Hazardous chemical robot

Abstract

The invention relates to the technical field of robots, in particular to a hazardous chemical robot. The invention provides a dangerous chemical robot which comprises a platform, Mecanum wheels and a mechanical arm, wherein the Mecanum wheels and the mechanical arm are arranged on the platform. The mechanical arm comprises a mounting frame, a first rotating frame rotationally arranged on the mounting frame, a second rotating frame rotationally arranged on the first rotating frame, a third rotating frame rotationally arranged on the second rotating frame and a differential frame arranged on the third rotating frame, and a suction cup is connected to the differential frame. The first rotating frame and the second rotating frame can rotate with the Z axis as a rotating shaft, the third rotating frame can rotate with the Y axis as a rotating shaft, and the differential frame can rotate with the X axis and the Y axis as rotating shafts. The technical problem that in the prior art, a mechanical arm of a hazardous chemical robot is not enough in flexibility is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a hazardous chemical robot. Background Art

[0002] Hazardous chemical robots are robots specially designed to perform tasks in hazardous chemical environments. These robots usually have special properties such as explosion-proof and corrosion-resistant to ensure stable operation in hazardous environments. Emergency response robots are developed for emergency response to chemical storage leakage accidents. They are particularly suitable for enterprises or laboratories that store hazardous chemicals, such as chlor-alkali production plants, furniture factories and electroplating plants, and laboratories such as chemical laboratories and material laboratories. They can respond to various chemical leakage situations quickly, comprehensively and safely.

[0003] Many functions of hazardous chemical robots need to be realized through robotic arms, but the robotic arms of many robots are not flexible enough, resulting in poor performance during actual use.

[0004] Therefore, it is necessary to propose a hazardous chemical robot with a highly flexible robotic arm that can cope with various situations on site. Summary of the invention

[0005] The purpose of the present invention is to overcome the deficiencies of the above-mentioned prior art and to provide a hazardous chemical robot, which aims to solve the technical problem of insufficient flexibility of the mechanical arm of the hazardous chemical robot in the prior art.

[0006] To achieve the above-mentioned purpose, the present invention proposes a hazardous chemical robot, including a platform, a Mecanum wheel and a mechanical arm arranged on the platform, wherein the mechanical arm includes a mounting frame, a first rotating frame rotatably arranged on the mounting frame, a second rotating frame rotatably arranged on the first rotating frame, a third rotating frame rotatably arranged on the second rotating frame, and a differential frame arranged on the third rotating frame, wherein a suction cup is connected to the differential frame; the first rotating frame and the second rotating frame can rotate with a Z axis as a rotating axis, the third rotating frame can rotate with a Y axis as a rotating axis, and the differential frame can rotate with an X axis and a Y axis as a rotating axis.

[0007] Preferably, the first rotating frame includes a joint motor fixed on the mounting frame, a carbon plate arranged on the joint motor, and a deep groove ball bearing for mounting the carbon plate is arranged on the joint motor; the density of the carbon plate is 1487.6 kg / m³.

[0008] Preferably, the carbon plate comprises a first rotating arm for connecting to the second rotating frame, the carbon plates are in two pieces and are arranged in parallel, and a first clamping plate is arranged between the carbon plates.

[0009] Preferably, the second rotating frame includes a second motor arranged on the first rotating frame, a lower rotating plate rotatably arranged on the second motor through a bearing, and an upper rotating plate arranged on the output shaft of the second motor, and the lower rotating plate and the upper rotating plate are clamped together by a parallelogram plate, and the acute angle of the parallelogram plate is 20°~75°.

[0010] Preferably, the third rotating frame includes a third motor fixed on the second rotating frame and a rotating U-shaped frame fixed on the output shaft of the third motor.

[0011] Preferably, the differential frame includes a rotating frame rotatably arranged on the rotating U-shaped frame, a second rotating shaft and a third rotating shaft are arranged on both sides of the rotating frame, a second gear and a third gear are respectively arranged on the second rotating shaft and the third rotating shaft, and the second gear and the third gear are both meshed with the first gear.

[0012] Preferably, a suction cup body is connected to the first gear, and the suction cup body is rotatably arranged on a rotating frame.

