Low gravity center offset double stroke lifting engineering robot based on robomaster competition

Abstract

The application provides a low-gravity-offset double-stroke lifting engineering robot based on a RoboMaster competition, and belongs to the technical field of robots, and 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 control system is electrically connected with the chassis mechanism, the lifting mechanism, the horizontal displacement mechanism and the object grabbing mechanism respectively. The length of the execution mechanism of the engineering robot is sufficient to obtain ores in a tunnel, the gravity center moves a little when the execution mechanism is fully stretched, the gravity center rises a little when the lifting mechanism is lifted, and the long execution mechanism, the low gravity center and the small gravity center moving amount are considered.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a double-stroke lifting engineering robot based on low gravity center offset of RoboMaster competition. BACKGROUND

[0002] In the RoboMaster competition (National College Students Robot Competition), one of the competition contents is to use the engineering robot to realize the grabbing, transporting and exchanging of gold and silver ores, which requires the engineering robot to have the functions of object grabbing and transporting. In recent years, due to the change of competition rules, the difficulty of this competition has been increased, which puts forward higher requirements for the engineering robot.

[0003] Due to the change of rules, the gold ore is pre-stored in the tunnel in the competition, and the engineering robot needs to use a small volume and a long length execution mechanism to obtain the ore. If a long execution mechanism is not used, it is not easy to obtain the ore in the tunnel, and when the lifting mechanism of the engineering robot is lifted, the lifting height is insufficient, which makes it difficult to obtain the ore in the high position and exchange the ore. If a double-stage lifting mechanism is used, although the height requirement can be easily met, the weight of the lifting mechanism is heavy. At this time, the lifting mechanism is lifted, and the robot stretches out a long mechanical arm, which causes the gravity center to move forward and easily fall down, and the motor control of the double-stage lifting mechanism is also complex. The existing RoboMaster competition engineering robot cannot meet the requirements of long execution mechanism, low gravity center and small gravity center forward movement, etc. Therefore, we need an engineering robot whose execution mechanism length is sufficient to obtain the ore in the tunnel, the gravity center does not move much when the execution mechanism is fully stretched, and the gravity center does not rise much when the lifting mechanism is lifted. SUMMARY

[0004] The purpose of the present application is to provide a double-stroke lifting engineering robot based on low gravity center offset of RoboMaster competition to solve the problems in the background art.

[0005] To achieve the above purpose, the technical scheme adopted by the present application is as follows:

[0006] The double-stroke lifting engineering robot based on low gravity center offset of RoboMaster competition comprises 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 grabbing mechanism, and the control system is electrically connected with the chassis mechanism, the lifting mechanism, the horizontal displacement mechanism and the object grabbing mechanism respectively.

[0007] Further, the lifting mechanism comprises a first sliding frame, a second sliding frame and a third sliding frame, the lower end of the first sliding frame is fixedly arranged on the chassis mechanism, the second sliding frame is in sliding connection with the first sliding frame, the third sliding frame is in sliding connection with the second sliding frame, the third sliding frame is provided with a second connecting plate, the third sliding frame is fixedly connected with the horizontal displacement mechanism, the first sliding frame is provided with a second robot protection plate, the second robot protection plate is provided with a chain fixing assembly, and the top two corners of the first sliding frame are provided with first tooth plate fixing blocks.

[0008] The bottom end of the second sliding frame is provided with a lifting drive motor, the output end of the lifting drive motor is connected with a driving sprocket, a chain is sleeved on the driving sprocket, the chain passes through the chain fixing assembly, one 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 sliding frame through a driven sprocket mounting seat, the top end of the second sliding frame is provided with a coiled spring assembly, the coiled spring assembly is located on one side of the driven sprocket mounting seat, the coiled spring assembly is fixedly connected with the horizontal displacement mechanism, and the side surface of the second sliding frame is provided with a lifting synchronous belt assembly.

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

[0010] Further, the coiled spring assembly comprises a coiled spring, the coiled spring comprises a coiled spring main body, an installation inner ring and an installation outer ring, the installation inner ring is located at the center of the coiled spring main body, the installation outer ring is located at the end of the coiled spring main body, the two sides of the coiled spring main body are provided with coiled spring mounting plates, the coiled spring mounting plates are fixedly arranged at the top end of the second sliding frame, the installation inner ring is fixedly connected with a coiled spring bearing, the inner ring of the coiled spring bearing is fixedly connected with a through screw hole pin, the two ends of the through screw hole pin are connected with the coiled spring mounting plates through fastening bolts, and the installation outer ring is fixedly connected with the horizontal displacement mechanism.

[0011] Further, the chain fixing assembly comprises two elevation blocks, the two elevation blocks are installed on the second robot protection plate through a fixing block, a gap for the chain to pass through is arranged between the two elevation blocks, the width of the gap is greater than the width of the chain, a pressing plate is fixedly connected to the end of the two elevation blocks away from the fixing block, a chain fixing hole is arranged in the middle position of the pressing 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] Further, the lower end of the side surface of the second sliding frame is provided with a moving groove, a strip-shaped nut is arranged above the moving groove, a tensioning bolt is arranged on the strip-shaped nut, the first lifting synchronous pulley and the second lifting synchronous pulley are both fixed on the second sliding frame through lifting plug bolts, a lifting belt pulley elevation plate is arranged between the first lifting synchronous pulley and the second sliding frame, the tensioning bolt passes through the strip-shaped nut and is located on the lifting belt pulley elevation plate, and the lifting plug bolt passes through the first lifting synchronous pulley and the lifting belt pulley elevation plate and is arranged in the moving groove.

[0013] Further, the chassis mechanism comprises a chassis frame, a wheel set assembly, and an object storage bin, the wheel set assembly is arranged at the bottom of the chassis frame, and the object storage bin is arranged at the center position of the top of the chassis frame.

[0014] The wheel set assembly comprises a shock absorber mounting seat, a shock absorber mounting seat fixing plate, and a shock absorber, one end of the shock absorber is hingedly connected 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 the first sliding frame, the other end of the shock absorber is hingedly connected to a Mecanum wheel frame, the Mecanum wheel is located inside the Mecanum wheel frame, a chassis driving motor is arranged on one side of the outside of the Mecanum wheel frame, and the output end of the chassis driving motor is connected with the Mecanum wheel.

