WO2020253317A1 - 一种机械臂及机器人 - Google Patents
一种机械臂及机器人 Download PDFInfo
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- WO2020253317A1 WO2020253317A1 PCT/CN2020/082486 CN2020082486W WO2020253317A1 WO 2020253317 A1 WO2020253317 A1 WO 2020253317A1 CN 2020082486 W CN2020082486 W CN 2020082486W WO 2020253317 A1 WO2020253317 A1 WO 2020253317A1
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- WIPO (PCT)
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- robot
- arm
- main control
- rotating component
- steering gear
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/007—Arms the end effector rotating around a fixed point
Definitions
- This application relates to the field of robotics technology, in particular to a mechanical arm and a robot.
- the purpose of some embodiments of the present application is to provide a mechanical arm and a robot, which have a large enough movement space, degree of freedom and precision, while occupying a small space, a small weight and a low cost.
- an embodiment of the present application provides a mechanical arm, including: a first rotating component; a second rotating component connected to the first rotating component, and the first rotating component is used to drive the The second rotating component rotates around the rotation axis of the first rotating component; a pressing arm is connected to the second rotating component, and the second rotating component is used to drive the pressing arm to rotate around the second rotating component The axis rotates; the linear module is connected to the first rotating component and is used to drive the first rotating component to move along the length of the linear module.
- the embodiment of the present application also provides a robot for pressing a button, comprising: a robot main body, a main control module, a first identification module provided on the robot main body and electrically connected to the main control module, as described above
- the robot arm is provided on the robot body and is electrically connected to the main control module
- the first identification module is used to identify the position of each button
- the main control module is used to
- a recognition module determines the position of the target button, and drives the pressing arm of the mechanical arm to press the target button.
- the first rotating assembly includes: a first steering gear connected to the second rotating assembly for driving the second rotating assembly to rotate around the rotation axis of the first steering gear, the first steering gear
- the axis of rotation of the first rotating assembly is the axis of rotation of the first rotating assembly;
- a first connecting piece is respectively connected to the first steering gear and the linear module for driving the first The steering gear is displaced.
- the second rotating assembly includes: a second fixing frame connected to the first steering gear, and the first steering gear is specifically configured to drive the second fixing frame around the rotation axis of the first steering gear Rotation; a second steering gear, installed on the second fixing frame and connected to the pressing arm, for driving the pressing arm to rotate around the axis of rotation of the second steering gear, the rotation of the second steering gear
- the axis is the rotation axis of the second rotating assembly.
- the pressing arm includes: an arm body; and a second connecting member respectively connecting the arm body and the second steering gear, and is used for driving the arm body to rotate under the driving of the second steering gear.
- the pressing arm further includes a contact head provided at an end of the arm body away from the second connecting member, and the contact head is a flexible contact head.
- the pressing arm further includes a conductive cloth covering the contact head.
- the arm body is a straight arm; or the arm body is an arc-shaped arm; or the arm body is a bent arm.
- the linear module includes: a slideway, a sliding block slidably arranged on the slideway, and a drive assembly connected to the slide block.
- the drive assembly is used to drive the slide block along the slide. Displacement in the length direction of the track, and the sliding block is connected with the first connecting piece.
- the drive assembly includes a motor, a drive wheel connected to the motor, and a transmission member that winds the drive wheel, and the sliding block is fixedly connected to the transmission member.
- the direction of the rotation axis of the first rotation component and the direction of the rotation axis of the second rotation component are perpendicular to each other, and the direction of the rotation axis of the first rotation component is perpendicular to the length direction of the linear module.
- the robot further includes: a wiring tube, one end of the wiring tube is fixed on the slider of the linear module, the other end is fixed on the robot body, the first rotating assembly and the The electrical connection wire of the second rotating component is used to pass through the wire conduit and connect to the main control module.
- the robot further includes a protection frame, the protection frame defines a through slot along the length direction of the linear module, and the mechanical arm is used to be received in the through slot when in a standby state.
- the robot further includes a protective cover covering the storage space of the protective frame, and the protective cover is provided with an opening for the pressing arm to pass through.
- the robot further includes: a distance sensor provided at an end of the pressing arm away from the second rotating assembly and electrically connected to the main control module, the distance sensor being used to detect the distance between the distance sensor and the The distance between the planes where the target button is located, and the main control module is used to control the mechanical arm according to the detection result of the distance sensor.
- the robot further includes: a pushing assembly provided at an end of the pressing arm away from the second rotating assembly and electrically connected to the main control module, the main control module being used to control the pushing assembly to press Target button.
- the robot further includes: a second identification module provided at an end of the pressing arm away from the second rotating assembly and electrically connected to the main control module, and the second identification module is used to identify the The location of the target button.
- the robot further includes: a height judgment chip electrically connected to the main control module, the height judgment chip is used to measure height information where the robot is located and transmit the height information to the main control module, The main control module is used to determine the floor where the robot is located according to the height information.
- the robot further includes: a short-distance communication chip provided at an end of the pressing arm away from the second rotating assembly.
- the mechanical arm is arranged on any side surface of the robot body, and the angle between the length direction of the linear module and the height direction of the robot is less than 30 degrees.
- one side of the robot body is provided with a warehouse door, and the side where the robot arm is located is adjacent to the side where the warehouse door is located.
