Robot convenient to fold and store

Abstract

The utility model discloses a robot convenient to fold and store, which realizes the folding and storage of the robot in a non-working state through a skillfully designed connecting rod and a rotary driving mechanism, greatly reduces the space occupancy rate, and simultaneously ensures the stability and flexibility of the robot in a working state. In addition, the robot has the advantages of being simple in structure, convenient to operate, wide in application range and the like.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a robot which is convenient for folding and storage. Background Art

[0002] With the rapid development of science and technology, robots are increasingly used in various fields such as industry, home, and medical care. They not only improve work efficiency and reduce labor costs, but can also replace humans in some dangerous or complex environments. However, traditional robots often face a common problem in design and use: when not working, their size and shape are often large, which is not conducive to storage and carrying, which not only wastes precious space resources, but also increases transportation and storage costs.

[0003] Therefore, it is of great significance to design a robot that can be folded and stored when not in working state to reduce space occupancy. Utility Model Content

[0004] In order to solve the above problems, the utility model provides a robot that is easy to fold and store, including a base, a column, a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, and a fifth connecting rod that are connected in sequence, the column including a linear joint and a first rotation drive mechanism; the linear joint and one end of the first rotation drive mechanism are fixedly connected, and are used to drive the first rotation drive mechanism to move up and down; the first connecting rod includes a first structure and a second rotation drive mechanism that are fixedly connected to each other in sequence; the third connecting rod includes a third rotation drive mechanism and a second structure that are fixedly connected to each other in sequence; the fourth connecting rod includes a third structure and a fourth rotation drive mechanism and a fifth rotation drive mechanism that are fixedly connected on both sides of the third structure; the other end of the first rotation drive mechanism is connected to the first structure, the second rotation drive mechanism is connected to one end of the second connecting rod, the third rotation drive mechanism is connected to the other end of the second connecting rod, and the fourth rotation drive mechanism is connected to the second structure.

[0005] Compared with the prior art, the beneficial effects brought by the utility model are:

[0006] The robot provided by the utility model is easy to fold and store, and the robot can be folded and stored in a non-working state through a cleverly designed connecting rod and a rotating drive mechanism, which greatly reduces the space occupancy rate and ensures the stability and flexibility of the robot in a working state. In addition, the robot of the present application also has the advantages of simple structure, convenient operation, and wide application range. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0008] Figure 1 This is a schematic diagram of the overall structure of the robot of this application;

[0009] Figure 2 This is a schematic diagram of the distribution of various degrees of freedom of movement of the robot of this application;

[0010] Figure 3 This is a schematic diagram of the structure of the robot in the folded and stored state of the present application. DETAILED DESCRIPTION

[0011] The content of the present invention can be more easily understood by referring to the following detailed description of the preferred implementation method of the present invention and the included embodiments. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by ordinary technicians in the field to which the present invention belongs. When there is a conflict, the definition in this specification shall prevail.

[0012] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0013] Those skilled in the art will appreciate that, unless otherwise defined, all terms (including technical terms and scientific terms) used herein have the same meaning as the general understanding of ordinary technicians in the field to which the utility model belongs. It should also be understood that those terms such as those defined in general dictionaries should be understood to have the same meaning as the meaning in the context of the prior art, and will not be interpreted with idealized or overly formal meanings unless defined as herein.

[0014] In the description of the present utility model, the meaning of "and / or" means that the situations where each exists alone or both exist at the same time are included.

[0015] In the description of the present utility model, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate the orientation or position relationship based on the orientation or position relationship shown in the accompanying drawings, or the orientation or position relationship in which the utility model product is usually placed when in use, which is only for the convenience of describing the utility model and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present utility model. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0016] In addition, the terms "horizontal", "vertical", "overhanging" and the like do not mean that the components are required to be absolutely horizontal or overhanging, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0017] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0018] The utility model protects a robot that is easy to fold and store, such as Figure 1As shown, it includes a base 010, a column 020, a first connecting rod 030, a second connecting rod 040, a third connecting rod 050, a fourth connecting rod 060, and a fifth connecting rod 070 which are sequentially connected. The column 020 includes a linear joint and a first rotation drive mechanism 021; the linear joint is fixedly connected to one end of the first rotation drive mechanism 021, and is used to drive the first rotation drive mechanism 021 to move up and down; the first connecting rod 030 includes a first structure 031 and a second rotation drive mechanism 032 which are sequentially fixedly connected to each other; the third connecting rod 050 includes a third structure 031 and a second rotation drive mechanism 032 which are sequentially fixedly connected to each other A rotation drive mechanism 052 and a second structure 051; the fourth connecting rod 060 includes a third structure 061 and a fourth rotation drive mechanism 062 and a fifth rotation drive mechanism 063 fixedly connected on both sides of the third structure 061; the other end of the first rotation drive mechanism 021 is connected to the first structure 031, the second rotation drive mechanism 032 is connected to one end of the second connecting rod 040, the third rotation drive mechanism 052 is connected to the other end of the second connecting rod 040, and the fourth rotation drive mechanism 062 is connected to the second structure 051.

