CN222653537U

CN222653537U - Engineering education trolley

Info

Publication number: CN222653537U
Application number: CN202420424249.4U
Authority: CN
Inventors: 李流彬; 柏能飞
Original assignee: Nanjing Avatarmind Robot Technology Co ltd
Current assignee: Nanjing Avatarmind Robot Technology Co ltd
Priority date: 2024-03-05
Filing date: 2024-03-05
Publication date: 2025-03-21
Anticipated expiration: 2034-03-05

Abstract

The utility model provides an engineering education trolley, which comprises a trolley body and a carrying assembly, wherein the trolley body comprises a chassis and a rectangular bin, the rectangular bin is arranged on the chassis, two sides of the trolley body are respectively provided with two wheels, a driving motor for driving the wheels is arranged in the trolley body, a battery for supplying power is arranged in the trolley body, the trolley body is provided with a circuit board assembly, the carrying assembly comprises a cradle head and a six-axis mechanical arm, the cradle head is arranged at the top of the rectangular bin, the six-axis mechanical arm is arranged on the cradle head, and a vision sensor module is arranged on the six-axis mechanical arm. The external member can realize nimble clamp and get, transport function, and the cooperation removes, simulate the engineering truck service scenario.

Description

Engineering education trolley

Technical Field

The utility model relates to the technical field of robot carts, in particular to an engineering education cart.

Background

The intelligent trolley competition is a widely accepted student competition and pays attention to actual practical and professional capabilities. The current common competition forms mainly comprise racing the track, running according to a prescribed route, grabbing, carrying articles and the like.

At present, the common competition trolley related to carrying objects is mainly characterized in that a finger cylinder is directly arranged at the head of the trolley, or a simple clamping device is adopted, the clamping device has the problems of simple clamping mechanism, low one-time success rate of clamping objects, capability of clamping objects after multiple attempts, and capability of clamping objects after the clamping device is fixed at the position of the trolley, and the clamping action can be carried out only by adjusting the alignment of the trolley with the objects, thereby increasing the control difficulty of the trolley.

Disclosure of Invention

In order to overcome the defects of the prior art, the utility model provides the engineering education trolley which can realize flexible clamping and carrying functions and simulate the use scene of the engineering trolley by matching with movement.

In order to achieve the above purpose, the engineering education trolley comprises a trolley body and a carrying assembly, wherein the trolley body comprises a chassis and a rectangular bin, the rectangular bin is arranged on the chassis, two sides of the trolley body are respectively provided with two wheels, a driving motor for driving the wheels is arranged in the trolley body, a battery for supplying power is arranged in the trolley body, the trolley body is provided with a circuit board assembly, the carrying assembly comprises a cradle head and a six-axis mechanical arm, the cradle head is arranged at the top of the rectangular bin, the six-axis mechanical arm is arranged on the cradle head, and a vision sensor module is arranged on the six-axis mechanical arm.

Further, the cloud platform includes frame and revolving stage, and the rectangle storehouse top is equipped with and is used for driving revolving stage pivoted plane rotation motor, and the revolving stage uses vertical direction as the axle rotation, and the revolving stage top is equipped with first rotation base, and six arm rotations are connected on first rotation base.

Further, the six-axis mechanical arm comprises a first rotating arm which is rotationally connected to the first rotating base, a first rotating motor which drives the first rotating arm to rotate relative to the plane rotating base is arranged on the first rotating base, one end, far away from the plane rotating base, of the first rotating arm is rotationally connected with a second rotating arm, a second rotating motor which drives the second rotating arm to rotate relative to the first rotating arm is arranged on the second rotating arm, one end, far away from the first rotating arm, of the second rotating arm is rotationally connected with a third rotating arm, a third rotating motor which drives the third rotating arm to rotate relative to the second rotating arm is arranged on the third rotating arm, a fourth rotating motor is arranged at one end, far away from the second rotating arm, of the third rotating arm, and a clamping assembly is arranged on an output shaft of the fourth rotating motor.

Further, the clamping assembly comprises a clamping plate, a pair of first clamping arms are arranged on the clamping plate, gears are arranged at the ends, close to each other, of the first clamping arms at the two sides and are meshed with each other, the second clamping arms are respectively connected with one ends, far away from each other, of the first clamping arms in a rotating mode, one ends, far away from the first clamping arms, of the second clamping arms are folded inwards, one ends, far away from the fourth rotating motor, of the clamping plate are rotationally connected with a pair of connecting arms, one ends, far away from the clamping plate, of the connecting arms at the two sides are respectively rotationally connected with the middle parts, corresponding to the second clamping arms at one side, of the connecting arms, and a clamping motor for driving the first clamping arms to rotate is arranged on the clamping plate.

Further, a mounting plate is arranged on the third rotating arm, and the vision sensor module is arranged on the mounting plate.

Further, the number of the driving motors is 4, the driving motors are fixed at the bottom of the rectangular bin, each driving motor drives 1 wheel, and the wheels adopt Meinam wheels.