- FIG. 1 is a schematic diagram of the structure of the robotic arm in the first embodiment
- Figure 2 is an exploded view of the robotic arm in the first embodiment
- Figure 3 is a top view of the robotic arm in the first embodiment
- FIG. 4 is a schematic diagram of the structure of the arm body of the robotic arm in the second embodiment
- FIG. 5 is a schematic diagram of the structure of the arm body of the robotic arm in the third embodiment
- Figure 6 is a schematic diagram of the robot in the fourth embodiment pressing an elevator button
- FIG. 7 is a schematic diagram of the installation structure of the robot arm on the robot in the fourth embodiment.
- Figure 8 is a side view of the robot in the fourth embodiment
- Fig. 9 is a plan view of the robot in the fourth embodiment.
- the first embodiment of this application relates to a mechanical arm, which is applied to a mobile robot.
- the mobile robot is no longer limited to single-layer transportation during transportation, but can be transported in multiple layers by taking an elevator. Press the designated elevator button during the elevator.
- the mechanical arm includes: a first rotating assembly 1, a second rotating assembly 2, a linear module 3 and a pressing arm 4.
- the pressing arm 4 is mounted on the second rotating assembly 2 and can rotate around the second rotating assembly 2.
- the first rotating component 1 is connected to the second rotating component 2 to drive the second rotating component 2 to rotate in the direction of the rotation axis of the first rotating component 1.
- the first rotating component 1 is connected to the linear module 3 ,
- the linear module 3 is used to drive the first rotating assembly 1 to move in the length direction of the linear module 3.
- the direction of the rotation axis of the first rotating component 1 and the direction of the rotation axis of the second rotating component 2 are perpendicular to each other, and the direction of the rotation axis of the first rotating component 1 and the length direction of the linear module 3 are perpendicular to each other.
- the pressing arm 4 is driven by the second rotating assembly 2, the first rotating assembly 1 and the linear module 3 to rotate around two mutually perpendicular axis directions, and can be displaced in one direction.
- the pressing arm 4 has 3 degrees of freedom, and the 3 degrees of freedom make the pressing arm 4 have enough freedom to click different buttons when the robot is stopped, large movement space and movement accuracy.
- the linear mode Group 3 has enough stroke, and the click end of pressing arm 4 has enough range of motion, so that buttons within a certain range can be accurately pressed.
- both the first rotating component 1 and the second rotating component 2 are joints of the robotic arm.
- the pressing arm 4 includes: an arm body 41 and a second connecting member 42 connected between the arm body 41 and the second rotating assembly 2, wherein the arm body 41 is a linear arm.
- the second rotating assembly 2 includes: a second mounting frame and a second steering gear 21 mounted on the second mounting frame, the rotation axis of the output shaft of the second steering gear 21 is the second rotating assembly 2
- the second connecting piece 42 of the pressing arm 4 is connected to the output shaft of the second steering gear 21
- the first rotating assembly 1 includes: a first steering gear 11 and a first connecting piece 12, the output of the first steering gear 11
- the axis of rotation of the shaft is the axis of rotation of the first rotating assembly 1
- the second mounting frame is connected to the output shaft of the first steering gear 11, and the first connecting member 12 connects the first steering gear 11 and the linear module 3 respectively.
- the module 3 is used to drive the first steering gear 11 to move through the first connecting member 12.
- the linear module 3 includes a slideway 31, a sliding slide 32 arranged in the slideway 31, and a driving assembly 33 for driving the slide 32 to move.
- the slide 32 is connected to the first connecting member 12.
- the slideway 31 is arranged in a vertical direction.
- the sliding can also be arranged in other directions, such as horizontal or inclined. In this embodiment, only the vertical arrangement is taken as an example, and there is no specific limitation.
- the driving assembly 33 includes a motor, a driving wheel connected to the motor, and a driving member that winds the driving wheel.
- the driving member may be a belt or a chain. In this embodiment, a belt is taken as an example, which is not specifically limited.
- the drive assembly 33 also includes a drive wheel opposite to the drive wheel.
- the drive wheel and the drive wheel are respectively located at the two ends of the slideway 31 in the length direction.
- the motor drives the drive wheel to rotate when the motor works.
- the belt is fixedly connected to the slider 32.
- the belt is on the drive wheel.
- the sliding block 32 is driven to move in the slideway 31.
- the driving assembly 33 drives the sliding block 32 to move, which can drive the first rotating assembly 1, the second rotating assembly 2 and the pressing arm 4 to move, and the first rotating assembly 1 can rotate to drive the second rotating assembly 2 and pressing The arm 4 rotates, and the second rotating assembly 2 can directly drive the pressing arm 4 to rotate.
- the arm body 41 is displaced under the drive of the linear module 3, the first rotating assembly 1 and the second rotating assembly 2, and moves to various positions to press the button .
- the robot arm can press buttons in different positions.
- an elevator button is taken as an example, and there is no specific limitation.
- the pressing arm 4 also includes: a contact head 43 arranged on the end of the arm body 41 away from the second connecting member 42.
- the contact head 43 is arranged on the head of the arm body 41.
- the contact head 43 is made of a flexible material and may be a rubber contact head 43 Or the sponge touch head 43, the flexible touch head 43 can buffer the impact of the arm body 41 and the button, and prevent the button from being damaged due to excessive force pressing the button.
- the pressing arm 4 may also include a conductive cloth covering the contact head 43, and the contact head 43 with the conductive cloth can click a capacitive button, increasing the types of buttons that can be pressed.
- the second embodiment of the present application relates to a mechanical arm.
- the second embodiment is substantially the same as the first embodiment, and the main difference is that: in the first embodiment, the arm body 41 is a linear arm.