[0015] Further, the horizontal displacement mechanism comprises a horizontal movement rack fixing pipe and a coil spring fixing pipe, the coil spring fixing pipe is fixedly connected with the top end of the third sliding frame and an installation outer ring, a square frame is formed between the horizontal movement rack fixing pipe and the coil spring fixing pipe, a front extension fixed plate and a front extension movable plate are arranged on the horizontal movement rack fixing pipe, the front extension movable plate is in sliding connection with the front extension fixed plate, and the front extension movable plate is located on the inner side of the front extension fixed plate, and a base plate that slides along the horizontal movement rack fixing pipe is arranged on the square frame, and the base plate is fixedly connected with the front extension movable plate and the front extension fixed plate through the front extension movable plate.

[0016] A horizontal movement driving motor is arranged on the lower surface of the base plate, a horizontal movement driving gear is connected to the output end of the horizontal movement driving motor, and the horizontal movement driving gear is in meshing connection with a horizontal movement rack arranged on the horizontal movement rack fixing pipe.

[0017] The one end of the front extension fixed plate is provided with a front extension driving motor, the output end of the front extension driving motor is connected with a front extension driving synchronous pulley, a front extension synchronous belt is sleeved on the front extension driving synchronous pulley, the one end of the front extension synchronous belt away from the front extension driving synchronous pulley is sleeved with a front extension driven synchronous pulley, the front extension driven synchronous pulley is located on the front extension top plate, the front extension synchronous belt is fixedly connected with a front extension tooth plate, the front extension tooth plate is fixedly connected with a front extension tooth plate fixing part, and the front extension tooth plate fixing part is fixedly connected with the front extension moving plate.

[0018] Further, the object grabbing mechanism comprises a pitch shaft motor, the pitch shaft motor is arranged at the one end of the front extension moving plate away from the front extension driving motor, the output end of the pitch shaft motor is connected with a pitch driving synchronous pulley, a pitch synchronous belt is sleeved on the pitch driving synchronous pulley, the one end of the pitch synchronous belt away from the pitch driving 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 with a pitch power output plate, the pitch power output plate is fixedly connected with a roll motor stator mounting plate, a roll shaft motor is arranged on the roll motor stator mounting plate, the output end of the roll shaft motor is connected with a roll motor rotor mounting plate, and a differential assembly is fixedly arranged on the roll motor rotor mounting plate.

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

[0020] Further, the control system comprises 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 electrically connected with the stm32 control board, and the stm32 control board is electrically connected with the chassis mechanism, the lifting mechanism, the horizontal displacement mechanism and the object grabbing mechanism respectively.

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

[0022] In the present application, the engineering robot adopts a lift mechanism with double lift, which is driven by a group of motors. The lift mechanism with double lift driven by a group of motors can achieve the same lifting height as the ordinary two-stage lift, and compared with the ordinary two-stage lift mechanism, the number of parts and motors is reduced, the overall weight is reduced, the center of gravity when rising is avoided, the horizontal displacement mechanism installed on the lift mechanism has a long stroke and a width that can enter the tunnel, the object grabbing mechanism installed on the horizontal displacement mechanism is light and small, and has four rotational degrees of freedom, which improves the flexibility of the object grabbing mechanism. Overall, the length of the execution mechanism of the engineering robot is sufficient to obtain the ore in the tunnel, and when the execution mechanism is fully stretched, the center of gravity moves little, and when the lift mechanism is raised, the center of gravity rises little, which meets the requirements of long execution mechanism, low center of gravity and small center of gravity movement. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 It is the overall axonometric view of the engineering robot of the embodiment of the present application;

[0024] Figure 2 It is the overall axonometric view of the engineering robot of the embodiment of the present application from another angle;

[0025] Figure 3 It is the chassis mechanism axonometric view of the embodiment of the present application;

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

[0027] Figure 5 It is the lift mechanism axonometric view of the embodiment of the present application;

[0028] Figure 6 It is the explosion view of the gravity compensation coil spring mounting bracket of the embodiment of the present application;

[0029] Figure 7 It is the first slide axonometric view of the embodiment of the present application;

[0030] Figure 8 It is the second slide axonometric view of the embodiment of the present application;

[0031] Figure 9 It is the structure schematic view of the first slide and the second slide of the embodiment of the present application after being connected;

[0032] Figure 10 It is the driven sprocket mounting seat structure schematic view of the embodiment of the present application;

[0033] Figure 11 It is the horizontal displacement mechanism axonometric view of the embodiment of the present application;

[0034] Figure 12 Another perspective view of the horizontal displacement mechanism of an embodiment of the application;

[0035] Figure 13 An exploded view of the front extension assembly of an embodiment of the application;

[0036] Figure 14 An exploded view of the lateral displacement assembly of an embodiment of the application;

[0037] Figure 15 A perspective view of the object gripping mechanism of an embodiment of the application;

[0038] Figure 16 An exploded view of the pitch axis transmission assembly of an embodiment of the application;

[0039] Figure 17 An exploded view of the differential assembly of an embodiment of the application;

[0040] Figure 18 A cross-sectional view of the differential assembly of an embodiment of the application.

