WO2023035484A1 - Cadre de robot - Google Patents

Cadre de robot Download PDF

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Publication number
WO2023035484A1
WO2023035484A1 PCT/CN2021/139866 CN2021139866W WO2023035484A1 WO 2023035484 A1 WO2023035484 A1 WO 2023035484A1 CN 2021139866 W CN2021139866 W CN 2021139866W WO 2023035484 A1 WO2023035484 A1 WO 2023035484A1
Authority
WO
WIPO (PCT)
Prior art keywords
frame
plate
installation
connection
front wheel
Prior art date
Application number
PCT/CN2021/139866
Other languages
English (en)
Chinese (zh)
Inventor
张笛
张益通
梁明强
钟志鸣
Original Assignee
东莞市本末科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 东莞市本末科技有限公司 filed Critical 东莞市本末科技有限公司
Publication of WO2023035484A1 publication Critical patent/WO2023035484A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators

Definitions

  • the invention relates to the technical field of robots, in particular to a robot frame.
  • a robot is an intelligent machine that can work semi-autonomously or fully autonomously.
  • Robots have basic characteristics such as perception, decision-making, and execution. They can assist or even replace humans in completing dangerous, heavy, and complicated tasks, improve work efficiency and quality, and serve human life. Expand or extend the scope of human activities and abilities.
  • Existing robots generally include racks and moving wheels, and some robots include The leg structure cooperates with the moving wheel set to realize various actions, and the auxiliary wheels are needed to cooperate with the movement of the robot body during the action process, so the robot body has auxiliary wheels, generally the auxiliary wheels are universal transmission wheels.
  • the frame of the robot is a necessary structure of the structure.
  • the existing robot and its structure are single, and the stability is relatively poor, which affects the robot to make various actions.
  • the present invention provides a robot frame that integrates multiple structures on the frame body, the overall structure design is reasonable, and the structure is stable and reliable.
  • a robot frame includes a frame body, the frame body includes two opposite installation side plates, and multiple sets of beam shafts erected between the two installation side plates; a connecting panel is installed on the beam shaft and located on the The upper surface of the frame body; the induction installation mechanism is installed on the front end of the frame body; the control installation mechanism is installed on the frame body and is located on the upper side of the induction installation mechanism, and the control installation mechanism is equipped with a control panel; the front wheel assembly , installed on the side where the side plate is installed and close to the induction installation mechanism; the rear wheel assembly is installed on the side of the rack body away from the induction installation mechanism; the battery assembly is installed inside the rack body and is electrically connected to the control board.
  • the present invention integrates multiple structures on the frame body, the overall structure design is reasonable, the structure is stable and reliable, and the connection panels are respectively set for the connection of the load, and different loads can be replaced arbitrarily.
  • the installation mechanism is used for the installation of robot sensing components, and the control installation mechanism is used for the installation of structures such as control boards.
  • the front wheel assembly and the rear wheel assembly ensure the overall stability of the robot when it moves horizontally. Power supply, good structural stability.
  • a frame body is provided, and the frame body includes two opposite installation side plates and multiple sets of beam shafts erected between the two installation side plates; the connecting panel is installed on the beam shaft and is located on the frame The upper surface of the body; the induction installation mechanism is installed on the front end of the frame body; the control installation mechanism is installed on the frame body and is located on the upper side of the induction installation mechanism, and the control installation mechanism is equipped with a control panel; the front wheel assembly is installed The side plate is installed on the side close to the induction installation mechanism; the rear wheel assembly is installed on the side of the frame body away from the induction installation mechanism; the battery assembly is installed inside the frame body and electrically connected to the control board.
  • the overall structure is simple, the design is reasonable, the operation is stable, it is suitable for the robot to make various actions, and the structure is rigid.
  • Fig. 1 is a schematic diagram of the three-dimensional structure of the robot frame of the present invention.
  • Fig. 2 is a schematic diagram of the exploded structure of the robot rack in Fig. 1 .
  • Fig. 3 is a schematic diagram of an exploded structure from another perspective of the robot rack in Fig. 1 .
  • FIG. 4 is a schematic structural diagram of the front wheel assembly of the robot rack in FIG. 1 .
