CN220593145U - Get thing robot with stable structure - Google Patents
Get thing robot with stable structure Download PDFInfo
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- CN220593145U CN220593145U CN202322331890.1U CN202322331890U CN220593145U CN 220593145 U CN220593145 U CN 220593145U CN 202322331890 U CN202322331890 U CN 202322331890U CN 220593145 U CN220593145 U CN 220593145U
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- mechanical arm
- fixing frame
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- 230000007246 mechanism Effects 0.000 claims abstract description 20
- 230000001681 protective effect Effects 0.000 claims description 14
- 238000013016 damping Methods 0.000 claims description 8
- 230000035939 shock Effects 0.000 claims description 7
- 238000010521 absorption reaction Methods 0.000 claims description 2
- 230000006872 improvement Effects 0.000 description 8
- 230000008878 coupling Effects 0.000 description 5
- 238000010168 coupling process Methods 0.000 description 5
- 238000005859 coupling reaction Methods 0.000 description 5
- 238000009434 installation Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000006399 behavior Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
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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
Technical Field
The utility model relates to the technical field of robots, in particular to an object taking robot with a stable structure.
Background
Indoor robots, robots adapted to assist users in performing tasks indoors, such as a floor sweeping robot, are also suitable for one having an indoor robot. According to daily life habits of people, taking articles indoors is one of the most common behaviors, however, people cannot acquire articles when do not want to move or cannot move to take articles, so that there is a need for automatically moving articles to the front.
Disclosure of Invention
Aiming at the defects of the prior art, the utility model provides the object taking robot with a stable structure, which has the advantage of automatically moving objects to specific positions and solves the problems of the background art.
The object taking robot with stable structure of the utility model comprises:
the grabbing mechanism comprises an electric clamping jaw which is arranged on the six-axis mechanical arm and used for grabbing objects, and a fixing frame which is used for installing the six-axis mechanical arm, wherein a fixing base used for installing the six-axis mechanical arm is arranged on the fixing frame;
the movable assembly is used for driving the grabbing mechanism to move indoors and comprises a chassis, a protective box is arranged on the chassis, the fixed frame is arranged at the top of the protective box, universal wheels are arranged at four corners of the bottom of the chassis, through holes are formed in two sides of the chassis, and differential wheels are arranged in the through holes;
the driving damping mechanism is arranged in the protective box and used for enabling the differential wheel to move up and down in the through hole, so that the shaking degree of other parts arranged on the chassis is reduced;
and the lifting assembly is used for driving the fixed base to lift the six-axis mechanical arm.
As a further improvement of the utility model, the driving damping mechanism comprises a mounting seat, a driving motor is arranged on the mounting seat, a rotating shaft is arranged on the driving motor through a first coupling, the rotating shaft is vertically arranged in the mounting seat, a tire connecting shaft is meshed with the bottom of the rotating shaft through a bevel gear, and one end of the tire connecting shaft far away from the bevel gear is connected with a differential gear.
As a further improvement of the utility model, the driving damping mechanism further comprises two linear bearing sliding rods vertically arranged on the chassis, the linear bearing sliding rods are sleeved with bearing fixing seats, and the bearing fixing seats are fixedly arranged on the upper surface of the chassis through bolts.
As a further improvement of the utility model, a mounting block for mounting the tire connecting shaft is arranged between the two bearing fixing seats, the mounting block is fixedly connected with the mounting seat and is positioned in the through hole, and the mounting block and the mounting seat can move up and down in the through hole.
As a further improvement of the utility model, the top parts of the two linear bearing slide bars are fixedly connected with a top plate, the center of the bottom of the top plate is vertically and downwards provided with an adjusting screw, and the adjusting screw is sleeved with a spring;
the top of installation piece has seted up the mounting hole that is used for holding adjusting screw and installation spring.
As a further improvement of the utility model, the lifting assembly comprises a servo motor arranged on the chassis, the servo motor is provided with a screw rod through a second coupling, the screw rod is vertically arranged in the fixing frame, the top of the screw rod is rotationally connected with the top of the inner wall of the fixing frame, and a sliding block is arranged on the screw rod, protrudes out of the fixing frame and is connected with the fixing base.
As a further improvement of the utility model, a first 3D camera is arranged between the six-axis mechanical arm and the electric clamping jaw, and a second 3D camera is arranged at the top of the fixing frame.
