Step-climbing grabbing and casting operation robot

Abstract

The utility model provides a robot for climbing steps, grabbing and casting. The robot comprises a frame body and a climbing auxiliary mechanism. During step climbing, the four-wheel walking mechanism drives the frame body to move till the front wheels make contact with the vertical face of the step, the step pressing plate is located above the step, then the first driving assembly drives the step pressing plate to move downwards to press the top face of the step so that the front end of the frame body can be lifted, and then the four-wheel walking mechanism continuously drives the front wheels to cross the step; then, the first driving assembly drives the step pressing plate to reset and drives the auxiliary frame to move downwards to make contact with the ground so that the rear wheel can be lifted; lastly, the rear wheels stride over the steps in cooperation with continuous driving of the four-wheel walking mechanism, the auxiliary frame is driven by the first driving assembly to reset, the step climbing operation can be completed, the step pressing plate and the auxiliary frame are independent of the four-wheel walking mechanism and do not affect each other during step climbing and walking, and therefore the walking speed and the step climbing operation of the device are both considered; the practicability of the device is improved.

Description

Technical Field

[0001] The utility model specifically relates to a step-climbing, grasping and projecting operation robot. Background Art

[0002] Robots are mechanical devices that can work autonomously. With the development of social economy and the advancement of science and technology, many dangerous or repetitive jobs are gradually being replaced by robots instead of humans.

[0003] For example, the Chinese patent No. 201821915370.8 discloses a transport robot that can climb stairs, including a storage box, a distribution box and a traveling track. The distribution box includes a driving mechanism, a supporting mechanism, and a balancing auxiliary mechanism. The transport robot relies on the driving force of the driving mechanism to apply traction to the traveling track. When the transport robot climbs the stairs, the traveling track is in contact with the stair steps by relying on the force of the supporting mechanism. When the transport robot goes down the stairs, the traveling track is always in oblique contact with the stairs by relying on the force of the balancing auxiliary mechanism.

[0004] The existing stair climbing robots mostly use tracks, multiple wheels, or special-shaped wheels to achieve the robot climbing the stairs through high power or torque, but this method of climbing stairs causes the stair climbing robot to have a slow speed or require a large power during normal walking, which makes it impossible to balance the walking speed and the stair climbing operation, reducing the practicality of the device. Therefore, in order to solve the above technical problems, a stair climbing grasping and projecting operation robot is proposed. Utility Model Content

[0005] In view of the deficiencies in the prior art, the utility model proposes a step-climbing, grasping and projecting operation robot, which is convenient for taking into account both the walking speed and the step-climbing operation of the device, thereby improving the practicability of the device.

[0006] A step-climbing, grabbing and projecting robot comprises: a frame and a climbing auxiliary mechanism, wherein a four-wheel walking mechanism for driving the frame to walk is arranged at the bottom of the frame, and the climbing auxiliary mechanism comprises:

[0007] Slide rails, two sets of the slide rails are spaced apart at both ends of the frame;

[0008] A step pressure plate is located at one end of the frame and can slide along the height direction of the frame on the two sets of slide rails at the same end;

[0009] An auxiliary frame, located at the other end of the frame body and capable of sliding along the height direction of the frame body and arranged on the two sets of slide rails at the same end;

[0010] The first driving assembly is arranged on the frame body and connected with the step pressure plate and the auxiliary frame. The first driving assembly can drive the step pressure plate and the auxiliary frame to slide.

[0011] The beneficial effects of the above-mentioned step-climbing, grasping and projecting operation robot are as follows:

[0012] The step pressing plate and the auxiliary frame are independent of the four-wheel traveling mechanism and do not affect each other when climbing stairs and walking, thereby taking into account the walking speed and stair climbing operation of the device, thereby improving the practicability of the device.

