Engineering education trolley

Abstract

The engineering education trolley comprises a trolley body and a carrying assembly, the trolley body comprises a chassis and a rectangular bin, the rectangular bin is installed on the chassis, two wheels are arranged on the two sides of the trolley body respectively, a driving motor used for driving the wheels is arranged in the trolley body, a battery used for supplying power is arranged in the trolley body, and a circuit board assembly is arranged on the trolley body. The carrying assembly comprises a holder and a six-axis mechanical arm, the holder is arranged at the top of the rectangular bin, the six-axis mechanical arm is arranged on the holder, and a visual sensor module is arranged on the six-axis mechanical arm. The kit can realize flexible clamping and carrying functions, and is matched with movement to simulate the use scene of an engineering vehicle.

Description

Technical Field

[0001] The utility model relates to the technical field of robot trolleys, in particular to an engineering education trolley. Background Art

[0002] The Smart Car Competition is a widely recognized student competition that focuses on practical skills and professional abilities. Currently, the most common competition forms include racing on a track, driving along a prescribed route, and grabbing and moving objects.

[0003] Currently, most common racing cars that are used to transport objects are equipped with finger cylinders or simple clamping devices directly on the head of the car. This type of clamping device has two problems. First, the clamping mechanism is simple, and the success rate of clamping objects is low, so multiple attempts are required to clamp the object. Second, the position of the clamping device on the car is fixed, and the car must be adjusted to align with the object before the clamping action can be performed, which increases the difficulty of controlling the car. Summary of the invention

[0004] In order to overcome the shortcomings of the prior art, the utility model proposes an engineering education trolley, which can realize flexible clamping and carrying functions, cooperate with movement, and simulate the use scenario of an engineering vehicle.

[0005] To achieve the above-mentioned purpose, the engineering education vehicle of the utility model includes a vehicle body and a transport component. The vehicle body includes a chassis and a rectangular warehouse. The rectangular warehouse is installed on the chassis. Two wheels are respectively provided on both sides of the vehicle body. A driving motor for driving the wheels is provided in the vehicle body. A battery for power supply is provided in the vehicle body. A circuit board assembly is provided on the vehicle body. The transport component includes a pan-tilt head and a six-axis robotic arm. The pan-tilt head is arranged on the top of the rectangular warehouse, the six-axis robotic arm is arranged on the pan-tilt head, and a visual sensor module is provided on the six-axis robotic arm.

[0006] Furthermore, the pan head includes an outer frame and a rotating table. A planar rotating motor for driving the rotating table to rotate is provided on the top of the rectangular warehouse. The rotating table rotates with the vertical direction as the axis. A first rotating base is provided on the top of the rotating table, and the six-axis robotic arm is rotatably connected to the first rotating base.

[0007] Furthermore, the six-axis robotic arm includes a first rotating arm rotatably connected to a first rotating base, the first rotating base is provided with a first rotating motor that drives the first rotating arm to rotate relative to the planar rotating base, the first rotating arm is rotatably connected to an end away from the planar rotating base with a second rotating arm, the second rotating arm is provided with a second rotating motor that drives the second rotating arm to rotate relative to the first rotating arm, the second rotating arm is rotatably connected to an end away from the first rotating arm with a third rotating arm, the third rotating arm is provided with a third rotating motor that drives the third rotating arm to rotate relative to the second rotating arm, the third rotating arm is provided with a fourth rotating motor at an end away from the second rotating arm, and a clamping assembly is provided on the output shaft of the fourth rotating motor.

[0008] Furthermore, the clamping assembly includes a clamping plate, on which a pair of first clamping arms are provided, and gears are provided at the ends of the first clamping arms on both sides that are close to each other and mesh with each other, and the ends of the first clamping arms on both sides that are away from each other are respectively rotatably connected to the second clamping arms, and the second clamping arms are retracted inwardly at the ends away from the first clamping arms, and the clamping plate is rotatably connected to a pair of connecting arms at one end away from the fourth rotating motor, and the ends of the connecting arms on both sides that are away from the clamping plate are respectively rotatably connected to the middle part of the second clamping arm on the corresponding side, and a clamping motor for driving the first clamping arm to rotate is provided on the clamping plate.

[0009] Furthermore, a mounting plate is provided on the third rotating arm, and the visual sensor module is arranged on the mounting plate.

[0010] Furthermore, four drive motors are provided, and the drive motors are fixed at the bottom of the rectangular bin. Each drive motor drives one wheel, and the wheel adopts a Mecanum wheel.

[0011] Furthermore, the circuit board assembly is arranged on one side of the top of the rectangular bin close to the rear of the vehicle, and a protection frame for protecting the circuit board assembly is provided on the rectangular bin.

[0012] Furthermore, an ultrasonic sensor assembly is provided on one side of the rectangular warehouse close to the front of the vehicle, and an anti-collision frame is provided on the bottom of the rectangular warehouse close to the front of the vehicle.

[0013] The multi-form trolley of the utility model realizes flexible clamping and carrying functions by carrying a multi-axis mechanical arm assembly, and achieves the purpose of simulating an engineering vehicle in coordination with the movement of the trolley, which greatly enriches the use scenarios of the robot trolley. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The utility model is further described and elaborated below in conjunction with the accompanying drawings.

