Robot occupying small space

Abstract

The utility model discloses a robot occupying small space, through the design of a linear sliding rail and a rotary driving mechanism of the linear sliding rail, the robot can do linear motion in the horizontal direction during working, and the whole robot can be folded and stored on a wall surface or other vertical planes after working is finished. Therefore, the space occupied by the robot when the robot works and stops working is reduced to the maximum extent, space optimization of the robot in the working state and the non-working state is achieved, and the practicability and flexibility of the robot are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a robot that occupies a small space. Background Art

[0002] With the continuous advancement of technology, robots have been widely used in various fields, such as industrial production, home services, medical care, etc. However, in practical applications, the space occupation problem of robots has gradually become a challenge that needs to be solved. Especially in some occasions with limited space, such as homes, offices, small factories, etc., the size and space occupied by robots have become the key factors limiting their application.

[0003] Specifically, existing robots often need to unfold their mechanical arms or other actuators when working to reach specific working interfaces and complete work tasks. These mechanisms usually occupy a large space after being unfolded, making the robot vulnerable to restrictions from the surrounding environment when performing charging tasks. In particular, when the robot is not working, these mechanisms often also need to occupy a certain amount of space for storage, which is not only not conducive to the portability of the robot, but also increases the cost of storage and transportation. Utility Model Content

[0004] In order to solve the above problems, the utility model provides a robot that occupies a small space, comprising:

[0005] A linear slide rail, comprising a linear slide rail output flange and a linear slide rail housing; the linear slide rail housing is fixed to a vertical plane;

[0006] A plurality of rotary drive mechanisms, one end of which is an output flange of the rotary drive mechanism for realizing the rotary drive action, and the other end is a housing of the rotary drive mechanism for realizing fixation; the output flange of the rotary drive mechanism is connected to the output flange of the linear slide rail; the output flange of the linear slide rail moves in the horizontal direction under the drive of the linear slide rail, thereby driving the rotary drive mechanism to perform linear motion in the horizontal direction; when the output flange of the rotary drive mechanism rotates, relative rotation occurs between the housing of the rotary drive mechanism and the output flange of the linear slide rail;

[0007] Multiple structures are arranged between different rotary drive mechanisms to connect and support adjacent rotary drive mechanisms, thereby realizing relative position fixation and motion transmission between the rotary drive mechanisms. When the robot is not working, the entire robot is contracted in the horizontal direction by driving the linear slide rail, thereby realizing folding and storage and minimizing the occupied space.

[0008] Compared with the prior art, the beneficial effects brought by the utility model are:

[0009] The robot with a small space occupation provided by the utility model can make the robot perform linear motion in the horizontal direction when working through the design of the linear slide rail and its rotation drive mechanism, and the entire robot can be folded and stored on a wall or other vertical plane after the work is completed, thereby minimizing the space occupied by the robot when working and stopping, realizing space optimization of the robot in working and non-working states, and improving the practicality and flexibility of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] 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 work.

[0011] Figure 1 This is a schematic diagram of the overall structure of the robot of this application;

[0012] Figure 2 This is a schematic diagram of the distribution of various degrees of freedom of movement of the robot of this application;

[0013] Figure 3 This is a schematic diagram of the structure of the robot in the folded, stowed and extended states of the present application. DETAILED DESCRIPTION

[0014] The content of the present invention can be more easily understood by referring to the following detailed description of the preferred implementation method of the present invention and the included embodiments. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by ordinary technicians in the field to which the present invention belongs. When there is a conflict, the definition in this specification shall prevail.

[0015] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0016] Those skilled in the art will appreciate that, unless otherwise defined, all terms (including technical terms and scientific terms) used herein have the same meaning as the general understanding of ordinary technicians in the field to which the utility model belongs. It should also be understood that those terms such as those defined in general dictionaries should be understood to have the same meaning as the meaning in the context of the prior art, and will not be interpreted with idealized or overly formal meanings unless defined as herein.

[0017] In the description of the present utility model, the meaning of "and / or" means that the situations where each exists alone or both exist at the same time are included.

