Tandem redundant robot carrying working platform

Abstract

The invention discloses a series redundant robot carrying a working platform, which comprises moving joints, the working platform, walking mechanisms and universal mechanisms, the universal mechanisms are arranged among the plurality of moving joints, the working platform is arranged on the moving joint at the foremost end, and each moving joint is provided with the walking mechanism; when working, the multi-section robot can perform head raising and head lowering actions, and when the multi-section robot normally moves and raises and lowers the head, the multi-section robot can turn, so that the visual angle range is large, and the multi-section robot can overcome the limitation of terrains and freely move.

Description

Technical Field

[0001] This invention relates to the field of biomimetic robots, and more specifically to a serial redundant robot equipped with a work platform. Background Technology

[0002] Currently, in confined or hazardous areas, animal-inspired robots equipped with work platforms are commonly used for detection. The perspective of the work platform (camera) is transmitted to staff via video through the Internet of Things. This is how detection is conducted. Current detection robots are generally multi-segmented robots (i.e., centipede-inspired robots). Multi-segmented robots can move in relatively complex environments. Current centipede robots can only walk in a straight line, and the work platform (mounted on the head of the centipede-inspired robot) cannot lower its head (to detect recessed areas) or raise its head (to detect wide-angle areas) to change the perspective. It also cannot turn when raising or lowering its head, which has significant limitations when conducting detection. Summary of the Invention

[0003] To address the shortcomings of the existing technology, this invention proposes a serial redundant robot equipped with a working platform. When working, the multi-segment robot can perform head-up and head-down movements. During normal movement and head-up and head-down movements, the multi-segment robot can turn. This provides a wide field of view, and the multi-segment robot can also overcome terrain limitations and move freely.

[0004] To achieve the above objectives, the present invention provides a serial redundant robot equipped with a working platform, comprising a mobilizing segment, a working platform, a walking mechanism, and a universal joint, wherein a universal joint is provided between multiple mobilizing segments, a working platform is installed on the foremost mobilizing segment, and a walking mechanism is installed on each mobilizing segment. The universal mechanism includes a universal assembly and a multi-angle swing assembly. Two adjacent moving sections are connected by the universal assembly, which enables lateral and vertical swinging between the two moving sections. The multi-angle swing assembly is provided between the two moving sections.

[0005] Preferably, the multi-angle swing assembly includes a second motor and a spatial linkage mechanism. Two sets of spatial linkage mechanisms are installed on both sides of each moving section. One end of the spatial linkage mechanism is connected to the output shaft of the first motor, and the other end is connected to the next moving section. The spatial linkage mechanism is driven by the second motor, which is installed on the moving section.

[0006] Preferably, the other end of the spatial link is connected to a ring and the ring is fitted onto the column; a column is installed in the adjacent movable section opposite to the spatial link mechanism, the inner diameter of the ring is larger than the diameter of the column, the ring slides on the column, and a limiting block is installed on the top of the column to prevent the ring from detaching from the column.

[0007] Preferably, the traveling mechanism includes a drive assembly, a worm gear mechanism, a cam assembly, and a traveling pawl. A drive assembly is mounted on each moving section, and a worm gear mechanism is mounted on the drive assembly. Two sets of cam assemblies connected to the worm gear are mounted on both sides of the worm gear, with the two sets of cam assemblies offset by 180°. A waist-shaped hole is formed in the cam assembly, and one end of the traveling pawl extends into the waist-shaped hole of the cam assembly. A rotating rod is mounted on the moving section via a rotatable connection, and the middle end of the traveling pawl is hinged to the rotating rod. The traveling pawl is an L-shaped rod.

[0008] Preferably, the movable section includes a top plate and a bottom plate, wherein the top plate and the bottom plate are connected by a support column, and an area for placing the traveling mechanism and the universal joint is formed between the top plate and the bottom plate. The two sides of each movable section near the front end are inclined surfaces that slope inward, and the second motor and the spatial linkage mechanism are mounted on the inclined surfaces.

[0009] Preferably, the drive component is a rotating shaft, the worm of the worm gear mechanism is connected to the rotating shaft, and the rotating shaft drives the worm to rotate. The ends of the rotating shaft between adjacent moving sections are connected by universal joints, and a first motor that drives the rotating shaft to rotate is installed on the last moving section.