  • Fig. 5 is a structural schematic diagram of the rear wheel assembly of the robot rack in Fig. 1 .
  • FIG. 6 is a schematic diagram of the exploded structure of the battery assembly of the robot rack in FIG. 1 .
  • rack body 1 installation side plate 11, rubber outer edge 111, weight reduction groove 112, grip groove 113, driving installation position 114, first slot 115, first expansion slot 115a, second insertion slot Slot 116, second expansion slot 116a, beam axis 12, fixing element 121, connection panel 2, first connection panel 21, second installation panel 22, installation area 23, induction installation mechanism 3, beam lower plate 31, first insertion Connecting part 311, crossbeam upper plate 32, second socket part 321, fixed connection seat 33, protective cover 34, induction mounting plate 35, front bottom bracket 36, control mounting mechanism 4, control board 41, mounting panel 42, upper end connection Part 43, connecting hinge 431, opening and closing cover plate 44, lower end connecting part 45, front wheel assembly 5, front wheel bracket 51, front wheel connecting column 511, front wheel connecting plate 512, reinforcing rib 513, front wheel shaft 514, universal Wheel set 52, front wheel frame 521, front transverse groove 522, front wheel transverse roller 523, rear wheel assembly 6, rear wheel support 61, rear wheel axle 62, wheel axle
  • a robot frame includes a frame body 1, and the frame body 1 includes two oppositely arranged installation side plates 11, and a plurality of groups erected between the two installation side plates 11.
  • the beam shaft 12; the connecting panel 2 is installed on the beam shaft 12 and is located on the upper surface of the frame body 1; the induction installation mechanism 3 is installed on the front end of the frame body 1; the control installation mechanism 4 is installed on the frame body 1 and Located on the upper side of the induction installation mechanism 3, the control installation mechanism 4 is equipped with a control panel 41; the front wheel assembly 5 is installed on the installation side plate 11 and is close to the side of the induction installation mechanism 3; the rear wheel assembly 6 is installed on the machine The side of the frame body 1 away from the induction installation mechanism 3 ; the battery assembly 7 is installed inside the frame body 1 and electrically connected to the control board 41 .
  • the outer edge of the installation side plate 11 is covered with a rubber outer edge 111; the installation side plate 11 is evenly distributed with several weight-reducing grooves 112, the overall use strength is high, the weight is light, and at the same time the outer edge after processing It is an acute angle, through the coating of the rubber outer edge 111, the acute angle is wrapped to ensure the safety factor of use, and there are several weight-reducing grooves 112 evenly distributed on the installation side plate 11; setting the weight-reducing groove 112 can further reduce the structure. weight, reducing the load on the robot.
  • the top of the installation side plate 11 is provided with a grip groove 113, and the underside of the installation side plate 11 is located at the grip groove 113 and is provided with a drive installation position 114, and the drive installation position 114 is provided with several drive connection holes;
  • the groove 113 can be used to hold the handle for the structure, and the drive installation position 114 is used for the installation of the drive structure, and the drive connection hole is used for penetrating the screw and locking and fixing the drive structure, so that the structure is easy to install.
  • the two ends of the beam shaft 12 are provided with fixing elements 121 fixedly installed on the installation side plate 11, and the fixing elements 121 are screws or nuts; according to the processing conditions at the two ends of the beam shaft 12, the fixing elements 121 are nuts if they are selected as threaded columns. Screws are used for the threaded holes, and gaskets are generally provided for the connection between the two, so as to prevent damage to the installation side plate 11 while ensuring the stability of the structural connection.
  • connection panel 2 includes a first connection panel 2 installed on the beam shaft 12, and a second installation panel 22 detachably installed on the first connection panel 21, and the second installation panel 22 is provided with an installation area 23.
  • the installation area 23 can be designed arbitrarily according to the structure of the load, and has strong versatility .
  • the inductive installation mechanism 3 includes a beam lower plate 31 and a beam upper plate 32 connected to the installation side plate 11, and a fixed connection seat 33 that connects the beam lower plate 31, the beam upper plate 32 and the installation side plate 11 fixedly.
  • the protective cover 34 sleeved on the upper beam 32 and the lower beam 31, the induction mounting plate 35 installed on the lower beam 31 and corresponding to the protective cover 34, and connected to the bottom of the induction mounting plate 35 and connected to the installation side plate 11
