Integrated movable device capable of lifting and rotating

Abstract

An integrated movable device capable of lifting and rotating relates to the technical field of robots, and comprises a vertically arranged lifting base, a turntable mechanism which is driven by a lifting driving assembly to lift and move along the axial direction of the length of the lifting base, and a rotation driving assembly which drives the turntable mechanism to drive a functional arm to rotate along the radial direction, the rotating disc mechanism is of a circular ring structure, and an inner ring part allowing the lifting base to movably penetrate through is formed in the middle of the rotating disc mechanism. The manipulator can be loaded on a mobile robot, the turntable mechanism is driven by the lifting driving assembly to lift up and down, and meanwhile, the turntable mechanism is driven by the rotating driving assembly to rotate to drive the functional arm to rotate, namely, the functional arm is driven to lift up and down and rotate left and right, so that the manipulator is flexible in grabbing and high in grabbing efficiency; and the grabbing position is adjusted in all directions, and practicability is high.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to an integrated movable device capable of lifting and rotating. Background Art

[0002] With the continuous development and application of robotics technology, the advantages of robots are becoming more and more prominent. In particular, mobile robots play an increasingly important role in supporting agricultural workers in agricultural environments. Among other duties, mobile robots need to work in dangerous and complex environments or areas that are difficult for humans to enter, such as driving on steep hills or muddy fields. Therefore, this time agricultural robots need to use all-terrain wheels, which have good grip on smooth and hard surfaces and are very suitable for driving on uneven surfaces where there may be mulch, sand, dirt or gravel. However, agricultural robots using all-terrain wheels use a grasping mechanism, unlike other robots that use omnidirectional wheels, which can move freely in any direction and flexibly grasp objects, and often cannot reach the position we want. In addition, the grasping mechanism using all-terrain wheels has a complex structural design, high installation and maintenance costs, heavy weight, and generally only has a single lifting function or rotation function, which cannot adapt to the current production operation requirements. Utility Model Content

[0003] The purpose of the utility model is to propose an integrated movable device that can be raised and lowered and rotated, which can be installed on a robot, so as to solve the technical defects of the prior art all-terrain robots, such as complex structural design, high installation and maintenance costs, large weight, and generally only having a single lifting function or rotation function, and being unable to adapt to the current production operation requirements.

[0004] In order to solve the above technical problems, the technical solution adopted by the utility model is:

[0005] A lifting and rotating integrated movable device comprises a vertically arranged lifting base, a turntable mechanism driven by a lifting drive assembly to lift and move along the axial direction of the lifting base, and a rotating drive assembly driving the turntable mechanism to drive a functional arm to rotate along a radial direction, wherein the turntable mechanism is a circular ring structure, and an inner ring portion is formed in the middle of the turntable mechanism to allow the lifting base to move through it.

[0006] Furthermore, the turntable mechanism includes two layers of turntable assemblies arranged with an upper and lower interval, the functional arm is arranged between the two layers of turntable assemblies, each of the turntable assemblies includes a turntable base with a circular ring structure, the outer peripheral side of the turntable base is connected with the turntable motion ring in a bearing-like manner through a turntable ball, and the rotation drive assembly is fixedly arranged on the outer peripheral side of the turntable motion ring.

[0007] Furthermore, an inner gear ring is protruding horizontally upward on the upper side of the turntable base, and also includes an outer gear ring that is sleeved and matched with the inner gear ring. The inner circumference of the outer gear ring is formed with inner teeth that are sleeved up and down with the inner gear ring, and the outer circumference is formed with outer teeth that cooperate with the rotating drive assembly.

[0008] Furthermore, the rotation drive assembly includes a rotating motor vertically fixed on the outer circumference of the turntable motion ring of the upper and lower layers through a fixing frame, and a rotating gear is fixedly provided on the output shaft at the upper end of the rotating motor, and the rotating gear is meshed with the external teeth of the external gear ring.

[0009] Furthermore, the lifting drive assembly includes a lifting motor fixedly arranged on the bottom side of the lifting base, the lifting motor output shaft is drivingly connected to the first lifting gear, the first lifting gear is meshingly and transmission-connected with the second lifting gear, the upper and lower ends of the lifting base are horizontally connected to the rotating shaft, the upper and lower rotating shafts are both provided with pulleys, the upper and lower pulleys are connected by belts, the second lifting gear is transmission-connected to the rotating shaft at the lower end, and the belt cooperates with the turntable base.

[0010] Furthermore, guide bases are symmetrically arranged on the inner circumference of the turntable base, and the upper and lower guide bases are fixedly connected by a connecting rod. A belt fixing clamp is arranged on the inner side of one of the guide bases, and the belt fixing clamp is fixedly connected to the belt.

[0011] Furthermore, the front and rear sides of the turntable base are provided with vertically arranged U-shaped guide plates, and the two sides of the guide base are symmetrically rotatably provided with guide rollers, and the guide wheels are movably abutted against the U-shaped guide plates to form a lifting guide for the up and down lifting of the turntable mechanism.