[0019] In a specific embodiment, the first rotation drive mechanism 021, the second rotation drive mechanism 032, the third rotation drive mechanism 052, the fourth rotation drive mechanism 062, and the fifth rotation drive mechanism 063 are all controlled by motors alone, and are internally integrated with motor drivers, motors, absolute encoders, incremental encoders, brakes, and reducers, and one end of each rotation drive mechanism is an output flange end, and the other end is a shell connection end, and the output flange has a rotational degree of freedom relative to the shell. Specifically, the distribution diagram of each rotational degree of freedom of the robot is as follows Figure 2 As shown in the figure, it mainly includes 1 linear motion degree of freedom and 5 rotational degrees of freedom, which together determine that the robot end, the fifth link 070, has 6 degrees of freedom in space: 3 linear degrees of freedom and 3 rotational degrees of freedom. The multi-dimensional motion capability enables the robot to flexibly reach and adapt to a variety of positions and angles to achieve its functions. When the robot completes its work, Figure 3 As shown, it can be folded and stored to save space.

[0020] In a specific embodiment, the output flange end of the first rotation drive mechanism 021 is connected to the first structure 031, and is used to drive the first structure 031 to rotate together; the output flange end of the second rotation drive mechanism 032 is connected to one end of the second connecting rod 040, and is used to drive the second connecting rod 040 to rotate together; the output flange end of the third rotation drive mechanism 052 is connected to the other end of the second connecting rod 040, and is used to drive the second connecting rod 040 to rotate together; the output flange end of the fourth rotation drive mechanism 062 is connected to the second structure 051, and is used to drive the third structure 061 to produce a rotational motion relative to the second structure 051.

[0021] In a specific implementation, the output flange end of the fifth rotation driving mechanism 063 is connected to the fifth connecting rod 070 to drive the fifth connecting rod 070 to rotate together.

[0022] In a specific implementation, the linear joint is fixedly connected to the first rotation drive mechanism 021 via a fixed structure.

[0023] In a specific implementation, the base 010 is fixedly mounted on a bottom surface or a work platform.

[0024] In a specific embodiment, it also includes a driving power supply, which provides power to the motor driver and the motor of each rotating drive mechanism.

[0025] In a specific implementation, the fifth connecting rod 070 is a charging gun assembly.

[0026] The utility model provides a robot that is easy to fold and store. Through the cleverly designed connecting rod and rotating drive mechanism, the robot can be folded and stored in a non-working state, which greatly reduces the space occupancy rate and ensures the stability and flexibility of the robot in the working state. In addition, the robot of the present application also has the advantages of simple structure, convenient operation, and wide application range.

[0027] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention is described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A robot that is easy to fold and store, characterized in that: It includes a base, a column, a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod and a fifth connecting rod which are connected in sequence, wherein the column includes a linear joint and a first rotation drive mechanism; the linear joint is fixedly connected to one end of the first rotation drive mechanism to drive the first rotation drive mechanism to move up and down; the first connecting rod includes a first structure and a second rotation drive mechanism which are fixedly connected to each other in sequence; the third connecting rod includes a third rotation drive mechanism and a second structure which are fixedly connected to each other in sequence; the fourth connecting rod includes a third structure and a fourth rotation drive mechanism and a fifth rotation drive mechanism which are fixedly connected on both sides of the third structure; the other end of the first rotation drive mechanism is connected to the first structure, the second rotation drive mechanism is connected to one end of the second connecting rod, the third rotation drive mechanism is connected to the other end of the second connecting rod, and the fourth rotation drive mechanism is connected to the second structure.

2. A robot that is easy to fold and store according to claim 1, characterized in that: The first rotary drive mechanism, the second rotary drive mechanism, the third rotary drive mechanism, the fourth rotary drive mechanism and the fifth rotary drive mechanism all include an output flange end for rotary drive and a housing connection end, and the output flange has a rotational freedom relative to the housing.

3. The robot that is easy to fold and store according to claim 2, characterized in that: The output flange end of the first rotation drive mechanism is connected to the first structure, and is used to drive the first structure to rotate together; the output flange end of the second rotation drive mechanism is connected to one end of the second connecting rod, and is used to drive the second connecting rod to rotate together; the output flange end of the third rotation drive mechanism is connected to the other end of the second connecting rod, and is used to drive the second connecting rod to rotate together; the output flange end of the fourth rotation drive mechanism is connected to the second structure, and is used to drive the third structure to produce rotational motion relative to the second structure.

4. The robot that is easy to fold and store according to claim 3, characterized in that: The output flange end of the fifth rotation driving mechanism is connected to the fifth connecting rod to drive the fifth connecting rod to rotate together.

5. The robot that is easy to fold and store according to claim 1, characterized in that: The linear joint is fixedly connected to the first rotation drive mechanism via a fixed structure.

6. The robot that is easy to fold and store according to claim 1, characterized in that: The base is fixedly installed on the bottom surface or the working platform.

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