CN220593145U - Get thing robot with stable structure - Google Patents

Abstract

The utility model relates to the technical field of robots, and particularly discloses an object taking robot with a stable structure, wherein a grabbing mechanism comprises an electric clamping jaw and a fixing frame, wherein the electric clamping jaw is arranged on a six-axis mechanical arm and used for grabbing objects, the fixing frame is used for installing the six-axis mechanical arm, and a fixing base is arranged on the fixing frame and used for installing the six-axis mechanical arm; the moving assembly is used for driving the grabbing mechanism to move indoors; the vibration reducing mechanism is driven to reduce the shaking degree of other parts arranged on the chassis; the lifting assembly is used for driving the fixed base to lift the six-axis mechanical arm; the screw rod can drive the sliding block to move up and down in the fixed frame through the starting of the servo motor, and the sliding block can carry the six-axis mechanical arm to move up and down in the fixed frame through the fixed base, so that the electric clamping jaw can grab objects with different heights.

Description

An object-picking robot with a stable structure

Technical field

The utility model relates to the field of robot technology, and specifically relates to an object-picking robot with a stable structure.

Background technique

Indoor robots are suitable for robots that help users complete tasks indoors, such as sweeping robots, which are also suitable for indoor robots. According to daily people's living habits, taking objects indoors is one of the most common behaviors. However, when people do not want to move or cannot move to take objects, they cannot obtain the objects. Therefore, there is a need to automatically move the objects in front of them. In response to the above-mentioned need to automatically move items in front of you, and considering that the height of the items is often different, we provide an object-picking robot with a stable structure.

Utility model content

In view of the shortcomings of the existing technology, the present invention provides an object-picking robot with a stable structure, which has the advantage of being able to automatically move objects to a specific position and solves the problems of the background technology.

The utility model's object-picking robot with a stable structure includes:

The grabbing mechanism includes an electric gripper installed on a six-axis robotic arm for grabbing objects, and a fixed frame for installing the six-axis robotic arm. The fixed frame is provided with a clamp for installing the six-axis robotic arm. fixed base;

The mobile component is used to drive the grabbing mechanism to move indoors. It includes a chassis and a protective box on the chassis. The fixed frame is installed on the top of the protective box. Universal wheels are provided at the four corners of the bottom of the chassis. Through holes are provided on both sides of the chassis, and a differential wheel is provided inside the through hole;

The driving damping mechanism is installed inside the protective box to move the differential wheel up and down in the through hole to reduce the shaking of other components installed on the chassis;

The lifting component is used to drive the fixed base to carry the six-axis robotic arm to lift.

As a further improvement of the present invention, the driving damping mechanism includes a mounting base, a driving motor is provided on the mounting base, and a rotating shaft is installed on the driving motor through a first coupling, and the rotating shaft is vertical It is installed inside the mounting base, and the bottom of the rotating shaft is engaged with a tire connecting shaft through a bevel gear. The end of the tire connecting shaft away from the bevel gear is connected to the differential wheel.

As a further improvement of the present invention, the driving damping mechanism also includes two linear bearing sliding rods installed vertically on the chassis. The linear bearing sliding rods are equipped with bearing fixing seats, and the bearing fixing seats are connected by bolts. Fixedly installed on the upper surface of the chassis.

As a further improvement of the present invention, a mounting block for mounting the tire connecting shaft is provided between the two bearing fixing seats. The mounting block is fixedly connected to the mounting seat and is located inside the through hole. The mounting block and the mounting seat can be Move up and down inside the through hole.

As a further improvement of the present utility model, the tops of the two linear bearing sliding rods are fixedly connected to a top plate, and an adjustment screw is installed vertically downward in the center of the bottom of the top plate, and a spring is set on the adjustment screw;

The top of the mounting block is provided with a mounting hole for accommodating the adjusting screw and installing the spring.

As a further improvement of the present invention, the lifting assembly includes a servo motor installed on the chassis, the servo motor is equipped with a screw rod through a second coupling, and the screw rod is vertically installed inside the fixed frame, The top is rotatably connected to the top of the inner wall of the fixed frame, and a slider is installed on the screw rod. The slider protrudes from the fixed frame and is connected to the fixed base.

As a further improvement of the present invention, a first 3D camera is installed between the six-axis robotic arm and the electric gripper, and a second 3D camera is installed on the top of the fixed frame.