As a further improvement of the utility model, a display screen and a voice recognition module are also arranged on the fixing frame, and a jestonNX main controller, a servo motor driver and a battery are also arranged in the protective box.
Compared with the prior art, the utility model has the following beneficial effects:
1. according to the utility model, the screw rod can drive the sliding block to move up and down in the fixing frame through starting of the servo motor, and the sliding block can carry the six-axis mechanical arm to move up and down through the fixing base after moving up and down in the fixing frame, so that the electric clamping jaw can clamp objects with different heights.
2. The utility model can keep stable when the movable assembly and the driving shock absorbing assembly cross raised ground.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute an undue limitation to the application. In the drawings:
FIG. 1 is a schematic perspective view of the present utility model;
FIG. 2 is a schematic diagram of a mobile assembly according to the present utility model;
FIG. 3 is a schematic view of a part of the structure of the lifting assembly according to the present utility model;
FIG. 4 is a schematic perspective view of a driving shock absorbing assembly according to the present utility model;
FIG. 5 is a schematic side view of a drive shock assembly according to the present utility model;
FIG. 6 is a schematic cross-sectional view of a drive shock assembly according to the present utility model.
In the figure: 1. a six-axis mechanical arm; 2. an electric clamping jaw; 3. a fixing frame; 4. a fixed base;
5. a lifting assembly; 51. a slide block; 52. a screw rod; 53. a second coupling; 54. a servo motor;
6. a moving assembly; 61. a chassis; 62. a universal wheel; 63. differential wheels; 64. a through hole; 65. a protective box;
7. driving a damping mechanism; 71. a mounting base; 72. a driving motor; 73. a first coupling; 74. a rotating shaft; 75. bevel gears; 76. a tire connecting shaft; 77. a linear bearing slide bar; 78. a bearing fixing seat; 79. a mounting block; 710. adjusting a screw; 711. a spring; 712. a top plate; 713. mounting hole
8. jestonNX host controller; 9. a battery; 10. a servo motor driver; 11. a first 3D camera; 12. a second 3D camera; 13. a voice recognition module; 14. and a display screen.
Detailed Description
Various embodiments of the present utility model are disclosed in the following drawings, in which details are set forth in the following description for the sake of clarity. However, it should be understood that these physical details should not be used to limit the utility model. That is, in some embodiments of the present utility model, these physical details are not necessary. Moreover, for the purpose of simplifying the drawings, some conventional structures and components are shown in the drawings in a simplified schematic manner.
In addition, the descriptions of the "first," "second," and the like, herein are for descriptive purposes only and are not intended to be specifically construed as order or sequence, nor are they intended to limit the utility model solely for distinguishing between components or operations described in the same technical term, but are not to be construed as indicating or implying any relative importance or order of such features. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present utility model.
Referring to fig. 1 to 6, the object picking robot with stable structure of the present utility model includes:
the grabbing mechanism comprises an electric clamping jaw 2 which is arranged on the six-axis mechanical arm 1 and used for grabbing objects, and a fixing frame 3 which is used for arranging the six-axis mechanical arm 1, wherein a fixing base 4 used for arranging the six-axis mechanical arm 1 is arranged on the fixing frame 3;
the moving assembly 6 is used for driving the grabbing mechanism to move indoors and comprises a chassis 61, a protective box 65 on the chassis 61, a fixing frame 3 is arranged at the top of the protective box 65, universal wheels 62 are arranged at four corners of the bottom of the chassis 61, through holes 64 are formed in two sides of the chassis 61, and differential wheels 63 are arranged in the through holes 64;
a driving damper mechanism 7 installed inside the guard box 65 for moving the differential gear 63 up and down in the through hole 64, reducing the degree of shake of the remaining components installed on the chassis 61;
referring to fig. 2 and 3, a lifting assembly 5 is used for driving a fixed base 4 to lift a six-axis mechanical arm 1, the lifting assembly 5 comprises a servo motor 54 mounted on a chassis 61, the servo motor 54 is provided with a screw rod 52 through a second coupler 53, the screw rod 52 is vertically mounted inside a fixed frame 3, the top of the screw rod is rotationally connected with the top of the inner wall of the fixed frame 3, a sliding block 51 is mounted on the screw rod 52, and the sliding block 51 protrudes out of the fixed frame 3 and is connected with the fixed base 4.