[0013] In one embodiment, the first driving assembly includes a first cylinder, a second cylinder and a first driving bottle; the first cylinder is hinged at both ends to the frame and the step pressure plate, the second cylinder is arranged on the frame, and the telescopic end is connected to the auxiliary frame, the first driving bottle is arranged on the frame, and is connected to the first cylinder and the second cylinder. The first driving bottle drives the first cylinder and the second cylinder to telescope, so as to drive the step pressure plate and the auxiliary frame to slide and press the top surface of the step and the ground respectively to lift the frame, and the lifting of the frame is convenient.

[0014] In one embodiment, the step pressure plate is L-shaped, the top and bottom of the step pressure plate are connected with support ribs, and the support ribs are arranged in multiple groups at intervals. The step pressure plate is L-shaped and equipped with multiple groups of support ribs to improve the strength of the step pressure plate, thereby improving the service life of the step pressure plate.

[0015] In one embodiment, an auxiliary wheel is provided at the bottom of the auxiliary frame, the rolling direction of the auxiliary wheel is the same as the walking direction of the frame body, and the peripheral side of the auxiliary wheel protrudes from the bottom of the auxiliary frame. By providing the auxiliary wheel, when the auxiliary frame moves downward, the auxiliary frame drives the auxiliary wheel to move downward and contacts the ground, the auxiliary wheel can reduce the friction between the auxiliary frame and the ground and the friction wear of the auxiliary frame when the device moves on the ladder, thereby facilitating the ladder operation of the device and increasing the service life of the auxiliary frame.

[0016] In one embodiment, the auxiliary wheels are arranged in multiple groups at intervals. The multiple groups of auxiliary wheels contacting the ground can improve the stability of the device's ladder climbing operation.

[0017] In one embodiment, a projectile mechanism is further included, and the projectile mechanism includes:

[0018] Grasping gripper, used to grab objects;

[0019] A flip steering gear is arranged at the end of the frame body close to the step pressure plate, and the grabbing gripper is connected to the rotating part of the flip steering gear;

[0020] A throwing arm, one end of which is hinged to the end of the frame body close to the auxiliary frame, and the other end of the throwing arm can receive the object grasped by the grasping gripper;

[0021] The second driving assembly connects the ejection arm and the frame, and is used to drive the ejection arm to rotate around the hinge. The gripping gripper grips the object and drives the gripping gripper to rotate by the turning steering gear, so that the object rotates to the top of the ejection arm, and then the gripping gripper is cancelled to make the object fall on the ejection arm, and the gripping gripper is driven to reset by the turning steering gear, and finally the ejection arm is driven to rotate by the second driving assembly to eject the object on the ejection arm, so that the ejection of the object is convenient.

[0022] In one embodiment, the second driving assembly includes a third cylinder and a second driving bottle; the two ends of the third cylinder are respectively hinged to the ejection arm and the frame, and the second driving bottle is arranged on the frame and communicated with the third cylinder. The ejection arm can be driven to rotate by the second driving bottle driving the third cylinder to extend and retract, and the ejection arm can be driven to rotate conveniently.

[0023] In one embodiment, a throwing basket is provided on the throwing arm, and the throwing basket can receive the object grasped by the grabbing gripper. The throwing basket is provided to facilitate the throwing arm to better receive the object, and prevent the object from falling from the throwing arm during the throwing action. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the specific implementation of the utility model, the following will briefly introduce the drawings required for use in the specific implementation. In all the drawings, each element or part is not necessarily drawn according to the actual scale.

[0025] Figure 1 A schematic diagram of the three-dimensional structure of a step-climbing, grasping and projecting operation robot provided in one embodiment of the utility model;

[0026] Figure 2 for Figure 1 A schematic diagram of the three-dimensional structure of a step-climbing, grasping and projecting robot from another angle is shown;

[0027] Figure 3 for Figure 1A right side view of a step-climbing, grabbing and projecting robot shown;

[0028] Figure 4 for Figure 1 The action flow chart of a stair climbing, grasping and projectile operation robot shown in FIG.

[0029] Figure 5 for Figure 1 The figure shows an action flow chart of a step-climbing, grabbing and throwing robot for throwing objects.

