CN221338538U - Multi-arm type mobile operation robot - Google Patents
Multi-arm type mobile operation robot Download PDFInfo
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- CN221338538U CN221338538U CN202323336051.5U CN202323336051U CN221338538U CN 221338538 U CN221338538 U CN 221338538U CN 202323336051 U CN202323336051 U CN 202323336051U CN 221338538 U CN221338538 U CN 221338538U
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- mast
- guide rail
- sliding block
- actuator
- synchronous belt
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- 239000012636 effector Substances 0.000 claims abstract description 11
- 238000013519 translation Methods 0.000 claims abstract description 3
- 230000001360 synchronised effect Effects 0.000 claims description 32
- 230000003014 reinforcing effect Effects 0.000 claims description 2
- 230000005540 biological transmission Effects 0.000 claims 1
- 238000006073 displacement reaction Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 230000001174 ascending effect Effects 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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Abstract
The utility model relates to a multi-arm type mobile operation robot, which comprises a base, a first actuator and a second actuator, wherein the first actuator is arranged on the base; the base has a roller, and the first actuator is configured to drive the roller to roll so as to enable the base to travel; the top surface of the base is fixed with a first mast and a second mast which are vertically arranged, at least one horizontal guide rail which is connected with the first mast and the second mast in a bridging way and can move along the masts is arranged in the space above the base, and the second actuator is configured to drive the guide rail to vertically lift along the masts; at least two horizontal sliding blocks in sliding fit with the guide rail are arranged on the guide rail, and each horizontal sliding block is matched with a third actuator for driving the horizontal sliding block to translate on the guide rail; each horizontal sliding block is fixedly connected with at least one telescopic arm, and each telescopic arm is matched with a fourth actuator for driving the telescopic arm to extend or retract along the direction perpendicular to the lifting direction of the guide rail and the translation direction of the sliding block; an end effector is attached to the extendable or retractable end of the telescoping arm.
Description
Technical Field
The utility model relates to the field of service robots, in particular to a multi-arm mobile operation robot.
Background
A home service robot is a robot device capable of performing various service tasks in a home environment or the like, and has been currently listed as one of the important development fields, and at the same time, the application market of robots is becoming more and more widespread, and home service robots are becoming popular.
At present, most research and development teams develop home service robots in a anthropomorphic direction, the robots adopt a rotary driving mode to form human body-like joint movement tracks, and the human-like robots are limited by complex joint designs, volumes, cost and the like and still far away from the daily household life of users.
US20210170583A1 proposes a mobile operation robot for executing objective tasks in human environment, which is intended to construct an XZ axis linear motion system in a linear driving mode, and complement Y axis movement capacity by matching with a bottom mobile base, so that the purposes of simplification and portability are achieved, and the robot is expected to enter daily home life quickly in advance. In the XYZ three-axis motion system of US20210170583A1, the movable base adopts a two-drive mode to complete forward and backward displacement and rotation, the mast on the base is used for completing Z-direction lifting, the multi-section telescopic structure is used for carrying out X-direction telescopic on the mast, the X-direction telescopic effect of the sections under a single mast structure is limited, the stability of the robot is poor, and the end effector is limited to slight service work.
Disclosure of utility model
The utility model uses the linear driving system to achieve the characteristics of portability of the service robot and benefit for service in narrow environments of home, realizes multi-arm driving, and improves the stability of the service robot.
To this end, a multi-arm mobile manipulator robot is provided, comprising a base, a first actuator, a second actuator; the base has a roller, and the first actuator is configured to drive the roller to roll so as to enable the base to travel; the top surface of the base is fixed with a first mast and a second mast which are vertically arranged, at least one horizontal guide rail which is connected with the first mast and the second mast in a bridging way and can move along the masts is arranged in the space above the base, and the second actuator is configured to drive the guide rail to vertically lift along the masts; at least two horizontal sliding blocks in sliding fit with the guide rail are arranged on the guide rail, and each horizontal sliding block is matched with a third actuator for driving the horizontal sliding block to translate on the guide rail; each horizontal sliding block is fixedly connected with at least one telescopic arm, and each telescopic arm is matched with a fourth actuator for driving the telescopic arm to extend or retract along the direction perpendicular to the lifting direction of the guide rail and the translation direction of the sliding block; an end effector is attached to the extendable or retractable end of the telescoping arm.
