A plate-type splicing modular robot

Abstract

The invention relates to the field of splicing robots and discloses a plate-type splicing modular robot, wherein a base component is connected to a first connecting rod group through a driving module, the base component can drive the first connecting rod group to rotate, a second connecting rod group is arranged outside the first connecting rod group, the first connecting rod group can drive the second connecting rod group to swing longitudinally, a third connecting rod group is arranged on the top of the second connecting rod group, the third connecting rod group is connected to a fourth connecting rod group through the driving module, the third connecting rod group can drive the fourth connecting rod group to rotate longitudinally, and the fourth connecting rod group is connected to a fifth connecting rod group; the driving module in the second connecting rod group is connected to the driving module in the third connecting rod group, the driving module in the fourth connecting rod group is connected to the fifth connecting rod group; the driving module in the second connecting rod group can drive the third connecting rod group to swing up and down; the fourth connecting rod group can drive the fifth connecting rod group to swing.

Description

Technical Field

[0001] The invention relates to the field of splicing robots, in particular to a plate-type splicing modular robot. Background Art

[0002] With the rapid development of science and technology in human society, robotics technology is also constantly improving, and robotics has received unparalleled attention. Especially in the manufacturing, social services and education industries, due to the advantages of robots such as high efficiency and high flexibility, as well as the characteristics of simple, repetitive and monotonous tasks, robotics technology has been widely used in these industries. However, with the development of industrial machines, their task requirements are becoming more and more complex and changeable, as well as the teaching requirements of robot training principles in the education industry. Traditional configuration robots cannot cope with complex and changeable application environments and cannot meet the learning requirements of their mechanical structure and internal systems during the teaching process due to their overly simple structure and low versatility.

[0003] At present, in view of the variability of the environment, some modular robots have begun to be applied, which have the characteristics of strong tolerance of parts damage and high versatility to meet the requirements of the task environment. However, the existing modules have complex connection methods that are not convenient for rapid installation and disassembly, high cost, etc., which are not conducive to practical application. For this reason, we propose a plate-type splicing modular robot. Summary of the invention

[0004] 1. Technical issues to be resolved

[0005] In view of the deficiencies in the prior art, the present invention provides a plate-type splicing modular robot to solve the above-mentioned problems.

[0006] (II) Technical solution

[0007] In order to achieve the above-mentioned purpose, the present invention provides the following technical solutions:

[0008] A plate-type splicing modular robot comprises a base assembly, a first link assembly, a second link assembly, a third link assembly, a fourth link assembly, a fifth link assembly and six drive modules, wherein the base assembly is connected to the first link assembly through the drive module, the base assembly can drive the first link assembly to rotate, the second link assembly is arranged outside the first link assembly, the first link assembly can drive the second link assembly to swing longitudinally, the third link assembly is arranged on the top of the second link assembly, the third link assembly is connected to the fourth link assembly through the drive module, the third link assembly can drive the fourth link assembly to rotate longitudinally, and the fourth link assembly is connected to the fifth link assembly;

[0009] The driving module in the second connecting rod group is connected to the driving module in the third connecting rod group, and the driving module in the fourth connecting rod group is connected to the fifth connecting rod group;

[0010] The driving module in the second link group can drive the third link group to swing up and down;

[0011] The fourth connecting rod group can drive the fifth connecting rod group to swing.

[0012] Preferably, the base assembly includes a bottom plate a, a frame a, a support plate a, a limit block a and a drive module a, the top of the bottom plate a is fixedly mounted with the frame a, the top of the frame a is fixedly mounted with the support plate a, the limit block a is installed on the support plate a, and the drive module is arranged in the frame a.

[0013] Preferably, the driving module includes a servo motor and a reducer, and the servo motor is connected to the reducer.

[0014] Preferably, the first connecting rod group includes a frame b, a support plate b, a limit block b, and a spindle b. The support plate b is connected to the output end of the driving module in the base assembly. The limit block b is connected below the support plate b. The frames b are fixedly installed on both sides of the limit block b. A driving module is arranged between the two frames b, and a spindle b is arranged on one side of the driving module.

