CN107363446B

CN107363446B - Environment-friendly robot for building

Info

Publication number: CN107363446B
Application number: CN201710611788.3A
Authority: CN
Inventors: 董昕武
Original assignee: Individual
Current assignee: Suqian Dong Ang Construction Engineering Co ltd
Priority date: 2017-07-25
Filing date: 2017-07-25
Publication date: 2019-01-29
Anticipated expiration: 2037-07-25
Also published as: CN107363446A

Abstract

The invention discloses an environment-friendly robot for buildings, which comprises a rack, wherein four groups of travelling mechanisms are arranged on the rack, the four groups of travelling mechanisms are respectively arranged at the front position and the rear position of two sides of the rack, each travelling mechanism comprises a hollow shaft and a solid shaft, the hollow shaft is sleeved on an outer ring of the solid shaft, the hollow shaft is connected with the solid shaft through a bearing, the outer ring of the hollow shaft is connected to the side wall of the rack through the bearing, a first supporting arm is fixedly connected to the outer ring of the hollow shaft at the outer side of the rack, the hollow shaft is extended from two ends of the solid shaft, and a second supporting arm is arranged at the outer ring of the solid. The robot can walk by four groups of walking mechanisms, can adapt to complex terrains, can be independently adjusted and matched with each other, has multiple walking modes, can lift the height of the rack by adjusting the walking mechanisms, and has practicability.

Description

A kind of environmentally friendly humanoid robot for building

Technical field

The present invention relates to robotic technology fields, particularly relate to a kind of environmentally friendly humanoid robot for building.

Background technique

The walking of the robot of the prior art can be realized in several ways, but the equal Shortcomings in flexibility Place can not adapt to complicated landform, be easy to tumble；Existing robot lacks photographic device, therefore is unable to satisfy particular demands； The plumb joint malfunction filled in existing robot, needs to improve.

Summary of the invention

Technical problem to be solved by the invention is to provide a kind of environmentally friendly humanoid robots for building, to solve in the prior art Robot can not adapt to complicated landform, lack photographic device, and the technical issues of plumb joint malfunction.

In order to solve the above technical problems, the embodiment of the present invention provides a kind of environmentally friendly humanoid robot for building, including rack, The rack is equipped with four groups of walking mechanisms, and walking mechanism described in four groups is respectively arranged at the front-rear position of rack two sides, described Walking mechanism includes hollow shaft and solid shafting, and the hollow shaft sleeve is set to solid shafting outer ring, between the hollow shaft and solid shafting It is connected by bearing, the hollow shaft outer ring is connected on the side wall of rack by bearing, and the outer ring of the hollow shaft is located at machine Frame outside is connected the first support arm, and the both ends of the solid shafting grow hollow shaft, and the outer ring of the solid shafting is located at outside rack It is equipped with the second support arm at side, first support arm and the second support arm are located at the two sides of hollow shaft axis, and described the The outer end of one support arm is connected with third support arm by shaft, and the outer end of second support portion is connected with by shaft 4th support arm, the other end of the third support arm are connected with the other end of the 4th support arm by shaft, institute It states and is equipped with first gear at being located on the inside of rack in hollow shaft, the side wall of the rack is equipped with first motor, first electricity For machine by gear engaged transmission in first gear, the end that the solid shafting is located at on the inside of rack is equipped with second gear, described The second motor is additionally provided on the side wall of rack, second motor is by gear engaged transmission in second gear；

The front of the rack is equipped with photographic device, and the photographic device includes the first u-bracket, the first U-shaped branch 5th motor is installed, the 5th motor connects the first semi-circle gear, first u-bracket by the first pinion gear in frame Two sidewalls outer end at be rotatably connected to cross, the other both ends of the cross are connected to the two sides of the second u-bracket At wall outer end, the 6th motor is installed in second u-bracket, the 6th motor passes through the second pinion gear connection the second half Knucle-gear, first semi-circle gear and the second semi-circle gear are respectively arranged in the two sides of cross, and the two axis perpendicular； Motion cameras is also equipped in second u-bracket；