Further, the circuit board assembly is arranged on one side, close to the tail, of the top of the rectangular bin, and a protection frame for protecting the circuit board assembly is arranged on the rectangular bin.

Further, an ultrasonic sensor component is arranged on one side, close to the headstock, of the rectangular bin, and an anti-collision frame is arranged on the bottom, close to the headstock, of the rectangular bin.

According to the multi-form trolley, the multi-axis mechanical arm assembly is carried, so that flexible clamping and carrying functions are realized, the purpose of simulating an engineering vehicle is realized by matching with the movement of the trolley, and the use scene of the robot trolley is greatly enriched.

Drawings

The utility model is further described and illustrated below with reference to the accompanying drawings.

Fig. 1 is a schematic structural view of an engineering education trolley according to a preferred embodiment of the present utility model.

FIG. 2 is a schematic view of the engineering education trolley with the chassis removed for embodying the internal structure of the trolley body.

Fig. 3 is an enlarged view at a in fig. 2.

The device comprises a vehicle body, a chassis, a rectangular bin, 13, wheels, 14, a driving motor, 15, a circuit board assembly, 16, a protection frame, 17, an anti-collision frame, 2, a cradle head, 21, an outer frame, 22, a rotating table, 23, a plane rotating motor, 24, a first rotating base, 3, six-axis mechanical arms, 31, a first rotating arm, 32, a first rotating motor, 33, a second rotating arm, 34, a second rotating motor, 35, a third rotating arm, 36, a third rotating motor, 37, a fourth rotating motor, 38, a clamping assembly, 381, a clamping plate, 382, a first clamping arm, 383, a gear, 384, a second clamping arm, 385, a connecting arm, 386, a clamping motor, 4, a visual sensor module, 41, a mounting plate, 5 and an ultrasonic sensor assembly.

Detailed Description

The technical solution of the present utility model will be more clearly and completely explained by the description of the preferred embodiments of the present utility model with reference to the accompanying drawings.

As shown in fig. 1 and 2, the engineering education trolley of the preferred embodiment of the present utility model comprises a vehicle body 1 and a carrying assembly. The vehicle body 1 comprises a chassis 11 and a rectangular bin 12, the rectangular bin 12 is arranged on the chassis 11, a plurality of side plates extending downwards are arranged at the edge of the rectangular bin 12, a plurality of side plates extending upwards are arranged at the edge of the chassis 11, and the rectangular bin 12 and the chassis 11 form a box-shaped vehicle body 1 after being arranged. Two wheels 13 are respectively arranged on two sides of the vehicle body 1, and the wheels 13 are Meinamer wheels. The vehicle body 1 is internally provided with driving motors 14 for driving wheels 13 and batteries for supplying power, the driving motors 14 are provided with 4, the driving motors 14 are fixed at the bottom of the rectangular bin 12, each driving motor 14 drives 1 wheel 13, and the movement modes of forward, backward, translational and the like can be realized by matching with the Meinam wheels.

As shown in fig. 1, a circuit board assembly 15 is arranged at the top of the rectangular bin 12, the circuit board assembly 15 is arranged at one side of the top of the rectangular bin 12 near the tail of the vehicle, and a protection frame 16 for protecting the circuit board assembly 15 is arranged on the rectangular bin 12. An ultrasonic sensor component 5 is arranged on one side of the rectangular bin 12 close to the vehicle head, and an anti-collision frame 17 is arranged at the bottom of one side of the rectangular bin 12 close to the vehicle head.

As shown in fig. 1, the carrying assembly comprises a cradle head 2 and a six-axis mechanical arm 3, the cradle head 2 is arranged at the top of the rectangular bin 12, the cradle head 2 comprises an outer frame 21 and a rotating table 22, a plane rotating motor 23 for driving the rotating table 22 to rotate is arranged at the top of the rectangular bin 12, and the rotating table 22 rotates by taking the vertical direction as an axis.

As shown in fig. 1, a first rotating base 24 is arranged at the top of the rotating table 22, the six-axis mechanical arm 3 comprises a first rotating arm 31 rotatably connected to the first rotating base 24, a first rotating motor 32 for driving the first rotating arm 31 to rotate relative to the plane rotating base is arranged on the first rotating base 24, a second rotating arm 33 is rotatably connected to one end of the first rotating arm 31 far away from the plane rotating base, a second rotating motor 34 for driving the second rotating arm 33 to rotate relative to the first rotating arm 31 is arranged on the second rotating arm 33, a third rotating arm 35 is rotatably connected to one end of the second rotating arm 33 far away from the first rotating arm 31, a mounting plate 41 is arranged on the third rotating arm 35, and a visual sensor module 4 is arranged on the mounting plate 41. The third rotating arm 35 is provided with a third rotating motor 36 for driving the third rotating arm 35 to rotate relative to the second rotating arm 33.