[0010] Preferably, the universal assembly includes a connecting ring and a rotary joint, wherein multiple rotary joints are fixed on the outer wall of the connecting ring, the multiple rotary joints are cross-shaped, a rearwardly extending connecting plate is fixed at the rear end of the moving section, and a mounting groove for the connecting plate to extend into is opened at the front end of the moving section. The connecting plate of the previous moving section extends into the mounting groove of the next moving section. A vertical plate fixed to the top plate and the bottom plate is installed in the mounting groove, and the rotary joint is installed on the vertical plate and the connecting plate by a rotary connection.

[0011] Compared with the prior art, the advantages of the present invention are: when working, the multi-segment robot can perform head-up and head-down movements. During normal movement and when head-up and head-down, the multi-segment robot can turn, thus providing a wide field of view. The multi-segment robot can also overcome terrain limitations and move freely. Attached Figure Description

[0012] Figure 1 This is a top view of the present invention.

[0013] Figure 2 This is a perspective view of the present invention with the spatial linkage mechanism removed.

[0014] Figure 3 This is a schematic diagram of the worm gear mechanism, rotating shaft, and universal joint of the present invention.

[0015] Figure 4 This is a schematic diagram of the two movable sections of the present invention.

[0016] Figure 5 This is a schematic diagram showing the connection between the spatial linkage mechanism and the column of the present invention.

[0017] Figure 6 This is a schematic diagram of the single-section moving joint and universal assembly of the present invention.

[0018] Among them, 1. Moving section, 2. Top plate, 3. Bottom plate, 4. Working platform, 5. Walking mechanism, 6. Drive assembly, 7. Rotating rod, 8. Universal joint, 9. First motor, 10. Worm gear mechanism, 11. Cam assembly, 12. Waist-shaped hole, 13. Walking claw, 14. Universal mechanism, 15. Universal assembly, 16. Connecting ring, 17. Rotary joint, 18. Mounting groove, 19. Connecting plate, 20. Multi-angle swing assembly, 21. Second motor, 22. Spatial linkage mechanism, 23. Ring, 24. Column, 25. Limiting block, 26. Rotating shaft, 27. Vertical plate. Detailed Implementation

[0019] The invention will now be further described with reference to the accompanying drawings.

[0020] like Figure 1-6 As shown, a multi-segment mobile robot equipped with a working platform 4 includes a mobile segment 1, a working platform 4, a walking mechanism 5, and a universal joint 14. The universal joint 14 is arranged between multiple mobile segments 1, and the angle between two adjacent mobile segments 1 can be changed through the universal joint 14. The angle change allows two adjacent mobile segments to turn, swing down, and lift up. The working platform 4 is installed on the foremost mobile segment 1, and a camera for detection can be installed on the working platform 4. The image signal of the camera is directly transmitted to the operator's display screen through wireless transmission (the above camera image is transmitted to the display screen wirelessly, which is the existing technology). This realizes detection and search. The walking mechanism 5 is installed on each mobile segment 1. When working, the mobile segment 1 moves through the walking mechanism 5. The universal joint 14 between two mobile segments 1 realizes the up-and-down and left-and-right swing of the two mobile segments 1, thus realizing the head-up, head-down, and turning of the working platform 4. The omnidirectional mechanism 14 includes an omnidirectional component 15 and a multi-angle swing component 20. Two adjacent moving sections 1 are connected by the omnidirectional component 15, which enables lateral and vertical swinging between the two moving sections 1. The multi-angle swing component 20 is provided between the two moving sections 1, which drives the previous moving section 1 to swing vertically or horizontally. When the moving section 1 swings vertically, it can also swing horizontally. This results in a larger field of view for the camera on the work platform 4. Since the moving section 1 can swing vertically and horizontally, the multi-section robot can be adapted to different terrains and is not limited to planar movement.