- the arm body 41 is an arc-shaped arm, and the arm body 41 is bent toward the ground until the end of the arm body 41 away from the second rotating assembly 2 is nearly vertical. Since the elevator button is vertically arranged on the wall, the smaller the angle between the head end surface of the arm body 41 and the vertical direction, the larger the contact area with the button when the button is pressed, the higher the success rate of pressing, and the reduction The small pressure on the button protects the button.
- the third embodiment of the present application relates to a mechanical arm.
- the second embodiment is substantially the same as the first embodiment, and the main difference is that: in the first embodiment, the arm body 41 is a linear arm.
- the arm body 41 is a bent arm, and the arm body 41 may have multiple bendings. In this embodiment, only one bending is taken as an example, and there is no specific limitation. .
- the arm body 41 is formed after bending: a first arm body 411 and a second arm body 412 that are at a certain angle to each other.
- the first arm body 41 is connected to the second rotating assembly 2.
- the first arm body 411 and the second arm body 411 The angle between the two arm bodies 412 is an obtuse angle, and the end surface of the second arm body 411 away from the first arm body 412 is close to vertical, which is used to improve the success rate of pressing and protect the button.
- the fourth embodiment of the present application relates to a robot, which is used to walk in the stairs and press the elevator button to ride the elevator.
- the robot includes: a robot body 5, a main control module, a first recognition module arranged on the robot body 5, such as any one of the first embodiment to the third embodiment, the robot
- the main body 5 is square, and the slide 31 of the linear module 3 of the robot arm is arranged on any side wall of the robot main body 5.
- the linear module 3 is arranged vertically to facilitate driving the pressing arm in the vertical direction. 4.
- the linear module 3 can also be arranged in other directions, as long as the angle between the length direction of the linear module 3 and the height direction of the robot body 5 is less than 30°.
- the motor of the driving assembly 33 is arranged at the bottom of the robot body 5 to lower the center of gravity of the robot and improve the stability of the robot when it moves.
- the linear module 3 is provided on the robot main body 5, the mechanical arm has only one pressing arm 4 extending, which occupies a small space, and the single pressing arm 4 has a small weight and is easy to manipulate.
- a door for opening or closing the storage compartment is opened on any side wall of the robot body 5, and the side wall where the linear module 3 is located is the same as the warehouse door.
- the side walls are adjacent to avoid the mechanical arm blocking the opening of the door.
- the first recognition module is the first camera 6 provided on the top of the robot body 5.
- the first camera 6 is used to obtain the image information of the elevator buttons and transmit it to the main control module.
- the main control module determines the target button's position according to the image information. According to the position of the target button, the linear module 3, the first rotating assembly 1 and the second rotating assembly 2 are controlled to rotate the pressing arm 4, and the touch head 43 of the pressing arm 4 will abut the target button to start the elevator and ride.
- the robot also includes: a wiring tube 7 connected between the linear module 3 and the main control module, the wiring tube 7 is a hollow tube, and the electrical connection line of the first steering gear 11
- the electrical connection wires with the second steering gear 21 are all connected to the main control module through the wiring tube 7.
- the cable pipe 7 is a drag chain.
- the cable pipe can also be other flexible or bendable components.
- the drag chain is only taken as an example in this embodiment, and there is no specific limitation.
- the drag chain is fixedly connected to the slider 32 of the linear module 3, and one end of the drag chain connected to the slider 32 moves with the slider 32.
- the arrangement of the wiring tube 7 can prevent the sliding block 32 in the linear module 3 from scratching the electrical connection line when moving, causing damage to the electrical connection line.
- the wiring tube 7 is set in the robot body where the linear module 3 is installed. 5 on the side wall.
- the robot also includes: a protective frame 8 arranged on the side wall of the robot body 5 where the linear module 3 is installed, and a through slot is provided on the protective frame 8 for accommodating the pressing arm 4.
- the main control module controls the first rotating assembly 1 and the second rotating assembly 2 to control the rotation of the pressing arm 4, and the pressing arm 4 is stored in the through slot of the protective frame 8 to protect the pressing arm 4.
- the robot also includes a protective cover covering the storage space.
- the protective cover in this embodiment is a flexible organ protective cover.
- the protective cover can also be other types of protective cover.
- the flexible organ protective cover is taken as an example, and there is no specific limitation.
- the organ protective cover can well protect against external impacts and impacts, and also has a good dust-proof effect. Since the protective cover has an opening for the pressing arm 4 to pass through, the protective cover can be used without hindering the movement of the pressing arm 4 At the same time protect the pressing arm 4.
- the robot may also include: a second recognition module provided on one end of the pressing arm 4 with a touch head 43, the second recognition module is a second camera, and the second camera is arranged in a horizontal direction for pressing the arm 4 toward the target button
- the image of each button is acquired when moving
- the second recognition module is electrically connected to the main control module, and is used to transmit the real-time image information obtained to the main control module.
- the main control module is used to compare the image information obtained by the second camera with the first
- the image information obtained by the camera 6 cooperates with the analysis to accurately calculate the position of the target button and the movement trend of the pressing arm 4.
- the setting of the second recognition module can improve the accuracy of detecting the position of the target button, thereby improving the accuracy of pressing the target button by the pressing arm 4 and increasing the pressing success rate.
- the robot in this embodiment also includes a distance sensor provided at one end of the pressing arm 4 with a touch head 43, the distance sensor is electrically connected to the main control module, and is used to detect the distance between itself and the plane where the target button is located in real time. That is, the horizontal distance, and the distance information is transmitted to the main control module in real time, and the main control module controls the position of the pressing arm 4 according to the received distance information.
- the distance sensor may be an ultrasonic sensor or an infrared sensor or other types of sensors, which is not specifically limited in this embodiment.