  • the front end bottom bracket 36 of the front end, through the beam upper plate 32 and the beam lower plate 31 combined with the fixed connection seat 33 so that the structure is fixedly connected with the installation side plate 11, while ensuring the structural rigidity of the frame body 1, it is also convenient for the protective cover 34 and After the installation of the induction mounting plate 35, the protective cover 34 plays a protective role to the internal structure after installation, and even if a collision occurs, the internal induction structure can also be protected.
  • the lower beam 31 is provided with a first insertion portion 311
  • the upper beam 32 is provided with a second insertion portion 321
  • the installation side plate 11 is provided with a first slot 115 and a second slot 116.
  • the first insertion part 311 is inserted into the first slot 115
  • the second insertion part 321 is inserted into the second slot 116
  • the inner end of the first slot 115 is provided with a first expansion slot 115a
  • the inner end of the second slot 116 is provided with a second expansion slot 116a, through the mating connection between the socket part and the socket slot, the stability of the structure and the connection strength are further ensured.
  • the expansion slot can play the role of expansion buffer , the impact force of the rack body 1 can be reduced when the rack body 1 is impacted or the like.
  • the control installation mechanism 4 includes a mounting panel 42 connected to the battery assembly 7, an upper connecting portion 43 provided on the frame body 1, an opening and closing cover plate 44 that can be opened and closed connected to the upper connecting portion 43, and Connected to the lower connecting portion 45 of the induction installation mechanism 3;
  • the upper connecting portion 43 is provided with a connecting hinge 431, the opening and closing cover 44 is connected to the connecting hinge 431, and the opening and closing cover 44 is connected to the installation panel 42
  • There is a placement chamber the control board 41 is placed in the placement chamber and connected to the installation panel 42, and the opening and closing cover plate 44 can be used to open and close the placement chamber, perform operations such as maintenance or writing data on the control board 41, and Connected by connecting hinge 431, the overall structure is simple and easy to use.
  • the front wheel assembly 5 includes a front wheel bracket 51 connected to the installation side plate 11, and a front universal wheel group 52 installed on the front wheel bracket 51, and the front wheel bracket 51 includes a front wheel bracket connected to the installation side plate 11 front wheel connecting column 511, the front wheel connecting plate 512 that is connected to the front wheel connecting column 511, the reinforcing rib 513 that is connected between the front wheel connecting plate 512 and the installation side plate 11, and erects between the front wheel connecting plate 512 and the
  • the front wheel shaft 514 between the side plates 11 is installed, and the front universal wheel group 52 is rotatably mounted on the front wheel shaft 514; the front wheel bracket 51 is used for the installation of the front universal wheel group 52, and the overall stability is structurally matched. Good, easy to install, high support strength, and set reinforcement rib 513 connection, high impact strength.
  • the front universal wheel set 52 includes a front wheel frame 521, a front transverse groove 522 circumferentially opened on the front wheel frame 521, and a front wheel transverse roller 523 installed in the front transverse groove 522.
  • the rear wheel assembly 6 includes a rear wheel bracket 61, a rear wheel shaft 62 mounted on the mounting side plate 11 and connected to the rear wheel bracket 61, and a rear universal wheel group 63 mounted on the rear wheel shaft 62.
  • the rear wheel support 61 includes a rear end plate 64 connected to the rear wheel shaft 62 and a bottom bracket 65, the rear wheel shaft 62 is centered with a wheel shaft connection seat 621, and the wheel shaft connection seat 621 is connected to the rear end plate 64 and the bottom bracket 65. Connection; the rear end plate 64 and the bottom support plate 65 are used to connect and fix the rear wheel shaft 62, which facilitates the transmission of the rear universal wheel set 63 and keeps moving stably.
  • the rear universal wheel set 63 includes a rear wheel frame 631, a rear transverse groove 632 circumferentially opened on the rear wheel frame 631, and a rear wheel transverse roller 633 installed in the rear transverse groove 632.
  • the battery assembly 7 includes a mounting frame 71, a battery module 72 installed in the mounting frame 71, a power switch 73 located on one side of the mounting frame 71, and a connection assembly 74 connected to the mounting frame 71.
  • the battery module 72 is covered with a flexible plate, the flexible plate is attached to the installation frame 71, and the connection assembly 74 includes an upper connection seat 741 located at the top of the installation frame 71 and a lower end located at the bottom of the installation frame 71
  • the connecting seat 742, the installation frame 71 is fixedly installed through the upper connecting seat 741 and the lower connecting seat 742,
