CN221273290U - Conversion mechanism and wheel-foot dual-mode double-arm robot - Google Patents

Abstract

The utility model relates to the technical field of intelligent robots, in particular to a conversion mechanism and wheel-foot dual-mode double-arm robot, which comprises a conversion part, a rotating part, a sliding part, a foot-type component and an unlocking component, wherein the conversion part comprises a turntable, a large arm rotationally connected to the outer side of the turntable, a rotating shaft rotationally connected to the outer side of the turntable, an auxiliary arm rotationally connected to the outer side of the turntable, a supporting component adaptively installed on the outer side of the auxiliary arm, the sliding part adaptively installed in the supporting component, the foot-type component adaptively installed on the outer side of the supporting component, and the unlocking component adaptively installed in the supporting component; through supporting component, slip subassembly, sufficient subassembly and unblock subassembly's mutually support, when can realizing needing to change the mode, only need press the pressure dish, the pulling ejector pad again makes the ejector pad drive sufficient subassembly reciprocates and rotate, can accomplish the conversion between sufficient and the wheeled of robot to get into inside the draw-in groove through the circular table joint, can make sufficient subassembly fixed.

Description

Conversion mechanism and wheel-foot dual-mode double-arm robot

Technical Field

The utility model relates to the technical field of intelligent robots, in particular to a conversion mechanism and a wheel-foot dual-mode dual-arm robot.

Background

The robot is a machine device capable of autonomously acting and completing certain tasks, and is generally composed of electronic components, computers, machines, sensors and other components, and can autonomously decide and execute tasks without human intervention.

However, conventional wheeled or foot robots may have a compromise between mobility and stability and may not be able to effectively accommodate varying terrain, such as rough ground, soft soil, gravel, etc. They may perform well on one terrain but be inefficient on another, e.g., wheeled robots move quickly on flat hard surfaces, but may not be able to overcome the obstacle; while foot robots can handle complex terrains, but have slow moving speed and high energy consumption, and the existing robots usually adopt one mechanical arm to work during working, single-arm robots are widely applied, but in tasks requiring high coordination and precision, the performances of the single-arm robots may be limited, and the executable task content is limited greatly.

Disclosure of utility model

The present utility model has been developed in view of the above-described or prior art problems that can be compromised by wheeled and foot-based machine humanization.

It is therefore an object of the present utility model to provide a conversion mechanism.

In order to solve the technical problems, the utility model provides the following technical scheme: a conversion mechanism comprises a first conversion mechanism, a second conversion mechanism and a third conversion mechanism,

The transition part comprises a rotary table, a large arm which is rotationally connected to the outer side of the rotary table, a rotating shaft which is rotationally connected to the outer side of the rotary table, an auxiliary arm which is rotationally connected to the outer side of the rotary table, a supporting component which is installed on the outer side of the auxiliary arm in an adapting mode, a sliding component which is installed inside the supporting component in an adapting mode, a foot-type component which is installed on the outer side of the supporting component in an adapting mode, and an unlocking component which is installed inside the supporting component in an adapting mode.

As a preferred embodiment of the switching mechanism according to the utility model, wherein: the support assembly comprises a support arm rotatably connected to the outer side of the auxiliary arm, a wide groove formed in the support arm, and a narrow groove formed in the support arm.

As a preferred embodiment of the switching mechanism according to the utility model, wherein: the support assembly further comprises a chute arranged in the support arm, vertical teeth fixedly connected to the outer side of the chute, and a clamping groove arranged in the chute.

As a preferred embodiment of the switching mechanism according to the utility model, wherein: the support assembly further comprises a containing groove arranged in the support arm and a rotating wheel rotatably connected to the outer side of the support arm.

As a preferred embodiment of the switching mechanism according to the utility model, wherein: the sliding assembly comprises a round table, a limiting disc and a first spring, wherein the round table is in sliding connection with the inside of the accommodating groove, the limiting disc is in sliding connection with the inside of the round table, and the first spring is arranged on the outer side of the limiting disc;

One end of the first spring is fixedly connected to the outer side of the limiting disc, and the other end of the first spring is fixedly connected to the inner portion of the round table.

As a preferred embodiment of the switching mechanism according to the utility model, wherein: the sliding component further comprises a cylinder fixedly connected to the outer side of the limiting disc, a tooth slot formed in the cylinder, and a connecting block fixedly connected to the outer side of the cylinder.