[0013] Preferably, the suction cup body comprises a suction nozzle ring, an inclined ring connected to the suction nozzle ring and inclined inward, a horizontal ring arranged on the inclined ring, and a base, wherein the base is provided with an air extraction hole.

[0014] Preferably, a chassis is provided on the platform, the chassis is provided with a cross bar, a connecting plate is provided on the cross bar, and a Mecanum wheel is connected to the side of the connecting plate away from the cross bar; a suspension mechanism is also included, one end of the suspension mechanism is provided above the cross bar, and the other end is provided above the connecting plate; each of the two ends of each cross bar is connected to a Mecanum wheel, and at least two cross bars are provided.

[0015] Preferably, the suspension mechanism comprises a hydraulic rod and a spring arranged on the hydraulic rod; anti-collision shafts are arranged on the four corners of the chassis, and anti-collision wheels are rotatably arranged on the upper and lower sides of the anti-collision shafts, and the anti-collision wheels protrude from the plane of the chassis.

[0016] Compared with the prior art, the hazardous chemical robot provided by the present invention has the following beneficial effects: 1. The robot arm is more flexible as a whole and in order to minimize the impact on the vehicle body when dragging the robot, the rear end of the forearm adopts the SCARA robot arm design. At the same time, in order to allow the operator to see the status of the robot more clearly, we set up a two-degree-of-freedom image transmission system with yaw and pitch behind the lifting frame to ensure that the posture of the object can be observed. The whole arm has a total of 5 axes, roll, pitch, row, yaw, yaw from the suction cup to the end. With the lifting and extension of the vehicle gantry and the x-axis translation of the vehicle itself, a SCARA-like configuration robot arm with 8 degrees of freedom can be realized.

[0017] 2. A differential mechanism is formed by the first gear, the second gear and the third gear. When the first motor and the second motor have the same speed and opposite rotation directions, the suction cup will rotate around the roll axis. When the first motor and the second motor have the same speed and the same rotation direction, the suction cup will pitch around the pitch axis. Changing the speed and rotation direction of the first motor and the second motor will enable the suction cup to pitch and rotate at the same time. The design feature of the corrugated suction cup is the wavy shape at its bottom. This structure makes the suction cup have better softness and deformation adaptability, and can better fit irregular or curved surfaces, such as bumps or depressions on the robot shell. 3. The suspension mechanism is set on the top, which is convenient for replacing the suspension mechanism alone without removing the wheels. The Mecanum wheel is fixed to the crossbar through a connecting plate. To replace the Mecanum wheel, you only need to remove the connecting plate.

[0018] The features and advantages of the present invention will be described in detail through embodiments in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the structure of the hazardous chemical robot according to an embodiment of the present invention.

[0020] Figure 2 It is a schematic diagram of the enlarged structure of point A of an embodiment of the present invention.

[0021] Figure 3 It is a schematic structural diagram of a mechanical arm in an expanded state according to an embodiment of the present invention.

[0022] Figure 4 It is a schematic diagram of the three-dimensional structure of the suction cup according to an embodiment of the present invention.

[0023] Figure 5 It is a schematic diagram of the front structural view of the suction cup according to an embodiment of the present invention.

[0024] Figure 6 It is a bottom view structural schematic diagram of the suction cup according to an embodiment of the present invention.

[0025] Figure 7 2 is a schematic diagram of the top structure of the suction cup according to an embodiment of the present invention.

[0026] Figure 8 It is a left-side structural schematic diagram of a suction cup according to an embodiment of the present invention.

[0027] Fig. 9 It is a schematic structural diagram of a quick-release wheel set according to an embodiment of the present invention.

[0028] Fig.10 It is a schematic diagram of a partial three-dimensional structure of a quick-release wheel assembly according to an embodiment of the present invention.

[0029] Fig.11 It is a partial front view structural schematic diagram of a quick-release wheel assembly according to an embodiment of the present invention.

[0030] Fig.12 It is a partial top view of the structure of the quick-release wheel assembly according to an embodiment of the present invention.

[0031] Fig.13 It is a partial top view of the structure of a quick-release wheel assembly according to an embodiment of the present invention.

[0032] Fig.14 It is a partial front view structural diagram of a quick-release wheel assembly according to an embodiment of the present invention.