As a further improvement of the present invention, a display screen and a voice recognition module are also installed on the fixed frame, and a jestonNX main controller, a servo motor driver and a battery are also provided inside the protective box.

Compared with the existing technology, the beneficial effects of this utility model are as follows:

1. This utility model can make the screw drive slider move up and down in the fixed frame by starting the servo motor. The slider moves up and down in the fixed frame and can carry the six-axis mechanical arm to move up and down through the fixed base, so that the electric gripper can be grasped. Take objects of different heights.

2. Through the arrangement of the moving component and the driving shock-absorbing component, the utility model can maintain stability even when crossing the raised ground.

Description of the drawings

The drawings described here are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation of the present application. In the attached picture:

Figure 1 is a schematic diagram of the three-dimensional structure of the utility model;

Figure 2 is a schematic structural diagram of the mobile component of the present utility model;

Figure 3 is a schematic diagram of the partial structure of the lifting assembly of the present utility model;

Figure 4 is a schematic diagram of the three-dimensional structure of the driving damping assembly of the present utility model;

Figure 5 is a schematic side structural view of the driving damping assembly of the present utility model;

Figure 6 is a schematic cross-sectional structural diagram of the driving damping assembly of the present utility model.

In the picture: 1. Six-axis robotic arm; 2. Electric gripper; 3. Fixed frame; 4. Fixed base;

5. Lifting component; 51. Slider; 52. Screw; 53. Second coupling; 54. Servo motor;

6. Mobile components; 61. Chassis; 62. Universal wheel; 63. Differential wheel; 64. Through hole; 65. Protective box;

7. Drive damping mechanism; 71. Mounting base; 72. Drive motor; 73. First coupling; 74. Rotating shaft; 75. Bevel gear; 76. Tire connecting shaft; 77. Linear bearing slide rod; 78. Bearing holder; 79, mounting block; 710, adjusting screw; 711, spring; 712, top plate; 713, mounting hole

8. jestonNX main controller; 9. Battery; 10. Servo motor driver; 11. First 3D camera; 12. Second 3D camera; 13. Voice recognition module; 14. Display screen.

Detailed ways

The following will disclose multiple embodiments of the present invention in the drawings. For the sake of clarity, many physical details will be explained in the following description. However, it should be understood that these physical details should not be construed as limiting the invention. That is to say, in some embodiments of the present invention, these physical details are not necessary. In addition, in order to simplify the drawings, some commonly used structures and components will be shown in the drawings in a simple schematic manner.

In addition, descriptions such as "first", "second", etc. in the present invention are only for descriptive purposes and do not specifically refer to the order or order, nor are they used to limit the present invention. They are only for the purpose of describing. The difference is only between components or operations described in the same technical terms, and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, features defined as "first" and "second" may explicitly or implicitly include at least one of these features. In addition, the technical solutions in various embodiments can be combined with each other, but it must be based on the realization by those of ordinary skill in the art. When the combination of technical solutions is contradictory or cannot be realized, it should be considered that such a combination of technical solutions does not exist. , nor is it within the protection scope required by this utility model.

Please refer to Figures 1-6. The object-picking robot with a stable structure of the present invention includes:

The grabbing mechanism includes an electric gripper 2 installed on a six-axis robotic arm 1 for grabbing objects, and a fixed frame 3 for installing the six-axis robotic arm 1. The fixed frame 3 is provided with a The fixed base 4 of the robotic arm 1;

The mobile component 6 is used to drive the grabbing mechanism to move indoors. It includes a chassis 61 and a protective box 65 on the chassis 61. The fixed frame 3 is installed on the top of the protective box 65. Universal wheels 62 are provided at the four corners of the bottom of the chassis 61. , through holes 64 are provided on both sides of the chassis 61, and a differential wheel 63 is provided inside the through hole 64;

The driving damping mechanism 7 is installed inside the protective box 65 to move the differential wheel 63 up and down in the through hole 64 to reduce the shaking of other components installed on the chassis 61;

Please refer to Figures 2 and 3. The lifting assembly 5 is used to drive the fixed base 4 to lift the six-axis robotic arm 1. The lifting assembly 5 includes a servo motor 54 installed on the chassis 61. The servo motor 54 passes through a second coupling. 53 is installed with a screw rod 52. The screw rod 52 is installed vertically inside the fixed frame 3, and the top is rotationally connected to the top of the inner wall of the fixed frame 3. A slider 51 is installed on the screw rod 52. The slider 51 protrudes from the fixed frame 3 and is Connected to fixed base 4.