Compared with the existing linear driving system service robot, the utility model has the advantages that:
(1) The double mast is adopted, a horizontal guide rail is arranged between the double mast and the double mast, at least two telescopic arms are respectively connected to the guide rail in a sliding way through a sliding block, stronger stability is achieved through the cooperation of the double mast and the guide rail with multiple arms in a space above a base, and meanwhile, the multiple arms can expand more types of service functions compared with the single arms;
(2) On the basis of X-direction expansion and Z-direction lifting, Y-direction limited sliding block movement capability is increased, the sliding block movement capability is complemented with the rolling wheels of the base, the rolling wheel displacement precision is poor, the trolley (base) is stopped to a fixed point and generally needs to be adjusted back and forth, and the Y-direction movement precision is reinforced through the sliding block displacement.
In the above, the base can adopt a four-wheel drive mode to realize front-rear lateral displacement, such as a four-wheel trolley mode, or a two-wheel drive mode, and three wheels (two driving wheels and one driven wheel) are utilized to realize front-rear and rotation, such as a sweeping robot mode. The horizontal guide rail can be arranged between the two masts, and can also be properly extended out of the two masts to extend in the Y direction.
As a development, the first mast and the second mast are each provided with a linear drive, the linear drive being arranged with its transport direction along the mast in which it is located as a second actuator. The linear drive may be, among other things, a chain structure such as a screw, a ram or even US20210170583 A1. Preferably, the linear driver is a linear driving type synchronous belt module, each synchronous belt module adopts synchronous belts with the same modulus, the synchronous belts are fixed with synchronous belt connecting plates, and the synchronous belt connecting plates of the first mast and the second mast are oppositely arranged and are respectively connected with two ends of the guide rail, so that synchronous ascending and descending of the telescopic arm are realized.
Further, the driving motor of the synchronous belt module is configured as a motor with an encoder, in the scheme, the driving motor adopts the motor with the encoder, so that the rotation angle and the speed of the two motors can be known, and the motor control board and the driving board control the rotation angle and the speed of the two motors through the data fed back by the encoder, so that the rotation angle and the speed of the two motors are kept consistent, and the lifting synchronous motion can be realized more accurately.
Further, the first mast and the second mast are arranged in a hollow mode and are provided with opposite strip windows; the hold-in range module is hidden inside corresponding mast and expose the hold-in range through the window, and the hold-in range connecting plate is located the mast outside and meets with the hold-in range through the window, and the cover is equipped with the perpendicular slider of semi-surrounding mast on the mast, and perpendicular slider is fixed on the hold-in range connecting plate and both form the encirclement to the mast, and perpendicular slider and connecting plate are encirclement the structure cover that forms at this moment establishes at the mast, utilizes the non-window outer wall of mast to form the support, further improves stability.
Further, a screw rod is bridged between the synchronous belt connecting plates of the first mast and the second mast, the screw rod and the guide rail are arranged in parallel, and the horizontal sliding block is provided with a screw rod motor as a third actuator to move along the screw rod, so that the simple and convenient implementation of a sliding block driving structure is achieved, and the cost and volume control is facilitated. Wherein preferably, the guide rail has two at least and each other parallels, and the lead screw is located between two guide rails, and the horizontal slider cover is established and is realized sliding on two guide rails, and two guide rails provide the support this moment, and the lead screw is only used for providing displacement driving force.
Further, unlike synchronous lifting schemes, at least two guide rails can be provided, each guide rail is arranged up and down, and at least one sliding block is arranged on each guide rail; at least one guide rail is driven by a linear driver on the first mast, the other guide rails are driven by a linear driver on the second mast, and the linear driver on the first mast and the linear driver on the second mast independently operate respectively, so that lifting of the two masts is independent, and the telescopic arms on one guide rail are respectively driven to lift.
As another improvement, the telescopic arm comprises a proximal sleeve and at least one distal sleeve slidably engaged within the proximal sleeve, such as with existing multi-segment structures; the proximal sleeve is fixed on the horizontal sliding block, and the tail part far away from the extending direction extends out of the horizontal sliding block along the retracting direction, so that the gravity center is balanced, and the stability is further improved. Preferably, a triangular reinforcing plate is connected between the bottom of the proximal sleeve facing the proximal direction and the horizontal sliding block to realize support and strengthen the connection strength.
