Double-range lifting engineering robot with low center-of-gravity shift based on RoboMaster match

Abstract

The invention provides a double-stroke lifting engineering robot based on RoboMaster competition low center-of-gravity shift, and belongs to the technical field of robots, the double-stroke lifting engineering robot comprises a chassis mechanism and a control system, a lifting mechanism is fixedly arranged on the chassis mechanism, a horizontal displacement mechanism is fixedly arranged on the lifting mechanism, an object grabbing mechanism is fixedly arranged on the horizontal displacement mechanism, and the object grabbing mechanism is fixedly arranged on the control system. The control system is electrically connected with the chassis mechanism, the lifting mechanism, the horizontal displacement mechanism and the object grabbing mechanism. The executing mechanism of the engineering robot is long enough to obtain ore in a tunnel, the gravity center does not move forwards when the executing mechanism is completely stretched, the gravity center rising amount is small when the lifting mechanism rises, and the requirements for the long executing mechanism, the low gravity center, the small gravity center forward moving amount and the like are met.

Description

Technical Field

[0001] The present invention relates to the field of robotics technology, and in particular to a double-range lifting engineering robot based on a low center of gravity offset in a RoboMaster competition. Background Art

[0002] In the RoboMaster competition (National College Student Robot Competition), one of the competition contents is to use engineering robots to grasp, transport and exchange gold and silver ores, which requires the engineering robots to have the functions of grasping and transporting objects. In recent years, due to changes in the competition rules, the difficulty of this competition has increased, which has put forward higher requirements for engineering robots.

[0003] Due to the change in the rules, the gold ore in the competition is stored in the tunnel in advance. If the engineering robot wants to obtain the ore, it must have a smaller and longer actuator. If the longer actuator is not used, it is not easy to obtain the tunnel ore. At the same time, when the engineering robot's lifting mechanism is lifted, it is easy to have the problem of insufficient lifting height, which makes it difficult to obtain the ore at a higher position and exchange the ore. If a two-stage lifting mechanism is used, although it is easy to meet the height requirements, it will cause the lifting mechanism to be heavy. At this time, when the lifting mechanism is raised, the robot extends a longer mechanical arm when the center of gravity is too high, which will cause the center of gravity to move forward and easily tip over. In addition, the motor control of the two-stage lifting mechanism is also more complicated. The existing engineering robots used in the RoboMaster competition are difficult to take into account the multiple requirements of longer actuators, lower center of gravity, and small forward displacement of the center of gravity. Therefore, we need an engineering robot with an actuator that is long enough to obtain the ore in the tunnel, and the center of gravity does not move forward much when the actuator is fully extended, and the center of gravity does not rise much when the lifting mechanism is raised. Summary of the invention

[0004] The purpose of the present invention is to provide a double-range lifting engineering robot with low center of gravity offset based on the RoboMaster competition, so as to solve the problems existing in the background technology.

[0005] To achieve the above object, the present invention adopts the following technical solutions:

[0006] The double-range lifting engineering robot with low center of gravity offset based on the RoboMaster competition includes a chassis mechanism and a control system. The chassis mechanism is fixedly provided with a lifting mechanism, the lifting mechanism is fixedly provided with a horizontal displacement mechanism, the horizontal displacement mechanism is fixedly provided with an object grasping mechanism, and the control system is electrically connected to the chassis mechanism, the lifting mechanism, the horizontal displacement mechanism and the object grasping mechanism respectively.

[0007] Further, the lifting mechanism includes a first slide, a second slide and a third slide, the lower end of the first slide is fixedly arranged on the chassis mechanism, the second slide is slidably connected to the first slide, the third slide is slidably connected to the second slide, a second connecting plate is provided on the third slide, the third slide is fixedly connected to the horizontal displacement mechanism, a second robot protection plate is provided on the first slide, a chain fixing assembly is provided on the second robot protection plate, and first tooth plate fixing blocks are provided at two corners of the top of the first slide;

[0008] The bottom end of the second slide is provided with a lifting drive motor, the output end of the lifting drive motor is connected to a driving sprocket, a chain is sleeved on the driving sprocket, the chain passes through a chain fixing assembly, an end of the chain away from the driving sprocket is sleeved with a driven sprocket, the driven sprocket is arranged at the top end of the second slide through a driven sprocket mounting seat, a coil spring assembly is provided at the top end of the second slide, the coil spring assembly is located at one side of the driven sprocket mounting seat, the coil spring assembly is fixedly connected to the horizontal displacement mechanism, and a lifting synchronous belt assembly is provided on the side of the second slide;

[0009] The lifting synchronous belt assembly includes a first lifting synchronous belt pulley and a second lifting synchronous belt pulley, the first lifting synchronous belt pulley is arranged at the lower end of the second slide, the second lifting synchronous belt pulley is arranged at the top end of the second slide, the first lifting synchronous belt pulley is connected with the second lifting synchronous belt pulley through a lifting synchronous belt, a first tooth plate and a second tooth plate are fixedly provided on the lifting synchronous belt, the first tooth plate is located on the lifting synchronous belt on one side of the first lifting synchronous belt pulley and the second lifting synchronous belt pulley, the second tooth plate is located on the lifting synchronous belt on the other side of the first lifting synchronous belt pulley and the second lifting synchronous belt pulley, the first tooth plate is fixedly connected to the first tooth plate fixing block, and the second tooth plate is fixedly connected to the second connecting plate.

[0010] Furthermore, the coil spring assembly includes a coil spring, and the coil spring includes a coil spring body, an installation inner ring and an installation outer ring, the installation inner ring is located at the inner center of the coil spring body, the installation outer ring is located at the end of the coil spring body, coil spring mounting plates are provided on both sides of the coil spring body, the coil spring mounting plates are fixedly arranged on the top of the second slide, the installation inner ring is fixedly connected with a coil spring bearing, the inner ring of the coil spring bearing is fixedly connected with a through-screw pin, both ends of the through-screw pin are connected to the coil spring mounting plate by fastening bolts, and the installation outer ring is fixedly connected to the horizontal displacement mechanism.

[0011] Furthermore, the chain fixing assembly includes a raising block, two of the raising blocks are installed on the second robot protection plate through a fixing block, a gap is provided between the two raising blocks for the chain to pass through, the width of the gap is greater than the width of the chain, a pressure plate is fixedly connected to one end of the two raising blocks away from the fixing block, a chain fixing hole is provided in the middle position of the pressure plate, a fixing bolt is installed in the chain fixing hole, the chain passes through the gap, and the fixing bolt fixes the chain.

[0012] Furthermore, a movable groove is provided at the lower end of the side surface of the second slide, a strip nut is provided above the movable groove, a tensioning bolt is provided on the strip nut, the first lifting synchronous belt pulley and the second lifting synchronous belt pulley are both fixed to the second slide by lifting plug bolts, a lifting belt pulley pad plate is provided between the first lifting synchronous belt pulley and the second slide, the tensioning bolt passes through the strip nut and is pressed against the lifting belt pulley pad plate, and the lifting plug bolt passes through the first lifting synchronous belt pulley and the lifting belt pulley pad plate and is arranged in the movable groove.

