CN106113055A - A kind of auto-unlocking robot - Google Patents

Abstract

The invention discloses an automatic unlocking robot, which includes a main body, a protective cover, a transmission mechanism, an unlocking mechanism, a key fixing block, a fixed frame, and a moving device. The mechanism is installed on the main body, the unlocking mechanism is fixedly installed on the mobile device, the key fixing block is installed on the fixed frame, the fixed frame is fixedly installed on the timing belt, and the mobile device is slidably installed on the on the optical axis. The present invention can replace manual unlocking, automatically replace keys, increase the unlocking speed, save time, and reduce the work intensity of managers.

Description

An automatic unlocking robot

technical field

The invention relates to a robot, in particular to an automatic unlocking robot, belonging to the technical field of robots.

Background technique

As students' learning pressure increases, people go to classrooms earlier and earlier. Managers need to open a lot of door locks every day. Due to the low efficiency of manual unlocking, it is not easy to find the correct key. There is an urgent need for an automatic unlocking robot to replace manual unlocking.

Contents of the invention

In view of the above problems, the present invention provides an automatic unlocking robot, which can replace manual unlocking, automatically change keys, increase the unlocking speed, and save time.

The technical solution adopted by the present invention is: an automatic unlocking robot, including a main body, a protective cover, a transmission mechanism, an unlocking mechanism, a key fixing block, a fixed frame, and a mobile device, and is characterized in that: the protective cover is fixedly installed on the transmission mechanism Externally, the transmission mechanism is installed in front of the main body, the unlocking mechanism is fixedly installed on the mobile device, the key fixed block is adsorbed on the fixed frame, and the fixed frame is fixedly installed on the timing belt. The moving device is slidingly installed on the optical axis;

The main body includes a first servo motor, a first coupling, a first screw fixing seat, a first screw, a power supply module, 4 tires, 4 fixing seats, 4 DC motors, and 4 optical axes Fixing seat, 4 optical axes, sensor module, frame, described first servo motor is vertically fixedly installed on the top of the frame, and described first lead screw fixing seat is fixedly installed on the inner wall of the frame, so The first lead screw described above is rotatably mounted on the first lead screw fixing seat, and the two ends of the first coupling are respectively connected with the motor shaft of the first servo motor and the upper end of the first lead screw. The power module is fixedly installed on the lower part of the frame, the four fixed seats are fixed on the bottom of the frame, the four DC motors are fixed on the four fixed seats, and the four tires are fixed on the four On the DC motor shaft, the four optical axes are vertically installed on the frame through four optical axis fixing seats, and the sensor module is fixedly installed on the top of the frame;

The transmission mechanism includes a synchronous belt, 2 synchronous pulleys, and a second servo motor. The second servo motor is fixedly installed on the lower part of the frame, and one of the 2 synchronous pulleys is fixedly installed on the second servo motor. On the motor shaft, another rotation is installed on the upper part of the frame, and the synchronous belt is installed on two synchronous pulleys;

The unlocking mechanism includes a bracket, a steering gear, a sliding pin, a crank, a first inner cone, and a third servo motor. The bracket is vertically and fixedly installed under the slide table, and a first The inner cone surface, the first inner cone surface is matched with the second outer cone surface, the steering gear is vertically fixedly installed on the side of the bracket, the crank is fixedly installed on the steering gear shaft, and the crank is provided with There is a rectangular chute, the upper end of the sliding pin is slidably connected to the rectangular chute of the crank, and the lower end extends into the transverse chute above the first inner cone surface, and the third servo motor is fixedly installed on the first inner cone At the rear of the front, the motor shaft of the third servo motor is equipped with a square boss matching the card slot;

The key fixing module includes a key, a first outer cone surface, a second outer cone surface, a chute, a card slot, and a set screw, and the key is fixed and installed in the key fixing module through the set screw. The surface of the key fixing module is processed with a first outer cone surface and a second outer cone surface, the second outer cone surface is processed with a chute, the tail of the key fixing module is processed with a card slot, and the first The outer tapered surface cooperates with the second inner tapered surface;

The fixed frame includes a second inner cone surface and a fixed shaft, the second inner cone surface is magnetic, and the fixed shaft is fixedly installed on the timing belt;