  • the protection effect on the battery module 72 is good, and the flexible plate is covered on the battery module 72 to reduce the vibration during the working process of the robot and further improve the protection effect of the structure.
  • the mounting frame 71 includes a frame bottom plate 711, two groups of frame side plates 712 erected on both sides of the frame bottom plate 711, a frame front end plate 713 and a frame rear end plate 714 respectively connected to the frame side plate 712 and the frame bottom plate 711 two ends, and
  • the frame top plate 715 that is arranged on the front end plate 713 of the frame and the rear end plate 714 of the frame and is connected with the frame side plate 712, the upper end connection seat 741 is installed on the frame top plate 715, and the lower end connection seat 742 is installed on the frame bottom plate 711;
  • the installation frame 71 formed by processing the plate has a good protection effect on the battery module 72, and the battery module 72 is covered with a flexible plate to reduce the vibration during the robot's work and further improve the protection effect of the structure.
  • a connecting component 74 is provided It is used to connect the installation frame 71 with the body structure of the robot, and the structure is easy to install, stable and reliable.
  • the frame bottom plate 711, the frame side plate 712, the frame front end plate 713 and the frame rear end plate 714 are all provided with a weight-reducing heat dissipation groove 716; Snap together to form a rectangular placement cavity, the battery module 72 is placed in the rectangular placement cavity; two sets of frame side plates 712 are connected with each other by connecting columns; two sets of frame side plates 712 are provided with connecting columns They are connected to each other and adopt the assembly method of interlocking, which is convenient for assembly and reliable in structure, and a connecting column is set for fixed connection, which further ensures the stability and reliability of the structure.
  • the front end plate 713 of the frame is provided with extensions 713a toward both sides, and the extensions 713a are evenly distributed with several connecting holes, which can be used for the control module of the robot to cooperate and install through the extensions 713a and the connecting holes, the structure is convenient for installation, and Multiple connection holes can be adjusted and installed according to the structure, and the application range is wide.
  • the upper connecting seat 741 is provided with a first connecting shaft 741a, and the first connecting shaft 741a is installed on the mounting frame 71.
  • the upper connecting seat 741 is provided with two groups and is distributed on both sides of the mounting frame 71.
  • the lower end is connected to
  • Seat 742 is provided with second connecting shaft 742a, and described second connecting shaft 742a is installed on installation frame 71, and described lower end connecting seat 742 is provided with two groups, and is distributed in the both sides of installation frame 71;
  • the connecting shaft 741a is connected with the second connecting shaft 742a, the structural connection is stable, and the installation is convenient.
  • the present invention integrates multiple structures on the frame body 1, the overall structure design is reasonable, the structure is stable and reliable, the connection panels 2 are respectively provided for the connection of loads, different loads can be replaced arbitrarily, and the induction installation mechanism 3 is provided for the robot
  • the installation of the induction components, the control installation mechanism 4 is used for the installation of structures such as the control board 41, the front wheel assembly 5 and the rear wheel assembly 6 ensure the overall stability of the robot when it moves horizontally, in addition, the battery assembly 7 is set for the robot Power supply, good structural stability.
  • a frame body 1 is provided, and the frame body 1 includes two opposite installation side plates 11 and multiple sets of beam shafts 12 erected between the two installation side plates 11; the connecting panel 2 is installed on The beam shaft 12 is also located on the upper surface of the frame body 1; the induction installation mechanism 3 is installed on the front end of the frame body 1; the control installation mechanism 4 is installed on the frame body 1 and is located on the upper side of the induction installation mechanism 3.
  • the control installation mechanism 4 is equipped with a control board 41; the front wheel assembly 5 is installed on the installation side plate 11 and close to the side of the induction installation mechanism 3; the rear wheel assembly 6 is installed on the frame body 1 and away from the side of the induction installation mechanism 3 ; The battery assembly 7 is installed inside the frame body 1 and is electrically connected to the control board 41 .
  • the overall structure is simple, the design is reasonable, the operation is stable, it is suitable for the robot to make various actions, and the structure is rigid.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)