[0013] Further, the chassis mechanism includes a chassis frame, a wheel assembly and an object storage bin, wherein the wheel assembly is arranged at the bottom of the chassis frame, and the object storage bin is arranged at the center of the top of the chassis frame;

[0014] The wheel assembly includes a shock absorbing structure and a Mecanum wheel. The shock absorbing mechanism includes a shock absorber mounting seat, a shock absorber mounting seat fixing plate and a shock absorber. One end of the shock absorber is hinged to the shock absorber mounting seat. The shock absorber mounting seat is fixedly arranged on the shock absorber mounting seat fixing plate. The shock absorber mounting seat fixing plate is fixedly arranged on a first slide. The other end of the shock absorber is hinged to a Mecanum wheel frame. The Mecanum wheel is located inside the Mecanum frame. A chassis drive motor is arranged on one side outside the Mecanum wheel frame. The output end of the chassis drive motor is connected to the Mecanum wheel.

[0015] Furthermore, the horizontal displacement mechanism includes a transverse rack fixing tube and a coil spring fixing tube, the coil spring fixing tube is fixedly connected to the top end of the third slide and the mounting outer ring, a square frame is formed between the transverse rack fixing tube and the coil spring fixing tube, a forward extension fixed plate and a forward extension movable plate are provided on the transverse rack fixing tube, the forward extension movable plate is slidably connected to the forward extension fixed plate, and the forward extension movable plate is located on the inner side of the forward extension fixed plate, a base plate is provided on the square frame that slides along the transverse rack fixing tube, and the base plate passes through the forward extension movable plate and is fixedly connected to the forward extension fixed plate;

[0016] A lateral movement driving motor is provided on the lower surface of the base plate, and a lateral movement driving gear is connected to the output end of the lateral movement driving motor, and the lateral movement driving gear is meshed with a lateral movement rack provided on a lateral movement rack fixing tube;

[0017] One end of the forward fixed plate is provided with a forward driving motor, the output end of the forward driving motor is connected to a forward active synchronous pulley, a forward synchronous belt is sleeved on the forward active synchronous pulley, an end of the forward synchronous belt away from the forward active synchronous pulley is sleeved with a forward driven synchronous pulley, the forward driven synchronous pulley is located on the forward top plate, a forward toothed plate is fixedly connected to the forward synchronous belt, the forward toothed plate is fixedly connected to a forward toothed plate fixing member, and the forward toothed plate fixing member is fixedly connected to the forward moving plate.

[0018] Furthermore, the object grasping mechanism includes a pitch shaft motor, which is arranged at one end of the front extension moving plate away from the front extension drive motor, the output end of the pitch shaft motor is connected to a pitch active synchronous pulley, the pitch active synchronous pulley is sleeved with a pitch synchronous belt, the end of the pitch synchronous belt away from the pitch active synchronous pulley is sleeved with a pitch driven synchronous pulley, the pitch driven synchronous pulley is rotatably arranged on the front extension moving plate, the pitch driven synchronous pulley is fixedly connected to a pitch power output plate, the pitch power output plate is fixedly connected to a roll motor stator mounting plate, the roll motor stator mounting plate is provided with a roll shaft motor, the output end of the roll shaft motor is connected to a roll motor rotor mounting plate, and a differential assembly is fixedly provided on the roll motor rotor mounting plate.

[0019] Furthermore, the differential assembly includes a motor mounting plate, the motor mounting plate is fixedly connected to the roll motor rotor mounting plate, a driving motor is provided at one end of the motor mounting plate close to the roll motor rotor mounting plate, the output end of the driving motor is connected to an active synchronous pulley, a synchronous belt is sleeved on the active synchronous pulley, a driven synchronous pulley is sleeved on the end of the synchronous belt away from the active synchronous pulley, the driven synchronous pulley is fixedly connected to an active bevel gear, a differential pitch power output plate is rotatably provided between the active bevel gear and the motor mounting plate, a bearing seat fixing plate is fixedly connected to the end of the differential pitch power output plate away from the active bevel gear, a suction cup seat is rotatably provided on the bearing seat fixing plate, a suction cup is provided on the suction cup seat, an end of the suction cup seat away from the suction cup is connected to an air slip ring, the air slip ring is connected to an air pump arranged on the chassis mechanism, the active bevel gear is meshed with a driven bevel gear, and the driven bevel gear is fixedly connected to the suction cup seat.

[0020] Furthermore, the control system includes a referee unit, an industrial camera, a positioning unit and an STM32 control board. The referee unit, the industrial camera and the positioning unit are all electrically connected to the STM32 control board, and the STM32 control board is respectively electrically connected to the chassis mechanism, the lifting mechanism, the horizontal displacement mechanism and the object grasping mechanism.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] In the present invention, the engineering robot adopts a lifting mechanism with double-stroke lifting, and the lifting mechanism is driven by a group of motors. The lifting mechanism with double stroke driven by a group of motors can achieve a lifting height equivalent to that of an ordinary two-stage lifting. Compared with the ordinary two-stage lifting mechanism, the number of parts and motors is reduced, and the weight is reduced as a whole, which can avoid the center of gravity being too high when lifting. The horizontal displacement mechanism installed on the lifting mechanism has a long stroke and a width that can enter the tunnel. The object grasping mechanism installed on the horizontal displacement mechanism is light and short, and has four rotational degrees of freedom, which improves the flexibility of the object grasping mechanism. On the whole, the actuator length of the engineering robot is sufficient to obtain ore in the tunnel, and the center of gravity does not move forward much when the actuator is fully extended, and the center of gravity does not rise much when the lifting mechanism is raised, taking into account multiple requirements such as a longer actuator, a lower center of gravity, and a small forward displacement of the center of gravity. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is an overall axonometric diagram of an engineering robot according to an embodiment of the present invention;

[0024] Figure 2 It is an overall isometric view from another angle of the engineering robot according to an embodiment of the present invention;

[0025] Figure 3 It is an axonometric diagram of a chassis structure according to an embodiment of the present invention;

[0026] Figure 4 It is an axonometric view of a chassis frame of an embodiment of the present invention;

[0027] Figure 5 It is an axonometric diagram of a lifting mechanism according to an embodiment of the present invention;

[0028] Figure 6 An exploded view of a gravity compensation coil spring mounting frame according to an embodiment of the present invention;

[0029] Figure 7 is an axonometric view of a first carriage according to an embodiment of the present invention;

[0030] Figure 8 is an axonometric view of a second carriage according to an embodiment of the present invention;

[0031] Fig. 9 This is a schematic structural diagram of a first slide and a second slide connected to each other according to an embodiment of the present invention;

[0032] Fig.10 This is a schematic diagram of the structure of a driven sprocket mounting seat according to an embodiment of the present invention;

[0033] Fig.11 It is an isometric view of a horizontal displacement mechanism according to an embodiment of the present invention;

[0034] Fig.12 Another angle axonometric view of the horizontal displacement mechanism of the embodiment of the present invention;

[0035] Fig.13 An exploded view of a forward extension assembly according to an embodiment of the present invention;

[0036] Fig.14 An exploded view of a transverse shift assembly according to an embodiment of the present invention;

[0037] Fig.15 It is an axonometric diagram of an object grabbing mechanism according to an embodiment of the present invention;

[0038] Fig.16 An exploded view of a pitch shaft transmission assembly according to an embodiment of the present invention;

[0039] Fig.17 An exploded view of a differential assembly according to an embodiment of the present invention;

[0040] Fig.18 2 is a cross-sectional view of a differential assembly according to an embodiment of the present invention.