The rear of the rack is equipped with manipulator, and the manipulator includes the shell being installed in rack, in the shell It is fixedly installed with third motor and the 4th motor, the manipulator further includes a U-shaped frame, and the both ends of the U-shaped frame are outward Socket part is respectively extended vertically, the two sides of the shell are rotatablely connected the outside of two socket parts of the U-shaped frame by bearing Face, described two socket part medial surfaces are rotatably connected to rotation axis by bearing, and the rotation axis is equipped with driving gear, described The middle part of U-shaped frame is equipped with mechanical arm shaft, and the arm pivoted axis of machinery is in the same plane with U-shaped frame, the machinery In arm shaft positioned at U-shaped frame inner end be equipped with driven gear to be meshed with the driving gear, the mechanical arm shaft The upper outboard end positioned at U-shaped frame is equipped with L-type mechanical arm, and the outer end of the L-type mechanical arm is equipped with plumb joint, goes back on the socket part Equipped with the first belt pulley, the third motor is transmitted in the first belt pulley by belt, and the second skin is additionally provided in the rotation axis Belt wheel, the 4th motor are transmitted in the second belt pulley by belt.

The advantageous effects of the above technical solutions of the present invention are as follows:

In above scheme, the present invention pass through four groups of walking mechanisms, it can be achieved that robot walking, and adapt to intricately Shape, each walking mechanism can be separately adjustable, cooperate, and have a variety of walking manners, and rack can pass through the adjusting of walking mechanism Carry out adjustable height, there is practicability；Due to be equipped with can flexible rotating manipulator be used for weld job, have practicability.

Detailed description of the invention

Fig. 1 is perspective view of the invention.

Fig. 2 is the perspective view of walking mechanism of the invention.

Fig. 3 is the schematic diagram of the touchdown point of walking mechanism of the invention.

Variation schematic diagram one when Fig. 4 is the walking of walking mechanism of the invention.

Variation schematic diagram two when Fig. 5 is the walking of walking mechanism of the invention.

Variation schematic diagram three when Fig. 6 is the walking of walking mechanism of the invention.

Fig. 7 is the variation schematic diagram of walking mechanism of the invention when adjusting for bracket height.

Fig. 8 is the structure chart of photographic device of the invention.

Fig. 9 is the structure chart of manipulator of the invention.

Figure 10 is the part-structure figure one of manipulator of the invention.

Figure 11 is the part-structure figure two of manipulator of the invention.

Figure 12 is the part-structure figure three of manipulator of the invention.

Specific embodiment

To keep the technical problem to be solved in the present invention, technical solution and advantage clearer, below in conjunction with attached drawing and tool Body embodiment is described in detail.

For convenience of description, before left direction is in Fig. 1, after right direction is.

As shown in Figures 1 to 6, the embodiment of the present invention provides a kind of environmentally friendly humanoid robot for building, including horizontally disposed Rack 1, the rack 1 are equipped with four groups of walking mechanisms 2, and walking mechanism 2 described in four groups is respectively arranged on the anteroposterior position of 1 two sides of rack Place is set, position is respectively front left side, forward right side, left rear side, the right lateral side of rack 1, is similar to automobile four-wheel installation site, described Walking mechanism 2 includes hollow shaft 21 and solid shafting 22, and the hollow shaft 21 is sheathed on 22 outer ring of solid shafting, the hollow shaft 21 with By bearing connection (not shown) between solid shafting 22, bearing is connected as the prior art, and therefore not to repeat here, is connected by bearing Hollow shaft 21 and the coaxial arrangement of solid shafting 22, which can be achieved, can mutually relatively rotate, and be independent of each other, 21 outer ring of hollow shaft passes through axis It holds and is connected on the side wall of rack 1, the hollow shaft 21 is horizontally disposed with solid shafting 22, and the outer ring of the hollow shaft 21 is located at machine 1 outside of frame is connected the first support arm 23, and the both ends of the solid shafting 22 grow hollow shaft 21, the outer ring position of the solid shafting 22 It is equipped with the second support arm 24 in 1 outside of rack, first support arm 23 and the second support arm 24 are located at hollow shaft 21 The outer end of the two sides of axis, first support arm 23 is connected with third support arm 25, second support portion by shaft 3 24 outer end is connected with the 4th support arm 26 by shaft 3, the other end of the third support arm 25 with described 4th The other end of brace 26 is connected by shaft 3, is located on the inside of rack 1 in the hollow shaft 21 and is equipped with first gear 27, institute The side wall for stating rack 1 is equipped with first motor 4, and the first motor 4 is by gear engaged transmission in first gear 27, the reality Mandrel 22 is located at the end on the inside of rack 1 and is equipped with second gear 28, is additionally provided with the second motor 5, institute on the side wall of the rack 1 The second motor 5 is stated by gear engaged transmission in second gear 28.First support arm 23, the second support arm 24, third support arm 25, the 4th support arm 26 constitutes the walking mechanism of a quadrangle, the junction of third support arm 25 and the 4th support arm 26 For touchdown point 6 (as shown in Figure 3), therefore the end that third support arm 25 and the 4th support arm 26 are touched with ground can be made into It is arc-shaped, keep walking mechanism more smooth when touching with ground.Video camera 7 is equipped with above the rack 1 to be used for road surface ahead Situation is imaged.