[0012] Furthermore, the upper and lower layers of the turntable motion rings are fixedly connected via a connecting plate, and the functional arm is fixedly connected to the inner side of the connecting plate.

[0013] Compared with the prior art, the utility model has the following beneficial effects:

[0014] The utility model proposes an integrated movable device that can be lifted and rotated, which is provided with a lifting base, a turntable mechanism, a rotation drive component, and a lifting drive component. When in use, the utility model can be loaded on a mobile robot, and the turntable mechanism can be driven to lift up and down by the lifting drive component. At the same time, the functional arm can be driven to rotate by the rotation drive component, that is, the functional arm can be driven to lift up and down and rotate left and right. The grasping is flexible, the grasping efficiency is high, the grasping position can be adjusted in all directions, and the utility model is highly practical. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0016] Figure 1 It is a structural schematic diagram of the utility model;

[0017] Figure 2 It is a structural schematic diagram of the utility model from another angle;

[0018] Figure 3 This is a schematic diagram of the structure of the turntable mechanism of the utility model;

[0019] Figure 4 It is a schematic diagram of the exploded structure of the turntable mechanism of the utility model. DETAILED DESCRIPTION

[0020] The technical solutions in the embodiments of the present invention are described clearly and completely below. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0021] In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "back", "vertical", "horizontal", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0022] In the present invention, unless otherwise clearly specified and limited, the terms "install", "connect", "connect", "fix" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0023] In the present utility model, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" and "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0024] like Figure 1-4 As shown, an integrated movable device that can be raised and lowered and rotated comprises a vertically arranged lifting base 1, a turntable mechanism 8 driven by a lifting drive assembly to lift and move along the axial direction of the length of the lifting base 1, and a rotating drive assembly 9 that drives the turntable mechanism 8 to drive a functional arm 10 to rotate along a radial direction, wherein the turntable mechanism 8 is a circular ring structure, and an inner ring portion is formed in the middle of the turntable mechanism 8 to allow the lifting base 1 to move through it.

[0025] The utility model proposes an integrated movable device that can be lifted and rotated, and is provided with a lifting base 1, a turntable mechanism 8, a rotation drive component 9, and a lifting drive component. When in use, the utility model can be loaded on a mobile robot, and the turntable mechanism 8 is driven to lift up and down by the lifting drive component. At the same time, the rotation drive component 9 can be driven to rotate and drive the functional arm 10 to rotate, that is, the functional arm 10 is driven to achieve lifting up and down and left and right rotation. The grasping is flexible, the grasping efficiency is high, the grasping position can be adjusted in all directions, and the utility model is highly practical.

[0026] Specifically, as shown in the figure, the turntable mechanism 8 includes two layers of turntable components arranged at intervals, the functional arm 10 is arranged between the two layers of turntable components, each of the turntable components includes a turntable base 801 with a circular ring structure, the outer peripheral side of the turntable base 801 forms a bearing-like rotation connection with the turntable motion ring 804 through the turntable ball 809, and the rotation drive component 9 is fixedly arranged on the outer peripheral side of the turntable motion ring 804. The upper side of the turntable base 801 is horizontally protruded with an inner tooth ring 802, and also includes an outer tooth ring 803 that is sleeved and matched with the inner tooth ring 802, the inner peripheral side of the outer tooth ring 803 is formed with inner teeth that are sleeved with the inner tooth ring 802, and the outer peripheral side is formed with outer teeth that match the rotation drive component 9. The rotating drive assembly 9 includes a rotating motor 91 which is vertically fixed on the outer periphery of the turntable movement ring 804 of the upper and lower layers through a fixing frame 92. A rotating gear 93 is fixedly provided on the output shaft at the upper end of the rotating motor 91. The rotating gear 93 meshes with the external teeth of the external gear ring 803.

[0027] When in use, the turntable base 801 is in a positioning state, and the rotating motor 91 drives the rotating gear 93 to rotate. Since the turntable motion ring 804 and the turntable base 801 are a rotating connection structure, when the rotating gear 93 is engaged with the outer gear ring 803, the rotating motor 91, the rotating gear 93 and the turntable motion ring 804 rotate in a circle as a whole, thereby driving the functional arm 10 to rotate in all directions.

[0028] Specifically, as shown in the figure, the lifting drive assembly includes a lifting motor 2 fixedly arranged at the bottom side of the lifting base 1, the output shaft of the lifting motor 2 is drivingly connected to the first lifting gear 3, the first lifting gear 3 is meshingly connected to the second lifting gear 4, the upper and lower ends of the lifting base 1 are horizontally connected to the rotating shaft 5, the upper and lower rotating shafts 5 are provided with pulleys 6, the upper and lower pulleys 6 are connected by belts 7, the second lifting gear 4 is connected to the rotating shaft 5 at the lower end, and the belt 7 cooperates with the turntable base 801. The inner circumference of the turntable base 801 is symmetrically provided with guide bases 806, the upper and lower layers of the guide bases 806 are fixedly connected by connecting rods 810, and the inner side of one of the guide bases 806 is provided with a belt fixing clamp 808, and the belt fixing clamp 808 is fixedly connected to the belt 7. When in use, the lifting motor drives the pulley 6 to rotate through the first lifting gear 3 and the second lifting gear 4, thereby driving the belt to move, thereby driving the turntable base 801 to move up and down as a whole, that is, driving the turntable mechanism 8 to move up and down as a whole.