- the end of the pressing arm 4 with the touch head 43 can be provided with a pushing component electrically connected to the main control module.
- the pushing direction of the pushing component is close to the horizontal direction and can be extended and pushed out in the horizontal direction. Pressing the target button will cause the pushing component to push out.
- the direction is close to the horizontal, which can have a larger contact area with the pressed button, which improves the pressing success rate.
- the arrangement of the pushing component can compensate the displacement of the pressing arm 4 in the horizontal direction.
- the pushing component is a push-pull rod type electromagnet, and the pushing direction of the push-pull rod electromagnet is close to horizontal, and is used to expand and contract under the control of the main control module and press the elevator button.
- the robot in this embodiment can obtain the image of the elevator button through the first recognition module and the second recognition module and send it to the main control module for analysis.
- the main control module drives the linear module 3, the first rotating assembly 1, and the second rotating
- the component 2 drives the pressing arm 4 to press the target button, and the robot takes the elevator to the target floor.
- the fifth embodiment of the present application relates to a robot.
- the fifth embodiment is roughly the same as the fourth embodiment, the main difference is: in the fifth embodiment, the robot further includes: a height judgment chip electrically connected to the main control module, and the height judgment chip is used to measure the height of the robot. Information and pass the height information to the main control module.
- the main control module calculates the current floor of the robot based on the height information, determines whether it is necessary to take the elevator, and whether to press the up button or the down button when taking the elevator.
- the sixth embodiment of the present application relates to a robot.
- the sixth embodiment is roughly the same as the fourth embodiment, the main difference is that: in the sixth embodiment, the robot further includes: a short-range communication chip arranged at the end of the pressing arm 4 away from the second rotating assembly 2 for short-range communication