[0041] BRIEF DESCRIPTION OF THE DRAWINGS:

[0042] 1. chassis mechanism; 11. chassis frame; 12. lifting drag chain fixing pipe; 13. shock absorber; 14. Mecanum wheel; 15. chassis driving motor; 16. object storage bottom plate; 17. object limiting 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 sliding carriage; 22, first wire rail; 23, first robot protection plate; 24, first toothed plate fixing block; 25, chain fixing assembly; 251, pressing plate; 252, pad block; 253, fixing block; 26, second robot protection plate; 27, first sliding block group; 28, first toothed plate; 29, driven sprocket mounting seat; 291, pin shaft; 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-hole pin; 2105, coil spring; 21051, coil spring body; 21052, mounting inner ring; 21053, mounting outer ring; 211, driving sprocket; 212, driven sprocket; 213, lifting drive motor; 214, chain; 215, second wire rail; 216, second sliding block group; 217, second toothed plate; 218, first lifting synchronous pulley; 219, lifting synchronous belt; 220, second lifting synchronous pulley; 221, lifting motor mounting seat; 222, second sliding carriage; 223, first connecting plate; 224, second connecting plate; 225, third sliding carriage; 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 displacement rack fixing tube; 32, coil spring fixing tube; 33, front extension fixed plate; 34, base plate; 35, front extension movable plate; 36, front extension drive motor; 37, front extension driving synchronous pulley; 38, front extension synchronous belt; 39, transverse displacement drive motor; 310, transverse displacement driving gear; 311, transverse displacement rack; 312, front extension driven synchronous pulley; 313, front extension driven pulley protection shell; 314, front extension synchronous pulley protection plate; 315, front extension first wire rail; 316, front extension first sliding block group; 317, front extension second wire rail; 318, front extension second sliding block group; 319, front extension toothed plate fixing piece; 320, front extension toothed plate; 321, transverse displacement wire rail; 322, transverse displacement sliding block group; 323, transverse displacement motor mounting seat;

[0045] 4, object gripping mechanism; 41, pitch shaft motor; 42, pitch driving synchronous pulley; 43, pitch synchronous belt; 44, pitch driven synchronous pulley; 45, synchronous belt anti-jumping tooth compression piece; 46, first bearing inner ring flange; 47, first bearing outer ring flange; 48, first flange washer; 49, pitch flange bearing; 410, second flange washer; 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, driving synchronous pulley; 422, synchronous belt; 423, driven synchronous pulley; 424, first flange bearing; 425, differential pitch power output plate; 426, second flange bearing; 427, driving 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, air slip ring;

[0046] 51, judge unit; 52, industrial camera; 53, positioning unit; 54, stm32 control board. DETAILED DESCRIPTION

[0047] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the present application.

[0048] In this article, the terms of "left, right, up, down, front, back" are established based on the positional relationship shown in the drawings, and according to different drawings, the corresponding positional relationship may also change accordingly, therefore, it cannot be understood as an absolute limitation on the protection scope.

[0049] Please refer to Figures 1 to 18The embodiment provides a low-gravity offset double-stroke lifting engineering robot based on a RoboMaster competition, which comprises a chassis mechanism 1, a lifting mechanism 2, a horizontal displacement mechanism 3, an object grabbing mechanism 4 and a control system, the lifting mechanism 2 is fixedly installed on the chassis mechanism 1, the horizontal displacement mechanism 3 is fixedly installed on the lifting mechanism 2, the object grabbing mechanism 4 is fixedly installed on the horizontal displacement mechanism 3, the horizontal displacement mechanism 3 can drive the object grabbing mechanism 4 to move left and right and stretch forward and backward, the lifting mechanism 2 can drive the horizontal displacement mechanism 3 and the object grabbing mechanism 4 to lift together, and if the object grabbing mechanism 4 is grabbing an object at this time, the object also lifts together. The control system is electrically connected with 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 double-stroke lifting mechanism 2, the lifting mechanism 2 is driven by a group of motors, and the double-stroke lifting mechanism 2 driven by a group of motors can realize the same lifting height as a common two-stage lifting mechanism, compared with the common two-stage lifting mechanism, the number of parts and motors is reduced, the weight is reduced as a whole, the center of gravity is avoided to be too high when lifting, the horizontal displacement mechanism 3 installed on the lifting mechanism 2 has a long stroke and can enter a tunnel, the object grabbing mechanism 4 installed on the horizontal displacement mechanism 3 is light and small, has four rotational degrees of freedom, and the flexibility of the object grabbing mechanism is improved. Overall, the length of the execution mechanism of the engineering robot is sufficient to obtain the ore in the tunnel, the center of gravity does not move much when the execution mechanism is fully stretched, the center of gravity does not rise much when the lifting mechanism 2 is lifted, and the requirements of long execution mechanism, low center of gravity and small center of gravity moving amount are met.

[0051] Specifically, the chassis mechanism 1 can make the whole robot move omnidirectionally, the chassis mechanism 1 includes a chassis frame 11, a wheel group assembly and an object storage bin, the chassis frame 11 is in the shape of a cross, which is made of four longer aluminum square tubes and several shorter aluminum square tubes fixed on the four edges as anti-collision beams. The lower end of the lifting drag chain fixing pipe 12 is fixed on the anti-collision beam of the edge of the chassis frame 11, and a drag chain is fixed on the lifting drag chain fixing pipe 12, which is used to protect some lines, and the drag chain is fixed to the lifting drag chain fixing pipe 12 to prevent the drag chain from deviating to other positions and hindering the movement of the robot. A plurality of fiberglass plates are fixed on the chassis frame 11, and the object storage bin is arranged at the center of the top of the chassis frame 11, which is used to store and transport ores, and includes an object storage bottom plate 16 and an object limiting strip 17. The object storage bottom plate 16 is fixed at the center of the chassis frame 11 through the fiberglass plate, and the object limiting strip 17 is assembled by a fiberglass strip, a small bearing and an adapter, and is fixed on the object storage bottom plate 16 through bolts and the adapter. The battery 18 is fixed on the chassis frame 11 through the fiberglass plate, and is electrically connected with each motor of the robot and the stm32 control board 54 to provide energy for the robot.

[0052] Specifically, the wheel group assembly is arranged at the bottom of the chassis frame 11, and includes a damping mechanism and a Mecanum wheel 14. The damping 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 fixed on the shock absorber mounting seat fixing plate 19, the shock absorber mounting seat fixing plate 19 is fixed on the lower part of the first slide 21 of the lifting mechanism 2, and the lower end of the first slide 21 is also fixed on the chassis frame 11 through the fiberglass plate. The other end of the shock absorber 13 is hinged to a Mecanum wheel frame, the Mecanum wheel 14 is located inside the Mecanum wheel frame, and a chassis drive motor 15 is arranged on one side of the outside of the Mecanum wheel frame. The output end of the chassis drive motor 15 is connected with the Mecanum wheel 14, which is used to drive the movement of the Mecanum wheel 14. When the engineering robot drives on a rough track, the shock absorber 13 can absorb the vibration of the Mecanum wheel 14 caused by the concave-convex road surface, which significantly improves the smoothness and comfort of the driving of the engineering robot.