The mobile device includes a sliding table, 4 optical axis sliders, a first nut, a base, 2 linear sliders, a fourth servo motor, a motor fixing seat, a second coupling, and a second screw fixing seat , a linear guide rail, a second lead screw, and a second nut, the four optical axis sliders are fixedly installed on the base while slidingly installed on the four optical axes, the first nut is fixedly installed on the base, and the The first nut is matched with the first lead screw, the linear guide rail is fixedly installed on the base, the two linear sliders are slidably installed on the linear guide rail, and the motor fixing seat is fixedly installed on the base, The fourth servo motor is fixedly mounted on the motor fixing base, the second screw fixing base is fixed on the base, the second screw is rotatably installed on the second screw fixing base, the One end of the second coupling is connected to the second lead screw, and the other end is connected to the motor shaft of the fourth servo motor. The second nut is fixedly installed on the slide table and cooperates with the second lead screw; the slide The table is fixedly installed on 2 linear slides.

Because the present invention adopts the above-mentioned technical solution, the present invention has the following advantages: it can unlock the lock instead of a person, automatically replace the key, increase the unlocking speed, save time, and reduce the work intensity of the management personnel.

Description of drawings

Fig. 1 is a schematic diagram of the overall assembled three-dimensional structure of the present invention.

Fig. 2 is a schematic diagram of the assembled three-dimensional structure of the present invention with the protective cover removed.

Fig. 3 is a schematic diagram of another perspective assembled three-dimensional structure without the protective cover of the present invention.

Fig. 4 is a partial enlarged view of the present invention.

Fig. 5 is a structural schematic diagram of the unlocking mechanism of the present invention.

Fig. 6 is a structural schematic diagram of the key fixing block of the present invention.

Fig. 7 is a schematic diagram of the structure of the fixing frame of the present invention.

FIG. 8 is a schematic structural diagram of the mobile device of the present invention.

Fig. 9 is a structural schematic diagram of another angle of the unlocking mechanism of the present invention.

Reference numerals: 1-main body; 2-cover; 3-transmission mechanism; 4-unlock mechanism; 5-key fixing block; 6-fixing frame; 7-moving device; 101-first servo motor; 102-first Coupling; 103-first screw fixing seat; 104-first screw; 105-power supply module; 106-tire; 107-fixing seat; 108-DC motor; 109-optical axis fixing seat; 110-optical axis ; 111-sensor module; 112-frame; 301-synchronous belt; 302-synchronous pulley; 303-second servo motor; 1 inner cone; 406-third servo motor; 501-key; 502-first outer cone; 503-second outer cone; 504-chute; The second inner cone; 602-fixed shaft; 701-slider; 702-optical axis slider; 703-first nut; 704-base; 705-linear slider; 706-fourth servo motor; 707-motor fixed Seat; 708-the second coupling; 709-the second screw fixing seat; 710-linear guide; 711-the second screw; 712-the second nut.

detailed description

The present invention will be further described below in conjunction with specific embodiments. The exemplary embodiments and descriptions of the present invention are used to explain the present invention, but not as a limitation to the present invention.

As shown in Figure 1, Figure 2, Figure 3, Figure 4, Figure 5, Figure 6, Figure 7, Figure 8, and Figure 9, an automatic unlocking robot includes a main body 1, a protective cover 2, a transmission mechanism 3, and an unlocking mechanism 4. The key fixing block 5, the fixing frame 6, and the moving device 7 are characterized in that: the cover 2 is fixedly installed outside the transmission mechanism 3, the transmission mechanism 3 is installed in front of the main body 1, and the unlocking mechanism 4 fixedly installed on the mobile device 7, the key fixed block 5 is adsorbed on the fixed frame 6, the fixed frame 6 is fixedly mounted on the timing belt 301, and the mobile device 7 is slidably mounted on the optical axis 110 ;

The main body 1 includes a first servo motor 101, a first coupling 102, a first lead screw fixing seat 103, a first lead screw 104, a power module 105, four tires 106, four fixing seats 107, 4 A DC motor 108, 4 optical axis fixing seats 109, 4 optical axes 110, a sensor module 111, and a frame 112, the first servo motor 101 is fixed and installed vertically downward on the top of the frame 112, the described The first lead screw holder 103 is fixedly mounted on the inner wall of the frame 112, the first lead screw 104 is rotatably mounted on the first lead screw holder 103, and the two ends of the first shaft coupling 102 are respectively connected to The motor shaft of the first servo motor 101 is connected to the upper end of the first lead screw 104, the power module 105 is fixedly installed at the bottom of the frame 112, and the four fixing seats 107 are fixedly installed at the bottom of the frame 112, so The four DC motors 108 described above are fixedly mounted on the four fixing seats 107, the four tires 106 are fixedly installed on the shafts of the four DC motors 108, and the four optical axes 110 pass through the four optical axis fixing seats 109 is installed vertically on the frame 112, and the sensor module 111 is fixedly installed on the top of the frame 112;

