for example, when the robot 1 needs to perform a blade coating operation, the working mechanism 43 may be a blade, when the robot 1 needs to perform a polishing operation, the working mechanism 43 may be a polishing mechanism, when the robot 1 needs to perform a measurement operation, the working mechanism 43 may be a measurement mechanism, and the like, and the specific structure of the working mechanism 43 is not particularly limited.

Specifically, the robot body 41 includes a base 411, a first rotary joint 412, a first robot arm 413, a second rotary joint 414, and a second robot arm 415. The base 411 is connected to the frame 20, the first rotary joint 412 is rotatably connected to the frame 20, the first rotary joint 412 can rotate around its own axis, one end of the mechanical arm is connected to the first rotary joint 412 at an included angle, and the other end of the mechanical arm is connected to the moving mechanism 42, in other words, the other end of the mechanical arm is connected to the moving mechanism 42 through the second mechanical arm 415. One end of the first mechanical arm 413 far away from the first rotary joint 412 is connected to the second rotary joint 414, the second rotary joint 414 can rotate around its axis, one end of the second mechanical arm 415 is connected to the second rotary joint 414, and the other end is connected to the motion mechanism 42. It is easily understood that, by the first rotary joint 412, the first robot arm 413 can rotate relative to the base 411 about the axis of the first rotary joint 412. The second robot arm 415 can turn around the axis of the second rotary joint 414 itself with respect to the first robot arm 413 by the second rotary joint 414 to increase the working range of the working mechanism 43.

In the present embodiment, the base 411 is disposed at an end of the frame 20 away from the mounting surface 11, that is, the first robot 413 is disposed at an upper end of the frame 20. Of course, in some other embodiments, the base 411 is not limited to be disposed at one end of the rack 20 far away from the mounting surface 11, and may be disposed at other positions of the rack 20, as long as the robot 40 can be located in the storage space 30 when being stored and the operation mechanism 43 can perform operation toward any one of the top, the second side, the third side and the fourth side of the open structure, and the connection position of the base 411 and the rack 20 is not particularly limited.

Specifically, in the present embodiment, the rotation axis of the first rotary joint 412 is parallel to the axis of the second rotary joint 414, and the axis of the first rotary joint 412 is parallel to the axis of the second rotary joint 414 and the mounting surface 11. Specifically, in the present embodiment, when the robot body 41 is completely accommodated in the accommodating space 30, the extending direction of the first robot arm 413 and the extending direction of the second robot arm 415 are both perpendicular to the mounting surface 11 and parallel to the axes of the first rotary joint 412 and the second rotary joint 414. It is possible to ensure that the first robot arm 413 and the second robot arm 415 occupy a minimum space when they are accommodated in the accommodation space 30.

In the present embodiment, the length of the first robot arm 413 is greater than that of the second robot arm 415, and it is easy to understand that, since the length of the first robot arm 413 is greater than that of the second robot arm 415, when the robot arm is deployed, it can be ensured that the working mechanism 43 has a larger adjustable working range when the robot arm 40 is deployed.

Further, the movement mechanism 42 includes a third rotation joint 421 and a fourth rotation joint 422, the third rotation joint 421 is connected to one end of the second mechanical arm 415 away from the second rotation joint 414, the third rotation joint 421 can rotate around its own axis, the third rotation joint 421 is connected to the fourth rotation joint 422, the fourth rotation joint 422 can rotate around its own axis, the axis of the third rotation joint 421 is perpendicular to the axis of the fourth rotation joint 422, and the fourth rotation joint 422 is connected to the working mechanism 43.

In this embodiment, the moving mechanism 42 further includes a fifth rotating joint 423, the fifth rotating joint 423 is connected to the fourth rotating joint 422, the fifth rotating joint 423 can rotate around its own axis, an axis of the fifth rotating joint 423 is perpendicular to an axis of the fourth rotating joint 422 and parallel to an axis of the third rotating joint 421, and the fifth rotating joint 423 is connected to the working mechanism 43. It can be understood that the working mechanism 43 connected to the moving mechanism 42 is ensured to rotate around different axes under the driving of the third rotating joint 421, the fourth rotating joint 422 and the fifth rotating joint 423, so that the working range of the working mechanism is enlarged. The third rotary joint 421, the fourth rotary joint 422, and the fifth rotary joint 423 ensure flexible rotation of the working mechanism 43.