[0030] Reference numerals:

[0031] 10. Frame;

[0032] 20. Four-wheel travel mechanism;

[0033] 30. Climbing auxiliary mechanism; 301. First cylinder; 302. Slide rail; 303. Step pressure plate; 3031. Support rib; 304. Auxiliary frame; 305. Auxiliary wheel; 306. Second cylinder; 307. First drive bottle;

[0034] 40. Ejection mechanism; 401. Grasping gripper; 402. Flipping servo; 403. Second drive bottle; 404. Throwing basket; 405. Ejection arm; 406. Third cylinder. DETAILED DESCRIPTION

[0035] The following embodiments of the technical solution of the utility model are described in detail in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the utility model, and are therefore only used as examples, and cannot be used to limit the protection scope of the utility model.

[0036] See also Figure 1 , Figure 2 , Figure 4 In one embodiment, a step-climbing, grabbing and projecting operation robot includes a frame 10 and a climbing assisting mechanism 30.

[0037] Among them, the bottom end of the frame 10 is provided with a four-wheeled walking mechanism 20 for driving the frame 10 to walk. The four-wheeled walking mechanism 20 in this embodiment is prior art and will not be described in detail.

[0038] The climbing auxiliary mechanism 30 includes a slide rail 302, a step pressure plate 303, an auxiliary frame 304 and a first driving assembly. Specifically, two sets of slide rails 302 are spaced apart at both ends of the frame 10. The step pressure plate 303 is located at one end of the frame 10 and can be slid along the height direction of the frame 10 on the two sets of slide rails 302 at the same end. The auxiliary frame 304 is located at the other end of the frame 10 and can be slid along the height direction of the frame 10 on the two sets of slide rails 302 at the same end. The first driving assembly is arranged on the frame 10 and is connected to the step pressure plate 303 and the auxiliary frame 304. The first driving assembly can drive the step pressure plate 303 and the auxiliary frame 304 to slide.

[0039] The step pressing plate 303 and the auxiliary frame 304 are independent of the four-wheel walking mechanism 20, and do not affect each other when climbing stairs and walking, thereby taking into account the walking speed and stair climbing operation of the device, and improving the practicality of the device.

[0040] On the basis of the above embodiment, further, the first driving assembly includes a first cylinder 301, a second cylinder 306 and a first driving bottle 307; the first cylinder 301 is hinged at both ends to the frame 10 and the step pressure plate 303, the second cylinder 306 is arranged on the frame 10, and the telescopic end is connected to the auxiliary frame 304, and the first driving bottle 307 is arranged on the frame 10, and is connected to the first cylinder 301 and the second cylinder 306. The first driving bottle 307 drives the first cylinder 301 and the second cylinder 306 to telescope, so as to drive the step pressure plate 303 and the auxiliary frame 304 to slide and press the top surface of the step and the ground respectively to lift the frame 10, and the driving frame 10 is convenient to lift.

[0041] See also Figure 1 In one embodiment, the step pressure plate 303 is L-shaped, and the top and bottom of the step pressure plate 303 are connected with support ribs 3031, and multiple groups of support ribs 3031 are arranged at intervals. In the above embodiment, the step pressure plate 303 is L-shaped and cooperates with multiple groups of support ribs 3031 to improve the strength of the step pressure plate 303, thereby improving the service life of the step pressure plate 303.

[0042] See also Figure 2 In one embodiment, an auxiliary wheel 305 is provided at the bottom of the auxiliary frame 304. The rolling direction of the auxiliary wheel 305 is the same as the walking direction of the frame body 10, and the peripheral side of the auxiliary wheel 305 protrudes from the bottom of the auxiliary frame 304. Specifically, multiple groups of auxiliary wheels 305 are provided at intervals. In the above embodiment, by providing multiple groups of auxiliary wheels 305, when the auxiliary frame 304 moves downward, the auxiliary frame 304 drives the multiple groups of auxiliary wheels 305 to move downward and contact the ground, the multiple groups of auxiliary wheels 305 can reduce the friction between the auxiliary frame 304 and the ground when the device moves on the ladder and the friction and wear of the auxiliary frame 304, which is convenient for the ladder operation of the device and improves the service life of the auxiliary frame 304, and also improves the stability of the ladder operation of the device.