[0033] In the figure: 1, platform; 11, chassis; 111, cross bar; 1111, lug; 112, anti-collision shaft; 113, anti-collision wheel; 13, connecting plate; 131, connecting lug; 14, suspension mechanism; 141, hydraulic rod; 142, spring; 15, clamping plate; 16, motor; 161, mounting ring; 1611, fixing hole; 2, Mecanum wheel; 3, mechanical arm; 31, mounting frame; 32, first rotating frame; 321, joint motor; 322, carbon plate; 323, first rotating arm; 324, first clamping plate; 33, second rotating frame; 331, second motor; 332, lower rotating plate; 333, upper rotating plate; 334, parallelogram plate; 34, third rotating frame; 3 41. The third motor; 342. The rotating U-shaped frame; 35. The differential frame; 357. The suction cup body; 3571. The nozzle ring; 3572. The tilting ring; 3573. The horizontal ring; 3574. The base; 3575. The exhaust hole; 356. The first gear; 351. The rotating frame; 352. The second rotating shaft; 3521. The first large pulley; 353. The third rotating shaft; 3531. The second large pulley; 354. The second gear; 355. The third gear; 342. The rotating U-shaped frame; 358. The first motor; 3581. The first small pulley; 359. The second motor; 3591. The second small pulley; 4. The suction cup; 41. The double-headed air pipe; 42. The thermal sensor. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical scheme and advantages of the present invention clearer, the present invention is further described in detail below through the accompanying drawings and embodiments. However, it should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the scope of the present invention. In addition, in the following description, the description of known structures and technologies is omitted to avoid unnecessary confusion of the concept of the present invention.

[0035] In the description of the present invention, it should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or indirectly connected to the other element.

[0036] In the description of the present invention, it should be noted that the terms "center", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or the positions or positional relationships in which the invention product is usually placed when in use, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying 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 limiting the present invention. In addition, the terms "first", "second", "third" and the like are only used to distinguish descriptions, and cannot be understood as indicating or implying relative importance. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "multiple" means two or more, unless otherwise clearly and specifically defined. "Several" means one or more, unless otherwise clearly and specifically defined.

[0037] 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 elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. Embodiment 1:

[0038] See also Figure 1-3The embodiment of the present invention provides a hazardous chemical robot, including a platform 1, a Mecanum wheel 2 and a mechanical arm 3 arranged on the platform 1, wherein the mechanical arm 3 includes a mounting frame 31, a first rotating frame 32 rotatably arranged on the mounting frame 31, a second rotating frame 33 rotatably arranged on the first rotating frame 32, a third rotating frame 34 rotatably arranged on the second rotating frame 33, and a differential frame 35 arranged on the third rotating frame 34, wherein a suction cup 4 is connected to the differential frame 35; the first rotating frame 32 and the second rotating frame 33 can rotate with the Z axis as the rotating axis, the third rotating frame 34 can rotate with the Y axis as the rotating axis, and the differential frame 35 can rotate with the X axis and the Y axis as the rotating axis. Through the adjustment of various degrees of freedom, the maximum grasping distance can reach 480mm.

[0039] We use SCARA-type robotic arms in the robotic arm part. When the robot is in motion, the robotic arm will be stored inside the vehicle body and will be extended when needed. Figure 1 and Figure 2 , the expanded state can be seen in Figure 3 .

[0040] In an optional embodiment, the first rotating frame 32 includes a joint motor 321 fixed on the mounting frame 31, a carbon plate 322 arranged on the joint motor 321, and a deep groove ball bearing for mounting the carbon plate 322 is arranged on the joint motor 321; the density of the carbon plate 322 is 1487.6kg / m³. An aluminum sleeve is used to match a GB-619 model deep groove ball bearing to build a frame on the outer ring of the motor, and a gasket is added at the upper or lower end to leave a wiring port for the motor. The actual machine test shows that the structure can stably support the front arm.

[0041] In an optional embodiment, the carbon plate 322 includes a first rotating arm 323 for connecting to the second rotating frame 33 , and the carbon plates 322 have two pieces and are arranged in parallel, and a first clamping plate 324 is arranged between the carbon plates 322 .