When in use, the servo motor 54 is started so that the screw rod 52 drives the slider 51 to move up and down in the fixed frame 3 . The slider 51 moves up and down in the fixed frame 3 to carry the six-axis robotic arm 1 through the fixed base 4 to move up and down.

Please refer to Figures 4-6. The driving damping mechanism 7 includes a mounting base 71. A driving motor 72 is provided on the mounting base 71. The driving motor 72 is installed with a rotating shaft 74 through a first coupling 73. The rotating shaft 74 is vertical. It is installed inside the mounting seat 71 , and the bottom of the rotating shaft 74 is engaged with the tire connecting shaft 76 through the bevel gear 75 . The end of the tire connecting shaft 76 away from the bevel gear 75 is connected to the differential wheel 63 .

The driving damping mechanism 7 also includes two linear bearing slide rods 77 installed vertically on the chassis 61. The linear bearing slide rods 77 are provided with bearing fixing seats 78. The bearing fixing seats 78 are fixedly installed on the upper surface of the chassis 61 through bolts. .

There is a mounting block 79 for mounting the tire connecting shaft 76 between the two bearing fixing seats 78. The mounting block 79 is fixedly connected to the mounting seat 71 and is located inside the through hole 64. The mounting block 79 and the mounting seat 71 can move up and down in the through hole 64. Move, the tops of the two linear bearing slide rods 77 are fixedly connected to a top plate 712, and an adjusting screw 710 is installed vertically downward in the center of the bottom of the top plate 712. A spring 711 is set on the adjusting screw 710; the top of the mounting block 79 is provided with a hole for receiving The adjusting screw 710 and the mounting hole 713 for mounting the spring 711.

The device moves by driving the damping mechanism 7:

The equipment is driven by driving the motor 72, the rotating shaft 74, and the bevel gear 75 to rotate the tire connecting shaft 76. The rotation of the tire connecting shaft 76 will cause the differential wheel 63 to drive the device to move. When the differential wheel 63 encounters uneven terrain, When the ground is on the ground, the mounting block 79 and the mounting seat 71 will move up and down in the through hole 64. When the differential wheel 63 passes through the raised ground, its motion state is that the differential wheel 63 moves the mounting block 79 and the mounting seat through the tire rotation shaft 74. 71 and the driving motor 72 rise in the protective box 65. When passing through the raised ground, the differential wheel 63 causes the mounting block 79, the mounting base 71 and the driving motor 72 to descend in the protective box 65 through the tire rotation shaft 74, thereby causing the mounting block 79 to descend. Moving up and down, the up and down movement of the mounting block 79 will cause the spring 711 located in the mounting hole 713 to expand and contract, thereby ensuring the stability of the chassis 61, thereby reducing the shaking of other components and achieving a shock absorption effect.

A first 3D camera 11 is installed between the six-axis robotic arm 1 and the electric gripper 2, and a second 3D camera 12 is installed on the top of the fixed frame 3; a display screen 14 and a voice recognition module 13 are also installed on the fixed frame 3 for protection. The interior of the box 65 is also provided with a jestonNX main controller 8, a servo motor driver 10 and a battery 9.

Among them, a wire is led from the first 3D camera 11 to the inside of the protective box 65, and is serially connected to the jestonNX main controller 8 for identifying the items grabbed by the electric gripper 2. A wire drawn from the six-axis robotic arm 1 is guided to the servo motor driver 10 , and the servo motor driver 10 is connected to the battery 9 so that the servo motor driver 10 supplies power to the six-axis robotic arm 1 . A network cable drawn from the six-axis robotic arm 1 is guided to the jestonNX main controller 8 to realize communication between the two, so that the jestonNX main controller 8 controls the movement of the six-axis robotic arm 1; the six-axis robotic arm 1 is connected through the Ethernet port To the jestonNX main controller 8, the jestonNX main controller 8 communicates through the standard TCP/IP communication protocol, sends data according to the JSON format, and controls the six-axis robotic arm 1; when the image recognized by the first 3D camera 11 is transmitted to the jestonNX main controller in real time Controller 8, the jestonNX main control combines the data from various sensors, IMU sensors, speed sensors, etc. to send appropriate signals to control the six-axis robotic arm 1 to grab items.