As a preferred embodiment of the switching mechanism according to the utility model, wherein: the foot type assembly comprises a supporting block fixedly connected to the outer side of the connecting block, a first disc rotatably connected to the inner side of the supporting block, and a second disc rotatably connected to the inner side of the first disc, and a pushing block rotatably connected to the outer side of the supporting block.

As a preferred embodiment of the switching mechanism according to the utility model, wherein: the unlocking component comprises a push rod which is connected inside the supporting arm in a sliding way, a pressing disc which is fixedly connected to the outer side of the push rod, and a second spring which is sleeved on the outer side of the push rod;

One end of the second spring is fixedly connected to the outer side of the pressing disc, and the other end of the second spring is fixedly connected to the outer side of the supporting arm.

The conversion mechanism has the beneficial effects that: through supporting component, slip subassembly, sufficient subassembly and unblock subassembly's mutually support, when can realizing needing to change the mode, only need press the pressure dish, the pulling ejector pad again makes the ejector pad drive sufficient subassembly reciprocates and rotate, can accomplish the conversion between sufficient and the wheeled of robot to get into inside the draw-in groove through the circular table joint, can make sufficient subassembly fixed.

In view of the fact that in the practical use process, the problem that the single-arm robot is limited in performance also exists.

It is therefore another object of the present utility model to provide a wheel and foot dual mode dual arm robot.

In order to solve the technical problems, the utility model also provides the following technical scheme: a wheel-foot dual-mode dual-arm robot comprises a switching mechanism and

The control device comprises a main body, a cover plate and a supporting frame, wherein the main body is arranged on the outer side of the rotating shaft in an adapting mode, the cover plate is arranged on the outer side of the main body in an adapting mode, the supporting frame is fixedly connected to the top end of the cover plate, and the clamping assembly is arranged on the outer side of the supporting frame in an adapting mode.

As a preferable scheme of the wheel-foot dual-mode dual-arm robot of the utility model, wherein: the clamping assembly comprises a base, a first mechanical arm and a connecting body, wherein the base is connected to the outer side of the supporting frame in a rotating mode, the first mechanical arm is installed on the outer side of the base in an adapting mode, the connecting body is installed on the outer side of the first mechanical arm in an adapting mode, and the second mechanical arm is installed inside the connecting body in an adapting mode.

The wheel-foot dual-mode double-arm robot has the beneficial effects that: through setting up two arms, make the robot be the both arms robot, compare in single arm robot, the work that the both arms robot can handle more complicacy to through setting up first arm and second arm, the motion that makes the arm is more nimble, and the range of application is wider.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings required for the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present utility model, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art. Wherein:

fig. 1 is an overall schematic of the present utility model.

FIG. 2 is an enlarged schematic view of the foot assembly of the present utility model.

Fig. 3 is a schematic view of a sliding assembly according to the present utility model.

Fig. 4 is a schematic view of a support assembly according to the present utility model.

FIG. 5 is a schematic diagram of an unlocking assembly according to the present utility model.

Detailed Description

In order that the above-recited objects, features and advantages of the present utility model will become more readily apparent, a more particular description of the utility model will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present utility model, but the present utility model may be practiced in other ways other than those described herein, and persons skilled in the art will readily appreciate that the present utility model is not limited to the specific embodiments disclosed below.

Further, reference herein to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic can be included in at least one implementation of the utility model. The appearances of the phrase "in one embodiment" 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.

Example 1

Referring to fig. 1-4, a first embodiment of the present utility model provides a switching mechanism, comprising,

The transition part 100 comprises a rotary table 101, a large arm 102 rotatably connected to the outer side of the rotary table 101, a rotating shaft 103 rotatably connected to the outer side of the rotary table 101, an auxiliary arm 104 rotatably connected to the outer side of the rotary table 101, a support assembly 105 adapted to be mounted on the outer side of the auxiliary arm 104, a sliding assembly 106 adapted to be mounted inside the support assembly 105, a foot assembly 107 adapted to be mounted on the outer side of the support assembly 105, and an unlocking assembly 108 adapted to be mounted inside the support assembly 105.