- the chip can be a short-range wireless communication chip NFC or a dual-interface SIM card SIM-pass, so that the robot can be applied to other scenarios, such as passing through gates through NFC or passing through automatic doors through SIM-pass.
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Abstract
一种机械臂，包括：第一旋转组件(1)；第二旋转组件(2)，与第一旋转组件(1)相连，第一旋转组件(1)用于带动第二旋转组件(2)绕第一旋转组件(1)的转动轴线转动；按压臂(4)，与第二旋转组件(2)相连，第二旋转组件(2)用于带动按压臂(4)绕第二旋转组件(2)的转动轴线转动；直线模组(3)，与第一旋转组件(1)相连并驱动第一旋转组件(1)沿直线模组(3)的长度方向移动。还涉及一种包括此机械臂的机器人。该机械臂和机器人，在具有足够大的运动空间、自由度和精度的同时，占用空间较小、重量较小且成本较低。
Description
交叉引用
本申请引用于2019年6月21日递交的名称为“一种机械臂及机器人”的第201910542834.8号中国专利申请，其通过引用被全部并入本申请。
本申请涉及机器人技术领域，特别涉及一种机械臂及机器人。
近年来移动机器人在各行各业的应用日益增加，移动机器人的功能也从单层运输发展到乘坐电梯进行运输。现有技术中，一种方案是对电梯进行物联网改造，这种方案工程量大且有政策监管、安全等风险。另外一种就是通过在机器人身上安装机械手臂，机器人控制机械手臂对电梯的各按钮进行按压以自动操控电梯，从而可以使机器人像人一样乘坐电梯。为了使机械臂能准确点击不同楼层数字的按钮，机械臂需要有足够大的运动空间和自由度、毫米级的运动精度和几牛的点击力。发明人发现：现有技术中一般采用三关节的机械臂，该机械臂为了保证足够的运动空间，关节之间的臂要有足够的长度，靠近执行端的关节的重量对远离执行端的关节和臂影响很大，且臂越长、越多，关节误差在执行端会被放大越多；因此这种三关节的机械臂要有足够的关节动力和精度，足够的臂强度才能满足要求，导致占用空间较大，重量较大，成本也较高。
发明内容
本申请部分实施例的目的在于提供一种机械臂和一种机器人，在具有足够大的运动空间、自由度和精度的同时，占用空间较小、重量较小且成本较低。
为解决上述技术问题，本申请的实施例提供了一种机械臂，包括：第一旋转组件；第二旋转组件，与所述第一旋转组件相连，所述第一旋转组件用于带动所述第二旋转组件绕所述第一旋转组件的转动轴线转动；按压臂，与所述第二旋转组件相连，所述第二旋转组件用于带动所述按压臂绕所述第二旋转组件的转动轴线转动；直线模组，与所述第一旋转组件相连并用于带动所述第一旋转组件沿直线模组的长度方向移动。
本申请的实施例还提供了一种机器人，用于按压按钮，包括：机器人主体、主控模块、 设在所述机器人主体上并与所述主控模块电连接的第一识别模块、如上述的机械臂，所述机械臂设在所述机器人主体上并与所述主控模块电连接，所述第一识别模块用于识别各个按钮的位置，所述主控模块用于根据所述第一识别模块识别的结果判断目标按钮的位置，驱动所述机械臂的按压臂按压目标按钮。
另外，所述第一旋转组件包括：第一舵机，连接所述第二旋转组件，用于带动所述第二旋转组件绕所述第一舵机的转动轴线转动，所述第一舵机的转动轴线为所述第一旋转组件的转动轴线；第一连接件，分别连接所述第一舵机与所述直线模组，用于在所述直线模组的驱动下带动所述第一舵机位移。
另外，所述第二旋转组件包括：第二固定架，与所述第一舵机相连，所述第一舵机具体用于带动所述第二固定架绕所述第一舵机的转动轴线转动；第二舵机，安装在所述第二固定架上并连接所述按压臂，用于带动所述按压臂绕所述第二舵机的转动轴线转动，所述第二舵机的转动轴线为所述第二旋转组件的转动轴线。
另外，所述按压臂包括：臂本体；第二连接件，分别连接所述臂本体和所述第二舵机，用于在所述第二舵机的驱动下带动所述臂本体转动。
另外，所述按压臂还包括：设在所述臂本体远离所述第二连接件的一端的触碰头，所述触碰头为柔性触碰头。
另外，所述按压臂还包括：包覆所述触碰头的导电布。
另外，所述臂本体为直线臂；或所述臂本体为弧形臂；或所述臂本体为弯折臂。
另外，所述直线模组包括：滑道、可滑动的设在所述滑道上的滑块、与所述滑块连接的驱动组件，所述驱动组件用于驱动所述滑块沿所述滑道的长度方向位移，所述滑块与所述第一连接件连接。
另外，所述驱动组件包括：电机、连接在所述电机的驱动轮、绕卷所述驱动轮的传动件，所述滑块固定连接在所述传动件上。
另外，所述第一旋转组件的转动轴线方向与所述第二旋转组件的转动轴线方向相互垂直，所述第一旋转组件的转动轴线方向与所述直线模组的长度方向相互垂直。
另外，所述机器人还包括：走线管，所述走线管的一端固定在所述直线模组的滑块上，另一端固定在所述机器人主体上，所述第一旋转组件和所述第二旋转组件的电连接线用于穿过所述走线管与所述主控模块连接。
另外，所述机器人还包括：保护架，保护架沿所述直线模组的长度方向开设通槽，所述机械臂用于在待机状态时收纳于所述通槽内。
另外，所述机器人还包括：覆盖所述保护架的收纳空间的防护罩，所述防护罩上开设 用于供所述按压臂通过的开口。
另外，所述机器人还包括：设在所述按压臂远离所述第二旋转组件的一端并与所述主控模块电性连接的距离传感器，所述距离传感器用于检测所述距离传感器与所述目标按钮所在平面之间的距离，所述主控模块用于根据所述距离传感器的检测结果控制所述机械臂。
另外，所述机器人还包括：设在所述按压臂远离所述第二旋转组件的一端并与所述主控模块电性连接的推动组件，所述主控模块用于控制所述推动组件按压目标按钮。
另外，所述机器人还包括：设在所述按压臂远离所述第二旋转组件的一端并与所述主控模块电性连接的第二识别模块，所述第二识别模块用于识别所述目标按钮的位置。