The display screen 14 is connected to the jestonNX main controller 8 through the UART3 serial port to realize communication between ROS and the controller under the same LAN. The speech recognition module 13 is connected to the jestonNX main controller 8 and is used to realize voice interaction between humans and robots.

The above are only embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, various modifications and changes may be made to the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present utility model shall be included in the scope of the claims of the present utility model.

Claims (8)

1. An object-picking robot with a stable structure, characterized by: A grabbing mechanism includes an electric gripper (2) installed on a six-axis robotic arm (1) for grabbing items, and a fixed frame (3) for installing the six-axis robotic arm (1), the The fixed frame (3) is provided with a fixed base (4) for installing the six-axis robotic arm (1); The mobile component (6) is used to drive the grabbing mechanism to move indoors. It includes a chassis (61), a protective box (65) on the chassis (61), and the fixed frame (3) is installed on the protective box (61). 65), universal wheels (62) are provided at the four corners of the bottom of the chassis (61), through holes (64) are provided on both sides of the chassis (61), and the through holes (64) are provided with internal There is a differential wheel (63); The driving damping mechanism (7) is installed inside the protective box (65) and is used to move the differential wheel (63) up and down in the through hole (64) to reduce the shaking of other components installed on the chassis (61). ; The lifting assembly (5) is used to drive the fixed base (4) to carry the six-axis mechanical arm (1) to lift. 2. An object-picking robot with a stable structure according to claim 1, characterized in that: the driving damping mechanism (7) includes a mounting base (71), and the mounting base (71) is provided with A driving motor (72), the driving motor (72) is equipped with a rotating shaft (74) through the first coupling (73), the rotating shaft (74) is vertically installed inside the mounting seat (71), and The bottom of the rotating shaft (74) is engaged with a tire connecting shaft (76) through the bevel gear (75), and one end of the tire connecting shaft (76) away from the bevel gear (75) is connected to the differential wheel (63). 3. An object-picking robot with a stable structure according to claim 2, characterized in that: the driving damping mechanism (7) also includes two linear bearing slide bars (61) vertically installed on the chassis (61). 77), the linear bearing slide rod (77) is provided with a bearing fixing seat (78), and the bearing fixing seat (78) is fixedly installed on the upper surface of the chassis (61) through bolts. 4. An object-picking robot with a stable structure according to claim 3, characterized in that: a mounting block (79) for mounting the tire connecting shaft (76) is provided between the two bearing fixing seats (78). , the mounting block (79) is fixedly connected to the mounting seat (71) and is located inside the through hole (64). The mounting block (79) and the mounting seat (71) can move up and down in the through hole (64). 5. An object-picking robot with a stable structure according to claim 4, characterized in that: the tops of the two linear bearing slide bars (77) are fixedly connected with a top plate (712), and the tops of the top plate (712) An adjusting screw (710) is installed vertically downward in the center of the bottom, and a spring (711) is set on the adjusting screw (710); The top of the mounting block (79) is provided with a mounting hole (713) for accommodating the adjusting screw (710) and the mounting spring (711). 6. An object-picking robot with a stable structure according to claim 1, characterized in that: the lifting assembly (5) includes a servo motor (54) installed on the chassis (61), and the servo motor (54) A screw rod (52) is installed through the second coupling (53). The screw rod (52) is installed vertically inside the fixed frame (3), and the top is connected to the top of the inner wall of the fixed frame (3). Rotatingly connected, a slider (51) is installed on the screw rod (52), and the slider (51) protrudes from the fixed frame (3) and is connected to the fixed base (4). 7. An object-picking robot with a stable structure according to claim 1, characterized in that: a first 3D camera (11) is installed between the six-axis mechanical arm (1) and the electric gripper (2). , a second 3D camera (12) is installed on the top of the fixed frame (3). 8. An object-picking robot with a stable structure according to claim 1, characterized in that: a display screen (14) and a voice recognition module (13) are also installed on the fixed frame (3), and the protective The interior of the box (65) is also provided with a jestonNX main controller (8), a servo motor driver (10) and a battery (9).