[0053] Specifically, the lifting mechanism 2 is a double-stroke lifting mechanism, comprising 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 from three aluminum square tubes in a "gate" shape, and its lower end is fixed to the chassis frame 11 via a fiberglass board. The first linear guide 22 is bolted to one side of the first slide 21, and the first slider assembly 27 is slidably connected to the first linear guide 22, and the first slider assembly 27 is bolted to the first connecting plate 223. The first toothed plate fixing block 24 is fixedly installed at the top two corners of the first slide 21, and the first toothed plate fixing plate 24 is fixedly connected to the first toothed 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 projectiles from penetrating the lifting mechanism 2 and hitting the internal wiring and mechanical structure of the robot, thus 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 carriage 222 is constructed from four aluminum square tubes and is rectangular in shape. The second linear guide 215 is fixed to one side of the second carriage 222 by bolts. The second slider assembly 216 is slidably connected to the second linear guide 215 and is also 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 guide 215 and is connected to the first slider assembly 27 on the first carriage 21. A lifting drive motor 213 is installed on the second slide 222. The lifting drive motor 213 is installed at the bottom of the second slide 222 via a lifting motor mounting seat 221. The output end of the lifting drive motor 213 is connected to a drive sprocket 211. A chain 214 is fitted on the drive sprocket 211. The chain 214 passes through a chain fixing assembly 25. A driven sprocket 212 is fitted at the end of the chain 214 away from the drive sprocket 211. The driven sprocket 212 is set at the top of the second slide 222 via 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. 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 on the lifting drive motor 213. The tightening force of the coil spring assembly 210 enables the lifting mechanism 2 to hover in mid-air.

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

[0056] Specifically, the third sliding frame 225 is an aluminum square tube, the upper end of the third sliding frame 225 is fixedly connected with the coiled spring fixed tube 32 of the horizontal displacement mechanism 3, and the third sliding frame 225 can drive the horizontal displacement mechanism 3 to realize up-down lifting. The third sliding frame 225 is provided with a second connecting plate 224, and the second connecting plate 224 is fixedly connected with the second sliding block group 216.

[0057] Specifically, the working principle of the lifting mechanism is as follows: the lifting driving motor 213 rotates to drive the driving 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 arranged on the second robot protection plate 26. The second robot protection plate 26 is fixedly connected with the first sliding frame 21, which can be regarded as a static reference system. The movement of the chain 214 drives the second sliding frame 222 and all parts fixed on the second sliding frame 222 to rise or fall together. In the process of rising or falling of the second sliding frame 222, the first lifting synchronous pulley 218 and the second lifting synchronous pulley 220 fixed on the second sliding frame 222 also move together with the second sliding frame 222. The lifting synchronous belt 219 engaged with the first lifting synchronous pulley 218 and the second lifting synchronous pulley 220 also moves together with the second sliding frame 222 under the premise of no constraint. However, actually one side of the lifting synchronous belt 219 is pressed and fixed on the first tooth plate fixing block 24 of the first sliding frame 21 through the first tooth plate 28, which causes the lifting synchronous belt 219 on the side fixed with the first sliding frame 21 to be unable to move together with the second sliding frame 222, thereby causing the lifting synchronous belt 219 to start rotating. In the process of rotating of the lifting synchronous belt 219, the second tooth plate 217 on the other side of the lifting synchronous belt 219 starts to move reversely with the first tooth plate 28. The second tooth plate 217 presses and fixes the lifting synchronous belt 219 on the second connecting plate 224 through a bolt. The second connecting plate 224 is fixedly connected with the third sliding frame 225. In this way, the third sliding frame 225 moves at a speed twice that of the second sliding frame 222. The above is the movement principle of the lifting mechanism 2 with double lifting stroke.

[0058] Specifically, the coil spring assembly 210 includes a coil spring 2105, the coil spring 2105 includes a coil spring body 21051, an installation inner ring 21052 located in the center of the coil spring body 21051, and an installation outer ring 21053 located at the end of the coil spring body 21051. Both sides of the coil spring body 21051 are provided with a coil spring mounting plate 2101, which is fixedly arranged at the top end of the second sliding frame 222. The installation inner ring 21052 is fixedly connected with a coil spring bearing 2103, the inner ring of the coil spring bearing 2103 is fixedly connected with a through screw hole pin 2104, both ends of the through screw hole pin 2104 are connected with the coil spring mounting plate 2101 through a fastening bolt 2102, and the installation outer ring 21053 is connected with the coil spring fixing tube 32 through a bolt. The coil spring assembly 210 can reduce the load of the lifting drive motor 213, and the hovering of the lifting mechanism 2 in the air is realized through the tightening force of the coil spring 2105. The specific principle is as follows: the coil spring fixing tube 32 is fixed with the top end of the third sliding frame 225. During the lifting of the lifting mechanism 2, the distance between the upper end beam of the second sliding frame 222 (i.e. the opposite beam of the beam of the fixed lifting drive motor mounting seat 221) and the coil spring fixing tube 32 will gradually decrease. Therefore, a coil spring 2105 can be arranged between the upper end beam of the second sliding frame 222 and the coil spring fixing tube 32 by using this movement trend, and the tightening force of the coil spring 2105 is used to help reduce the distance between the upper end beam of the second sliding frame 222 and the coil spring fixing tube 32. Therefore, when the stiffness coefficient of the coil spring 2105 is large enough, i.e. the tightening force of the coil spring 2105 is large enough, the lifting mechanism 2 can naturally maintain hovering in the air without the output torque of the lifting drive motor 213.