A kind of motion mode is described below, as shown in figure 4, the initial position of walking mechanism is in figure shown in solid line position, Four walking mechanisms 2 drive the rotation of hollow shaft 21 to drive the first support arm 23 to turn in the counterclockwise direction by first motor 4 Move to shown position, it is the movement with acceleration that first motor 4, which drives the rotation of hollow shaft 21, the second motor 5 do not rotate from And the second support arm 24 remains stationary, therefore touchdown point 6 is moved to the obliquely downward of rear side, therefore has given rack one forward and up Driving force, as shown in figure 5, then first motor 4 rotate clockwise to drive the first support arm 23 turn along clockwise direction It moves to shown position, the second motor 5 rotates counterclockwise that the second support arm 24 is driven to turn to diagram position in the counterclockwise direction It sets, touchdown point 6 is moved to the oblique upper of front side, and touchdown point 6 is liftoff, empties rack liftoff, as shown in fig. 6, then the first electricity Machine 4 rotates counterclockwise that the first support arm 23 is driven to turn to shown position in the counterclockwise direction, and the second motor 5 turns clockwise It moves to drive the second support arm 24 to be rotated in the clockwise direction to shown position, touchdown point 6 is oliquely downward moved forward, landed Point and ground face contact, are completed a period of motion, the step can make robot bound forward.Other similar walking, running Details are not described herein for step.

By the walking mechanism for the quadrangle that 4 support arms form, as long as passing through motor control the first support arm and second The position of support arm, the position of that touchdown point are determining, therefore can realize accurate movement.

As shown in fig. 7, walking mechanism 2 can also be by rotating clockwise first motor 4, the second motor 5 turns counterclockwise It is dynamic, move up touchdown point 6, rear 6 touchdown point will be moved up as the starting point moved, thus may be implemented rack 1 from Ground height adjustment.

As illustrated in figures 1 and 8, the front of the rack 1 is equipped with photographic device 7, and the photographic device 7 includes being set to rack The first u-bracket 43 on 1, the 5th motor 44 is equipped in first u-bracket 43, and the 5th motor 44 passes through first Pinion gear 45 connects the first semi-circle gear 46, is rotatably connected to cross at the two sidewalls outer end of first u-bracket 43 47, the other both ends of the cross 47 are connected at the two sidewalls outer end of the second u-bracket 48, second u-bracket 48 6th motor 49 is inside installed, the 6th motor 49 connects the second semi-circle gear 51 by the second pinion gear 50, and described first Semi-circle gear 46 and the second semi-circle gear 51 are respectively arranged in the two sides of cross 47, and the two axis perpendicular；2nd U Motion cameras 52 is also equipped on type bracket 48.

As shown in Fig. 1, Fig. 9 to Figure 12, the rear of the rack 1 is equipped with manipulator 8, and the manipulator 8 includes being installed on Shell 81 in rack 1 is fixedly installed with third motor 82 and the 4th motor 83 in the shell 81, and the manipulator 8 also wraps A U-shaped frame 84 is included, the both ends of the U-shaped frame 84 have respectively extended vertically socket part 841 outward, and the two sides of the shell 81 are logical The lateral surface that bearing is rotatablely connected two socket parts 841 of the U-shaped frame 84 is crossed, described two 841 medial surfaces of socket part pass through Bearing is rotatably connected to rotation axis 85, and the rotation axis 85 is equipped with driving gear 86, and the middle part of the U-shaped frame 84 is equipped with machinery Arm shaft 87, the axis of the mechanical arm shaft 87 are in the same plane with U-shaped frame 84, are located in the mechanical arm shaft 87 The inner end of U-shaped frame 84 is equipped with driven gear 88 to be meshed with the driving gear 86, and the mechanical arm shaft 87 is upper It is equipped with L-type mechanical arm 89 in the outboard end of U-shaped frame 84, the outer end of the L-type mechanical arm 89 is equipped with plumb joint 90, the socket part The first belt pulley 91 is additionally provided on 841, the third motor 82 is transmitted in the first belt pulley 91, the rotation axis 85 by belt On be additionally provided with the second belt pulley 92, the 4th motor 83 is transmitted in the second belt pulley 92 by belt.Third motor 82 and The output end of four motors 83 is located at phase heteropleural, in order to avoid interference.