[0042] In an optional embodiment, the second rotating frame 33 includes a second motor 331 arranged on the first rotating frame 32, a lower rotating plate 331 rotatably arranged on the second motor 331 through a bearing, and an upper rotating plate 332 arranged on the output shaft of the second motor 331, and the lower rotating plate 331 and the upper rotating plate 332 are clamped by a parallelogram plate 333, and the acute angle of the parallelogram plate 333 is 20°~75°.

[0043] In an optional embodiment, the third rotating frame 34 includes a third motor 341 fixed on the second rotating frame 33 , a rotating U-shaped frame 342 fixed on the output shaft of the third motor 341 , and a differential frame 35 is connected to the rotating U-shaped frame 342 .

[0044] The robot arm is more flexible as a whole and minimizes the impact on the vehicle body when dragging the robot. The rear end of the forearm adopts the SCARA robot arm design. At the same time, in order to allow the operator to see the robot's condition more clearly, we set up a two-degree-of-freedom image transmission system with yaw and pitch behind the lifting frame to ensure that the posture of the object can be observed. The whole arm has a total of 5 axes, roll, pitch, row, yaw, yaw from the suction cup to the end. With the lifting and extension of the vehicle gantry and the x-axis translation of the vehicle itself, an 8-degree-of-freedom SCARA-like configuration robot arm can be realized.

[0045] The whole arm has 5 axes, roll, pitch, row, yaw, yaw from the suction cup to the end. With the lifting and extension of the gantry and the x-axis translation of the body, a SCARA-like configuration robot with 8 degrees of freedom can be realized. A reduction mechanism is used at the front end of the robot arm, with a reduction ratio of 16:32. The maximum continuous output torque of the single-side motor is 1 Nm, and the distance from the front synchronous wheel to the tail of the suction cup is 70mm. Assuming that the picked-up object is a uniform cube and the center of gravity is the geometric center of gravity, it is estimated that the center of gravity is 170mm away from the synchronous wheel: according to:

[0046] Bring it into calculation:

[0047] The object that can be lifted at a time is approximately 2.35 kg. Embodiment 2:

[0048] On the basis of the first embodiment, a differential is added to increase the degree of freedom, and a suction cup is connected to the differential, so that it can better adapt to different on-site conditions and has better practicality. The structures of the differential and the suction cup are specifically introduced below.

[0049] See also Figure 4-8An embodiment of the present invention provides a suction cup, including a suction cup body 357. Part of the suction cup body 357 is made of HB80 nitrile rubber. A first gear 356 is provided on the suction cup body 357, and the suction cup body 357 is provided on a rotating frame 351, and the rotating frame 351 is U-shaped. A second rotating shaft 352 and a third rotating shaft 353 are provided on both sides of the rotating frame 351, and the second rotating shaft 352 and the third rotating shaft 353 are rotatable relative to the rotating frame 351. A second gear 354 and a third gear 355 are respectively provided on the second rotating shaft 352 and the third rotating shaft 353, and the second gear 354 and the third gear 355 are both meshed with the first gear 356. The first gear 356, the second gear 354 and the third gear 355 are all bevel gears. The tooth outer diameter plane of the first gear 356 is perpendicular to the tooth outer diameter planes of the second gear 354 and the third gear 355, respectively. The tooth outer diameter planes of the second gear 354 and the third gear 355 are parallel, so as to form a differential.

[0050] See also Figure 4 In an optional embodiment, the second rotating shaft 352 and the third rotating shaft 353 are arranged on the rotating U-shaped frame 342, and the rotating U-shaped frame 342 is U-shaped. The second rotating shaft 352 and the third rotating shaft 353 are rotatably mounted on the rotating U-shaped frame 342.

[0051] See also Figure 4 In an optional embodiment, a first motor 358 and a second motor 359 are connected to both sides of the rotating U-shaped frame 342, and a first small pulley 3581 is connected to the first motor 358; and a second small pulley 3591 is connected to the second motor 359. A first large pulley 3521 is connected to the second rotating shaft 352, and a second large pulley 3531 is connected to the third rotating shaft 353; the first small pulley 3581 and the first large pulley 3521 are connected by a synchronous belt, and the second small pulley 3591 and the second large pulley 3531 are connected by a synchronous belt. The synchronous belt is not shown in the figure.