Specifically, the support assembly 105 includes a support arm 105a rotatably coupled to the outside of the auxiliary arm 104, a wide slot 105b formed inside the support arm 105a, and a narrow slot 105c formed inside the support arm 105 a.

Further, the support assembly 105 further includes a sliding slot 105d formed in the supporting arm 105a, a vertical tooth 105e fixedly connected to the outer side of the sliding slot 105d, and a clamping slot 105f formed in the sliding slot 105 d.

The support assembly 105 further includes a receiving groove 105g formed inside the support arm 105a, and a rotating wheel 105h rotatably connected to the outer side of the support arm 105 a.

Preferably, the sliding assembly 106 includes a circular table 106a slidably connected to the inside of the accommodating groove 105g, a limiting plate 106b slidably connected to the inside of the circular table 106a, and a first spring 106c disposed outside the limiting plate 106 b;

One end of the first spring 106c is fixedly connected to the outer side of the limiting disc 106b, and the other end of the first spring 106c is fixedly connected to the inside of the round table 106 a.

It should be noted that, the sliding assembly 106 further includes a cylinder 106d fixedly connected to the outer side of the limiting disc 106b, a tooth slot 106e formed inside the cylinder 106d, and a connecting block 106f fixedly connected to the outer side of the cylinder 106 d;

the cylinder 106d is slidably coupled within the slot 105d, and the slot 106e is engaged with the vertical tooth 105 e.

More specifically, the foot assembly 107 includes a support block 107a fixedly coupled to the outside of the connection block 106f, a first disc 107b rotatably coupled to the inside of the support block 107a, and a second disc 107c rotatably coupled to the inside of the first disc 107b, and a push block 107d rotatably coupled to the outside of the support block 107 a.

When the rotary type robot is used, when the rotary type robot is required to be converted into a foot type robot, a worker pulls the push block 107d, the push block 107d drives the connecting block 106f to slide in the wide groove 105b through the supporting block 107a, the connecting block 106f drives the round table 106a to slide in the accommodating groove 105g through the cylinder 106d, meanwhile, when the cylinder 106d slides downwards due to the meshing of the tooth grooves 106e and the vertical teeth 105e, the connecting block 106f is driven to rotate, when the connecting block 106f slides to the bottom end of the wide groove 105b, the connecting block 106f rotates by 90 degrees, and meanwhile, the connecting block 106f drives the supporting block 107a to rotate by 90 degrees, so that the supporting block 107a rotates to a horizontal position.

The pushing block 107d is continuously pulled downwards, and as the connecting block 106f rotates 90 degrees, the connecting block 106f just can enter the narrow groove 105c, the pushing block 107d drives the connecting block 106f to slide into the narrow groove 105c through the supporting block 107a, meanwhile, the tooth slot 106e is not meshed with the vertical tooth 105e any more, the pushing block 107d is continuously pulled downwards until the connecting block 106f moves to the bottommost end of the narrow groove 105c, and at the moment, the bottom end of the second disc 107c is lower than the bottom end of the rotating wheel 105 h.

In summary, through the cooperation of the support assembly 105, the sliding assembly 106 and the foot assembly 107, when the wheel-type robot is required to be converted into the foot-type robot, the foot assembly 107 can be rotated and lowered only by pulling the push block 107d until the support block 107a is horizontal and the second disc 107c is lower than the lowest end of the rotating wheel 105h, so that the robot is contacted with the ground by the second disc 107c and the rotating wheel 105h is suspended.

Example 2

Referring to fig. 2 and 5, a second embodiment of the present utility model is provided that, unlike the previous embodiment, provides for specific operation of the unlocking assembly 108.

Specifically, the unlocking assembly 108 includes a push rod 108a slidably connected to the inside of the support arm 105a, a pressing disc 108b fixedly connected to the outside of the push rod 108a, and a second spring 108c sleeved on the outside of the push rod 108 a;

One end of the second spring 108c is fixedly connected to the outer side of the pressing plate 108b, and the other end of the second spring 108c is fixedly connected to the outer side of the supporting arm 105 a.

When in use, when the foot assembly 107 is at the top end of the wide slot 105b and the bottom end of the narrow slot 105c, the round table 106a is just aligned to the clamping slot 105f, and under the action of the tension of the first spring 106c, the round table 106a is driven to be clamped into the clamping slot 105f, so that the round table 106a cannot move upwards or downwards, and the foot assembly 107 is fixed.