In the present utility model, the end effector may be a clamping jaw, a clamping hook, a suction cup, or the like, which will not be described herein.
Drawings
FIG. 1 shows a schematic diagram of a multi-arm mobile manipulator robot;
FIG. 2 shows a schematic view of a base structure;
FIG. 3 shows a schematic view of the mast bottom composition;
FIG. 4 shows a schematic of the mast top and external connection;
FIG. 5 shows a schematic diagram of a horizontal rail module configuration;
FIG. 6 shows a schematic view of the internal structure of the slider;
FIG. 7 shows a schematic view of a telescopic mechanical arm;
FIG. 8 illustrates a schematic diagram of a drive of the telescopic robotic arm;
fig. 9 shows 2 possible morphological schematics of the end effector.
Detailed Description
The technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model.
As shown in fig. 1, the multi-arm mobile manipulator robot mainly comprises a movable chassis 100, a double mast 200, a horizontal rail module 300, a double telescopic mechanical arm 400, and an end effector 500. The movable chassis has the capability of free movement and steering. The robot is driven to move freely as a whole. The double mast 200 is fixed on the chassis 100, the horizontal guide rail module 300 is fixed on the double mast, and the up-and-down motion is driven by a synchronous belt on the double mast 200. The two telescopic mechanical arms 400 are fixed on the driving sliding blocks of the horizontal guide rail module, and the sliding blocks drive the telescopic mechanical arms 400 to move left and right on the horizontal guide rail module 300. The end actuator 500 is fixed at the end of the telescopic mechanical arm 400, and the telescopic movement of the telescopic mechanical arm 400 drives the end actuator to realize the forward and backward movement.
As shown in fig. 2, the chassis 100 mainly comprises three wheels, which are a driving wheel 111, a driving wheel 113, a steering wheel 112, a structural housing 114, and batteries 115 and 116, respectively. The driving wheels 111 and 113 are responsible for driving the chassis back and forth movement and the steering wheel 112 is responsible for the chassis turning movement. Batteries 115 and 116 are responsible for providing the overall power source.
As shown in fig. 3 and 4, the double mast mainly comprises a first mast 213, a first mast driver 211, a first mast fixing member 212, a second mast 216, a second mast driver 214, a second mast fixing member 215, and a synchronous pulley 219, a synchronous belt 218 and a synchronous belt connector 217 on each mast. The first mast driver 211 drives the synchronous belt 218 to perform a circular motion, and the synchronous belt 218 drives the synchronous belt connector 217 to perform an up-and-down motion, so as to drive the horizontal guide rail module 300, the telescopic mechanical arm 400, the end effector 500, and the like to perform an up-and-down motion integrally. The first mast driver 211 and the second mast driver 214 are provided with encoders, and the first mast driver 211 and the second mast driver 214 can be controlled by software to synchronously rotate, so that the two synchronous belt connectors 217 on the first mast 213 and the second mast 216 synchronously move.
As shown in fig. 5, the horizontal rail module 300 mainly includes an upper horizontal rail 311, a lower horizontal rail 312, a fixing screw 313, a first slider 314, and a second slider 315. The upper horizontal guide rail 311 and the lower horizontal guide rail 312 are responsible for bearing the main weight of the telescopic mechanical arm 400 and the end effector 500, and the first slider 314 and the second slider 315 are responsible for driving the telescopic mechanical arm 400 and the end effector 500 to move left and right in the horizontal direction.
As shown in fig. 6, the first slider 314 mainly includes a driving motor 3151 and a linear bearing 3152. The driving motor 3151 rotates to enable the first slider 314 to drive the telescopic mechanical arm 400 and the end effector 500 to move left and right along the fixing screw 313.
As shown in fig. 7 and 8, the telescopic mechanical arm 400 mainly includes a fixed sleeve 411, a primary sleeve 412, a secondary sleeve 413 and a driving pole 414. The fixing sleeve 411 is fixed to the first slider 314 or the second slider 315 by a screw. The driving pole 414 drives the primary sleeve 412 and the secondary sleeve 413 to perform a back-and-forth telescopic motion by using electric power.
As shown in fig. 9, the end straight mechanism 500 has various forms, such as a suction cup 511 type, or a fork 512 type. Other various patterns are possible to implement different functions.
Finally, it should be noted that the above embodiments are only for illustrating the technical solution of the present utility model, and not for limiting the scope of the present utility model, and although the present utility model has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions can be made to the technical solution of the present utility model without departing from the spirit and scope of the technical solution of the present utility model.