[0018] In the description of the present utility model, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate the orientation or position relationship based on the orientation or position relationship shown in the accompanying drawings, or the orientation or position relationship in which the utility model product is usually placed when in use, which is only for the convenience of describing the utility model and simplifying the description, and does not indicate or imply 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 utility model. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0019] In addition, the terms "horizontal", "vertical", "overhanging" and the like do not mean that the components are required to be absolutely horizontal or overhanging, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0020] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" 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 it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0021] The utility model protects a robot which occupies a small space, such as Figure 1 As shown, Figure 1As shown, it includes: a linear slide 010, including a linear slide output flange 011 and a linear slide housing; the linear slide housing is fixed to a vertical plane; a plurality of rotary drive mechanisms, one end of which is an output flange of the rotary drive mechanism for realizing the rotary drive action, and the other end is a housing of the rotary drive mechanism for realizing fixation; the output flange of the rotary drive mechanism is connected to the linear slide output flange 011; the linear slide output flange 011 moves in the horizontal direction under the drive of the linear slide 010, thereby driving the rotary drive mechanism to perform linear motion in the horizontal direction; when the output flange of the rotary drive mechanism rotates, relative rotation occurs between the housing of the rotary drive mechanism and the linear slide output flange 011; a plurality of structures are arranged between different rotary drive mechanisms, for connecting and supporting adjacent rotary drive mechanisms, so as to realize relative position fixation and motion transmission between the rotary drive mechanisms; when the robot is not working, the entire robot is contracted in the horizontal direction by driving the linear slide 010, so as to realize folding and storage and minimize the occupied space. The utility model uses the design of the linear slide 010 so that the robot can be folded and stored when not working, which reduces the floor space and improves the space utilization efficiency. When it is necessary to work, by driving the linear slide 010, the robot part (such as the rotary drive mechanism) can be moved in the horizontal direction, so as to be deployed to the working position. In addition, by fixing the linear slide housing on a vertical plane or wall, the robot is stably installed, which not only ensures the stability of the robot when working, but also enables the robot to adapt to different environments, especially those where space is limited or fixed installation is required.

[0022] In a specific embodiment, the rotation drive mechanism includes a first rotation drive mechanism 020, a second rotation drive mechanism 030, a third rotation drive mechanism 040, a fourth rotation drive mechanism 050, and a fifth rotation drive mechanism 052; the structure includes a first structure 031, a second structure 041, and a third structure 051; the first rotation drive mechanism 020, the first structure 031, the second rotation drive mechanism 030, the third rotation drive mechanism 040, the second structure 041, the fourth rotation drive mechanism 050, the third structure 051, and the fifth rotation drive mechanism 052 are connected and arranged in sequence.

[0023] In a specific embodiment, the output flange of the first rotary drive mechanism 020 is connected to the linear guide rail output flange 011. When the linear guide rail output flange 011 moves, the first rotary drive mechanism 020 is driven to perform linear motion in the horizontal direction. When the output flange of the first rotary drive mechanism 020 rotates, a relative rotation occurs between the housing of the first rotary drive mechanism 020 and the linear guide rail output flange 011. The housing of the second rotary drive mechanism 030 is connected to the first structure 031, and the output flange of the second rotary drive mechanism 030 is connected to the housing of the first rotary drive mechanism 020. When the output flange of the second rotary drive mechanism 030 rotates, it drives the first structure 031 to rotate. 1 rotates together; the output flange of the third rotation drive mechanism 040 is connected to the first structure 031, and the shell of the third rotation drive mechanism 040 is connected to the second structure 041. When the output flange of the third rotation drive mechanism 040 rotates, the second structure 041 is driven to rotate together; the output flange of the fourth rotation drive mechanism 050 is connected to the second structure 041, and the shell of the fourth rotation drive mechanism 050 is connected to the third structure 051. When the output flange of the fourth rotation drive mechanism 050 rotates, the third structure 051 is driven to generate a rotational motion relative to the second structure 041; the shell of the fifth rotation drive mechanism 052 is connected to the third structure 051.