[0041] Description of reference numerals:

[0042] 1. Chassis mechanism; 11. Chassis frame; 12. Lifting and drag chain fixing tube; 13. Shock absorber; 14. Mecanum wheel; 15. Chassis drive motor; 16. Object storage bottom plate; 17. Object limit strip; 18. Battery; 19. Shock absorber mounting seat fixing plate; 110. Shock absorber mounting seat; 111. Air pump; 112. Air pipe;

[0043] 2. Lifting mechanism; 21. First slide; 22. First linear rail; 23. First robot protection plate; 24. First tooth plate fixing block; 25. Chain fixing assembly; 251. Pressing plate; 252. Heightening block; 253. Fixing block; 26. Second robot protection plate; 27. First slider group; 28. First tooth plate; 29. ​​Driven sprocket mounting seat; 291. Pin; 292. Inner plate; 293. Driven bearing; 294. Interlayer; 295. Outer plate; 210. Coil spring assembly; 2101. Coil spring mounting plate; 2102. Fastening bolt; 2103. Coil spring bearing; 2104. Through-screw pin; 2105. Coil spring; 21051. Coil spring Main body; 21052, install inner ring; 21053, install outer ring; 211, driving sprocket; 212, driven sprocket; 213, lifting drive motor; 214, chain; 215, second linear rail; 216, second slider group; 217, second tooth plate; 218, first lifting synchronous pulley; 219, lifting synchronous belt; 220, second lifting synchronous pulley; 221, lifting motor mounting seat; 222, second slide; 223, first connecting plate; 224, second connecting plate; 225, third slide; 226, lifting plug bolt; 227, lifting pulley pad plate; 228, strip nut; 229, tensioning bolt; 230, moving groove;

[0044] 3. Horizontal displacement mechanism; 31. Transverse rack fixing tube; 32. Coil spring fixing tube; 33. Forward fixed plate; 34. Base plate; 35. Forward moving plate; 36. Forward drive motor; 37. Forward active synchronous pulley; 38. Forward synchronous belt; 39. Transverse drive motor; 310. Transverse active gear; 311. Transverse rack; 312. Forward driven synchronous pulley; 313. Forward driven pulley protective shell; 314. Forward synchronous pulley protective plate; 315. Forward first linear rail; 316. Forward first slider group; 317. Forward second linear rail; 318. Forward second slider group; 319. Forward tooth plate fixing piece; 320. Forward tooth plate; 321. Transverse linear rail; 322. Transverse slider group; 323. Transverse motor mounting seat;

[0045] 4. Object grabbing mechanism; 41. Pitch shaft motor; 42. Pitch active synchronous pulley; 43. Pitch synchronous belt; 44. Pitch driven synchronous pulley; 45. Synchronous belt anti-jumping tooth clamp; 46. First bearing inner ring flange; 47. First bearing outer ring flange; 48. First flange gasket; 49. Pitch flange bearing; 410. Second flange gasket; 411. Second bearing outer ring flange; 412. Second bearing inner ring flange; 413. Pitch power output plate; 414. Roll motor stator mounting plate; 415. Roll shaft motor ; 416, roll motor rotor mounting plate; 417, motor mounting plate; 418, drive motor; 419, slip ring mounting piece; 420, slip ring; 421, active synchronous pulley; 422, synchronous belt; 423, driven synchronous pulley; 424, first flange bearing; 425, differential pitch power output plate; 426, second flange bearing; 427, active bevel gear; 428, driven bevel gear; 429, differential roll bearing seat; 430, differential roll bearing; 431, bearing seat fixing plate; 432, suction cup seat; 433, suction cup; 434, gas slip ring;

[0046] 5. Control system; 51. Referee unit; 52. Industrial camera; 53. Positioning unit; 54. STM32 control board. DETAILED DESCRIPTION

[0047] 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 making creative work belong to the protection scope of the present invention.

[0048] In this article, terms such as "left, right, up, down, front, and back" are established based on the positional relationships shown in the drawings. Depending on the different drawings, the corresponding positional relationships may also change accordingly. Therefore, they cannot be understood as absolute limitations on the scope of protection.

[0049] See also Figures 1 to 18This embodiment provides a double-range lifting engineering robot with low center of gravity offset based on the RoboMaster competition, including a chassis mechanism 1, a lifting mechanism 2, a horizontal displacement mechanism 3, an object grabbing mechanism 4 and a control system 5. The lifting mechanism 2 is fixedly mounted on the chassis mechanism 1, the horizontal displacement mechanism 3 is fixedly mounted on the lifting mechanism 2, and the object grabbing mechanism 4 is fixedly mounted on the horizontal displacement mechanism 3. The horizontal displacement mechanism 3 can drive the object grabbing mechanism 4 to move horizontally and forward and backward. The lifting mechanism 2 can drive the horizontal displacement mechanism 3 and the object grabbing mechanism 4 to lift and lower together. If the object grabbing mechanism 4 is grabbing an object at this time, the object will also be lifted and lowered. The control system 5 is electrically connected to the chassis mechanism 1, the lifting mechanism 2, the horizontal displacement mechanism 3 and the object grabbing mechanism 4 respectively, and can send control instructions to control the movement of each mechanism.

[0050] Specifically, the engineering robot adopts a lifting mechanism 2 with double-stroke lifting. The lifting mechanism 2 is driven by a group of motors. The lifting mechanism 2 with double stroke driven by a group of motors can achieve the same lifting height as the ordinary two-stage lifting mechanism. Compared with the ordinary two-stage lifting mechanism, the number of parts and motors is reduced, and the weight is reduced as a whole, which can avoid the center of gravity being too high when lifting. The horizontal displacement mechanism 3 installed on the lifting mechanism 2 has a long stroke and a width that can enter the tunnel. The object grasping mechanism 4 installed on the horizontal displacement mechanism 3 is light and short, and has four rotational degrees of freedom, which improves the flexibility of the object grasping mechanism. Overall, the actuator length of this engineering robot is sufficient to obtain ore in the tunnel, and the center of gravity does not move forward much when the actuator is fully extended, and the center of gravity does not rise much when the lifting mechanism 2 is raised, taking into account multiple requirements such as a longer actuator, a lower center of gravity, and a small forward displacement of the center of gravity.

[0051] Specifically, the chassis mechanism 1 can enable the entire robot to perform omnidirectional movement. The chassis mechanism 1 includes a chassis frame 11, a wheel assembly, and an object storage bin. The chassis frame 11 is in a tic-tac-toe shape and is made of four criss-crossed long aluminum square tubes and several shorter aluminum square tubes fixed to the edges around the periphery to act as anti-collision beams. The lower end of the lifting drag chain fixed tube 12 is fixed to the anti-collision beam at the edge of the chassis frame 11. A drag chain is fixed to the lifting drag chain fixed tube 12. The drag chain is used to protect some lines. The drag chain is fixed to the lifting drag chain fixed tube 12 to prevent the drag chain from deviating to other positions to hinder the movement of the robot. Several fiberglass boards are fixed on the chassis frame 11. The object storage bin is located at the center of the top of the chassis frame 11. The object storage bin is used to store and transport ore. The object storage bin includes an object storage bottom plate 16 and an object limit bar 17. The object storage bottom plate 16 is fixed to the center of the chassis frame 11 through the fiberglass board. The object limit bar 17 is assembled from fiberglass strips, small bearings and adapters, and is fixed to the object storage bottom plate 16 through bolts and adapters. The battery 18 is fixed to the chassis frame 11 through the fiberglass board. The battery 18 is electrically connected to each motor of the robot and the stm32 control board 54 to provide energy for the robot.