The transmission mechanism 3 includes a synchronous belt 301, 2 synchronous pulleys 302, and a second servo motor 303. The second servo motor 303 is fixedly installed on the bottom of the frame 112, and the 2 synchronous pulleys 302 One is fixedly installed on the shaft of the second servo motor 303, and the other is rotatably installed on the top of the frame 112, and the synchronous belt 301 is installed on two synchronous pulleys 302;

The unlocking mechanism 4 includes a bracket 401, a steering gear 402, a sliding pin 403, a crank 404, a first inner tapered surface 405, and a third servo motor 406, and the bracket 401 is vertically and fixedly installed below the slide table 701, The bottom of the bracket 401 is processed with a first inner cone surface 405, the first inner cone surface 405 cooperates with the second outer cone surface 503, and the steering gear 402 is fixed vertically downward on the side of the bracket 401, The crank 404 is fixedly installed on the shaft of the steering gear 402, and the crank is provided with a rectangular chute. The upper end of the sliding pin 403 is slidably connected to the rectangular chute of the crank 404, and the lower end extends into the top of the first inner cone surface. In the horizontal chute, the third servo motor 406 is fixedly mounted on the rear part of the first inner cone 405, and the motor shaft of the third servo motor is provided with a square boss matching the slot 505;

The key fixing module 5 includes a key 501, a first outer cone surface 502, a second outer cone surface 503, a slide groove 504, a card groove 505, and a set screw 506, and the key 501 is fixed by the set screw 506 Installed in the key fixing module 5, the surface of the key fixing module 5 is processed with a first outer tapered surface 502 and a second outer tapered surface 503, and the second outer tapered surface 503 is processed with a slide groove 504. The tail of the key fixing module 5 is processed with a card slot 505, and the first outer tapered surface 502 is matched with the second inner tapered surface 601;

The fixed frame 6 includes a second inner cone 601 and a fixed shaft 602, the second inner cone 601 is magnetic, and the fixed shaft 602 is fixedly mounted on the timing belt 301;

The moving device 7 includes a sliding table 701, four optical axis sliders 702, a first nut 703, a base 704, two linear sliders 705, a fourth servo motor 706, a motor fixing seat 707, and a second shaft coupling device 708, second lead screw fixing seat 709, linear guide rail 710, second lead screw 711, second nut 712, the four optical axis sliders 702 are fixedly installed on the base 704 while slidingly installed on the four optical axes 110, the first nut 703 is fixedly installed on the base 704, the first nut 703 cooperates with the first lead screw 104, the linear guide 710 is fixedly installed on the base 704, the two The linear slider 705 is slidably mounted on the linear guide rail 710, the motor holder 707 is fixedly mounted on the base 704, the fourth servo motor 706 is fixedly mounted on the motor holder 707, and the second lead screw The fixing base 709 is fixedly mounted on the base 704, the second screw 711 is rotatably mounted on the second screw fixing base 709, one end of the second coupling 703 is connected with the second screw 711, and the other end Connected to the motor shaft of the fourth servo motor 706, the second nut 712 is fixedly installed on the slide table 701 and cooperates with the second lead screw 711; the slide table 701 is fixedly installed on two linear sliders 705 .

The working principle of the present invention is: when the present invention is in use, first the user sets the room number that needs to be unlocked, the robot automatically walks to the designated position, the transmission mechanism 3 turns the correct key to the designated position, and the unlocking mechanism 4 is fixed by the sliding pin 403 Key fixed block 5, key 501 is inserted into lockhole by mobile device 7 motion, drives key fixed block 5 to rotate by the 3rd servomotor 406 and completes unlocking, and unlocking is finished and key is taken back by mobile device 7 and puts back into fixed frame 6 again.