Robot work principle is as follows: the 4th motor 83 drives driving wheel rotation, and third motor 82 remains stationary, driving tooth 86 engagement driven gear 88 of wheel rotates driven gear 88, therefore mechanical arm is rotated around mechanical arm pivoted axis；Third motor 82 drive U-shaped frame 84 to rotate, and the 4th motor 83 remains stationary, and U-shaped frame drives mechanical arm shaft to rotate around the axis of rotation axis, together When driven gear rotated by being influenced under the pressure of fixed driving gear engagement, to make mechanical arm shaft around its own axis Line rotates；When third motor and the 4th motor rotate synchronously, i.e., when angular speed is identical, mechanical arm shaft is only around rotation axis Axis rotate.Therefore it is matched by third motor 82 and the 4th motor 83, it can be achieved that mechanical arm is spatially flexible Movement.

Manipulator is installed in rack the operation, it can be achieved that freedom and flexibility, can reduce in traditional work that tool is numerous to ask Topic has the feature of environmental protection.

The above is a preferred embodiment of the present invention, it is noted that for those skilled in the art For, without departing from the principles of the present invention, several improvements and modifications can also be made, these improvements and modifications It should be regarded as protection scope of the present invention.

Claims

1. an environment-friendly robot for construction, comprising a frame, the frame is provided with four groups of walking mechanisms, and the four groups of the walking mechanisms are respectively located at the front and rear positions on both sides of the rack, it is characterized in that, the described The traveling mechanism includes a hollow shaft and a solid shaft, the hollow shaft is sleeved on the outer ring of the solid shaft, the hollow shaft and the solid shaft are connected by a bearing, and the outer ring of the hollow shaft is connected to the side wall of the frame through a bearing , the outer ring of the hollow shaft is located at the outer side of the frame and the first support arm is fixed, the two ends of the solid shaft grow out the hollow shaft, and the outer ring of the solid shaft is located at the outer side of the frame with a second support arm , the first support arm and the second support arm are respectively located on both sides of the axis of the hollow shaft, the outer end of the first support arm is connected with a third support arm through a rotating shaft, and the outer end of the second support arm A fourth support arm is connected through a rotating shaft, the other end of the third support arm is connected with the other end of the fourth support arm through a rotating shaft, and a first gear is provided on the hollow shaft at the inner side of the frame, The side wall of the frame is provided with a first motor, the first motor is driven to the first gear through gear meshing, the end of the solid shaft located at the inner side of the frame is provided with a second gear, and the frame is There is also a second motor on the side wall of the fuselage, and the second motor is driven to the second gear through gear meshing;

A camera device is arranged in front of the frame, the camera device includes a first U-shaped bracket, a fifth motor is installed in the first U-shaped bracket, and the fifth motor is connected to the first semicircle through a first pinion Gear, a cross is rotatably connected to the outer ends of the two side walls of the first U-shaped bracket, and the other two ends of the cross are connected to the outer ends of the two side walls of the second U-shaped bracket. A sixth motor is installed in the bracket, the sixth motor is connected to the second semicircular gear through the second pinion, the first semicircular gear and the second semicircular gear are respectively installed on both sides of the cross, and the axes of the two are perpendicular; A motion camera is also installed on the second U-shaped bracket;

The back of the frame is provided with a manipulator, the manipulator includes a casing mounted on the frame, the third motor and the fourth motor are fixedly installed in the casing, the manipulator further comprises a U-shaped frame, the Both ends of the U-shaped frame are vertically extended to the outside with a socket portion. The two sides of the housing are connected to the outer sides of the two socket portions of the U-shaped frame through bearings. The side surface is rotatably connected with a rotating shaft through a bearing, the rotating shaft is provided with a driving gear, the middle of the U-shaped frame is provided with a rotating shaft of a mechanical arm, and the axis of the rotating shaft of the mechanical arm is located in the same plane as the U-shaped frame. A driven gear is arranged on the inner end of the U-shaped frame on the rotating shaft of the manipulator to engage with the driving gear, and an L-shaped manipulator is arranged on the outer end of the U-shaped frame on the rotating shaft of the manipulator. The outer end of the mechanical arm is provided with a welding head, the sleeve is also provided with a first pulley, the third motor is driven by a belt to the first pulley, the rotating shaft is also provided with a second pulley, the The fourth motor is driven to the second pulley through a belt.