Claims (10)
1. A multi-arm mobile manipulator robot, characterized by:
comprises a base, a first actuator and a second actuator;
The base has a roller, and the first actuator is configured to drive the roller to roll so as to enable the base to travel;
the top surface of the base is fixedly provided with a first mast and a second mast which are vertically arranged, at least one horizontal guide rail which is connected with the first mast and the second mast in a bridging manner and can move along the masts is arranged in a space above the base, and the second actuator is configured to drive the guide rail to vertically lift along the masts;
at least two horizontal sliding blocks in sliding fit with the guide rail are arranged on the guide rail, and each horizontal sliding block is matched with a third actuator for driving the horizontal sliding block to translate on the guide rail;
Each horizontal sliding block is fixedly connected with at least one telescopic arm, and each telescopic arm is matched with a fourth actuator for driving the telescopic arm to extend or retract along the direction perpendicular to the lifting direction of the guide rail and the translation direction of the sliding block;
an end effector is attached to the extendable or retractable end of the telescoping arm.
2. The multi-arm mobile manipulator robot of claim 1, wherein: the first mast and the second mast are respectively provided with a linear driver, and the transmission direction of the linear drivers is arranged along the mast so as to be used as the second actuator.
3. The multi-arm mobile manipulator robot of claim 2, wherein:
The linear driver is a linear driving synchronous belt module;
Each synchronous belt module adopts synchronous belts with the same modulus, synchronous belt connecting plates are fixed on the synchronous belts, and the synchronous belt connecting plates of the first mast and the second mast are oppositely arranged and are respectively connected with two ends of the guide rail.
4. A multi-arm mobile manipulator robot according to claim 3, wherein: the driving motor of the synchronous belt module is configured as a motor with an encoder.
5. A multi-arm mobile manipulator robot according to claim 3, wherein:
the first mast and the second mast are arranged in a hollow mode and provided with opposite strip windows;
The synchronous belt module is hidden in the corresponding mast and exposes the synchronous belt through the window, the synchronous belt connecting plate is positioned outside the mast and connected with the synchronous belt through the window, the vertical sliding block which semi-surrounds the mast is sleeved on the mast, and the vertical sliding block is fixed on the synchronous belt connecting plate and forms the surrounding of the mast.
6. A multi-arm mobile manipulator robot according to claim 3, wherein:
And a screw rod is bridged between the synchronous belt connecting plates of the first mast and the second mast, the screw rod is arranged in parallel with the guide rail, and the horizontal sliding block is provided with a screw rod motor serving as a third actuator to move along the screw rod.
7. The multi-arm mobile manipulator robot of claim 6, wherein:
The guide rails are at least two and parallel to each other, the screw rod is positioned between the two guide rails, and the horizontal sliding block is sleeved on the two guide rails to realize sliding.
8. The multi-arm mobile manipulator robot of claim 2, wherein:
The guide rails are at least two, the guide rails are arranged up and down, and each guide rail is provided with at least one sliding block;
At least one guide rail is driven by a linear driver on the first mast, the other guide rails are driven by a linear driver on the second mast, and the linear driver on the first mast and the linear driver on the second mast respectively and independently operate.
9. The multi-arm mobile manipulator robot of claim 1, wherein:
The telescoping arm includes a proximal sleeve and at least one distal sleeve slidably engaged within the proximal sleeve;
The proximal sleeve is fixed on the horizontal sliding block, and the tail part far away from the extending direction extends out of the horizontal sliding block along the retracting direction.
10. The multi-arm mobile manipulator robot of claim 9, wherein: and a triangular reinforcing plate is connected between the bottom of the proximal sleeve facing the proximal direction and the horizontal sliding block.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202323336051.5U CN221338538U (en) | 2023-12-07 | 2023-12-07 | Multi-arm type mobile operation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202323336051.5U CN221338538U (en) | 2023-12-07 | 2023-12-07 | Multi-arm type mobile operation robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN221338538U true CN221338538U (en) | 2024-07-16 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202323336051.5U Active CN221338538U (en) | 2023-12-07 | 2023-12-07 | Multi-arm type mobile operation robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN221338538U (en) |
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2023
- 2023-12-07 CN CN202323336051.5U patent/CN221338538U/en active Active
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