Further, the axis of the third rotary joint 421 is parallel to the axis of the second rotary joint 414, and when the robot arm 40 is in the storage state, the axes of the first rotary joint 412, the second rotary joint 414, and the axis of the first rotary joint 412 are on the preset plane 44, and in the present embodiment, the preset plane 44 is perpendicular to the mounting surface 11. Therefore, when the robot 40 is in the storage space 30 in the storage state, the robot 40 is in the vertical state, and the space occupied during the storage is minimum.

To sum up, the embodiment of the present invention provides a robot 1, which can ensure that the operation mechanism 43 of the manipulator 40 can operate toward any one of the top, the second side, the third side, and the fourth side of the open structure during operation, and when the operation is started, the manipulator 40 does not need to be unfolded, and does not need to be moved additionally, thereby effectively improving the efficiency of the operation performed by the robot 1. The third rotary joint 421, the fourth rotary joint 422 and the fifth rotary joint 423 can ensure flexible rotation of the working mechanism 43, and can adapt to a complex working environment, and the axis of the third rotary joint 421, the axis of the second rotary joint 414 and the axis of the first rotary joint 412 are on the same plane, so as to ensure that the occupied space when the robot arm is stored is minimum.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A robot, comprising:

a running gear having a mounting surface;

the rack is provided with a limiting surface, the rack is arranged on the mounting surface, the mounting surface and the limiting surface jointly define a storage space, the bottom of the storage space is the mounting surface, the top of the storage space is an open structure, the storage space is provided with a first side, a second side, a third side and a fourth side which are positioned between the bottom and the top, the first side is opposite to the third side, the second side is opposite to the fourth side, the first side is the limiting surface, and the second side, the third side and the fourth side of the storage space are also open structures;

and the manipulator is arranged on the rack and can be accommodated in the accommodating space.

2. The robot of claim 1, wherein:

the manipulator comprises a manipulator body, a movement mechanism and an operation mechanism, one end of the manipulator body is connected with one end, far away from the mounting surface, of the rack, the other end of the manipulator is connected with the movement mechanism, the movement mechanism is connected with the operation mechanism, and the movement mechanism is used for driving the operation mechanism to operate towards any one of the top, the second side, the third side and the fourth side in the accommodating space.

3. The robot of claim 2, wherein:

the operation mechanism is a spraying mechanism.

4. The robot of claim 2, wherein:

the manipulator body includes base, first rotary joint and first arm, the base with the frame is connected, first rotary joint with the base rotates to be connected just first rotary joint can rotate around self axis, first arm one end with first rotary joint is the contained angle and connects, the other end with motion connects.

5. The robot of claim 4, wherein:

the manipulator body further comprises a second rotary joint and a second manipulator, one end, far away from the first rotary joint, of the first manipulator is connected with the second rotary joint, the second rotary joint can rotate around the axis of the second manipulator, one end of the second manipulator is connected with the second rotary joint, and the other end of the second manipulator is connected with the moving mechanism.

6. The robot of claim 5, wherein:

the rotation axis of the first rotary joint is parallel to the axis of the second rotary joint, and the axes of the first rotary joint and the second rotary joint are both parallel to the mounting surface.

7. The robot of claim 5, wherein:

the length of the first mechanical arm is greater than the length of the second mechanical arm.

8. The robot of claim 5, wherein:

the movement mechanism comprises a third rotary joint and a fourth rotary joint, the third rotary joint is connected with one end, far away from the second rotary joint, of the second mechanical arm, the third rotary joint can rotate around the axis of the third rotary joint, the third rotary joint is connected with the fourth rotary joint, the fourth rotary joint can rotate around the axis of the fourth rotary joint, the axis of the third rotary joint is perpendicular to the axis of the fourth rotary joint, and the fourth rotary joint is connected with the operation mechanism.

9. The robot of claim 8, wherein:

the motion mechanism further comprises a fifth rotary joint, the fifth rotary joint is connected with the fourth rotary joint and can rotate around the axis of the fifth rotary joint, the axis of the fifth rotary joint is perpendicular to the axis of the fourth rotary joint and parallel to the axis of the third rotary joint, and the fifth rotary joint is connected with the operation mechanism.

10. The robot of claim 8, wherein:

the axis of the third rotary joint is parallel to the axis of the second rotary joint.

11. The robot of claim 8, wherein:

when the manipulator is in a storage state, the axes of the first rotary joint, the second rotary joint and the third rotary joint are all on a preset plane.