[0043] See also Figure 1 , 3 5. In one embodiment, it also includes a launching mechanism 40, which includes a grabbing gripper 401, a flip servo 402, a launching arm 405 and a second drive assembly. Specifically, the grabbing gripper 401 is used to grab objects. The flip servo 402 is arranged at the end of the frame 10 close to the step pressure plate 303, and the grabbing gripper 401 is connected to the rotating part of the flip servo 402. One end of the launching arm 405 is hinged to the end of the frame 10 close to the auxiliary frame 304, and the other end of the launching arm 405 can receive the object grabbed by the grabbing gripper 401. The second drive assembly connects the launching arm 405 and the frame 10, and the second drive assembly is used to drive the launching arm 405 to rotate around the hinge. The grabbing gripper 401 in this embodiment is a prior art and will not be repeated.

[0044] In the above embodiment, the grabbing gripper 401 clamps the object and drives the grabbing gripper 401 to rotate by the flipping servo 402 so that the object is rotated above the ejection arm 405, and then the gripping of the grabbing gripper 401 is released so that the object falls on the ejection arm 405, and the grabbing gripper 401 is driven to reset by the flipping servo 402, and finally the ejection arm 405 is driven to rotate by the second driving component to eject the object on the ejection arm 405, which makes ejecting the object convenient.

[0045] On the basis of the above embodiment, further, the second driving assembly includes a third cylinder 406 and a second driving bottle 403; the two ends of the third cylinder 406 are respectively hinged to the ejection arm 405 and the frame 10, and the second driving bottle 403 is arranged on the frame 10 and communicated with the third cylinder 406. The ejection arm 405 can be driven to rotate by the extension of the third cylinder 406 driven by the second driving bottle 403, and the rotation of the ejection arm 405 is convenient. It can be understood that by changing the gas delivery volume of the second driving bottle 403, the extension length of the third cylinder 406 can be adjusted according to demand, thereby adjusting the rotation angle of the ejection arm 405, and then adjusting the height of the ejected object, and adjusting the height of the ejected object is convenient.

[0046] On the basis of the above embodiment, further, a throwing basket 404 is provided on the throwing arm 405, and the throwing basket 404 can receive the object grasped by the grasping gripper 401. By providing the throwing basket 404, it is convenient for the throwing arm 405 to better receive the object, and prevent the object from falling from the throwing arm 405 during the throwing action.

[0047] The specific implementation of the above-mentioned step-climbing, grabbing and projecting operation robot is as follows:

[0048] When the device climbs the steps, the four-wheel walking mechanism 20 drives the frame 10 to move until the front wheels in the four-wheel walking mechanism 20 contact the vertical surface of the step, and the step pressure plate 303 is located above the step, and then the first driving bottle 307 drives the first cylinder 301 to extend so that the step pressure plate 303 moves downward to press the top surface of the step to lift the front end of the frame 10, and then the continuous driving of the four-wheel walking mechanism 20 makes the front wheels step onto the step, and the rear wheels in the four-wheel walking mechanism 20 contact the vertical surface of the step, and then the first driving bottle 307 drives the first cylinder 301 to retract so that the stage The step pressing plate 303 is reset and drives the second cylinder 306 to extend so that the auxiliary frame 304 drives multiple sets of auxiliary wheels 305 to move downward and contact the ground to lift the rear wheels. Finally, the continuous driving of the four-wheel walking mechanism 20 is used to make the rear wheels step onto the steps and drive the second cylinder 306 to contract through the first driving bottle 307 to reset the auxiliary frame 304 to complete the step-climbing operation. The step pressing plate 303 and the auxiliary frame 304 are independent of the four-wheel walking mechanism 20 and do not affect each other when climbing stairs and walking, thereby taking into account the walking speed and step-climbing operation of the device, thereby improving the practicality of the device.