[0015] Preferably, the second connecting rod group includes a frame c, a connecting piece c, a limit block c, a motor auxiliary plate c, a connecting rod c, and a bearing seat assembly c. The frame c is provided with a bearing seat assembly c on one side corresponding to the frame b. The driving module in the first connecting rod group passes through the output end of one side of the frame c and is installed with a connecting piece c. A limit block c and a motor auxiliary plate c are provided between the bearing seat assemblies c on both sides. The motor auxiliary plate c is used to carry the driving module in the second connecting rod group. The motor auxiliary plates c are connected by a connecting rod c, and the spindle b is fixedly connected to the frame c.

[0016] Preferably, the third connecting rod group includes a frame d, a support plate d, a limit block d, a bearing assembly d, a spindle d and a rotating shaft d. The driving module in the third connecting rod group is arranged between the two frames d. The two frames d are each provided with a spindle d on the side facing away from each other. Support plates d are installed at the positions of the two frames d corresponding to the driving modules. A bearing assembly d is installed on one side of the support plate d. A rotating shaft d is arranged on the bearing assembly d. The rotating shaft d is connected to the output end of the driving device. Limiting blocks d are provided on the frame d and the support plate d.

[0017] Preferably, the middle through hole of the rotating shaft d is provided with a keyway, the driving module output end of the third connecting rod group is inserted through the middle through hole, the rotating shaft d is connected to the driving module output end of the third connecting rod group through a key, and the driving module output end of the third connecting rod group is provided with a threaded hole.

[0018] Preferably, the fifth connecting rod group includes a frame f, a rotating shaft f, a connecting rod f, and a connecting flange f, wherein the connecting flange f is installed at the bottom of the frame f, the driving module in the fifth connecting rod group is arranged in the frame f and its output end is connected to the connecting flange f, and the spindle f is arranged on the frame f.

[0019] Preferably, the fourth connecting rod group includes two frames connected to the rotating shaft d, and pulleys are installed on the output ends of the driving modules of the spindle f, the fourth connecting rod group, the third connecting rod group and the second connecting rod group, and two adjacent pulleys are connected by belts.

[0020] (III) Beneficial effects

[0021] Compared with the prior art, the plate-type splicing modular robot provided by the present invention has the following beneficial effects:

[0022] 1. The plate-type splicing modular robot can adjust and install the number of connecting rod groups of the robot according to actual needs to form modular robots of different forms and degrees of freedom. It has high flexibility and can meet the requirements of complex and changing environmental tasks as well as the teaching needs of teaching and training for robots of different configurations.

[0023] 2. The plate-type splicing modular robot has the characteristics of simple structure and connection method, which is convenient for users to quickly install and disassemble, and is conducive to practical promotion and application.

[0024] 3. When responding to different task requirements, this plate-type splicing modular robot replaces different reduction drive modules according to different needs, thereby achieving different output performance under the same motor performance, improving adaptability to different task requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a schematic diagram of the overall structure of a plate-type splicing modular robot according to an embodiment of the present invention;

[0026] Figure 2 is a schematic structural diagram of a driving module according to an embodiment of the present invention;

[0027] Figure 3 It is a structural schematic diagram of a base according to an embodiment of the present invention;

[0028] Figure 4 This is a schematic structural diagram of the connection between the driving module a and the first connecting rod group support plate b according to an embodiment of the present invention;

[0029] Figure 5 is a schematic structural diagram of a first connecting rod group according to an embodiment of the present invention;

[0030] Figure 6 This is a schematic structural diagram of the connection between the driving module b and the second connecting rod assembly frame c according to an embodiment of the present invention;

[0031] Figure 7 It is a structural schematic diagram of the connection between the second connecting rod assembly frame c and the bearing seat assembly c according to an embodiment of the present invention;

[0032] Figure 8 is a schematic structural diagram of a second connecting rod group according to an embodiment of the present invention;

[0033] Fig. 9 is a schematic structural diagram of a third connecting rod group according to an embodiment of the present invention;

[0034] Fig.10 for Fig. 9 Section view in AA direction;

[0035] Fig.11 This is a structural schematic diagram of the connection between the third connecting rod assembly rotating shaft d and the fourth connecting rod assembly supporting plate e according to an embodiment of the present invention;

[0036] Fig.12 is a schematic structural diagram of a fifth connecting rod group according to an embodiment of the present invention;

[0037] Fig.13 for Fig.12 Cross-sectional view in the BB direction.