Claims (1)

1. An automatic unlocking robot, including a main body (1), a cover (2), a transmission mechanism (3), an unlocking mechanism (4), a key fixing block (5), a fixing frame (6), and a moving device (7) , characterized in that: the cover (2) is fixedly installed outside the transmission mechanism (3), the transmission mechanism (3) is installed in front of the main body (1), and the unlocking mechanism (4) is fixedly installed on On the mobile device (7), the key fixed block (5) is adsorbed on the fixed frame (6), and the fixed frame (6) is fixedly installed on the timing belt (301), and the mobile device (7 ) is slidably mounted on the optical axis (110); The main body (1) includes a first servo motor (101), a first coupling (102), a first screw fixing base (103), a first screw (104), a power module (105), 4 tires (106), 4 fixing seats (107), 4 DC motors (108), 4 optical axis fixing seats (109), 4 optical axes (110), sensor module (111), frame ( 112), the first servo motor (101) is fixed vertically downward on the top of the frame (112), and the first lead screw fixing base (103) is fixed on the inner wall of the frame (112), The first lead screw (104) is rotatably mounted on the first lead screw fixing seat (103), and the two ends of the first coupling (102) are respectively connected with the motor shaft of the first servo motor (101). It is connected with the upper end of the first lead screw (104), the power module (105) is fixedly installed on the lower part of the frame (112), and the four fixing seats (107) are fixedly installed on the bottom of the frame (112) , the four DC motors (108) are fixedly mounted on the four fixed seats (107), the four tires (106) are fixedly mounted on the shafts of the four DC motors (108), the four The optical axis (110) is vertically installed on the frame (112) through four optical axis fixing seats (109), and the sensor module (111) is fixedly installed on the top of the frame (112); The transmission mechanism (3) includes a timing belt (301), two timing pulleys (302), and a second servo motor (303), and the second servo motor (303) is fixedly installed on the frame (112 ), one of the two synchronous pulleys (302) is fixedly installed on the shaft of the second servo motor (303), and the other is rotatably installed on the upper part of the frame (112), and the synchronous belt (301) is installed on , 2 timing pulleys (302); The unlocking mechanism (4) includes a bracket (401), a steering gear (402), a sliding pin (403), a crank (404), a first inner tapered surface (405), and a third servo motor (406). The bracket (401) is vertically and fixedly installed under the slide table (701), and a first inner cone surface (405) is processed under the bracket (401), and the first inner cone surface (405) and the second The two outer cones (503) cooperate, the steering gear (402) is fixed vertically downward on the side of the bracket (401), and the crank (404) is fixed on the shaft of the steering gear (402). There is a rectangular chute, the upper end of the sliding pin (403) is slidably connected to the rectangular chute of the crank (404), and the lower end extends into the horizontal chute above the first inner cone surface. The third servo motor (406) is fixedly installed on the rear part of the first inner cone surface (405), and the motor shaft of the third servo motor is equipped with a square boss matching the card slot (505); The key fixing module (5) includes a key (501), a first outer cone surface (502), a second outer cone surface (503), a chute (504), a card slot (505), a set screw ( 506), the key (501) is fixedly installed in the key fixing module (5) through a set screw (506), and the surface of the key fixing module (5) is processed with a first outer tapered surface (502) and a second Two outer cone surfaces (503), the second outer cone surface (503) is processed with a chute (504), the tail of the key fixing module (5) is processed with a card slot (505), and the first An outer tapered surface (502) cooperates with a second inner tapered surface (601); The fixing bracket (6) includes a second inner cone surface (601) and a fixed shaft (602), the second inner cone surface (601) is magnetic, and the fixed shaft (602) is fixedly installed on on the timing belt (301); The moving device (7) includes a slide table (701), 4 optical axis sliders (702), a first nut (703), a base (704), 2 linear sliders (705), a fourth servo Motor (706), motor fixing base (707), second coupling (708), second screw fixing base (709), linear guide (710), second screw (711), second nut (712 ), the four optical axis sliders (702) are fixedly installed on the base (704) while slidingly installed on the four optical axes (110), and the first nut (703) is fixedly installed on the base (704 ), the first nut (703) cooperates with the first lead screw (104), the linear guide (710) is fixedly installed on the base (704), and the two linear sliders (705) Slidingly installed on the linear guide rail (710), the motor fixing base (707) is fixedly installed on the base (704), and the fourth servo motor (706) is fixedly installed on the motor fixing base (707). The second screw fixing base (709) is fixedly installed on the base (704), the second screw (711) is rotatably installed on the second screw fixing base (709), and the second screw One end of the shaft device (703) is connected to the second lead screw (711), and the other end is connected to the motor shaft of the fourth servo motor (706). The second nut (712) is fixedly installed on the slide table (701) and Cooperate with the second lead screw (711); the slide table (701) is fixedly installed on two linear slide blocks (705).