[0052] Specifically, the wheel assembly is arranged at the bottom of the chassis frame 11, the wheel assembly includes a shock absorbing structure and a Mecanum wheel 14, the shock absorbing mechanism includes a shock absorber mounting seat 110, a shock absorber mounting seat fixing plate 19 and a shock absorber 13, one end of the shock absorber 13 is hinged to the shock absorber mounting seat 110, the shock absorber mounting seat 110 is fixedly arranged on the shock absorber mounting seat fixing plate 19, the shock absorber mounting seat fixing plate 19 is fixedly arranged at the lower part of the first slide 21 of the lifting mechanism 2, the lower end of the first slide 21 is also fixed to the chassis frame 11 through a fiberglass board, the other end of the shock absorber 13 is hinged to the Mecanum wheel frame, the Mecanum wheel 14 is located inside the Mecanum frame, and a chassis drive motor 15 is provided on one side outside the Mecanum wheel frame, and the output end of the chassis drive motor 15 is connected to the Mecanum wheel 14 for driving the movement of the Mecanum wheel 14. When the engineering robot is traveling on a rough track, the shock absorber 13 can absorb the vibration of the Mecanum wheel 14 caused by the uneven road surface, thereby significantly improving the smoothness and comfort of the driving of the engineering robot.

[0053] Specifically, the lifting mechanism 2 is a double-range lifting mechanism, and the lifting mechanism 2 includes a first slide 21, a second slide 222 and a third slide 225. The first slide 21 is slidably connected to the second slide 222, and the third slide 225 is slidably connected to the second slide 222. The first slide 21 is constructed of three aluminum square tubes and is in a "door" shape. The lower end of the first slide 21 is fixed to the chassis frame 11 through a fiberglass board. The first linear rail 22 is fixed to one side of the first slide 21 by bolts, the first slider group 27 is slidably connected to the first linear rail 22, and the first slider group 27 is connected to the first connecting plate 223 by bolts. The first tooth plate fixing block 24 is fixedly arranged at the two corners of the top of the first slide 21, and the first tooth plate fixing plate 24 is fixedly connected to the first tooth plate on the second slide 222. The first robot protection plate 23 is fixed to the other side of the first slide 21. The first robot protection plate 23 is used to prevent the projectile from passing through the lifting mechanism 2 and hitting the circuit and mechanical structure inside the robot, thereby protecting the robot. A second robot protection plate 26 is provided above the first robot protection plate 23 . The second robot protection plate 26 is fixed to the first slide 21 by bolts. A chain fixing assembly 25 is provided on the second robot protection plate 26 . The chain fixing assembly 25 is used to fix the chain 214 .

[0054] Specifically, the second slide 222 is constructed of four aluminum square tubes and is rectangular. The second linear rail 215 is fixed to one side of the second slide 222 by bolts, the second slider group 216 is slidably connected to the second linear rail 215, and the second slider group 216 is connected to the second connecting plate 224 by bolts. The first connecting plate 223 is fixedly installed on the other side of the second linear rail 215, and the first connecting plate 223 is connected to the first slider group 27 on the first slide 21. A lifting drive motor 213 is installed on the second slide 222, and the lifting drive motor 213 is installed at the bottom end of the second slide 222 through a lifting motor mounting seat 221. The output end of the lifting drive motor 213 is connected to a driving sprocket 211, and a chain 214 is sleeved on the driving sprocket 211. The chain 214 passes through a chain fixing assembly 25, and an end of the chain 214 away from the driving sprocket 211 is sleeved with a driven sprocket 212, and the driven sprocket 212 is arranged on the top of the second slide 222 through a driven sprocket mounting seat 29. A coil spring assembly 210 is also provided at the top of the second slide 222. The coil spring assembly 210 is located on one side of the driven sprocket mounting seat 29, and the coil spring assembly 210 is fixedly connected to the coil spring fixing tube 32 of the horizontal displacement mechanism 3. The coil spring assembly 210 can reduce the load of the lifting drive motor 213, and the lifting mechanism 2 is suspended in the air through the tightening force of the coil spring assembly 210.

[0055] Specifically, a lifting synchronous belt assembly is provided on the side of the second slide 222, and the lifting synchronous belt assembly includes a first lifting synchronous belt pulley 218 and a second lifting synchronous belt pulley 220. The first lifting synchronous belt pulley 218 is installed on the lower end of the second slide 222 through a lifting plug bolt 226, and the second lifting synchronous belt pulley 220 is installed on the top of the second slide 222 through a lifting plug bolt 226. The first lifting synchronous belt pulley 218 is connected to the second lifting synchronous belt pulley 220 through a lifting synchronous belt 219, and the lifting synchronous belt 219 is fixed with a first tooth plate 28 and a second tooth plate 217. The first tooth plate 28 is located on the lifting synchronous belt 219 on one side of the first lifting synchronous belt pulley 218 and the second lifting synchronous belt pulley 220. The first tooth plate 28 is fixedly connected to the first tooth plate fixing block 24, and the first tooth plate 28 presses the lifting synchronous belt 219 onto the first tooth plate fixing block 24 through bolts. The second tooth plate 217 is located on the lifting synchronous belt 219 on the other side of the first lifting synchronous belt pulley 219 and the second lifting synchronous belt pulley 220. The second tooth plate 217 is fixedly connected to the second connecting plate 224. The second tooth plate 217 presses the lifting synchronous belt 219 onto the second connecting plate 224 through bolts.

[0056] Specifically, the third slide 225 is an aluminum square tube, and the upper end of the third slide 225 is fixedly connected to the coil spring fixing tube 32 of the horizontal displacement mechanism 3, and the third slide 225 can drive the horizontal displacement mechanism 3 to achieve up and down movement. The third slide 225 is provided with a second connection plate 224, and the second connection plate 224 is fixedly connected to the second slider group 216.

[0057] Specifically, the working principle of the lifting mechanism is as follows: the lifting drive motor 213 rotates to drive the active sprocket 211 to rotate, thereby driving the chain 214 to move, one side of the chain 214 is fixed by the chain fixing assembly 25 set on the second robot protection plate 26, the second robot protection plate 26 is fixedly connected to the first slide 21, the first slide 21 can be regarded as a stationary reference system, the movement of the chain 214 will drive the second slide 222 and all the components fixed on the second slide 222 to rise or fall together, and during the rising or falling process of the second slide 222, the first lifting synchronous pulley 218 and the second lifting synchronous pulley 220 fixed on the second slide 222 will also move with the second slide 222, and the lifting synchronous belt 219 meshing with the first lifting synchronous pulley 218 and the second lifting synchronous pulley 220 will not move. Under the premise of constraint, it will also move with the second slide 222, but in fact, one side of the lifting synchronous belt 219 is pressed and fixed on the first tooth plate fixing block 24 of the first slide 21 through the first tooth plate 28, which causes the lifting synchronous belt 219 on this side fixed to the first slide 21 to be unable to move with the second slide 222, thereby causing the lifting synchronous belt 219 to start to rotate. During the rotation of the lifting synchronous belt 219, the second tooth plate 217 on the other side of the lifting synchronous belt 219 starts to move in the opposite direction to the first tooth plate 28, and the second tooth plate 217 presses the lifting synchronous belt 219 and fixes it on the second connecting plate 224 through bolts, and the second connecting plate 224 is fixedly connected to the third slide 225, so that the third slide 225 moves at a speed twice that of the second slide 222. The above is the movement principle of the lifting mechanism 2 with double-range lifting.