As shown in fig. 1 and 3, a fourth rotating motor 37 is disposed at an end of the third rotating arm 35 away from the second rotating arm 33, and a clamping assembly 38 is disposed on an output shaft of the fourth rotating motor 37. The clamping assembly 38 includes a clamping plate 381, a pair of first clamping arms 382 are disposed on the clamping plate 381, gears 383 are disposed at ends of the first clamping arms 382 at two sides, which are close to each other, and are engaged with each other, second clamping arms 384 are rotatably connected to ends of the first clamping arms 382 at two sides, one ends of the second clamping arms 384, which are far away from the first clamping arms 382, are folded inwards, a pair of connecting arms 385 are rotatably connected to ends of the clamping plate 381, one ends of the connecting arms 385, which are far away from the clamping plate 381, are rotatably connected to middle portions of the second clamping arms 384 at corresponding sides, respectively, and a clamping motor 386 is disposed on the clamping plate 381 to drive the first clamping arms 382 to rotate.

The above detailed description is merely illustrative of the preferred embodiments of the present utility model and is not intended to limit the scope of the present utility model. Various modifications, substitutions and improvements of the technical scheme of the present utility model will be apparent to those skilled in the art from the description and drawings provided herein without departing from the spirit and scope of the utility model. The scope of the utility model is defined by the claims.

Claims

1. The utility model provides an engineering education dolly, its characterized in that, includes automobile body (1) and transport subassembly, automobile body (1) includes chassis (11) and rectangle storehouse (12), rectangle storehouse (12) are installed on chassis (11), automobile body (1) both sides are equipped with two wheels (13) respectively, be equipped with driving motor (14) that are used for driving wheel (13) in automobile body (1), be equipped with the battery that is used for supplying power in automobile body (1), be equipped with circuit board assembly (15) on automobile body (1), transport subassembly includes cloud platform (2) and six arm (3), cloud platform (2) set up the top in rectangle storehouse (12), six arm (3) set up on cloud platform (2), be equipped with vision sensor module (4) on six arm (3).

2. The engineering education trolley according to claim 1, wherein the cradle head (2) comprises an outer frame (21) and a rotating table (22), a plane rotating motor (23) for driving the rotating table (22) to rotate is arranged at the top of the rectangular bin (12), the rotating table (22) rotates by taking a vertical direction as an axis, a first rotating base (24) is arranged at the top of the rotating table (22), and the six-axis mechanical arm (3) is rotatably connected to the first rotating base (24).

3. The engineering education trolley according to claim 2, wherein the six-axis mechanical arm (3) comprises a first rotating arm (31) rotatably connected to the first rotating base (24), the first rotating base (24) is provided with a first rotating motor (32) for driving the first rotating arm (31) to rotate relative to the plane rotating base, one end of the first rotating arm (31) away from the plane rotating base is rotatably connected with a second rotating arm (33), the second rotating arm (33) is provided with a second rotating motor (34) for driving the second rotating arm (33) to rotate relative to the first rotating arm (31), one end of the second rotating arm (33) away from the first rotating arm (31) is rotatably connected with a third rotating arm (35), the third rotating arm (35) is provided with a third rotating motor (36) for driving the third rotating arm (35) to rotate relative to the second rotating arm (33), one end of the third rotating arm (35) away from the second rotating arm (33) is provided with a fourth rotating motor (37), and the fourth output shaft (37) is provided with a clamping assembly (38).

4. An engineering education trolley according to claim 3 wherein the clamping assembly (38) comprises a clamping plate (381), a pair of first clamping arms (382) are arranged on the clamping plate (381), two sides are respectively provided with gears (383) at the ends, close to each other, of the first clamping arms (382) and meshed with each other, second clamping arms (384) are respectively connected to the ends, far away from each other, of the first clamping arms (382), the ends, far away from the first clamping arms (382), of the second clamping arms (384) are folded inwards, a pair of connecting arms (385) are respectively connected to the ends, far away from the fourth rotating motor (37), of the clamping plate (381), the ends, far away from the clamping plate (381), of the connecting arms (385) are respectively connected to the middle parts, on the corresponding sides, of the second clamping arms (384), and a clamping motor (386) for driving the first clamping arms (382) to rotate is arranged on the clamping plate (381).

5. An engineering trolley according to claim 3, characterized in that the third swivel arm (35) is provided with a mounting plate (41), and the vision sensor module (4) is arranged on the mounting plate (41).

6. Engineering education trolley according to claim 1, characterized in that the number of driving motors (14) is 4, the driving motors (14) are fixed at the bottom of the rectangular bin (12), each driving motor (14) drives 1 wheel (13), and the wheels (13) adopt a mecanum wheel.

7. The engineering education trolley according to claim 1, wherein the circuit board assembly (15) is arranged on one side of the top of the rectangular bin (12) close to the tail of the vehicle, and a protection frame (16) for protecting the circuit board assembly (15) is arranged on the rectangular bin (12).

8. The engineering education trolley according to claim 1, wherein the side, close to the head, of the rectangular bin (12) is provided with an ultrasonic sensor assembly (5), and the bottom, close to the head, of the rectangular bin (12) is provided with an anti-collision frame (17).