[0029] Specifically, as shown in the figure, the front and rear sides of the turntable base 801 have vertically arranged U-shaped guide plates, and the two sides of the guide base 806 are symmetrically rotatably provided with guide rollers 807, and the guide rollers 807 are movably abutted against the U-shaped guide plates to form a lifting guide for the up and down lifting of the turntable mechanism 8. Among them, the turntable bases 801 of the upper and lower layers are provided with 4 groups of guide wheels 807 in total, which form a vertical guide for the turntable mechanism 8 and a position limit at the same time, and the structure is simple, compact and practical.

[0030] Specifically, as shown in the figure, the upper and lower layers of the turntable motion rings 804 are fixedly connected via a connecting plate 805 , and the functional arm 10 is fixedly connected to the inner side of the connecting plate 805 .

[0031] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

[0032] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. An integrated movable device capable of lifting and rotating, characterized in that: The invention comprises a vertically arranged lifting base (1), a turntable mechanism (8) driven by a lifting drive assembly to move up and down along the axial direction of the length of the lifting base (1), and a rotation drive assembly (9) driving the turntable mechanism (8) to drive a functional arm (10) to rotate along a radial direction, wherein the turntable mechanism (8) is a circular ring structure, and an inner ring portion is formed in the middle of the turntable mechanism (8) to allow the lifting base (1) to move through.

2. The integrated movable device capable of lifting and rotating according to claim 1, characterized in that: The turntable mechanism (8) comprises two layers of turntable assemblies arranged at an interval up and down, the functional arm (10) is arranged between the two layers of turntable assemblies, each of the turntable assemblies comprises a turntable base (801) with a circular ring structure, the outer peripheral side of the turntable base (801) is connected to the turntable motion ring (804) in a bearing-like rotational manner through a turntable ball (809), and the rotation drive assembly (9) is fixedly arranged on the outer peripheral side of the turntable motion ring (804).

3. The integrated movable device capable of lifting and rotating according to claim 2, characterized in that: The turntable base (801) has an inner toothed ring (802) protruding upward and horizontally on its upper side, and also includes an outer toothed ring (803) that is sleeved and matched with the inner toothed ring (802), wherein the inner circumference of the outer toothed ring (803) is formed with inner teeth that are sleeved on the inner toothed ring (802) and the outer circumference is formed with outer teeth that match the rotating drive assembly (9).

4. The integrated movable device capable of lifting and rotating according to claim 3, characterized in that: The rotary drive assembly (9) comprises a rotary motor (91) which is vertically fixed on the outer circumference of the turntable motion ring (804) at the upper and lower layers via a fixing frame (92); a rotary gear (93) is fixedly arranged on the output shaft at the upper end of the rotary motor (91); and the rotary gear (93) is meshed with the outer teeth of the outer gear ring (803).

5. The integrated movable device capable of lifting and rotating according to claim 4, characterized in that: The lifting drive assembly comprises a lifting motor (2) fixedly arranged on the bottom side of the lifting base (1); the output shaft of the lifting motor (2) is drivingly connected to a first lifting gear (3); the first lifting gear (3) is meshingly connected to a second lifting gear (4); the upper and lower ends of the lifting base (1) are horizontally connected to a rotating shaft (5); the upper and lower rotating shafts (5) are both provided with pulleys (6); the upper and lower pulleys (6) are connected by a belt (7); the second lifting gear (4) is drivingly connected to the rotating shaft (5) at the lower end; and the belt (7) cooperates with the turntable base (801).

6. The integrated movable device capable of lifting and rotating according to claim 5, characterized in that: A guide base (806) is symmetrically arranged on the inner circumference of the turntable base (801), and the upper and lower layers of the guide base (806) are fixedly connected by a connecting rod (810). A belt fixing clamp (808) is arranged on the inner side of one of the guide bases (806), and the belt fixing clamp (808) is fixedly connected to the belt (7).

7. The integrated movable device capable of lifting and rotating according to claim 6, characterized in that: The front and rear sides of the turntable base (801) are provided with vertically arranged U-shaped guide plates, and the two sides of the guide base (806) are symmetrically rotatably provided with guide rollers (807), and the guide rollers (807) are movably abutted against the U-shaped guide plates to form a lifting guide for the up and down lifting of the turntable mechanism (8).

8. The integrated movable device capable of lifting and rotating according to claim 7, characterized in that: The upper and lower layers of the turntable motion rings (804) are fixedly connected via a connecting plate (805), and the functional arm (10) is fixedly connected to the inner side of the connecting plate (805).

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