When the six-axis mechanical arm 1 is used, the servo motor 54 is started to drive the screw rod 52 to drive the sliding block 51 to move up and down in the fixed frame 3, and the sliding block 51 can move up and down in the fixed frame 3 and can be carried by the fixed base 4.
Referring to fig. 4-6, the driving shock absorbing mechanism 7 includes a mounting base 71, a driving motor 72 is disposed on the mounting base 71, a rotating shaft 74 is mounted on the driving motor 72 through a first coupling 73, the rotating shaft 74 is vertically mounted inside the mounting base 71, a tire connecting shaft 76 is meshed with the bottom of the rotating shaft 74 through a bevel gear 75, and one end of the tire connecting shaft 76 far away from the bevel gear 75 is connected with the differential gear 63.
The driving damping mechanism 7 further comprises two linear bearing sliding rods 77 vertically arranged on the chassis 61, a bearing fixing seat 78 is sleeved on the linear bearing sliding rods 77, and the bearing fixing seat 78 is fixedly arranged on the upper surface of the chassis 61 through bolts.
A mounting block 79 for mounting the tire connecting shaft 76 is arranged between the two bearing fixing seats 78, the mounting block 79 is fixedly connected with the mounting seat 71 and is positioned in the through hole 64, the mounting block 79 and the mounting seat 71 can move up and down in the through hole 64, the top of the two linear bearing sliding rods 77 is fixedly connected with a top plate 712, an adjusting screw 710 is vertically arranged downwards at the center of the bottom of the top plate 712, and a spring 711 is sleeved on the adjusting screw 710; the top of the mounting block 79 is provided with a mounting hole 713 for receiving the adjusting screw 710 and a mounting spring 711.
The device moves through driving the damping mechanism 7:
the device is driven by rotating the connecting shaft 76 of the differential wheel 63 through the driving motor 72, the rotating shaft 74 and the bevel gear 75, the differential wheel 63 is driven to walk by the rotating shaft 76 of the differential wheel, when the differential wheel 63 encounters uneven ground, the mounting block 79 and the mounting seat 71 can move up and down in the through hole 64, when the differential wheel 63 passes through the raised ground, the differential wheel 63 enables the mounting block 79, the mounting seat 71 and the driving motor 72 to ascend in the protective box 65 through the rotating shaft 74 of the tire, and when the differential wheel 63 passes through the raised ground, the mounting block 79, the mounting seat 71 and the driving motor 72 are descended in the protective box 65 through the rotating shaft 74 of the tire, so that the mounting block 79 moves up and down, and the spring 711 in the mounting hole 713 stretches out and draws back, namely the chassis 61 can be ensured to be stable, so that the shaking degree of other parts is reduced, and the shock absorption effect is achieved.
A first 3D camera 11 is arranged between the six-axis mechanical arm 1 and the electric clamping jaw 2, and a second 3D camera 12 is arranged at the top of the fixing frame 3; the display screen 14 and the voice recognition module 13 are also installed on the fixing frame 3, and the jestonNX main controller 8, the servo motor driver 10 and the battery 9 are also arranged in the protective box 65.
Wherein, draw a line from first 3D camera 11 and guide to the guard box 65 inside, carry out serial port connection with jestonNX main control unit 8 for discern the article that electronic clamping jaw 2 snatched. One wire led out from the six-axis mechanical arm 1 is led to a servo motor driver 10, and the servo motor driver 10 is connected with a battery 9, so that the servo motor driver 10 supplies power to the six-axis mechanical arm 1. One network wire led out from the six-axis mechanical arm 1 is led to the jestonNX main controller 8 to realize the communication between the two, so that the jestonNX main controller 8 controls the movement of the six-axis mechanical arm 1; the six-axis mechanical arm 1 is connected to the jestonNX main controller 8 through an Ethernet port, the jestonNX main controller 8 communicates through a standard TCP/IP communication protocol, and data is sent according to a JSON format to control the six-axis mechanical arm 1; when the image recognized by the first 3D camera 11 is transmitted to the jestonNX main controller 8 in real time, the jestonNX main controller sends appropriate signals to control the six-axis mechanical arm 1 to grasp the object in combination with data of each sensor IMU sensor, speed sensor and the like.
Wherein the display 14 is connected to the jestonNX host controller 8 via UART3 serial port, and the ROS and controller communicate under the same LAN. A voice recognition module 13 is connected to the jestonNX master controller 8 for enabling voice interaction of the person with the robot.