[0021] The multi-angle swing assembly 20 includes a second motor 21 and a spatial linkage mechanism 22. Two sets of spatial linkage mechanisms 22 are installed on both sides near the front end of each moving section 1. One end of each spatial linkage mechanism 22 is connected to the output shaft of the second motor 21 and is driven by the second motor 21. A rotating disk is bolted to the output shaft of the second motor 21. One end of each spatial linkage mechanism 22 is riveted to the rotating disk with a rotating rivet. The housing of the first motor 21 is bolted to the side walls of the moving section 1. The other end of each spatial linkage mechanism 22 is connected to the next moving section 1. When the moving section 1 tilts upward, the second motor 21 rotates counterclockwise, causing the linkage connected to the second motor 21 to swing upward, thus pushing the moving section 1 upward. When the moving section 1 tilts downward, the second motor 21 rotates clockwise, causing the linkage connected to the second motor 21 to swing downward, thus pulling the moving section 1 downward, achieving the tilting motion. When turning is required... When turning left, the two second motors 21 rotate asynchronously. When a left turn is needed, the second motor 21 on the left side of the moving section 1 drives the spatial linkage mechanism 22 to swing downward, and the second motor 21 on the right side of the moving section 1 drives the spatial linkage mechanism 22 to swing upward. This shortens the distance between the left side of the moving section 1 and the previous moving section 1, and increases the distance between the right side of the moving section 1 and the previous moving section 1, causing the previous moving section 1 to swing to the left. Conversely, the second motor 21 on the left side of the moving section 1 drives the spatial linkage mechanism 22 to swing upward, and the second motor 21 on the right side of the moving section 1 drives the spatial linkage mechanism 22 to swing downward. This increases the distance between the left side of the moving section 1 and the previous moving section 1, and shortens the distance between the right side of the moving section 1 and the previous moving section 1, causing the previous moving section 1 to swing to the right. When swinging upward, if the two upper motors of the moving section 1 are controlled to rotate in opposite directions, it is possible to swing left and right when looking up; the same applies when looking down, thus increasing the field of vision.

[0022] The other end of the spatial linkage mechanism 22 is connected to a ring 23 via a threaded connection. A column 24, which is opposite to the spatial linkage mechanism 22, is installed on the preceding movable section 1 by welding. The ring 23 is fitted onto the column 24, and the inner diameter of the ring 23 is larger than the diameter of the column 24. The ring 23 slides on the column 24. A limiting block 25 is installed on the top of the column 24 to prevent the ring 23 from disengaging from the column 24. The top of the column 24 has threads, and the limiting block 25 is a nut. The height can be adjusted by rotating the nut. In this way, the spatial linkage mechanism 22 can be adjusted within a small range during operation to avoid self-locking.

[0023] The traveling mechanism 5 includes a drive assembly 6, a worm gear mechanism 10, a cam assembly 11, and a traveling claw 13. The drive assembly 6 is mounted on each moving section 1, and the worm gear mechanism 10 is mounted on the drive assembly 6. Two sets of cam assemblies 11 connected to the worm gear are mounted on both sides of the worm gear. The cam assemblies 11 are cams, and the two sets of cams are fixed to the left and right ends of the worm gear by welding. The two sets of cam assemblies 11 rotate synchronously with the worm gear, and are offset by 180°. A slotted hole 12 is formed in the cam assembly 11, and one end of the traveling claw 13 extends into the cam assembly. Inside the waist-shaped hole 12 of section 11, one end of the walking claw 13 extending into the waist-shaped hole 12 is a ball head. A rotating rod 7 is mounted on the moving section 1 by means of a rotatable connection. The top and bottom of the rotating rod 7 are mounted on the moving section 1 by bearings. A vertical through hole is opened in the middle section of the rotating rod 7. The walking claw 13 passes through the through hole on the rotating rod 7 and the middle section of the walking claw 13 is rotatably connected to the rotating rod 7. The walking claw 13 is an L-shaped rod. When moving, the walking claws 13 on both sides of the moving section 1 move in a staggered manner by the misalignment setting of the cam assembly 11, thus realizing the movement of the moving section 1.

[0024] The movable section 1 includes a top plate 2 and a bottom plate 3, which are connected by a support column. The top and bottom of the column 24 are fixed to the top plate 2 and the bottom plate by welding. An area for placing the traveling mechanism 5 and the universal joint mechanism 14 is formed between the top plate 2 and the bottom plate 3. The two sides of each movable section 1 near the front end are inclined surfaces that slope inward. The second motor 21 and the spatial linkage mechanism 22 are installed on the inclined surfaces. The inclined surfaces facilitate the movement of the spatial linkage mechanism 22 when it swings.

[0025] The drive assembly 6 is the rotating shaft 26. The worm of the worm gear mechanism 10 is connected to the rotating shaft 26, and the rotating shaft 26 drives the worm to rotate. The ends of the rotating shaft 26 between adjacent moving sections 1 are connected by universal joints 8. The first motor 9, which drives the rotating shaft 26 to rotate, is installed on the last moving section 1 by bolts. The first motor 9 drives the rotating shaft 26 to rotate. The rotation of the rotating shafts 26 is synchronized by universal joints 8. The rotating shaft drives the worm to rotate, and the worm drives the worm wheel to rotate. This realizes the synchronous movement of the walking claw 13, thus realizing the movement of the multi-section robot. It does not affect walking when turning, raising and lowering the head. A controller is installed on the last moving section 1. The controller is a single-chip microcontroller embedded microcontroller. The output of the controller is connected to the first motor 9 and multiple second motors 21 respectively. The controller controls the speed and forward and reverse rotation of the first motor 9 and the second motors 21. The output of the controller is connected to a wireless module, which realizes remote control.