[0052] The differential mechanism is formed by the first gear, the second gear and the third gear, and is realized by two 2006 motors (i.e. the first motor and the second motor) driving the middle differential mechanism. When the first motor and the second motor have the same speed and opposite rotation directions, the suction cup will rotate around the roll axis. When the first motor and the second motor have the same speed and the same rotation direction, the suction cup will pitch around the pitch axis. Changing the speed and rotation direction of the first motor and the second motor will enable the suction cup to pitch and rotate at the same time. At the same time, the robot has a higher degree of freedom at the front end of the forearm in a smaller space, and the 2006 motor can be placed closer to the root, reducing the forward shift of the center of gravity of the forearm as a whole.

[0053] See also Figure 4 and Figure 6 In an optional embodiment, the suction cup body 357 includes a nozzle ring 3571, a tilted ring 3572 connected to the nozzle ring 3571 and tilted inward, a tilted ring 3573 arranged on the tilted ring 3572, and a base 3574, and the base 3574 is provided with an air extraction hole 3575. The nozzle ring 3571 is in the shape of a runway, and the area of ​​the nozzle ring 3571 is the largest. The large-sized suction cup can effectively improve the adsorption force by increasing the contact area with the adsorbed object, which is particularly important for low surface energy materials (such as smooth plastic or painted surfaces), which are usually difficult to adsorb through a small area. A larger area can also help to evenly distribute the suction force on the contact surface between the suction cup and the object, reduce local stress concentration, and prevent damage or slippage due to excessive pressure, which is suitable for delicate surfaces that require gentle treatment. When facing an uneven or slightly undulating surface, a large-sized suction cup is more likely to cover enough effective contact points. Even if some areas fail to fit completely, the adsorption of the remaining large area can maintain overall stability.

[0054] In an optional embodiment, the nozzle ring 3571 is a corrugated suction cup. The main functions of the corrugated suction cup are as follows: Morphological adaptability: The design feature of the corrugated suction cup is the wavy shape at the bottom. This structure makes the suction cup have better softness and deformation adaptability, and can better fit irregular or curved surfaces, such as bumps or depressions on the robot shell.

[0055] Improve sealing: The corrugations can expand outward when subjected to force to form a tighter seal. For materials with high surface texture or roughness, this sealing can significantly improve the adsorption effect, prevent air leakage, and maintain a negative pressure state.

[0056] Dynamic compensation: The corrugated structure also has a certain degree of height compensation capability, and can adapt to materials of different thicknesses or slight deformations to a certain extent. Even if there are slight differences in the robot shell, it can still achieve effective adsorption.

[0057] See also Figure 4 In an optional embodiment, the tilted ring 3572 and the tilted ring 3573 are provided in plurality and are connected in sequence; from the nozzle ring 3571 along the direction of the base 3574, the openings of the tilted ring 3572 and the tilted ring 3573 gradually become smaller. Figure 1 Look, from right to left, there are nozzle ring, tilt ring, horizontal ring, tilt ring, horizontal ring and base. The suction cup can grab 2.3kg for side suction and 14kg for ceiling suction. You can add more tilt rings and horizontal rings according to the actual situation. The openings of different tilt rings and horizontal rings will gradually become smaller from left to right.

[0058] See also Figure 6 In an optional embodiment, the air extraction hole 3575 can be connected to a double-ended air pipe 41, one end of the double-ended air pipe 41 is connected to the air pump, and the other end can be connected to the fire extinguisher. The double-ended air pipe 41 is connected to the air pump, and the air pump is a DC brushless 64L / min. A thermal sensor 42 is provided near the suction cup body 357 of the rotating frame 351 to detect the temperature. When the temperature is too high, the suction cup body 357 cannot be used directly for suction. A fire extinguisher is used to cool down or extinguish the fire first, and the fire extinguishing material of the fire extinguisher is ejected from the air extraction hole 3575. The suction cup can play more functions when applied to the robot.

[0059] Embodiment three: On the basis of the first and second embodiments, this embodiment improves the wheel set of the hazardous chemical robot. The wheel set is specifically introduced below.