Abstract

La présente invention concerne un cadre de robot, comprenant : un corps de cadre (1), le corps de cadre (1) comprenant deux plaques latérales de montage (11) disposées en regard l'une de l'autre et de multiples ensembles d'arbres de poutre (12) érigés entre les deux plaques latérales de montage (11) ; un panneau de liaison (2) monté sur les arbres de poutre (12) et situé sur la surface supérieure du corps de cadre (1) ; un mécanisme de montage par induction (3) monté sur l'extrémité avant du corps de cadre (1) ; un mécanisme de montage de commande (4) monté sur le corps de cadre (1) et situé sur le côté supérieur du mécanisme de montage par induction (3), le mécanisme de montage de commande (4) étant monté avec une plaque de commande (41) ; un ensemble roue avant (5) monté sur les plaques latérales de montage (11) et sur le côté proche du mécanisme de montage par induction (3) ; un ensemble roue arrière (6) monté sur le corps de cadre (1) et sur le côté distant du mécanisme de montage par induction (3) ; et un ensemble batterie (7) monté à l'intérieur du corps de cadre (1) et connecté électriquement à la plaque de commande (41). Le cadre de robot décrit intègre une pluralité de structures sur le corps de cadre (1), la conception structurale globale est raisonnable et la structure est stable et fiable.
PCT/CN2021/139866 2021-09-10 2021-12-21 Cadre de robot WO2023035484A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202111063347.7 2021-09-10
CN202111063347.7A CN113664799A (zh) 2021-09-10 2021-09-10 一种机器人机架

Publications (1)

Publication Number Publication Date
WO2023035484A1 true WO2023035484A1 (fr) 2023-03-16

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ID=78549065

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Application Number Title Priority Date Filing Date
PCT/CN2021/139866 WO2023035484A1 (fr) 2021-09-10 2021-12-21 Cadre de robot

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CN (1) CN113664799A (fr)
WO (1) WO2023035484A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113664799A (zh) * 2021-09-10 2021-11-19 东莞市本末科技有限公司 一种机器人机架

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CN106826747A (zh) * 2016-12-27 2017-06-13 华东交通大学 一种基于机器视觉的水果采摘机器人
CN106938666A (zh) * 2017-03-17 2017-07-11 西南交通大学 一种全地形移动机器人底盘
CN109156165A (zh) * 2018-09-20 2019-01-08 邵立坤 一种水果采摘分级装箱机器人
CN109792888A (zh) * 2019-03-25 2019-05-24 山东交通学院 双臂苹果采摘梯形分级收集机器人及其采摘分级作业方法
US20190291955A1 (en) * 2018-03-20 2019-09-26 Bastian Solutions, Llc Robotic shuttle system
US20200269425A1 (en) * 2019-02-27 2020-08-27 Honda Motor Co., Ltd. Vehicle transport apparatus
CN113664799A (zh) * 2021-09-10 2021-11-19 东莞市本末科技有限公司 一种机器人机架

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102310403A (zh) * 2010-07-07 2012-01-11 中国科学院沈阳自动化研究所 具有自适应能力的轮-履复合变形移动机器人
CN106826747A (zh) * 2016-12-27 2017-06-13 华东交通大学 一种基于机器视觉的水果采摘机器人
CN106938666A (zh) * 2017-03-17 2017-07-11 西南交通大学 一种全地形移动机器人底盘
US20190291955A1 (en) * 2018-03-20 2019-09-26 Bastian Solutions, Llc Robotic shuttle system
CN109156165A (zh) * 2018-09-20 2019-01-08 邵立坤 一种水果采摘分级装箱机器人
US20200269425A1 (en) * 2019-02-27 2020-08-27 Honda Motor Co., Ltd. Vehicle transport apparatus
CN109792888A (zh) * 2019-03-25 2019-05-24 山东交通学院 双臂苹果采摘梯形分级收集机器人及其采摘分级作业方法
CN113664799A (zh) * 2021-09-10 2021-11-19 东莞市本末科技有限公司 一种机器人机架

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