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

[0060] Specifically, the side lower end of the second sliding frame 222 is provided with a moving groove 230, and a strip-shaped nut 228 is arranged above the moving groove 230. The strip-shaped nut 228 is fixed on the second sliding frame 222 by bolts. The strip-shaped nut 228 is provided with a tensioning bolt 229. The first lifting synchronous pulley 218 and the second sliding frame 222 are provided with a lifting pulley pad plate 227. The tensioning bolt 229 penetrates through the strip-shaped nut 228 and is located on the lifting pulley pad plate 227. The lifting pulley pad plate 227 has a large thickness, so that the tensioning bolt 229 can be completely located on the lifting pulley pad plate 227. A lifting plug bolt 226 penetrates through the first lifting synchronous pulley 218 and the lifting pulley pad plate 227 and is arranged 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 as follows: when the lifting synchronous belt 219 is loosened, the tensioning bolt 229 is twisted to push the lifting pulley pad plate 227 downward, so that the first lifting synchronous pulley 218 moves downward, the distance between the first lifting synchronous pulley 218 and the second lifting synchronous pulley 220 is increased, and the purpose of tensioning the lifting synchronous belt 219 is achieved.

[0061] Specifically, the driven sprocket mounting seat 29 includes a mounting seat body, the mounting seat body is mounted on the upper end cross beam of the second sliding frame 222, both ends of the mounting seat body are provided with bearing seats, the bearing seats include inner plates 292, interlayers 294 and outer plates 295, the inner plates 292 are arranged in the inner layer, the outer plates 295 are arranged in the outer layer, the interlayers 294 are located between the inner plates 292 and the outer plates 295, the driven bearings 293 are mounted in the interlayers 294, and the both ends of the pin shafts 291 penetrate into the driven bearings 293. The driven sprocket 212 is mounted on the pin shafts 291.

[0062] Specifically, the horizontal displacement mechanism 3 can drive the body grabbing mechanism 4 to move left and right and stretch forward and backward. The horizontal displacement mechanism 3 includes transverse rack fixed pipes 31 and coil spring fixed pipes 32. Two transverse rack fixed pipes 31 and two coil spring fixed pipes 32 are connected by bolts to form a square frame. The coil spring fixed pipes 32 are fixed on the top end of the third sliding frame 225 by bolts and are fixedly connected with the mounting outer ring 21053 of the coil spring 2105 by bolts. The transverse rack fixed pipes 31 are provided with a front stretching top plate 33 and a front stretching movable plate 35. The front stretching movable plate 35 is slidably connected with the front stretching fixed plate 33 and is located on the inner side of the front stretching fixed plate 33. The square frame is provided with a base plate 34 which slides along the transverse rack fixed pipe 31. The base plate 34 penetrates through the front stretching movable plate 35 and is fixedly connected with the front stretching fixed plate 33 by bolts and mortise and tenon structures.

[0063] Specifically, the lower surface of the base plate 34 is provided with a transverse driving motor 39, which is fixed on the base plate 34 through a transverse driving motor mounting seat 323, and the output end of the transverse driving motor 39 is connected with a transverse driving gear 310, which is engaged with a transverse rack 311 arranged on a transverse rack fixing pipe 31, and the transverse rack fixing pipe 31 is further provided with a transverse rail 321, and the base plate 34 is connected with a transverse sliding block group 322 through bolts, and the transverse sliding block group 322 is slidingly connected with the transverse rail 321.

[0064] Specifically, one end of the front extension fixed plate 33 is provided with a front extension driving motor 36, the output end of the front extension driving motor 36 is connected with a front extension driving synchronous pulley 37, the front extension driving synchronous pulley 37 is sleeved with a front extension synchronous belt 38, and the end of the front extension synchronous belt 38 away from the front extension driving synchronous pulley 37 is sleeved with a front extension driven synchronous pulley 312, which is arranged on the front extension fixed plate 33, and the front extension driven synchronous pulley 312 is provided with a front extension driven pulley protection shell 313, which is installed on the front extension fixed plate 33 through bolts, and a front extension driven pulley protection plate 314 is connected with the front extension driven pulley protection shell 313 through bolts, the front extension driven pulley protection shell 313 and the front extension driven pulley protection plate 314 cover the front extension driven synchronous pulley 312, thereby protecting the front extension driven synchronous pulley 312. The front extension synchronous belt 38 is fixedly connected with a front extension tooth plate 320, which is connected with a front extension tooth plate fixing piece 319 through bolts, and the front extension tooth plate 320 and the front extension tooth plate fixing piece 319 press the front extension synchronous belt 38 tightly. The front extension tooth plate fixing piece 319 is fixedly connected with the front extension moving plate 35.

[0065] Specifically, the front extension fixed plate 33 is provided with a front extension first rail 315, and a front extension first sliding block group 316 is slidingly connected with the front extension first rail 315, and the front extension first sliding block group 316 is connected with the front extension moving plate 35 through bolts. The front extension moving plate 35 is provided with a front extension second rail 317, and a front extension second sliding block group 318 is slidingly connected with the front extension second rail 317, and the front extension second sliding block group 318 is connected with the front extension fixed plate 33 through bolts.

[0066] Specifically, the horizontal displacement mechanism 3 can perform left-right horizontal movement and front-back telescopic movement. The working principle of the left-right horizontal movement is that the horizontal drive motor 39 rotates to drive the horizontal main gear 310 to rotate, the horizontal main gear 310 rolls on the horizontal rack 311, and the base plate 34 performs left-right horizontal movement along the horizontal rack fixed tube 31. The working principle of the front-back telescopic movement is that the front extension drive motor 39 rotates to drive the front extension main synchronous pulley 37 to rotate, the front extension main synchronous pulley 37 drives the front extension driven synchronous pulley 312 to rotate through the front extension synchronous belt 38, the front extension tooth plate 320 fixedly connected with the front extension synchronous belt 38 also moves together, and then drives the front extension moving plate 35 to move along the front extension first linear rail 315 and the front extension second linear rail 317.