[0060] In actual practical use, the loss of hydraulic suspension may be aggravated in an environment with large terrain fluctuations, and the rough terrain may cause wear on the rubber wheel part of the Mecanum wheel. This solution proposes a quick-detachable wheel set, which is easy to disassemble the suspension and wheels, making it convenient for robot maintenance.

[0061] See also Fig. 9 and Fig.11 The embodiment of the present invention provides a quick-release wheel set, including a chassis 11 and a Mecanum wheel 2. The chassis 11 is provided with a crossbar 111, and a connecting plate 13 is provided on the crossbar 111. The side of the connecting plate 13 away from the crossbar 111 is connected to the Mecanum wheel 2; and a suspension mechanism 14 is further provided, one end of the suspension mechanism is provided above the crossbar 111, and the other end is provided above the connecting plate 13. Each of the two ends of each crossbar 111 is connected to a Mecanum wheel 2, and at least two crossbars 111 are provided.

[0062] Specifically, the chassis 11 is square, and each of the four corners is provided with a Mecanum wheel 2. Figure 1 For example, a cross bar 111 is provided on both sides of the left and right sides, and a Mecanum wheel 2 and a suspension mechanism 14 are provided on the front and rear sides of each cross bar 111. The Mecanum wheel 2 is fixed on the connecting plate 13. One end of the suspension mechanism 14 is detachably fixed to the cross bar 111, and the other end is detachably fixed above the connecting plate 13. When disassembly is required, the suspension mechanism 14 can be removed alone without affecting the Mecanum wheel 2. When the Mecanum wheel 2 needs to be removed, only the connecting plate needs to be removed. The center of the chassis 11 is a load-bearing position, and a load-bearing plate can be installed to facilitate the fixing of objects with relatively large weight or volume, such as a fire extinguisher, so as to realize the multifunctionality of the machine.

[0063] See also Fig.13In an optional embodiment, two connecting plates 13 are connected to both sides of one end of the crossbar 111, and the two connecting plates 13 are connected by a clamping plate 15. The position of the connecting plate 13 is controlled by the clamping plate 15 to prevent the connecting plate 13 from being broken by force. A motor 16 is connected to the connecting plate 13, and the steering is controlled by different motor speeds.

[0064] See also Fig.13 In an optional embodiment, a mounting ring 161 is provided on the motor 16, and at least two fixing holes 1611 are provided on one side of the mounting ring 161. When the suspension mechanism 14 is disassembled, the Mecanum wheel 2 will not be affected.

[0065] See also Figure 9-14 In an optional embodiment, the connecting plate 13 is sleeved on the motor 16, and the connecting plate 13 is triangular in shape. The connecting plate 13 extends upwardly to form a connecting ear 131 for connecting to the suspension mechanism 14. The cross bar 111 extends upwardly and toward the motor 16 to form a lug 1111 for connecting to the suspension mechanism 14, and the height of the lug 1111 is higher than the height of the connecting ear 131.

[0066] After the mounting plate 3 and the suspension mechanism 14 are installed, the horizontal line at the bottom of the mounting plate 3 and the suspension mechanism are roughly in parallel. When the chassis is subjected to force, the suspension mechanism 14 can better buffer and unload the force. The upward extension of the lug 1111 above the position of the connecting lug 131 can make the suspension mechanism 14 and the horizontal plane present a triangular shape. The upward extension of the connecting lug can make the suspension mechanism 14 in an upper position, which has less obstacles to disassembly and is easier to disassemble.

[0067] See also Fig.11 and Fig.14 In an optional embodiment, the suspension mechanism 14 includes a hydraulic rod 141 and a spring 142 disposed on the hydraulic rod 141. The suspension effect is better through the dual buffering and unloading of hydraulic pressure and spring.

[0068] See also Fig. 9 and Fig.10 In an optional embodiment, anti-collision shafts 112 are provided at the four corners of the chassis 11, and anti-collision wheels 113 are rotatably provided on the upper and lower sides of the anti-collision shafts 112, and the anti-collision wheels 113 protrude from the plane of the chassis 11. In order to prevent damage to the chassis 11, when the anti-collision wheels 113 are against the wall, the chassis 11 will not hit the wall, and it is more labor-saving when turning with the anti-collision wheels 113.