另外，所述机器人还包括：与所述主控模块电连接的高度判断芯片，所述高度判断芯片用于测量所述机器人所在的高度信息并将所述高度信息传递给所述主控模块，所述主控模块用于根据所述高度信息判断所述机器人所在的楼层。
另外，所述机器人还包括：设在所述按压臂远离所述第二旋转组件的一端的近距离通信芯片。
另外，所述机械臂设在所述机器人主体的任意一侧面上，所述直线模组的长度方向和所述机器人的高度方向的夹角小于30度。
另外，所述机器人主体有一侧设有仓门，所述机械臂所在的侧面与所述仓门所在的侧面相邻。
一个或多个实施例通过与之对应的附图中的图片进行示例性说明，这些示例性说明并不构成对实施例的限定，附图中具有相同参考数字标号的元件表示为类似的元件，除非有特别申明，附图中的图不构成比例限制。
图1是第一实施例中的机械臂的结构示意图；
图2是第一实施例中的机械臂的爆炸图；
图3是第一实施例中的机械臂的俯视图；
图4是第二实施例中的机械臂的臂本体的结构示意图；
图5是第三实施例中的机械臂的臂本体的结构示意图；
图6是第四实施例中的机器人按压电梯按钮的示意图；
图7是第四实施例中的机器人上机械臂的安装结构示意图；
图8是第四实施例中的机器人的侧视图；
图9是第四实施例中的机器人的俯视图。
为使本申请的目的、技术方案和优点更加清楚，下面将结合附图对本申请的各实施例进行详细的阐述。然而，本领域的普通技术人员可以理解，在本申请各实施例中，为了使读者更好地理解本申请而提出了许多技术细节。但是，即使没有这些技术细节和基于以下各实施例的种种变化和修改，也可以实现本申请所要求保护的技术方案。
本申请的第一实施例涉及一种机械臂，应用于移动机器人上，移动机器人在运输时不再局限与单层运输，而是可以通过乘坐电梯进行多层运输，机械臂用于在机器人乘坐电梯的过程中按压指定的电梯按钮。
如图1所示，机械臂包括：第一旋转组件1、第二旋转组件2、直线模组3和按压臂4，其中按压臂4安装第二旋转组件2上，可以绕第二旋转组件2的转动轴线转动，第一旋转组件1与第二旋转组件2连接，用于在第一旋转组件1的转动轴线方向上带动第二旋转组件2转动，第一旋转组件1与直线模组3相连，直线模组3用于在直线模组3的长度方向上驱动第一旋转组件1位移。而第一旋转组件1的转动轴线方向与第二旋转组件2的转动轴线方向相互垂直，第一旋转组件1的转动轴线方向与直线模组3的长度方向相互垂直。
由上可知，按压臂4在第二旋转组件2、第一旋转组件1和直线模组3的带动下，可绕两个相互垂直的轴线方向旋转，并可以在一个方向上进行位移，按压臂4具有3个自由度，3个自由度使得按压臂4具有在机器人停止不动时点击不同按钮的足够自由度、较大的运动空间和运动精度，只要按压臂4具有足够的长度，直线模组3具有足够的行程，按压臂4点击端就有足够的运动范围，就可以对一定范围内的按钮进行准确的按压。同时在机械臂中，第一旋转组件1和第二旋转组件2均为机械臂的关节。在现有技术的机械臂中，一般相邻的关节之间均通过臂连接，通过臂传递关节的转矩；而本实施例中的机械臂中，通过将第一旋转组件1和第二旋转组件2连接，将第一旋转组件1的转矩均通过第二旋转组件2传输给按压臂4，使得第一旋转组件1和第二旋转组件2之间无需通过臂进行连接，大大降低了机械臂的占用空间，同时通过减小了臂的数量而减小了机械臂的重量，降低了转动所需的驱动力，提升了机械臂运动的精确性，降低了机械臂的成本。同时值得注意的是，直线模组3的位移可以补偿因臂的数量减小带来的运动空间上的损失，本实施例中的机械臂在节省了占用空间、重量和成本的同时，依然具有足够的运动空间。
其中，如图2所示，按压臂4包括：臂本体41、连接在臂本体41和第二旋转组件2之间的第二连接件42，其中臂本体41为直线臂。结合图2和图3，第二旋转组件2包括：第二安装架和安装在第二安装架上的第二舵机21，第二舵机21的输出轴的转动轴线为第二旋转组件2的转动轴线，按压臂4的第二连接件42与第二舵机21的输出轴相连；第一旋转组 件1包括：第一舵机11和第一连接件12，第一舵机11的输出轴的转动轴线为第一旋转组件1的转动轴线，第二安装架连接在第一舵机11的输出轴上，第一连接件12则分别连接第一舵机11与直线模组3，直线模组3用于通过第一连接件12带动第一舵机11进行位移。
直线模组3包括：滑道31、滑动的设在滑道31内的滑块32、用于驱动滑块32运动的驱动组件33，滑块32与第一连接件12连接。本实施例中滑道31沿竖直方向设置，当然，滑动也可以沿其他方向设置，如水平方向或倾斜设置，本实施例中仅以竖直设置为例，不做具体限定。其中驱动组件33包括：电机、连接在电机上的驱动轮、绕卷驱动轮的传动件，传动件可以为皮带或链条等部件，本实施例中以皮带为例，不做具体限定。驱动组件33还包括与驱动轮相对的传动轮，驱动轮和传动轮分别位于滑道31长度方向上的两端，电机工作时带动驱动轮转动，皮带与滑块32固定连接，皮带在驱动轮和传动轮之间传动时，带动滑块32在滑道31内位移。
由上可知，驱动组件33驱动滑块32位移，即可带动第一旋转组件1、第二旋转组件2和按压臂4进行位移，第一旋转组件1转动即可带动第二旋转组件2和按压臂4进行转动，第二旋转组件2可以直接带动按压臂4进行转动，臂本体41在直线模组3、第一旋转组件1和第二旋转组件2的带动下位移，运动到各个位置按压按钮。
机械臂可以按压不同位置的按钮，本实施例中，以电梯按钮为例，不做具体限定。按压臂4还包括：设在臂本体41远离第二连接件42一端的触碰头43，触碰头43设在臂本体41的头部，触碰头43由柔性材料制成，可以为橡胶触碰头43或海绵触碰头43，柔性的触碰头43可以缓冲臂本体41与按钮的冲击，避免按压按钮的力过大造成按钮损坏。另外，按压臂4还可以包括：包覆触碰头43的导电布，带有导电布的触碰头43可以点击电容式按钮，增加可按压的按钮的种类。