The above is merely an embodiment of the present utility model, and is not intended to limit the present utility model. Various modifications and variations of the present utility model will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, or the like, which is within the spirit and principles of the present utility model, should be included in the scope of the claims of the present utility model.
Claims (8)
1. An object taking robot with a stable structure, characterized by comprising:
the gripping mechanism comprises an electric clamping jaw (2) which is arranged on the six-axis mechanical arm (1) and used for gripping objects, and a fixing frame (3) which is used for installing the six-axis mechanical arm (1), wherein a fixing base (4) used for installing the six-axis mechanical arm (1) is arranged on the fixing frame (3);
the movable assembly (6) is used for driving the grabbing mechanism to move indoors and comprises a chassis (61), a protective box (65) is arranged on the chassis (61), the fixing frame (3) is arranged at the top of the protective box (65), universal wheels (62) are arranged at four corners of the bottom of the chassis (61), through holes (64) are formed in two sides of the chassis (61), and differential wheels (63) are arranged in the through holes (64);
a driving damping mechanism (7) which is arranged in the protective box (65) and is used for enabling the differential wheel (63) to move up and down in the through hole (64) so as to reduce the shaking degree of the rest parts arranged on the chassis (61);
and the lifting assembly (5) is used for driving the fixed base (4) to lift the six-axis mechanical arm (1).
2. The robot of claim 1, wherein the robot further comprises: the driving shock absorption mechanism (7) comprises a mounting seat (71), a driving motor (72) is arranged on the mounting seat (71), a rotating shaft (74) is arranged on the driving motor (72) through a first coupler (73), the rotating shaft (74) is vertically arranged inside the mounting seat (71), a tire connecting shaft (76) is meshed with the bottom of the rotating shaft (74) through a bevel gear (75), and one end, far away from the bevel gear (75), of the tire connecting shaft (76) is connected with a differential gear (63).
3. The robot of claim 2, wherein the robot further comprises: the driving damping mechanism (7) further comprises two linear bearing sliding rods (77) vertically arranged on the chassis (61), a bearing fixing seat (78) is sleeved on the linear bearing sliding rods (77), and the bearing fixing seat (78) is fixedly arranged on the upper surface of the chassis (61) through bolts.
4. A robot according to claim 3, characterized in that: a mounting block (79) for mounting the tire connecting shaft (76) is arranged between the two bearing fixing seats (78), the mounting block (79) is fixedly connected with the mounting seat (71) and is positioned in the through hole (64), and the mounting block (79) and the mounting seat (71) can move up and down in the through hole (64).
5. The robot of claim 4, wherein said robot comprises: the tops of the two linear bearing sliding rods (77) are fixedly connected with a top plate (712), an adjusting screw (710) is vertically and downwards arranged in the center of the bottom of the top plate (712), and a spring (711) is sleeved on the adjusting screw (710);
a mounting hole (713) for accommodating the adjusting screw (710) and the mounting spring (711) is formed in the top of the mounting block (79).
6. The robot of claim 1, wherein the robot further comprises: the lifting assembly (5) comprises a servo motor (54) arranged on a chassis (61), the servo motor (54) is provided with a screw rod (52) through a second coupler (53), the screw rod (52) is vertically arranged inside the fixing frame (3), the top of the screw rod is rotationally connected with the top of the inner wall of the fixing frame (3), the screw rod (52) is provided with a sliding block (51), and the sliding block (51) protrudes out of the fixing frame (3) and is connected with the fixing base (4).
7. The robot of claim 1, wherein the robot further comprises: install first 3D camera (11) between six arm (1) and electronic clamping jaw (2), second 3D camera (12) are installed at the top of mount (3).
8. The robot of claim 1, wherein the robot further comprises: the display screen (14) and the voice recognition module (13) are further installed on the fixing frame (3), and the jestonNX main controller (8), the servo motor driver (10) and the battery (9) are further arranged in the protective box (65).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322331890.1U CN220593145U (en) | 2023-08-29 | 2023-08-29 | Get thing robot with stable structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322331890.1U CN220593145U (en) | 2023-08-29 | 2023-08-29 | Get thing robot with stable structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220593145U true CN220593145U (en) | 2024-03-15 |
Family
ID=90169990
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202322331890.1U Active CN220593145U (en) | 2023-08-29 | 2023-08-29 | Get thing robot with stable structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220593145U (en) |
-
2023
- 2023-08-29 CN CN202322331890.1U patent/CN220593145U/en active Active
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