[0058] Specifically, the coil spring assembly 210 includes a coil spring 2105, and the coil spring 2105 includes a coil spring body 21051, an installation inner ring 21052 and an installation outer ring 21053. The installation inner ring 21052 is located at the inner center of the coil spring body 21051, and the installation outer ring 21053 is located at the end of the coil spring body 21051. Coil spring mounting plates 2101 are provided on both sides of the coil spring body 21051. The coil spring mounting plates 2101 are fixedly arranged on the top of the second slide 222. The installation inner ring 21052 is fixedly connected to the coil spring bearing 2103. The inner ring of the coil spring bearing 2103 is fixedly connected to the through-screw pin 2104. The two ends of the through-screw pin 2104 are connected to the coil spring mounting plate 2101 by fastening bolts 2102, and the installation outer ring 21053 is connected to the coil spring fixing tube 32 by bolts. The coil spring assembly 210 can reduce the load of the lifting drive motor 213, and the lifting mechanism 2 can be suspended in mid-air by the tightening force of the coil spring 2105. The specific principle is as follows: the coil spring fixing tube 32 is fixed to the top of the third slide 225. During the lifting mechanism 2 rising process, the distance between the upper crossbeam of the second slide 222 (i.e., the opposite crossbeam of the crossbeam fixing the lifting drive motor mounting seat 221) and the coil spring fixing tube 32 will gradually decrease. Then, this movement trend can be used to set a coil spring 2105 between the upper crossbeam of the second slide 222 and the coil spring fixing tube 32, and the tightening force of the coil spring 2105 is used to help close the distance between the upper crossbeam of the second slide 222 and the coil spring fixing tube 32. Therefore, when the stiffness coefficient of the coil spring 2105 is large enough, that is, the tightening force of the coil spring 2105 is large enough, the lifting mechanism 2 can be naturally suspended in mid-air by the coil spring 2105 without the output torque of the lifting drive motor 213.

[0059] Specifically, the chain fixing assembly 25 includes a pad block 252, and the two pad blocks 252 are installed on the second robot protection plate 26 through the fixing block 253. A gap is provided between the two pad blocks 252 for the chain 214 to pass through, and the width of the gap is greater than the width of the chain 214. The ends of the two pad blocks 252 away from the fixing block 253 are connected to a pressure plate 251 by bolts. Two chain fixing holes are provided in the middle position of the pressure plate 251, and fixing bolts are installed in the chain fixing holes. When the chain 214 passes through the gap, two fixing bolts are screwed into the chain fixing hole in the middle of the pressure plate 251 to fix the chain 214.

[0060] Specifically, a moving groove 230 is provided at the lower end of the side of the second slide 222, and a strip nut 228 is provided above the moving groove 230. The strip nut 228 is fixed to the second slide 222 by bolts, and a tensioning bolt 229 is provided on the strip nut 228. A lifting pulley pad plate 227 is provided between the first lifting synchronous pulley 218 and the second slide 222. The tensioning bolt 229 passes through the strip nut 228 and is supported on the lifting pulley pad plate 227. The lifting pulley pad plate 227 is relatively thick, so that the tensioning bolt 229 can be completely supported thereon. The lifting plug bolt 226 passes through the first lifting synchronous pulley 218 and the lifting pulley pad plate 227 and is provided in the moving groove 230. The lifting plug bolt 226 can drive the first lifting synchronous pulley 218 to move up and down in the moving groove 230. The specific working principle is: when the lifting synchronous belt 219 is loose, the tensioning bolt 229 is tightened to push the lifting pulley pad 227 downward, so that the first lifting synchronous pulley 218 moves downward, increasing the distance between the first lifting synchronous pulley 218 and the second lifting synchronous pulley 220, thereby achieving the purpose of tensioning the lifting synchronous belt 219.

[0061] Specifically, the driven sprocket mounting seat 29 includes a mounting seat body, which is installed on the upper end cross beam of the second slide 222. Bearing seats are provided at both ends of the mounting seat body. The bearing seats include an inner plate 292, an interlayer 294 and an outer plate 295. The inner plate 292 is arranged in the inner layer, the outer plate 295 is arranged in the outer layer, the interlayer 294 is located between the inner plate 292 and the outer plate 295, and a driven bearing 293 is installed in the interlayer 294. Both ends of the pin shaft 291 are inserted into the driven bearing 293, and the driven sprocket 212 is installed on the pin shaft 291.

[0062] Specifically, the horizontal displacement mechanism 3 can drive the object grasping mechanism 4 to perform left and right lateral movement and forward and backward telescopic movement. The horizontal displacement mechanism 3 includes a lateral displacement rack fixing tube 31 and a coil spring fixing tube 32. The two lateral displacement rack fixing tubes 31 and the two coil spring fixing tubes 32 are connected by bolts to form a square frame. The coil spring fixing tube 32 is fixed to the top of the third slide 225 by bolts. The coil spring fixing tube 32 is also fixedly connected to the mounting outer ring 21053 of the coil spring 2105 by bolts. The lateral displacement rack fixing tube 31 is provided with a forward extension top plate 33 and a forward extension movable plate 35. The forward extension movable plate 35 is slidably connected to the forward extension fixed plate 33, and the forward extension movable plate 35 is located on the inner side of the forward extension fixed plate 33. The square frame is provided with a base plate 34 that slides along the lateral displacement rack fixing tube 31. The base plate 34 passes through the forward extension movable plate 35 and is fixedly connected to the forward extension fixed plate 33 by bolts and mortise and tenon structures.

[0063] Specifically, a transverse driving motor 39 is provided on the lower surface of the base plate 34, and the transverse driving motor 39 is fixed on the base plate 34 through a transverse driving motor mounting seat 323. The output end of the transverse driving motor 39 is connected to a transverse driving gear 310, and the transverse driving gear 310 is meshed with a transverse rack 311 arranged on a transverse rack fixing tube 31. A transverse linear rail 321 is also arranged on the transverse rack fixing tube 31. The base plate 34 is connected to a transverse slider group 322 by bolts, and the transverse slider group 322 is slidably connected to the transverse linear rail 321.

[0064] Specifically, a forward driving motor 36 is provided at one end of the forward fixed plate 33, and the output end of the forward driving motor 36 is connected to a forward active synchronous pulley 37, on which a forward synchronous belt 38 is sleeved, and an end of the forward synchronous belt 38 away from the forward active synchronous pulley 37 is sleeved with a forward driven synchronous pulley 312, which is located on the forward fixed plate 33, and a forward driven synchronous pulley protective shell 313 is provided at the forward driven synchronous pulley 312, which is installed on the forward fixed plate 33 by bolts, and a forward synchronous belt protective plate 314 is connected to the forward driven pulley protective shell 313 by bolts, and the forward driven pulley protective shell 313 and the forward driven pulley protective plate 314 cover the forward driven synchronous pulley 312 therein, thereby protecting the forward driven synchronous pulley 312. The forward synchronous belt 38 is fixedly connected with a forward toothed plate 320, which is connected to the forward toothed plate fixing member 319 by bolts, and the forward toothed plate 320 and the forward toothed plate fixing member 319 compress the forward synchronous belt 38. The forward toothed plate fixing member 319 is fixedly connected to the forward movable plate 35.

[0065] Specifically, the forward fixed plate 33 is provided with a forward first linear rail 315, and the forward first linear rail 315 is slidably connected with a forward first slider group 316, and the forward first slider group 316 is connected to the forward movable plate 35 by bolts. The forward movable plate 35 is provided with a forward second linear rail 317, and the forward second linear rail 317 is slidably connected with a forward second slider group 318, and the forward second slider group 318 is connected to the forward fixed plate 33 by bolts.