本申请的第二实施例涉及一种机械臂。第二实施例与第一实施例大致相同，主要区别之处在于：在第一实施例中，臂本体41为直线臂。而在本申请第二实施例中，如图4所示，臂本体41为弧形臂，臂本体41朝地面方向弯曲至臂本体41的远离第二旋转组件2的一端接近竖直。由于电梯按钮为竖直设置在墙壁上，则臂本体41的头端面与竖直方向的夹角越小，则按压按钮时与按钮的接触面积越大，按压的成功率越高，同时可以减小对按钮的压强，保护按钮。
本申请的第三实施例涉及一种机械臂。第二实施例与第一实施例大致相同，主要区别之处在于：在第一实施例中，臂本体41为直线臂。而在本申请第二实施例中，如图5所示，臂本体41为弯折臂，臂本体41可以具有多段弯折，本实施例中仅以一处弯折为例，不做具体限定。臂本体41在弯折后形成：互成一定角度的第一臂本体411和第二臂本体412，第一 臂本体41与第二旋转组件2相连，作为优选的，第一臂本体411和第二臂本体412之间的角度为钝角，第二臂本体411远离第一臂本体412的端面接近竖直，用于提升按压的成功率，保护按钮。
本申请第四实施例涉及一种机器人，用于在楼梯内行走，并按压电梯按钮，乘坐电梯。如图6和图7所示，机器人包括：机器人主体5、主控模块、设在机器人主体5上的第一识别模块、如第一实施例至第三实施例中任一种机械臂，机器人主体5为方形，机械臂的直线模组3的滑道31设在机器人主体5的任意一个侧壁上，本实施例中，直线模组3竖直设置，便于在竖直方向上驱动按压臂4，当然，直线模组3也可以沿其他方向设置，只需保持直线模组3的长度方向与机器人主体5的高度方向的夹角小于30°即可，本实施例中仅以竖直设置为例，不做具体限定。同时，驱动组件33的电机设在机器人主体5的底部，用于降低机器人的重心，提升机器人移动时的稳定性。在本实施例的机器人中，由于直线模组3设在机器人主体5上，机械臂只有一根按压臂4伸出，占用空间小，且单根按压臂4的重量小易于操控。
值得注意的是，机器人主体5内设有储物仓，在机器人主体5的任意一个侧壁上开设用于开启或封闭储物仓的仓门，直线模组3所在的侧壁与仓门所在的侧壁相邻，以避免机械臂阻挡仓门的开启。
本实施例中第一识别模块为设在机器人主体5顶部的第一摄像头6，第一摄像头6用于获取电梯按钮的图像信息并传递给主控模块，主控模块根据图像信息判断目标按钮的位置，并根据目标按钮的位置来控制直线模组3、第一旋转组件1和第二旋转组件2转动按压臂4，将按压臂4的触碰头43抵触目标按钮，启动电梯并乘坐。
值得注意的是，为了便于走线，机器人还包括：连接在直线模组3与主控模块之间的走线管7，走线管7为中空管，第一舵机11的电连接线和第二舵机21的电连接线均通过走线管7与主控模块进行连接。其中，本实施例中，走线管7为拖链，当然，走线管也可以为其他柔性或可弯曲的部件，本实施例中仅以拖链为例，不做具体限定。拖链与直线模组3的滑块32固定连接，拖链连接滑块32的一端随滑块32移动。走线管7的设置可以避免直线模组3内的滑块32在移动时蹭刮电连接线，导致电连接线损坏的情况，走线管7设在直线模组3所安装在的机器人主体5的侧壁上。
同时，如图8和图9所示，机器人还包括：设在机器人主体5安装有直线模组3的侧壁上的防护架8，防护架8上开设通槽，通槽用于收纳按压臂4。机械臂待机状态时，主控模块控制第一旋转组件1和第二旋转组件2控制按压臂4转动，将按压臂4收纳在防护架8的通槽内，保护按压臂4。另外，机器人还包括：覆盖收纳空间的防护罩，为了不阻碍按压 臂4的运动，本实施例中的防护罩为柔性风琴防护罩，当然，防护罩也可以为其他类型的防护罩，本实施例中仅以柔性风琴防护罩为例，不做具体限定。风琴防护罩可以很好的保护外界的撞击和冲击，也具有良好的防尘效果，由于防护罩上开设用于供按压臂4通过的开口，使得防护罩可以在不阻碍按压臂4的运动的同时保护按压臂4。
同时，机器人还可以包括：设在按压臂4带有触碰头43一端的第二识别模块，第二识别模块为第二摄像头，第二摄像头朝水平方向设置，用于在按压臂4向目标按钮移动时获取各按钮的图像，第二识别模块与主控模块电性连接，用于将实时获取的图像信息传递给主控模块，主控模块用于根据第二摄像头获取的图像信息与第一摄像头6获取的图像信息配合分析，精确计算目标按钮的位置和按压臂4的运动趋势。第二识别模块的设置可以提升目标按钮位置检测的精准度，进而提升按压臂4按压目标按钮的精准度，提升按压成功率。
另外值得注意的是，由于第一摄像头6拍摄的图像为平面图像，主控模块在检测目标按钮的位置时，无法很好的检测到与目标按钮所在平面之间的距离。本实施例中的机器人还包括：设在按压臂4带有触碰头43的一端的距离传感器，距离传感器与主控模块电性连接，用于实时检测自身与目标按钮所在平面之间的距离，即水平距离，并实时将距离信息传递给主控模块，主控模块根据接收的距离信息控制按压臂4的位置。距离传感器可以为超声波传感器或红外传感器或其他类型的传感器，本实施例中不做具体限定。
另外，按压臂4带有触碰头43的一端可以设置有与主控模块电连接的推动组件，推动组件的推动方向贴近水平方向，可沿水平方向延伸推出，按压目标按钮，由于推动组件的推出方向接近水平，可以与按压按钮具有较大的接触面积，提升按压成功率。推动组件的设置可以补偿按压臂4在水平方向的位移。本实施例中，推动组件为推拉杆式电磁铁，推拉杆电磁铁的推动方向接近水平，用于在主控模块的控制下伸缩，按压电梯按钮。
本实施例中的机器人，可以通过第一识别模块和第二识别模块获取电梯按钮的图像并传给主控模块进行分析，主控模块驱动直线模组3、第一旋转组件1和第二旋转组件2带动按压臂4按压目标按钮，机器人乘坐电梯前往目标楼层。通过保护架和防护罩的设置，可以更好的保护按压臂4，通过距离传感器的设置，可以更加精确的获取目标按钮的位置；通过推动组件的设置则可以更好的按压目标按钮。