When the foot-type assembly 107 needs to be moved, a worker needs to press the pressing disc 108b first, so that the pressing disc 108b pushes the round table 106a through the push rod 108a, the round table 106a leaves the clamping groove 105f, and then pulls the push block 107d to move the foot-type assembly 107 up and down, and the conversion between the foot-type robot and the wheel-type robot is completed.

In summary, through the cooperation of the support component 105, the sliding component 106, the foot component 107 and the unlocking component 108, when the replacement mode is required, only the pressing disc 108b is required to be pressed, and then the pushing block 107d is pulled, so that the pushing block 107d drives the foot component 107 to move up and down and rotate, the conversion between the foot type and the wheel type of the robot can be completed, and the foot component 107 can be fixed by the circular table 106a being clamped into the clamping groove 105 f.

Example 3

Referring to FIG. 1, a third embodiment of the present utility model is a wheel-foot dual-mode dual-arm robot, which is different from the previous embodiment in that the embodiment provides a changeover mechanism, and

The control device 200 comprises a main body 201 which is adaptively arranged outside the rotating shaft 103, a cover plate 202 which is adaptively arranged outside the main body 201, and a supporting frame 203 which is fixedly connected to the top end of the cover plate 202, and a clamping assembly 204 which is adaptively arranged outside the supporting frame 203.

Specifically, the clamping assembly 204 includes a base 204a rotatably connected to the outer side of the support frame 203, a first mechanical arm 204b adapted to be mounted on the outer side of the base 204a, and a connecting body 204c adapted to be mounted on the outer side of the first mechanical arm 204b, and a second mechanical arm 204d adapted to be mounted inside the connecting body 204 c.

When in use, the single-arm robot is generally widely applied in work, but has more flexibility in complex work, and can perform a wider range of tasks.

The first mechanical arm 204b can rotate around the base 204a, and the first mechanical arm 204b and the second mechanical arm 204d are rotationally connected through the connecting body 204c, so that the first mechanical arm 204b and the second mechanical arm 204d can flexibly move, the robot can complete more complex work, and the number of the mechanical arms is two, so that the robot improves the working efficiency and the working precision.

To sum up, through setting up two arms, make the robot be the both arms robot, compare with single arm robot, the both arms robot can handle more complicated work to through setting up first arm 204b and second arm 204d, make the motion of arm more nimble, the range of application is wider.

It is important to note that the construction and arrangement of the utility model as shown in the various exemplary embodiments is illustrative only. Although only a few embodiments have been described in detail in this disclosure, those skilled in the art who review this disclosure will readily appreciate that many modifications are possible (e.g., variations in sizes, dimensions, structures, shapes and proportions of the various elements, values of parameters (e.g., temperature, pressure, etc.), mounting arrangements, use of materials, colors, orientations, etc.) without materially departing from the novel teachings and advantages of the subject matter described in this application. For example, elements shown as integrally formed may be constructed of multiple parts or elements, the position of elements may be reversed or otherwise varied, and the nature or number of discrete elements or positions may be altered or varied. Accordingly, all such modifications are intended to be included within the scope of present utility model. The order or sequence of any process or method steps may be varied or re-sequenced according to alternative embodiments. In the claims, any means-plus-function clause is intended to cover the structures described herein as performing the recited function and not only structural equivalents but also equivalent structures. Other substitutions, modifications, changes and omissions may be made in the design, operating conditions and arrangement of the exemplary embodiments without departing from the scope of the present utility models. Therefore, the utility model is not limited to the specific embodiments, but extends to various modifications that nevertheless fall within the scope of the appended claims.

Furthermore, in order to provide a concise description of the exemplary embodiments, all features of an actual implementation may not be described (i.e., those not associated with the best mode presently contemplated for carrying out the utility model, or those not associated with practicing the utility model).

It should be appreciated that in the development of any such actual implementation, as in any engineering or design project, numerous implementation-specific decisions may be made. Such a development effort might be complex and time consuming, but would nevertheless be a routine undertaking of design, fabrication, and manufacture for those of ordinary skill having the benefit of this disclosure.