[0066] Specifically, the horizontal displacement mechanism 3 can perform left-right lateral movement and front-back telescopic movement, wherein the working principle of the left-right lateral movement is: the lateral movement driving motor 39 rotates, thereby driving the lateral movement driving gear 310 to rotate, the lateral movement driving gear 310 rolls on the lateral movement rack 311, and the base plate 34 performs left-right lateral movement along the lateral movement rack fixing tube 31. The working principle of the front-back telescopic movement is: the forward extension driving motor 39 rotates, thereby driving the forward extension driving synchronous pulley 37 to rotate, the forward extension driving synchronous pulley 37 drives the forward extension driven synchronous pulley 312 to rotate through the forward extension synchronous belt 38, and the forward extension toothed plate 320 and the forward extension toothed plate fixing member 319 fixedly connected to the forward extension synchronous belt 38 also move together, thereby driving the forward extension movable plate 35 to move along the forward first linear rail 315 and the forward second linear rail 317.

[0067] Specifically, the object grasping mechanism 4 is actually a small four-degree-of-freedom robotic arm, that is, a four-axis robotic arm, which can place the grasped object at the target position in various postures. Its joint0 and joint2 are pitch axis joints, joint1 and joint3 are roll axis joints, joint0 is coaxial with the rotation axis of the pitch driven synchronous pulley 44, joint1 is coaxial with the rotation axis of the roll axis motor 415, joint2 is coaxial with the rotation axis of the driven synchronous pulley 423, and joint3 is coaxial with the rotation axis of the driven bevel gear 428. The movement of joint2 and joint3 is realized by the differential assembly composed of bevel gears. The robotic arm can be described in two parts, namely, the joints of joint0 and joint1 and the differential assembly joint.

[0068] Specifically, for joint0, the object grasping mechanism 4 includes a pitch shaft motor 41, which is arranged at one end of the forward extending movable plate 35 away from the forward extending drive motor 36, and the output end of the pitch shaft motor 41 is connected to a pitch active synchronous pulley 42, on which a pitch synchronous belt 43 is sleeved, and an end of the pitch synchronous belt 43 away from the pitch active synchronous pulley 42 is sleeved with a pitch driven synchronous pulley 44, which is installed on the forward extending movable plate 35, and the pitch driven synchronous pulley 44 is fixedly connected to the pitch power output plate 413 through a first bearing inner ring flange 46 and a second bearing inner ring flange 412. The pitch driven synchronous pulley 44 is fixedly connected to the first bearing inner ring flange 46, the first bearing flange 46 is installed on the inner ring of the pitch flange bearing 49, and rotates together with the inner ring of the pitch flange bearing 49. The pitch power output plate 413 is fixedly connected to the second bearing inner ring flange 412, the second bearing inner ring flange 412 is installed on the inner ring of the pitch flange bearing 49, and rotates together with the inner ring of the pitch flange bearing 49.

[0069] Specifically, the pitch flange bearing 49 is arranged on the front extension movable plate 35, and the first bearing outer ring flange 47, the first flange gasket 48, the second flange gasket 410 and the second bearing outer ring flange 411 are provided at both ends of the pitch flange bearing 49. The first bearing outer ring flange 47, the first flange gasket 48, the second flange gasket 410 and the second bearing outer ring flange 411 are all fixed on the front extension movable plate 35 and are used together to fix the pitch flange bearing 49, wherein the first bearing outer ring flange 47 and the first flange gasket 48 are arranged between the pitch driven synchronous pulley 44 and the front extension movable plate 35, and the second flange gasket 410 and the second bearing outer ring flange 411 are arranged between the pitch power output plate 413 and the front extension movable plate 35.

[0070] Specifically, a synchronous belt anti-tooth jumping clamping member 45 is provided on the upper portion of the pitch active synchronous pulley 42, and the synchronous belt anti-tooth jumping clamping member 45 is fixed to the front extension plate 35 by bolts to prevent the pitch active synchronous pulley 42 from jumping teeth when rotating.

[0071] Specifically, the movement mode is: the pitch axis motor 41 rotates, driving the pitch active synchronous pulley 42 to rotate, the pitch active synchronous pulley 42 drives the pitch driven synchronous pulley 44 to rotate through the pitch synchronous belt 43, the pitch driven synchronous pulley 44 drives the pitch power output plate 413 to rotate, and then drives the part of the robot arm after the pitch power output plate 413 to rotate around the joint0 to do the pitch axis.

[0072] Specifically, for joint1, the pitch power output plate 413 is fixedly connected to the roll motor stator mounting plate 414, the roll motor stator mounting plate 414 is provided with a roll shaft motor 415, the output end of the roll shaft motor 415 is connected to the roll motor rotor mounting plate 416, and the differential assembly is fixedly provided on the roll motor rotor mounting plate 416. The movement mode is: the roll shaft motor 415 rotates, and its output end drives the roll motor rotor mounting plate 416 to rotate, and then drives the part after the roll motor rotor mounting plate 416 of the robot arm (i.e., the differential assembly) to rotate around joint1 to make a roll shaft.

[0073] Specifically, the differential assembly includes a motor mounting plate 417, which is fixedly connected to a roll motor rotor mounting plate 416, on which a slip ring mounting member 419 is fixedly mounted, and a slip ring 420 is fixedly disposed on the slip ring mounting member 419. The circuit of the drive motor 418 is connected to an STM32 control board 54 fixed on the chassis frame 11. When the robot arm rotates around the joint1 to make a roll axis, the slip ring 420 can prevent the circuit from twisting together.

[0074] Specifically, a driving motor 418 is provided at one end of the motor mounting plate 417 close to the roll motor rotor mounting plate 416, and an output end of the driving motor 418 is connected to a driving synchronous pulley 421, on which a synchronous belt 422 is sleeved, and an end of the synchronous belt 422 away from the driving synchronous pulley 421 is sleeved with a driven synchronous pulley 423, and the driven synchronous pulley 423 is fixedly connected to a driving bevel gear 427, and a differential pitch power output plate 425 is rotatably provided between the driving bevel gear 427 and the motor mounting plate 417. A second flange bearing 426 is provided between the differential pitch power output plate 425 and the driving bevel gear 427, and the second flange bearing 426 is installed on the differential pitch power output plate 425. A first flange bearing 424 is provided between the differential pitch power output plate 425 and the motor mounting plate 417, and the first flange bearing 424 is installed on the motor mounting plate 417.

[0075] Specifically, one end of the differential pitch power output plate 425 away from the active bevel gear 427 is fixedly connected to a bearing seat fixing plate 431, a suction cup seat 432 is rotatably provided on the bearing seat fixing plate 431, a side of the bearing seat fixing plate 431 away from the suction cup seat 432 is fixedly connected to a differential roll bearing seat 429, the outer ring of the differential roll bearing 430 is embedded in the differential roll bearing seat 429, the end of the suction cup seat 432 away from the suction cup 433 passes through the inner ring of the differential roll bearing 430 and the driven bevel gear 428 and is connected to the air slip ring 434, and the end of the air slip ring 434 away from the suction cup seat 432 is connected to the air pump 111 provided on the chassis mechanism 1. The suction cup 433 is an accordion suction cup, and the suction cup 433 is fixed to the suction cup seat 432 by bolts.

[0076] Specifically, the active bevel gear 427 is meshed with the driven bevel gear 428 , and the driven bevel gear 428 is fixedly nested on the suction cup seat 432 and axially limited by a shaft retaining ring, which can prevent axial movement between the driven bevel gear 428 and the suction cup seat 432 .