[0067] Specifically, the object grabbing mechanism 4 is actually a small four-rotational freedom mechanical arm, i.e., a four-axis mechanical arm, which can place the object it grabs in various postures at a target position. The joint0 and joint2 are pitch shaft joints, the joint1 and joint3 are roll shaft joints, the joint0 is coaxial with the rotation shaft of the pitch driven synchronous pulley 44, the joint1 is coaxial with the rotation shaft of the roll shaft motor 415, the joint2 is coaxial with the rotation shaft of the driven synchronous pulley 423, and the joint3 is coaxial with the rotation shaft of the driven bevel gear 428. The movement of the joint2 and the joint3 is realized by a differential assembly composed of bevel gears. The mechanical arm can be divided into two parts, i.e., the joint0 and joint1 joints and the differential assembly joints.

[0068] Specifically, for the joint0, the object grabbing mechanism 4 includes a pitch shaft motor 41, which is arranged at one end of the front extension moving plate 35 away from the front extension drive motor 36. The output end of the pitch shaft motor 41 is connected with a pitch main synchronous pulley 42, a pitch synchronous belt 43 is sleeved on the pitch main synchronous pulley 42, one end of the pitch synchronous belt 43 away from the pitch main synchronous pulley 42 is sleeved with a pitch driven synchronous pulley 44, the pitch driven synchronous pulley 44 is installed on the front extension moving plate 35, and the pitch driven synchronous pulley 44 is fixedly connected with a 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 with the first bearing inner ring flange 46, the first bearing flange 46 is installed in the inner ring of a pitch flange bearing 49 and rotates together with the inner ring of the pitch flange bearing 49, and the pitch power output plate 413 is fixedly connected with the second bearing inner ring flange 412, the second bearing inner ring flange 412 is installed in 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 dynamic plate 35, and the pitch flange bearing 49 is provided with a first bearing outer ring flange 47, a first flange washer 48, a second flange washer 410 and a second bearing outer ring flange 411 at two ends, the first bearing outer ring flange 47, the first flange washer 48, the second flange washer 410 and the second bearing outer ring flange 411 are all fixed on the front extension dynamic plate 35 and are used for fixing the pitch flange bearing 49 together, wherein the first bearing outer ring flange 47 and the first flange washer 48 are arranged between the pitch driven synchronous pulley 44 and the front extension dynamic plate 35, and the second flange washer 410 and the second bearing outer ring flange 411 are arranged between the pitch power output plate 413 and the front extension dynamic plate 35.

[0070] Specifically, the upper part of the pitch driving synchronous pulley 42 is provided with a synchronous belt anti-jumping tooth pressing piece 45, the synchronous belt anti-jumping tooth pressing piece 45 is fixed on the front extension dynamic plate 35 through bolts, and the jumping tooth phenomenon of the pitch driving synchronous pulley 42 during rotation is prevented.

[0071] Specifically, the movement mode is that the pitch shaft motor 41 rotates to drive the pitch driving synchronous pulley 42 to rotate, the pitch driving 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 after the pitch power output plate 413 of the mechanical arm to rotate around the joint 0 as a pitch shaft.

[0072] Specifically, for the joint 1, the pitch power output plate 413 is fixedly connected with a 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 with a roll motor rotor mounting plate 416, and the roll motor rotor mounting plate 416 is fixedly provided with a differential assembly. The movement mode is that the roll shaft motor 415 rotates to drive the roll motor rotor mounting plate 416 to rotate, and then drive the part (i.e. the differential assembly) after the roll motor rotor mounting plate 416 of the mechanical arm to rotate around the joint 1 as a roll shaft.

[0073] Specifically, the differential assembly comprises a motor mounting plate 417, the motor mounting plate 417 is fixedly connected with the roll motor rotor mounting plate 416, the roll motor rotor mounting plate 416 is fixedly provided with a slip ring mounting piece 419, a slip ring 420 is fixedly arranged on the slip ring mounting piece 419, and the line of a driving motor 418 is connected to an stm32 control board 54 fixed on the chassis frame 11. When the mechanical arm rotates around the joint 1 as a roll shaft, the slip ring 420 can prevent the lines from being twisted together.

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

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

[0076] Specifically, the driving bevel gear 427 is engaged with the driven bevel gear 428, the driven bevel gear 428 is fixedly nested on the suction cup seat 432, and is axially limited by the shaft stopper, which can prevent the driven bevel gear 428 from moving axially relative to the suction cup seat 432.

[0077] Specifically, the working principle is as follows: two driving motors 418 rotate to drive the driving synchronous pulley 421 to rotate, the driving synchronous pulley 421 drives the driven synchronous pulley 423 to rotate through the synchronous belt 422, the driven synchronous pulley 423 drives the driving bevel gear 427 to rotate, and the two driving bevel gears 427 further drive the driven bevel gear 428 to move. Since the driven bevel gear 428 and the suction cup seat 432 are matched through the special-shaped hole and the special-shaped shaft, the driven bevel gear 428 drives the suction cup seat 432 to move, and further drives 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 movement output at the suction cup 433 is the roll axis movement of the suction cup 433 around joint 2. When the two driven bevel gears 427 rotate in opposite directions, the movement output at the suction cup 433 is the pitch axis rotation of the suction cup 433 around joint 3.

[0078] Specifically, the suction cup seat 432 has a through hole at one end of the center, which is used for gas passing through. The other end of the suction cup seat 432 has a 1 / 8 Rc type English pipe thread hole, and the gas slide ring 434 is connected with the suction cup seat 432 through the thread hole. The gas slide ring 434 can rotate 360° to avoid the gas pipe being twisted due to too large rotation angle when the joint 2 moves. The end of the gas slide ring 434 away from the suction cup seat 432 is connected with the gas pump 111 arranged on the chassis mechanism 1 through the gas pipe 112. When the gas pump 111 inhales, the negative pressure is transmitted to the suction cup 433 through the gas pipe 112, so that the suction cup 433 is tightly attached to the surface of the object. The object will be sucked by the object grabbing mechanism 4 due to the negative pressure, so as to realize the storage, transportation and placement of the object. The above-mentioned gas path is the main gas path. In addition to the main gas path, a branch path of the gas path is introduced near the gas pump 111 using a three-way gas pipe interface. The branch path is connected with an electromagnetic valve. When the suction cup 433 no longer needs to suck the object and needs to immediately leave the object, the electromagnetic valve is controlled to connect the main gas path with the atmospheric pressure. At this time, the internal and external air pressures of the suction cup 433 are balanced, so that the suction cup 433 is separated from the object.