It should be noted that the above embodiments are only for illustrating the technical solution of the present utility model and not for limiting the same, and although the present utility model has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the technical solution of the present utility model may be modified or substituted without departing from the spirit and scope of the technical solution of the present utility model, which is intended to be covered in the scope of the claims of the present utility model.

Claims (10)

1. A conversion mechanism, characterized in that: comprising the steps of (a) a step of,

The transition part (100) comprises a rotary table (101), a large arm (102) rotatably connected to the outer side of the rotary table (101), a rotating shaft (103) rotatably connected to the outer side of the rotary table (101), an auxiliary arm (104) rotatably connected to the outer side of the rotary table (101), a supporting component (105) mounted on the outer side of the auxiliary arm (104) in an adapting mode, a sliding component (106) mounted inside the supporting component (105) in an adapting mode, a foot-type component (107) mounted on the outer side of the supporting component (105) in an adapting mode, and an unlocking component (108) mounted inside the supporting component (105) in an adapting mode.

2. The conversion mechanism of claim 1, wherein: the support assembly (105) comprises a support arm (105 a) rotatably connected to the outer side of the auxiliary arm (104), a wide groove (105 b) formed in the support arm (105 a), and a narrow groove (105 c) formed in the support arm (105 a).

3. The conversion mechanism of claim 2, wherein: the supporting component (105) further comprises a chute (105 d) formed in the supporting arm (105 a), vertical teeth (105 e) fixedly connected to the outer side of the chute (105 d), and a clamping groove (105 f) formed in the chute (105 d).

4. A conversion mechanism as claimed in claim 2 or 3, wherein: the support assembly (105) further comprises a containing groove (105 g) formed in the support arm (105 a), and a rotating wheel (105 h) rotatably connected to the outer side of the support arm (105 a).

5. The conversion mechanism of claim 4, wherein: the sliding assembly (106) comprises a round table (106 a) which is connected inside the accommodating groove (105 g) in a sliding mode, a limiting disc (106 b) which is connected inside the round table (106 a) in a sliding mode, and a first spring (106 c) which is arranged outside the limiting disc (106 b);

One end of the first spring (106 c) is fixedly connected to the outer side of the limiting disc (106 b), and the other end of the first spring (106 c) is fixedly connected to the inside of the round table (106 a).

6. The conversion mechanism of claim 5, wherein: the sliding assembly (106) further comprises a cylinder (106 d) fixedly connected to the outer side of the limiting disc (106 b), a tooth slot (106 e) formed in the cylinder (106 d), and a connecting block (106 f) fixedly connected to the outer side of the cylinder (106 d).

7. The conversion mechanism of claim 6, wherein: the foot-type assembly (107) comprises a supporting block (107 a) fixedly connected to the outer side of the connecting block (106 f), a first disc (107 b) rotatably connected to the inner side of the supporting block (107 a), and a second disc (107 c) rotatably connected to the inner side of the first disc (107 b), and a pushing block (107 d) rotatably connected to the outer side of the supporting block (107 a).

8. The conversion mechanism of claim 6 or 7, wherein: the unlocking assembly (108) comprises a push rod (108 a) which is connected inside the supporting arm (105 a) in a sliding way, a pressing disc (108 b) which is fixedly connected to the outer side of the push rod (108 a), and a second spring (108 c) which is sleeved on the outer side of the push rod (108 a);

one end of the second spring (108 c) is fixedly connected to the outer side of the pressing disc (108 b), and the other end of the second spring (108 c) is fixedly connected to the outer side of the supporting arm (105 a).

9. A wheel foot dual-mode double-arm robot is characterized in that: comprising a switching mechanism as claimed in any one of claims 1 to 8, and

The control device (200) comprises a main body (201) which is adaptively arranged outside the rotating shaft (103), a cover plate (202) which is adaptively arranged outside the main body (201), and a supporting frame (203) which is fixedly connected to the top end of the cover plate (202), and a clamping assembly (204) which is adaptively arranged outside the supporting frame (203).

10. The bipedal dual arm robot of claim 9, wherein: the clamping assembly (204) comprises a base (204 a) rotatably connected to the outer side of the supporting frame (203), a first mechanical arm (204 b) adaptively installed on the outer side of the base (204 a), a connecting body (204 c) adaptively installed on the outer side of the first mechanical arm (204 b), and a second mechanical arm (204 d) adaptively installed inside the connecting body (204 c).