本申请第五实施例涉及一种机器人。第五实施例与第四实施例大致相同，主要区别之处在于：在第五实施例中，机器人还包括：与主控模块电连接的高度判断芯片，高度判断芯片用于测量机器人所在的高度信息并将高度信息传递给主控模块。主控模块根据高度信息来计算机器人当前所在楼层，判断是否需要乘坐电梯，以及在乘坐电梯时需按压上升按钮还是下降按钮。
本申请第六实施例涉及一种机器人。第六实施例与第四实施例大致相同，主要区别之处在于：在第六实施例中，机器人还包括：设在按压臂4远离第二旋转组件2一端的近距离通信芯片，近距离通信芯片可以为近距离无线通信芯片NFC或双界面SIM卡SIM-pass，使得机器人可以适用于其他场景，如通过NFC过闸机，或通过SIM-pass过自动门等。
本领域的普通技术人员可以理解，上述各实施例是实现本申请的具体实施例，而在实际应用中，可以在形式上和细节上对其作各种改变，而不偏离本申请的精神和范围。
Claims (21)
- 一种机械臂，包括：第一旋转组件；第二旋转组件，与所述第一旋转组件相连，所述第一旋转组件用于带动所述第二旋转组件绕所述第一旋转组件的转动轴线转动；按压臂，与所述第二旋转组件相连，所述第二旋转组件用于带动所述按压臂绕所述第二旋转组件的转动轴线转动；直线模组，与所述第一旋转组件相连并用于带动所述第一旋转组件沿直线模组的长度方向移动。
- 根据权利要求1所述的机械臂，其中，所述第一旋转组件包括：第一舵机，连接所述第二旋转组件，用于带动所述第二旋转组件绕所述第一舵机的转动轴线转动，所述第一舵机的转动轴线为所述第一旋转组件的转动轴线；第一连接件，分别连接所述第一舵机与所述直线模组，用于在所述直线模组的驱动下带动所述第一舵机位移。
- 根据权利要求2所述的机械臂，其中，所述第二旋转组件包括：第二固定架，与所述第一舵机相连，所述第一舵机具体用于带动所述第二固定架绕所述第一舵机的转动轴线转动；第二舵机，安装在所述第二固定架上并连接所述按压臂，用于带动所述按压臂绕所述第二舵机的转动轴线转动，所述第二舵机的转动轴线为所述第二旋转组件的转动轴线。
- 根据权利要求2所述的机械臂，其中，所述按压臂包括：臂本体；第二连接件，分别连接所述臂本体和所述第二舵机，用于在所述第二舵机的驱动下带动所述臂本体转动。
- 根据权利要求4所述的机械臂，其中，所述按压臂还包括：设在所述臂本体远离所述第二连接件的一端的触碰头，所述触碰头为柔性触碰头。
- 根据权利要求5所述的机械臂，其中，所述按压臂还包括：包覆所述触碰头的导电布。
- 根据权利要求4所述的机械臂，其中，所述臂本体为直线臂；或所述臂本体为弧形臂；或所述臂本体为弯折臂。
- 根据权利要求2所述的机械臂，其中，所述直线模组包括：滑道、可滑动的设在所述 滑道上的滑块、与所述滑块连接的驱动组件，所述驱动组件用于驱动所述滑块沿所述滑道的长度方向位移，所述滑块与所述第一连接件连接。
- 根据权利要求8所述的机械臂，其中，所述驱动组件包括：电机、连接在所述电机的驱动轮、绕卷所述驱动轮的传动件，所述滑块固定连接在所述传动件上。
- 根据权利要求1所述的机械臂，其中，所述第一旋转组件的转动轴线方向与所述第二旋转组件的转动轴线方向相互垂直，所述第一旋转组件的转动轴线方向与所述直线模组的长度方向相互垂直。
- 一种机器人，包括：机器人主体、主控模块、设在所述机器人主体上并与所述主控模块电连接的第一识别模块、以及如权利要求1-10中任一项所述的机械臂，所述机械臂设在所述机器人主体上并与所述主控模块电连接，所述第一识别模块用于识别各个按钮的位置，所述主控模块用于根据所述第一识别模块识别的结果判断目标按钮的位置，驱动所述机械臂的按压臂按压所述目标按钮。
- 根据权利要求11所述的机器人，其中，所述机器人还包括：走线管，所述走线管的一端固定在所述直线模组的滑块上，另一端固定在所述机器人主体上，所述第一旋转组件和所述第二旋转组件的电连接线用于穿过所述走线管与所述主控模块连接。
- 根据权利要求11所述的机器人，其中，所述机器人还包括：保护架，保护架沿所述直线模组的长度方向开设通槽，所述机械臂用于在待机状态时收纳于所述通槽内。
- 根据权利要求13所述的机器人，其中，所述机器人还包括：覆盖所述保护架的收纳空间的防护罩，所述防护罩上开设用于供所述按压臂通过的开口。
- 根据权利要求11所述的机器人，其中，所述机器人还包括：设在所述按压臂远离所述第二旋转组件的一端并与所述主控模块电性连接的距离传感器，所述距离传感器用于检测所述距离传感器与所述目标按钮所在平面之间的距离，所述主控模块用于根据所述距离传感器的检测结果控制所述机械臂。
- 根据权利要求11所述的机器人，其中，所述机器人还包括：设在所述按压臂远离所述第二旋转组件的一端并与所述主控模块电性连接的推动组件，所述主控模块用于控制所述推动组件按压目标按钮。
- 根据权利要求11所述的机器人，其中，所述机器人还包括：设在所述按压臂远离所述第二旋转组件的一端并与所述主控模块电性连接的第二识别模块，所述第二识别模块用于识别所述目标按钮的位置。
- 根据权利要求11所述的机器人，其中，所述机器人还包括：与所述主控模块电连接的高度判断芯片，所述高度判断芯片用于测量所述机器人所在的高度信息并将所述高度信息 传递给所述主控模块，所述主控模块用于根据所述高度信息判断所述机器人所在的楼层。
- 根据权利要求11所述的机器人，其中，所述机器人还包括：设在所述按压臂远离所述第二旋转组件的一端的近距离通信芯片。
- 根据权利要求11所述的机器人，其中，所述机械臂设在所述机器人主体的任意一侧面上，所述直线模组的长度方向和所述机器人的高度方向的夹角小于30度。
- 根据权利要求20所述的机器人，其中，所述机器人主体有一侧设有仓门，所述机械臂所在的侧面与所述仓门所在的侧面相邻。
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