[0079] Specifically, the control system comprises a judging unit 51, an industrial camera 52, a positioning unit 53 and an stm32 control board 54, the judging unit 51, the industrial camera 52 and the positioning unit 53 are electrically connected with the stm32 control board 54, and the stm32 control board 54 sends instructions to control the actions of the judging unit 51, the industrial camera 52 and the positioning unit 53. The judging unit 51 is installed on the chassis frame 11 and is responsible for detecting various data of the robot in the competition. The industrial camera 52 is installed on the front extension fixed plate 33 and has a 2-degree-of-freedom holder with pitch and yaw axes, which can realize free observation of the surrounding environment. The positioning unit 53 is also arranged on the front extension fixed plate 33 and can realize real-time positioning of the engineering robot. The stm32 control board 54 is arranged on the chassis frame 11 and is electrically connected with each motor in the chassis mechanism 1, the lifting mechanism 2, the horizontal displacement mechanism 3 and the object grabbing 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 only illustrate the basic principles and characteristics of the present application, but are not limited to the above embodiments. It should be understood that, for those skilled in the art, various changes and modifications can be made to the present application without departing from the spirit and scope of the present application, and these changes and modifications all fall within the scope of the present application. The scope of protection of the present application is defined by the appended claims and their equivalents.

Claims

1. A low gravity offset double-range lifting engineering robot based on the RoboMaster competition, characterized in that, The utility model relates to a kind of robot, including chassis mechanism (1) and control system, the chassis mechanism (1) is fixed with lifting mechanism (2) on, lifting mechanism (2) is fixed with horizontal displacement mechanism (3) on, horizontal displacement mechanism (3) is fixed with object grabbing mechanism (4) on, and control system is electrically connected with chassis mechanism (1), lifting mechanism (2), horizontal displacement mechanism (3) and object grabbing mechanism (4) respectively; The lifting mechanism (2) includes first slide (21), second slide (222) and third slide (225), the lower end of the first slide (21) is fixed on the chassis mechanism (1), the second slide (222) is slidably connected with the first slide (21), the third slide (225) is slidably connected with the second slide (222), the second slide (225) is provided with second link plate (224), the third slide (225) is fixedly connected with the horizontal displacement mechanism (3), the first slide (21) is provided with second robot protection plate (26), the second robot protection plate (26) is provided with chain fixing assembly (25), and the top two corners of the first slide (21) are provided with first toothed plate fixing block (24); The bottom of the second slide (222) is provided with lifting drive motor (213), the output end of the lifting drive motor (213) is connected with driving sprocket (211), the driving sprocket (211) is sleeved with chain (214), the chain (214) passes through chain fixing assembly (25), one end of the chain (214) away from the driving sprocket (211) is sleeved with driven sprocket (212), the driven sprocket (212) is arranged at the top of the second slide (222) by driven sprocket mounting seat (29), the top of the second slide (222) is provided with spring winding assembly (210), the spring winding assembly (210) is located at one side of the driven sprocket mounting seat (29), the spring winding assembly (210) is fixedly connected with the horizontal displacement mechanism (3), the side of the second slide (222) is provided with lifting synchronous belt assembly; The lifting synchronous belt assembly comprises a first lifting synchronous pulley (218) and a second lifting synchronous pulley (220), the first lifting synchronous pulley (218) is arranged at the lower end of the second sliding frame (222), the second lifting synchronous pulley (220) is arranged at the top end of the second sliding frame (222), the first lifting synchronous pulley (218) is connected with the second lifting synchronous pulley (220) through a lifting synchronous belt (219), the lifting synchronous belt (219) is fixedly provided with a first toothed plate (28) and a second toothed plate (217), the first toothed plate (28) is located on the lifting synchronous belt (219) on one side of the first lifting synchronous pulley (218) and the second lifting synchronous pulley (220), the second toothed plate (217) is located on the lifting synchronous belt (219) on the other side of the first lifting synchronous pulley (218) and the second lifting synchronous pulley (220), the first toothed plate (28) is fixedly connected with a first toothed plate fixing block (24), and the second toothed plate (217) is fixedly connected with a second connecting plate (224). The coil spring assembly (210) comprises a coil spring (2105), the coil spring (2105) comprises a coil spring main body (21051), a mounting inner ring (21052) and a mounting outer ring (21053), the mounting inner ring (21052) is located at the winding center of the coil spring main body (21051), the mounting outer ring (21053) is located at the end of the coil spring main body (21051), the two sides of the coil spring main body (21051) are provided with a coil spring mounting plate (2101), the coil spring mounting plate (2101) is fixedly arranged at the top end of the second sliding frame (222), the mounting inner ring (21052) is fixedly connected with a coil spring bearing (2103), the inner ring of the coil spring bearing (2103) is fixedly connected with a through screw hole pin (2104), the two ends of the through screw hole pin (2104) are connected with the coil spring mounting plate (2101) through a fastening bolt (2102), and the mounting outer ring (21053) is fixedly connected with the horizontal displacement mechanism (3).

2. The low-ground-offset double-range lifting engineering robot based on the RoboMaster competition according to claim 1, characterized in that, The chain fixing assembly (25) comprises a pad block (252), two pad blocks (252) are installed on the second robot protection plate (26) through a fixing block (253), a gap for the chain (214) to pass through is arranged between the two pad blocks (252), the width of the gap is greater than the width of the chain (214), the ends, away from the fixing block (253), of the two pad blocks (252) are fixedly connected with a pressing plate (251), a chain fixing hole is arranged at the middle position of the pressing 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).