[0049] When the device throws an object, the four-wheel walking mechanism 20 drives the device to move to the grabbing gripper 401 corresponding to the object, and then the grabbing gripper 401 clamps the object and drives the grabbing gripper 401 to rotate through the flipping servo 402 to rotate the object to the top of the throwing basket 404, and then the grip of the grabbing gripper 401 is cancelled to make the object fall on the throwing basket 404, and the grabbing gripper 401 is driven to reset through the flipping servo 402, and finally the third cylinder 406 is driven to extend through the second driving bottle 403 to rotate the throwing arm 405 to throw the object in the throwing basket 404, so that it is convenient to throw objects.

[0050] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention, and they should all be included in the scope of the claims and specification of the present invention.

Claims

1. A stair climbing, grabbing and projectile operation robot, It is characterized in that include: A frame (10) and a climbing auxiliary mechanism (30), wherein a four-wheel walking mechanism (20) for driving the frame (10) to walk is arranged at the bottom end of the frame (10), and the climbing auxiliary mechanism (30) comprises: Slide rails (302), two sets of the slide rails (302) are spaced apart at both ends of the frame (10); A step pressure plate (303) is located at one end of the frame (10) and is slidable along the height direction of the frame (10) and is arranged on two sets of slide rails (302) at the same end; An auxiliary frame (304) is located at the other end of the frame body (10) and is arranged on two sets of slide rails (302) at the same end so as to be able to slide along the height direction of the frame body (10); A first driving component is arranged on the frame body (10) and is connected to the step pressure plate (303) and the auxiliary frame (304). The first driving component can drive the step pressure plate (303) and the auxiliary frame (304) to slide.

2. A step-climbing, grasping and projecting robot according to claim 1, It is characterized in that The first driving assembly comprises a first cylinder (301), a second cylinder (306) and a first driving bottle (307); the first cylinder (301) is hinged at both ends to the frame (10) and the step pressure plate (303), the second cylinder (306) is arranged on the frame (10), and the telescopic end is connected to the auxiliary frame (304); the first driving bottle (307) is arranged on the frame (10), and is connected to the first cylinder (301) and the second cylinder (306).

3. A step-climbing, grasping and projecting robot according to claim 1, It is characterized in that The step pressure plate (303) is L-shaped, and the top and bottom of the step pressure plate (303) are connected with support ribs (3031), and the support ribs (3031) are arranged in multiple groups at intervals.

4. A step-climbing, grasping and projecting robot according to claim 1, It is characterized in that An auxiliary wheel (305) is provided at the bottom end of the auxiliary frame (304); the rolling direction of the auxiliary wheel (305) is the same as the walking direction of the frame body (10); and the peripheral side of the auxiliary wheel (305) protrudes from the bottom end of the auxiliary frame (304).

5. A step-climbing, grasping and projecting robot according to claim 4, It is characterized in that The auxiliary wheels (305) are arranged in multiple groups at intervals.

6. The step-climbing, grasping and projecting robot according to claim 1, It is characterized in that It also includes a projectile mechanism (40), wherein the projectile mechanism (40) includes: A gripping gripper (401) for gripping an object; A turning steering gear (402) is arranged at an end of the frame (10) close to the step pressure plate (303), and the grabbing gripper (401) is connected to a rotating part of the turning steering gear (402); A throwing arm (405), one end of which is hinged to the end of the frame (10) close to the auxiliary frame (304), and the other end of the throwing arm (405) can receive an object grasped by the grasping gripper (401); A second driving assembly is connected to the ejection arm (405) and the frame (10), and the second driving assembly is used to drive the ejection arm (405) to rotate around a hinge.

7. A step-climbing, grasping and projecting robot according to claim 6, It is characterized in that The second driving assembly comprises a third cylinder (406) and a second driving bottle (403); two ends of the third cylinder (406) are respectively hinged to the ejection arm (405) and the frame (10); the second driving bottle (403) is arranged on the frame (10) and is connected to the third cylinder (406).

8. The step-climbing, grasping and projecting robot according to claim 6, It is characterized in that The ejection arm (405) is provided with a ejection basket (404), and the ejection basket (404) can receive the object grasped by the grasping gripper (401).

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