[0026] The universal assembly 15 includes a connecting ring 16 and rotary joints 17. Four rotary joints 17 arranged in a circular array are fixed to the outer wall of the connecting ring 16 by welding. The rotary joints 17 are arranged in a cross shape. Two connecting plates 19 extending backward are fixed to the rear end of each moving section 1 by welding. The two connecting plates are arranged vertically. A mounting groove 18 is opened at the front end of the moving section 1 for the connecting plates 19 to extend into. The connecting plate 19 of the previous moving section 1 extends into the mounting groove 18 of the next moving section 1. A vertical plate 27 fixed to the top plate 2 and the bottom plate 3 is installed in the mounting groove 18 by welding. The rotary joints 17 are mounted on the inner walls of the vertical plate 27 and the connecting plate 19 by bearings. In this way, the two moving sections 1 can swing at multiple angles through the universal assembly 15.

Claims

1. A serial redundant robot equipped with a working platform, comprising locating segments, a working platform, a locomotion mechanism, and a universal joint, wherein universal joints are arranged between multiple locating segments, a working platform is mounted on the foremost locating segment, and a locomotion mechanism is mounted on each locating segment, characterized in that... ； The universal mechanism includes a universal assembly and a multi-angle swing assembly. Two adjacent moving sections are connected by the universal assembly, which enables lateral and vertical swinging between the two moving sections. The multi-angle swing assembly is provided between the two moving sections.

2. A serially redundant robot equipped with a working platform according to claim 1, characterized in that, The multi-angle swing assembly includes a second motor and a spatial linkage mechanism. Two sets of spatial linkage mechanisms are installed on both sides of each moving section. One end of the spatial linkage mechanism is connected to the output shaft of the first motor, and the other end is connected to the next moving section. The spatial linkage mechanism is driven by the second motor, and the housing of the second motor is installed on the moving section.

3. A serially redundant robot equipped with a working platform according to claim 2, characterized in that, The other end of the spatial link is connected to a ring, which is fitted onto a column. A column is installed on the adjacent movable section, which is opposite to the spatial link mechanism. The inner diameter of the ring is larger than the diameter of the column. The ring slides on the column. A limiting block is installed on the top of the column to prevent the ring from detaching from the column.

4. A serially redundant robot equipped with a working platform according to claim 3, characterized in that, The traveling mechanism includes a drive assembly, a worm gear mechanism, a cam assembly, and a traveling claw. The drive assembly is installed on each moving section, and the worm gear mechanism is installed on the drive assembly. Two sets of cam assemblies connected to the worm gear are installed on both sides of the worm gear. The two sets of cam assemblies are offset by 180°. The cam assemblies have oblong holes. One end of the traveling claw extends into the oblong hole of the cam assembly. A rotating rod is installed on the moving section by a rotatable connection. The middle end of the traveling claw is hinged to the rotating rod. The traveling claw is an L-shaped rod.

5. A serially redundant robot equipped with a working platform according to claim 4, characterized in that, The moving section includes a top plate and a bottom plate, which are connected by a support column. An area for placing the traveling mechanism and the universal joint is formed between the top plate and the bottom plate. The two sides of each moving section near the front end are inclined surfaces that slope inward. The second motor and the spatial linkage mechanism are mounted on the inclined surfaces.

6. A serially redundant robot equipped with a working platform according to claim 5, characterized in that, The drive component is the rotating shaft. The worm of the worm gear mechanism is connected to the rotating shaft, and the rotating shaft drives the worm to rotate. The ends of the rotating shaft between adjacent moving sections are connected by universal joints. The first motor that drives the rotating shaft to rotate is installed on the last moving section.

7. A serially redundant robot equipped with a working platform according to claim 6, characterized in that, The universal assembly includes a connecting ring and a rotary joint. Multiple rotary joints are fixed on the outer wall of the connecting ring. The multiple rotary joints are cross-shaped. A rearwardly extending connecting plate is fixed at the rear end of the moving section. A mounting groove is opened at the front end of the moving section for the connecting plate to extend into. The connecting plate of the previous moving section extends into the mounting groove of the next moving section. A vertical plate fixed to the top plate and the bottom plate is installed in the mounting groove. The rotary joint is installed on the vertical plate and the connecting plate by a rotary connection.

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