3. The low gravity offset double-range lifting engineering robot based on the RoboMaster competition according to claim 1, characterized in that, The side lower end of the second sliding frame (222) is provided with a moving groove (230), the upper side of the moving groove (230) is provided with a strip-shaped nut (228), the strip-shaped nut (228) is provided with a tensioning bolt (229), the first lifting synchronous pulley (218) and the second lifting synchronous pulley (220) are both fixed on the second sliding frame (222) through a lifting plug bolt (226), the first lifting synchronous pulley (218) and the second sliding frame (222) are provided with a lifting pulley pad plate (227), the tensioning bolt (229) penetrates through the strip-shaped nut (228) and is located on the lifting pulley pad plate (227), and the lifting plug bolt (226) penetrates through the first lifting synchronous pulley (218) and the lifting pulley pad plate (227) and is arranged in the moving groove (230).

4. The low gravity offset double-range lifting engineering robot based on the RoboMaster competition according to claim 1, characterized in that, The chassis mechanism (1) comprises a chassis frame (11), a wheel set assembly and an object storage bin, the wheel set assembly is arranged at the bottom of the chassis frame (11), and the object storage bin is arranged at the central position of the top of the chassis frame (11); The wheel set assembly comprises 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 on the first sliding frame (21), the other end of the shock absorber (13) is hinged to a Mecanum wheel frame, the Mecanum wheel (14) is located in the Mecanum wheel frame, and the chassis driving motor (15) is arranged on one side of the outside of the Mecanum wheel frame.

5. The low gravity offset double-range lifting engineering robot based on the RoboMaster competition according to claim 1, characterized in that, The horizontal displacement mechanism (3) comprises a horizontal movement rack fixing pipe (31) and a coil spring fixing pipe (32), the coil spring fixing pipe (32) is fixedly connected with the top end of the third sliding frame (225) and the mounting outer ring (21053), a square frame is formed between the horizontal movement rack fixing pipe (31) and the coil spring fixing pipe (32), the horizontal movement rack fixing pipe (31) is provided with a front extension fixed plate (33) and a front extension movable plate (35), the front extension movable plate (35) is slidably connected with the front extension fixed plate (33), and the front extension movable plate (35) is located on the inner side of the front extension fixed plate (33), and the square frame is provided with a base plate (34) which slides along the horizontal movement rack fixing pipe (31), and the base plate (34) is fixedly connected with the front extension movable plate (35) and the front extension fixed plate (33) through the front extension movable plate (35); The lower surface of the base plate (34) is provided with a horizontal movement driving motor (39), and the output end of the horizontal movement driving motor (39) is connected with a horizontal movement driving gear (310), and the horizontal movement driving gear (310) is meshed with a horizontal movement rack (311) arranged on the horizontal movement rack fixing pipe (31); One end of the front extension fixed plate (33) is provided with a front extension driving motor (36), the output end of the front extension driving motor (36) is connected with a front extension driving synchronous pulley (37), the front extension driving synchronous pulley (37) is sleeved with a front extension synchronous belt (38), one end of the front extension synchronous belt (38) away from the front extension driving synchronous pulley (37) is sleeved with a front extension driven synchronous pulley (312), the front extension driven synchronous pulley (312) is located on the front extension fixed plate (33), the front extension synchronous belt (38) is fixedly connected with a front extension toothed plate (320), the front extension toothed plate (320) is fixedly connected with a front extension toothed plate fixing part (319), the front extension toothed plate fixing part (319) is fixedly connected with the front extension movable plate (35).

6. The low-COG offset double-range lifting engineering robot based on the RoboMaster competition according to claim 5, characterized in that, The object grabbing mechanism (4) comprises a pitch shaft motor (41), the pitch shaft motor (41) is located at one end of the front extension movable plate (35) away from the front extension driving motor (36), the output end of the pitch shaft motor (41) is connected with a pitch driving synchronous pulley (42), the pitch driving synchronous pulley (42) is sleeved with a pitch synchronous belt (43), one end of the pitch synchronous belt (43) away from the pitch driving synchronous pulley (42) is sleeved with a pitch driven synchronous pulley (44), the pitch driven synchronous pulley (44) is rotatably arranged on the front extension movable plate (35), the pitch driven synchronous pulley (44) is fixedly connected with a pitch power output plate (413), the pitch power output plate (413) is fixedly connected with a 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 with a roll motor rotor mounting plate (416), the roll motor rotor mounting plate (416) is fixedly provided with a differential assembly.

7. The low-COG offset double-range lifting engineering robot based on the RoboMaster competition according to claim 6, characterized in that, The differential assembly comprises a motor mounting plate (417) fixedly connected with a roll motor rotor mounting plate (416), a drive motor (418) being arranged at one end of the motor mounting plate (417) close to the roll motor rotor mounting plate (416), an output end of the drive motor (418) being connected with a driving synchronous pulley (421), a synchronous belt (422) being sleeved on the driving synchronous pulley (421), one end of the synchronous belt (422) away from the driving synchronous pulley (421) being sleeved with a driven synchronous pulley (423), the driven synchronous pulley (423) being fixedly connected with a driving bevel gear (427), the driving bevel gear (427) and the motor mounting plate (417) being rotatably connected with a differential pitch power output plate (425), one end of the differential pitch power output plate (425) away from the driving bevel gear (427) being fixedly connected with a bearing seat fixing plate (431), the bearing seat fixing plate (431) being rotatably connected with a suction cup seat (432), the suction cup seat (432) being provided with a suction cup (433), one end of the suction cup seat (432) away from the suction cup (433) being communicated with an air slip ring (434), the air slip ring (434) being communicated with an air pump (111) arranged on the chassis mechanism (1), the driving bevel gear (427) being engaged with a driven bevel gear (428), the driven bevel gear (428) being fixedly connected with the suction cup seat (432).

8. The low-COG offset double-range lifting engineering robot based on the RoboMaster competition according to claim 1, characterized in that, The control system comprises a judge unit (51), an industrial camera (52), a positioning unit (53) and an stm32 control board (54), the judge unit (51), the industrial camera (52) and the positioning unit (53) are electrically connected with the stm32 control board (54), and the stm32 control board (54) is electrically connected with the chassis mechanism (1), the lifting mechanism (2), the horizontal displacement mechanism (3) and the object grabbing mechanism (4) respectively.

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