[0038] In the figure: 1, base assembly; 2, first connecting rod group; 3, second connecting rod group; 4, third connecting rod group; 5, fourth connecting rod group; 6, fifth connecting rod group; 111, servo motor; 112, reducer; 113, bottom plate a; 114, frame a; 115, support plate a; 116, limit block a; 211, support plate b; 212, limit block b, 213, frame b; 214, spindle b, 311, frame c; 312, connecting piece c; 31 3. Bearing seat assembly c; 314. Pulley; 315. Belt; 316. Limit block c; 317. Connecting rod c; 318. Motor auxiliary plate c; 411. Frame d; 412. Spindle d; 413. Limit block d; 414. Support plate d; 415. Rotating shaft d; 416. Bearing assembly d; 417. Key; 511. Support plate e; 512. Connecting flange f; 513. Frame f; 514. Connecting rod f; 515. Spindle f. DETAILED DESCRIPTION

[0039] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0040] Example

[0041] See also Figure 1-13 The plate-type splicing modular robot provided in this embodiment includes a base assembly 1, a first connecting rod group 2, a second connecting rod group 3, a third connecting rod group 4, a fourth connecting rod group 5, and a fifth connecting rod group 6. The base assembly 1 includes a bottom plate a113, a frame a114, a support plate a115, a limit block a116, and a drive module a. The drive module a includes a servo motor 111 and a reducer 112 (drive modules b and drive modules c have the same structure). The drive module a is fixed to the bottom plate a113 and the frame a114, the support plate a115, and the limit block a116 by bolt connection. The output end of the drive module a is connected to the support plate b211 of the first connecting rod group 2 by bolts and drives the first connecting rod group 2 to rotate around the output end of the drive module a.

[0042] Furthermore, the first connecting rod group 2 includes a frame b213, a support plate b211, a limit block b212, a spindle b214 and a driving module b, and each of its components is fixed by bolt connection (the second, third, fourth and fifth connecting rod groups are the same). The two frames b213 are connected and fixed by the support plate b211 to form a stable whole (the third and fourth connecting rod groups are the same). The output end of the driving module b is connected to the frame c311 of the second connecting rod group 3 through a connecting piece c312 and rotates around the output end of the driving module b; at the same time, one end of the other frame c311 of the second connecting rod group 3 is rotatably connected to the spindle b214 through a bearing seat assembly c313 (the second, third and fifth connecting rod groups have the same connection structure).

[0043] Further, the second connecting rod group 3 includes a frame c311, a connecting piece c312, a limit block c316, a motor auxiliary plate c318, a connecting rod c317, a bearing seat assembly c313 and a driving module c, wherein the driving module c includes a servo motor 111 and a reduction module, and the reduction module includes a reducer 112, a belt 315 and a pulley 314. The servo motor 111 is connected to the reducer 112 through a pulley 314 combination. The two frames c311 are connected by a connecting rod c317 to form a stable whole. The motor auxiliary plate c318 is fixed on the frame c311 to assist in supporting the motor (the third and fourth connecting rod groups are the same).

[0044] Further, the third connecting rod group 4 includes a frame d411, a support plate d414, a limit block d413, a motor auxiliary plate d, a connecting rod d, a bearing assembly d416, a spindle d412, a rotating shaft d415 and a servo motor 111. The connecting rod d strengthens the connection between the two frames d411 to ensure that they form a whole with good stability (the same applies to the fifth connecting rod group 6). The output shaft of the servo motor 111 is connected to the support plate e511 of the fourth connecting rod group 5 through the rotating shaft d415. The middle through hole of the rotating shaft d415 is provided with a keyway, and the output shaft of the servo motor 111 is inserted from the middle through hole. The output shaft of the servo motor 111 is connected to the rotating shaft through the key 417 to transmit power. At the same time, there is a threaded hole at the end of the output shaft of the servo motor 111, and the axial movement of the key 417 can be limited by bolts. There is a bolt hole at the big end of the rotating shaft d415, and it is connected to the support plate e511 of the fourth connecting rod group 5 by bolts to ensure the reliability of the connection.

[0045] Furthermore, the fifth connecting rod group 6 includes a frame f513, a rotating shaft f, a connecting rod f514, a connecting flange f512 and a servo motor 111. The connecting flange f512 has a hole in the middle, a keyway in the hole, and a threaded hole at one end of the large end thereof for connecting and fixing an actuator to be installed later, and two threaded holes spaced apart are opened on the side thereof. The output shaft of the servo motor 111 is inserted into the middle hole of the connecting flange f512 and is reinforced and fixedly connected with the connecting flange f512 through set screws in the two threaded holes on the side, and the spindle f1515 is arranged on the frame f513, and the spindle f1515 passes through.