[0024] In a specific implementation, the output flange of the fifth rotation drive mechanism 052 is connected to the robot end flange 060 , and when the output flange of the fifth rotation drive mechanism 052 rotates, the robot end flange 060 is driven to rotate together.

[0025] Specifically, the rotary drive mechanisms are all controlled by motors alone, and are internally integrated with motor drivers, motors, absolute encoders, incremental encoders, brakes, and reducers. The output flanges thereof can have a rotational degree of freedom relative to the housing of the rotary drive mechanism. The distribution diagram of each degree of freedom of the robot is shown in the attached figure. Figure 2 As shown, it mainly includes 1 linear motion degree of freedom and 5 rotational degrees of freedom, which together determine that the robot end (robot end output flange) has 6 degrees of freedom in space: 3 linear degrees of freedom and 3 rotational degrees of freedom.

[0026] In a specific embodiment, it also includes a driving power supply, which provides power to the motor driver and the motor of each rotating drive mechanism.

[0027] The utility model provides a robot with a small footprint, such as Figure 3As shown, through the design of the linear slide rail and its rotation drive mechanism, the robot can perform linear motion in the horizontal direction when working, and the entire robot can be folded and stored on the wall or other vertical planes after work, thereby minimizing the space occupied by the robot when working and stopping, realizing space optimization of the robot in working and non-working states, and improving the practicality and flexibility of the robot.

[0028] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention is described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A robot that occupies a small space, characterized in that: include: A linear slide rail, comprising a linear slide rail output flange and a linear slide rail housing; the linear slide rail housing is fixed to a vertical plane; A plurality of rotary drive mechanisms, one end of which is an output flange of the rotary drive mechanism for realizing the rotary drive action, and the other end is a housing of the rotary drive mechanism for realizing fixation; the output flange of the rotary drive mechanism is connected to the output flange of the linear guide rail; the output flange of the linear guide rail moves in the horizontal direction under the drive of the linear guide rail, thereby driving the rotary drive mechanism to perform linear motion in the horizontal direction; When the output flange of the rotary drive mechanism rotates, a relative rotation occurs between the housing of the rotary drive mechanism and the output flange of the linear guide rail; Multiple structures are arranged between different rotary drive mechanisms to connect and support adjacent rotary drive mechanisms, thereby realizing relative position fixation and motion transmission between the rotary drive mechanisms. When the robot is not working, the entire robot is contracted in the horizontal direction by driving the linear slide rail, thereby realizing folding and storage and minimizing the occupied space.

2. A robot with a small footprint according to claim 1, characterized in that: The rotation drive mechanism includes a first rotation drive mechanism, a second rotation drive mechanism, a third rotation drive mechanism, a fourth rotation drive mechanism, and a fifth rotation drive mechanism; the structure includes a first structure, a second structure, and a third structure; the first rotation drive mechanism, the first structure, the second rotation drive mechanism, the third rotation drive mechanism, the second structure, the fourth rotation drive mechanism, the third structure, and the fifth rotation drive mechanism are connected and arranged in sequence.

3. A robot with a small footprint according to claim 2, characterized in that: The output flange of the first rotation drive mechanism is connected to the output flange of the linear slide rail; the housing of the second rotation drive mechanism is connected to the first structure, and the output flange of the second rotation drive mechanism is connected to the housing of the first rotation drive mechanism; the output flange of the third rotation drive mechanism is connected to the first structure, and the housing of the third rotation drive mechanism is connected to the second structure; the output flange of the fourth rotation drive mechanism is connected to the second structure, and the housing of the fourth rotation drive mechanism is connected to the third structure; the housing of the fifth rotation drive mechanism is connected to the third structure.

4. A robot with a small footprint according to claim 3, characterized in that: The output flange of the fifth rotation drive mechanism is connected to the end flange of the robot. When the output flange of the fifth rotation drive mechanism rotates, the end flange of the robot is driven to rotate together.

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