[0077] Specifically, the working principle is as follows: the two driving motors 418 rotate, the belt-passing active synchronous pulley 421 rotates, the active synchronous pulley 421 drives the driven synchronous pulley 423 to rotate through the synchronous belt 422, and the driven synchronous pulley 423 drives the active bevel gear 427 to rotate, and the two active bevel gears 427 then move on the driven bevel gear 428. Since the driven bevel gear 428 and the suction cup seat 432 are matched with the special-shaped hole and the special-shaped shaft, the driven gear 428 will drive the suction cup seat 432 to move, and then drive the suction cup 433 to move. When the two driven bevel gears 427 rotate in the same direction (i.e., both clockwise or both counterclockwise), the final motion output at the suction cup 433 is that the suction cup 433 rotates around joint2 to make a roll axis motion, and when the two driven bevel gears 427 rotate in opposite directions, the final motion output at the suction cup 433 is that the suction cup 433 rotates around joint3 to make a pitch axis rotation.

[0078] Specifically, there is a through hole at the center of one end of the suction cup seat 432, and the through hole is used for gas to pass through. There is a 1 / 8Rc British pipe threaded hole at the other end of the suction cup seat 432, and the air slip ring 434 is connected to the suction cup seat 432 through this threaded hole. The air slip ring 434 can rotate 360° to avoid the air pipe from twisting due to excessive rotation angle when joint2 moves. The end of the air slip ring 434 away from the suction cup seat 432 is connected to the air pump 111 provided on the chassis mechanism 1 through the air pipe 112. When the air pump 111 inhales, the negative pressure is transmitted to the suction cup 433 through the air pipe 112. At this time, the suction cup 433 is pressed against the surface of the object, and the object will be sucked by the object grasping mechanism 4 due to the negative pressure, so as to realize the storage, transportation and placement of the object. The air circuit described above is the main air circuit. In addition to the main air circuit, a branch air circuit is led out using a three-way air pipe interface near the air pump 111. The branch air circuit is connected to a solenoid valve. When the suction cup 433 is no longer needed to suck the object and the suction cup 433 needs to leave the object immediately, the solenoid valve is controlled to connect the main air circuit to the atmospheric pressure. At this time, the air pressure inside and outside the suction cup 433 is balanced, and the suction cup 433 is separated from the object.

[0079] Specifically, the control system 5 includes a referee unit 51, an industrial camera 52, a positioning unit 53 and an STM32 control board 54. The referee unit 51, the industrial camera 52 and the positioning unit 53 are all electrically connected to the STM32 control board 54. The STM32 control board 54 issues instructions to control the actions of the referee unit 51, the industrial camera 52 and the positioning unit 53. The referee unit 51 is installed on the chassis frame 11 and is responsible for detecting various data of the robot in the game. The industrial camera 52 is installed on the forward fixed plate 33 and has a 2-degree-of-freedom pan-tilt with a pitch axis and a yaw axis, which can realize free observation of the surrounding environment. The positioning unit 53 is set on the forward fixed plate 33 at night, which can realize the real-time positioning of the engineering robot. The STM32 control board 54 is set on the chassis frame 11, and is electrically connected to each motor in the chassis mechanism 1, the lifting mechanism 2, the horizontal displacement mechanism 3 and the object grasping mechanism 4 and the battery 18 respectively. The battery 18 provides energy for the STM32 control board 54, and the STM32 control board 54 sends instructions to control the movement of each motor.

[0080] The above embodiments are only to illustrate the basic principles and characteristics of the present invention, but are not limited to the above embodiments. It should be understood that for ordinary technicians in this field, various changes and modifications can be made to the present invention without departing from the spirit and scope of the present invention, and these changes and modifications fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A double-range lifting engineering robot with low center of gravity offset based on the RoboMaster competition, characterized by: The invention comprises a chassis mechanism (1) and a control system (5); a lifting mechanism (2) is fixedly provided on the chassis mechanism (1); a horizontal displacement mechanism (3) is fixedly provided on the lifting mechanism (2); an object grabbing mechanism (4) is fixedly provided on the horizontal displacement mechanism (3); and the control system (5) is electrically connected to the chassis mechanism (1), the lifting mechanism (2), the horizontal displacement mechanism (3) and the object grabbing mechanism (4) respectively.

2. The double-range lifting engineering robot with low center of gravity offset based on the RoboMaster competition according to claim 1 is characterized in that: The lifting mechanism (2) comprises a first slide (21), a second slide (222) and a third slide (225), the lower end of the first slide (21) is fixedly arranged on the chassis mechanism (1), the second slide (222) is slidably connected to the first slide (21), the third slide (225) is slidably connected to the second slide (222), a second connecting plate (224) is provided on the third slide (225), the third slide (225) is fixedly connected to the horizontal displacement mechanism (3), a second robot protection plate (26) is provided on the first slide (21), a chain fixing assembly (25) is provided on the second robot protection plate (26), and first toothed plate fixing blocks (24) are provided at two corners of the top of the first slide (21); A lifting drive motor (213) is provided at the bottom end of the second slide (222); an output end of the lifting drive motor (213) is connected to a driving sprocket (211); a chain (214) is sleeved on the driving sprocket (211); the chain (214) passes through a chain fixing assembly (25); an end of the chain (214) away from the driving sprocket (211) is sleeved with a driven sprocket (212); the driven sprocket (212) is arranged at the top end of the second slide (222) through a driven sprocket mounting seat (29); a coil spring assembly (210) is provided at the top end of the second slide (222); the coil spring assembly (210) is located on one side of the driven sprocket mounting seat (29); the coil spring assembly (210) is fixedly connected to the horizontal displacement mechanism (3); a lifting synchronous belt assembly is provided on the side of the second slide (222); The lifting synchronous belt assembly comprises a first lifting synchronous belt pulley (218) and a second lifting synchronous belt pulley (220), wherein the first lifting synchronous belt pulley (218) is arranged at the lower end of the second slide (222), and the second lifting synchronous belt pulley (220) is arranged at the top end of the second slide (222), and the first lifting synchronous belt pulley (218) is connected to the second lifting synchronous belt pulley (220) through a lifting synchronous belt (219), and the lifting synchronous belt (219) is fixedly provided with a first tooth plate (28) and a second tooth plate (28). The tooth plate (217) comprises a first tooth plate (28) located on a lifting synchronous belt (219) on one side of the first lifting synchronous belt pulley (218) and the second lifting synchronous belt pulley (220), and a second tooth plate (217) located on a lifting synchronous belt (219) on the other side of the first lifting synchronous belt pulley (219) and the second lifting synchronous belt pulley (220). The first tooth plate (28) is fixedly connected to a first tooth plate fixing block (24), and the second tooth plate (217) is fixedly connected to a second connecting plate (224).

3. The double-range lifting engineering robot with low center of gravity offset based on the RoboMaster competition according to claim 2 is characterized in that: The coil spring assembly (210) comprises a coil spring (2105), wherein the coil spring (2105) comprises a coil spring body (21051), an installation inner ring (21052) and an installation outer ring (21053), wherein the installation inner ring (21052) is located at the inner center of the coil spring body (21051), and the installation outer ring (21053) is located at the end of the coil spring body (21051), and coil spring installation plates (2101) are provided on both sides of the coil spring body (21051). The coil spring mounting plate (2101) is fixedly arranged on the top end of the second slide (222); the mounting inner ring (21052) is fixedly connected to a coil spring bearing (2103); the inner ring of the coil spring bearing (2103) is fixedly connected to a through-screw pin (2104); both ends of the through-screw pin (2104) are connected to the coil spring mounting plate (2101) by fastening bolts (2102); and the mounting outer ring (21053) is fixedly connected to the horizontal displacement mechanism (3).