[0069] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modification, equivalent substitution or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A hazardous chemical robot, characterized in that: The invention comprises a platform (1), a Mecanum wheel (2) arranged on the platform (1), and a mechanical arm (3); the mechanical arm (3) comprises a mounting frame (31), a first rotating frame (32) rotatably arranged on the mounting frame (31), a second rotating frame (33) rotatably arranged on the first rotating frame (32), a third rotating frame (34) rotatably arranged on the second rotating frame (33), and a differential frame (35) arranged on the third rotating frame (34); a suction cup (4) is connected to the differential frame (35); the first rotating frame (32) and the second rotating frame (33) can rotate with a Z axis as a rotation axis, the third rotating frame (34) can rotate with a Y axis as a rotation axis, and the differential frame (35) can rotate with an X axis and a Y axis as rotation axes.

2. A hazardous chemical robot as claimed in claim 1, characterized in that: The first rotating frame (32) comprises a joint motor (321) fixed on the mounting frame (31), and a carbon plate (322) arranged on the joint motor (321); a deep groove ball bearing for mounting the carbon plate (322) is arranged on the joint motor (321); the density of the carbon plate (322) is 1487.6 kg / m3.

3. A hazardous chemical robot as claimed in claim 2, characterized in that: The carbon plate (322) comprises a first rotating arm (323) for connecting to a second rotating frame (33); the carbon plates (322) have two pieces and are arranged in parallel; a first clamping plate (324) is arranged between the carbon plates (322).

4. A hazardous chemical robot as claimed in claim 1, characterized in that: The second rotating frame (33) comprises a second motor (331) arranged on the first rotating frame (32), a lower rotating plate (332) rotatably arranged on the second motor (331) via a bearing, and an upper rotating plate (333) arranged on an output shaft of the second motor (331), the lower rotating plate (332) and the upper rotating plate (333) being clamped together via a parallelogram plate (334), and the acute angle of the parallelogram plate (334) is 20° to 75°.

5. A hazardous chemical robot as claimed in claim 4, characterized in that: The third rotating frame (34) comprises a third motor (341) fixed on the second rotating frame (33), and a rotating U-shaped frame (342) fixed on the output shaft of the third motor (341).

6. A hazardous chemical robot as claimed in claim 5, characterized in that: The differential frame (35) comprises a rotating frame (351) rotatably arranged on the rotating U-shaped frame (342), a second rotating shaft (352) and a third rotating shaft (353) arranged on both sides of the rotating frame (351), a second gear (354) and a third gear (355) being arranged on the second rotating shaft (352) and the third rotating shaft (353), respectively, and the second gear (354) and the third gear (355) are both meshed with the first gear (356).

7. A hazardous chemical robot as claimed in claim 6, characterized in that: The first gear (356) is connected to a suction cup body (357), and the suction cup body (357) is rotatably arranged on the rotating frame (351).

8. A hazardous chemical robot as claimed in claim 7, characterized in that: The suction cup body (357) comprises a suction nozzle ring (3571), an inclined ring (3572) connected to the suction nozzle ring (3571) and inclined inwardly, a horizontal ring (3573) arranged on the inclined ring (3572), and a base (3574), wherein the base (3574) is provided with an air extraction hole (3575).

9. A hazardous chemical robot as claimed in claim 1, characterized in that: A chassis (11) is arranged on the platform (1), the chassis (11) is provided with a crossbar (111), a connecting plate (12) is arranged on the crossbar (111), and a Mecanum wheel (2) is connected to the side of the connecting plate (12) away from the crossbar (111); a suspension mechanism (13) is also included, one end of the suspension mechanism is arranged above the crossbar (111), and the other end is arranged above the connecting plate (12); each crossbar (111) is connected to a Mecanum wheel (2) at both ends, and at least two crossbars (111) are provided.

10. A hazardous chemical robot as claimed in claim 9, characterized in that: The suspension mechanism (13) comprises a hydraulic rod (131) and a spring (132) arranged on the hydraulic rod (131); anti-collision shafts (112) are arranged at the four corners of the chassis (11); anti-collision wheels (113) are rotatably arranged up and down on the anti-collision shafts (112); the anti-collision wheels (113) protrude from the plane of the chassis (11).

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