[0046] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A plate-type modular robot, characterized in that: The invention comprises a base assembly (1), a first connecting rod assembly (2), a second connecting rod assembly (3), a third connecting rod assembly (4), a fourth connecting rod assembly (5), a fifth connecting rod assembly (6) and six driving modules, wherein the base assembly (1) is connected to the first connecting rod assembly (2) via the driving module, the base assembly (1) can drive the first connecting rod assembly (2) to rotate, the second connecting rod assembly (3) is arranged outside the first connecting rod assembly (2), the first connecting rod assembly (2) can drive the second connecting rod assembly (3) to swing longitudinally, the third connecting rod assembly (4) is arranged on the top of the second connecting rod assembly (3), the third connecting rod assembly (4) is connected to the fourth connecting rod assembly (5) via the driving module, the third connecting rod assembly (4) can drive the fourth connecting rod assembly (5) to rotate longitudinally, and the fourth connecting rod assembly (5) is connected to the fifth connecting rod assembly (6); The driving module in the second connecting rod group (3) is connected to the driving module in the third connecting rod group (4), and the driving module in the fourth connecting rod group (5) is connected to the fifth connecting rod group (6); The driving module in the second connecting rod group (3) is capable of driving the third connecting rod group (4) to swing up and down; The fourth connecting rod group (5) can drive the fifth connecting rod group (6) to swing; The first connecting rod assembly (2) comprises a frame b (213), a support plate b (211), a limit block b (212), and a spindle b (214); the support plate b (211) is connected to the output end of the driving module in the base assembly (1); the limit block b (212) is connected below the support plate b (211); frames b (213) are fixedly mounted on both sides of the limit block b (212); a driving module is arranged between the two frames b (213); and a spindle b (214) is arranged on one side of the driving module; The second connecting rod group (3) comprises a frame c (311), a connecting piece c (312), a limit block c (316), a motor auxiliary plate c (318), a connecting rod c (317), and a bearing seat assembly c (313); the frame c (311) is provided with a bearing seat assembly c (313) on one side corresponding to the frame b (213); the driving module in the first connecting rod group (2) passes through the output end of one side of the frame c (311) and is installed with a connecting piece c (312); a limit block c (316) and a motor auxiliary plate c (318) are provided between the bearing seat assemblies c (313) on both sides; the motor auxiliary plate c (318) is used to carry the driving module in the second connecting rod group (3); the motor auxiliary plates c (318) are connected by a connecting rod c (317); the spindle b (214) and the frame c (311) are fixedly connected together; The third connecting rod group (4) comprises a frame d (411), a support plate d (414), a limit block d (413), a bearing assembly d (416), a spindle d (412) and a rotating shaft d (415); a driving module in the third connecting rod group (4) is arranged between the two frames d (411); a spindle d (412) is arranged on the sides of the two frames d (411) which are away from each other; a support plate d (414) is installed at the position of the two frames d (411) corresponding to the driving module; a bearing assembly d (416) is installed on one side of the support plate d (414); a rotating shaft d (415) is arranged on the bearing assembly d (416); the rotating shaft d (415) is connected to the output end of the driving device; and a limit block d (413) is arranged on the frame d (411) and the support plate d (414); The middle through hole of the rotating shaft d (415) is provided with a keyway, and the output end of the driving module of the third connecting rod group (4) is inserted through the middle through hole. The rotating shaft d (415) is connected to the output end of the driving module of the third connecting rod group (4) via a key (417).

2. The plate-joined modular robot according to claim 1, characterized in that: The base assembly (1) comprises a bottom plate a (113), a frame a (114), a support plate a (115), a limit block a (116) and a drive module a; the top of the bottom plate a (113) is fixedly mounted with the frame a (114); the top of the frame a (114) is fixedly mounted with the support plate a (115); the limit block a (116) is mounted on the support plate a (115); and the drive module is arranged in the frame a (114).

3. The plate-joined modular robot according to claim 1, characterized in that: The fifth connecting rod group (6) includes a frame f (513), a rotating shaft f, a connecting rod f (514), and a connecting flange f (512), wherein the connecting flange f (512) is installed at the bottom of the frame f (513), the driving module in the fifth connecting rod group (6) is arranged in the frame f (513) and its output end is connected to the connecting flange f (512), and the spindle f (1515) is arranged on the frame f (513).

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