4. The double-range lifting engineering robot with low center of gravity offset based on the RoboMaster competition according to claim 2 is characterized in that: The chain fixing assembly (25) comprises a padding block (252), two of the padding blocks (252) are mounted on the second robot protection plate (26) via a fixing block (253), a gap is provided between the two padding blocks (252) for the chain (214) to pass through, the width of the gap is greater than the width of the chain (214), one end of the two padding blocks (252) away from the fixing block (253) is fixedly connected to a pressure plate (251), a chain fixing hole is provided in the middle of the pressure plate (251), a fixing bolt is installed in the chain fixing hole, the chain (214) passes through the gap, and the fixing bolt fixes the chain (214).

5. The double-range lifting engineering robot with low center of gravity offset based on the RoboMaster competition according to claim 2, characterized in that: A movable groove (230) is provided at the lower end of the side surface of the second slide (222), a strip nut (228) is provided above the movable groove (230), a tensioning bolt (229) is provided on the strip nut (228), the first lifting synchronous belt pulley (218) and the second lifting synchronous belt pulley (220) are both fixed to the second slide (222) by means of lifting plug bolts (226), a lifting belt pulley pad plate (227) is provided between the first lifting synchronous belt pulley (218) and the second slide (222), the tensioning bolt (229) passes through the strip nut (228) and is pressed against the lifting belt pulley pad plate (227), and the lifting plug bolt (226) passes through the first lifting synchronous belt pulley (218) and the lifting belt pulley pad plate (227) and is arranged in the movable groove (230).

6. The double-range lifting engineering robot with low center of gravity offset based on the RoboMaster competition according to claim 2, characterized in that: The chassis mechanism (1) comprises a chassis frame (11), a wheel assembly and an object storage bin, wherein the wheel assembly is arranged at the bottom of the chassis frame (11), and the object storage bin is arranged at the center of the top of the chassis frame (11); The wheel assembly comprises a shock absorbing structure and a Mecanum wheel (14), wherein the shock absorbing mechanism comprises a shock absorber mounting seat (110), a shock absorber mounting seat fixing plate (19) and a shock absorber (13), wherein one end of the shock absorber (13) is hinged to the shock absorber mounting seat (110), the shock absorber mounting seat (110) is fixedly arranged on the shock absorber mounting seat fixing plate (19), the shock absorber mounting seat fixing plate (19) is fixedly arranged on a first slide frame (21), the other end of the shock absorber (13) is hinged to a Mecanum wheel frame, the Mecanum wheel (14) is located inside the Mecanum frame, a chassis drive motor (15) is arranged on one side outside the Mecanum wheel frame, and an output end of the chassis drive motor (15) is connected to the Mecanum wheel (14).

7. The double-range lifting engineering robot with low center of gravity offset based on the RoboMaster competition according to claim 3 is characterized in that: The horizontal displacement mechanism (3) comprises a transverse rack fixing tube (31) and a coil spring fixing tube (32), wherein the coil spring fixing tube (32) is fixedly connected to the top end of the third slide (225) and the mounting outer ring (21053), a square frame is formed between the transverse rack fixing tube (31) and the coil spring fixing tube (32), a forward extension fixed plate (33) and a forward extension movable plate (35) are provided on the transverse rack fixing tube (31), the forward extension movable plate (35) is slidably connected to the forward extension fixed plate (33), and the forward extension movable plate (35) is located on the inner side of the forward extension fixed plate (33), and a base plate (34) is provided on the square frame for sliding along the transverse rack fixing tube (31), and the base plate (34) passes through the forward extension movable plate (35) and is fixedly connected to the forward extension fixed plate (33); A transverse driving motor (39) is provided on the lower surface of the base plate (34); an output end of the transverse driving motor (39) is connected to a transverse driving gear (310); and the transverse driving gear (310) is meshed with a transverse rack (311) provided on a transverse rack fixing tube (31); A forward drive motor (36) is provided at one end of the forward fixed plate (33), and an output end of the forward drive motor (36) is connected to a forward active synchronous pulley (37), a forward synchronous belt (38) is sleeved on the forward active synchronous pulley (37), and a forward driven synchronous pulley (312) is sleeved on one end of the forward synchronous belt (38) away from the forward active synchronous pulley (37), and the forward driven synchronous pulley (312) is located on the forward fixed plate (33), and a forward toothed plate (320) is fixedly connected to the forward toothed plate (320), and the forward toothed plate (320) is fixedly connected to a forward toothed plate fixing member (319), and the forward toothed plate fixing member (319) is fixedly connected to the forward movable plate (35).

8. The double-range lifting engineering robot with low center of gravity offset based on the RoboMaster competition according to claim 7, characterized in that: The object grasping mechanism (4) comprises a pitch shaft motor (41), the pitch shaft motor (41) being arranged at one end of the front extension moving plate (35) away from the front extension driving motor (36), the output end of the pitch shaft motor (41) being connected to a pitch active synchronous pulley (42), a pitch synchronous belt (43) being sleeved on the pitch active synchronous pulley (42), a pitch driven synchronous pulley (44) being sleeved on one end of the pitch synchronous belt (43) away from the pitch active synchronous pulley (42), and the pitch driven synchronous pulley (44) being sleeved on the other end of the pitch synchronous belt (43) A synchronous pulley (44) is rotatably arranged on the front extension moving plate (35); the pitch driven synchronous pulley (44) is fixedly connected to a pitch power output plate (413); the pitch power output plate (413) is fixedly connected to a roll motor stator mounting plate (414); a roll shaft motor (415) is arranged on the roll motor stator mounting plate (414); an output end of the roll shaft motor (415) is connected to a roll motor rotor mounting plate (416); a differential assembly is fixedly arranged on the roll motor rotor mounting plate (416).

9. The double-range lifting engineering robot with low center of gravity offset based on the RoboMaster competition according to claim 8, characterized in that: The differential assembly comprises a motor mounting plate (417), wherein the motor mounting plate (417) is fixedly connected to a roll motor rotor mounting plate (416), a driving motor (418) is provided at one end of the motor mounting plate (417) close to the roll motor rotor mounting plate (416), an output end of the driving motor (418) is connected to a driving synchronous pulley (421), a synchronous belt (422) is sleeved on the driving synchronous pulley (421), a driven synchronous pulley (423) is sleeved on one end of the synchronous belt (422) away from the driving synchronous pulley (421), and a driving bevel gear (427) is fixedly connected to the driven synchronous pulley (423), and the driving bevel gear (427) is fixedly connected to the motor mounting plate (416). 17) is rotatably provided with a differential pitch power output plate (425), one end of the differential pitch power output plate (425) away from the active bevel gear (427) is fixedly connected to a bearing seat fixing plate (431), a suction cup seat (432) is rotatably provided on the bearing seat fixing plate (431), a suction cup seat (433) is provided on the suction cup seat (432), an end of the suction cup seat (432) away from the suction cup (433) is connected to an air slip ring (434), the air slip ring (434) is connected to an air pump (111) provided on the chassis mechanism (1), the active bevel gear (427) is meshed with a driven bevel gear (428), and the driven bevel gear (428) is fixedly connected to the suction cup seat (432).

10. The double-range lifting engineering robot with low center of gravity offset based on the RoboMaster competition according to claim 1, characterized in that: The control system (5) comprises a referee unit (51), an industrial camera (52), a positioning unit (53) and an STM32 control board (54); the referee unit (51), the industrial camera (52) and the positioning unit (53) are all electrically connected to the STM32 control board (54); and the STM32 control board (54) is respectively electrically connected to the chassis mechanism (1), the lifting mechanism (2), the horizontal displacement mechanism (3) and the object grasping mechanism (4).

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