[0015] Figure 1 It is a structural schematic diagram of an engineering education vehicle according to a preferred embodiment of the utility model.

[0016] Figure 2 It is a schematic diagram showing the internal structure of the engineering education car after removing the chassis.

[0017] Figure 3 yes Figure 2 Enlarged view of point A in the middle.

[0018] Figure numerals: 1. body; 11. chassis; 12. rectangular warehouse; 13. wheels; 14. drive motor; 15. circuit board assembly; 16. protection frame; 17. anti-collision frame; 2. pan / tilt; 21. outer frame; 22. rotating table; 23. planar rotating motor; 24. first rotating base; 3. six-axis robotic arm; 31. first rotating arm; 32. first rotating motor; 33. second rotating arm; 34. second rotating motor; 35. third rotating arm; 36. third rotating motor; 37. fourth rotating motor; 38. clamping assembly; 381. clamping plate; 382. first clamping arm; 383. gear; 384. second clamping arm; 385. connecting arm; 386. clamping motor; 4. visual sensor module; 41. mounting plate; 5. ultrasonic sensor assembly. DETAILED DESCRIPTION

[0019] The technical solution of the present invention will be more clearly and completely explained below by describing the preferred embodiments of the present invention in combination with the accompanying drawings.

[0020] like Figure 1 and Figure 2 As shown, the engineering education trolley of the preferred embodiment of the utility model includes a vehicle body 1 and a transport assembly. The vehicle body 1 includes a chassis 11 and a rectangular bin 12. The rectangular bin 12 is installed on the chassis 11. The edge of the rectangular bin 12 has a plurality of side panels extending downward. The edge of the chassis 11 is provided with a plurality of side panels extending upward. After the rectangular bin 12 and the chassis 11 are installed, a box-shaped vehicle body 1 is formed. Two wheels 13 are respectively provided on both sides of the vehicle body 1, and the wheels 13 adopt Mecanum wheels. A driving motor 14 for driving the wheels 13 and a battery for power supply are provided in the vehicle body 1. There are 4 driving motors 14, which are fixed at the bottom of the rectangular bin 12. Each driving motor 14 drives one wheel 13. With the Mecanum wheels, forward, backward and translational movement modes can be realized.

[0021] like Figure 1 As shown, a circuit board assembly 15 is provided on the top of the rectangular bin 12, and the circuit board assembly 15 is arranged on the side of the top of the rectangular bin 12 close to the rear of the vehicle, and a protection frame 16 for protecting the circuit board assembly 15 is provided on the rectangular bin 12. An ultrasonic sensor assembly 5 is provided on the side of the rectangular bin 12 close to the front of the vehicle, and an anti-collision frame 17 is provided on the bottom of the rectangular bin 12 close to the front of the vehicle.

[0022] like Figure 1 As shown, the transport assembly includes a pan-tilt head 2 and a six-axis robotic arm 3. The pan-tilt head 2 is arranged on the top of the rectangular warehouse 12. The pan-tilt head 2 includes an outer frame 21 and a rotating table 22. A planar rotating motor 23 for driving the rotating table 22 to rotate is provided on the top of the rectangular warehouse 12. The rotating table 22 rotates with the vertical direction as the axis.

[0023] like Figure 1As shown, a first rotating base 24 is provided on the top of the rotating platform 22, and the six-axis robot 3 includes a first rotating arm 31 rotatably connected to the first rotating base 24, a first rotating motor 32 driving the first rotating arm 31 to rotate relative to the plane rotating base is provided on the first rotating base 24, a second rotating arm 33 is rotatably connected to one end of the first rotating arm 31 away from the plane rotating base, a second rotating motor 34 driving the second rotating arm 33 to rotate relative to the first rotating arm 31 is provided on the second rotating arm 33, a third rotating arm 35 is rotatably connected to one end of the second rotating arm 33 away from the first rotating arm 31, a mounting plate 41 is provided on the third rotating arm 35, and a visual sensor module 4 is provided on the mounting plate 41. A third rotating motor 36 driving the third rotating arm 35 to rotate relative to the second rotating arm 33 is provided on the third rotating arm 35.

[0024] like Figure 1 and Figure 3 As shown, a fourth rotating motor 37 is provided at one end of the third rotating arm 35 away from the second rotating arm 33, and a clamping assembly 38 is provided on the output shaft of the fourth rotating motor 37. The clamping assembly 38 comprises a clamping plate 381, on which a pair of first clamping arms 382 are provided, and gears 383 are provided at one end of the first clamping arms 382 on both sides that are close to each other and mesh with each other, and second clamping arms 384 are rotatably connected at one end of the first clamping arms 382 on both sides that are away from each other, and the second clamping arms 384 are retracted inwardly at one end away from the first clamping arms 382, ​​and a pair of connecting arms 385 are rotatably connected at one end of the clamping plate 381 away from the fourth rotating motor 37, and one end of the connecting arms 385 on both sides that are away from the clamping plate 381 is rotatably connected to the middle part of the second clamping arm 384 on the corresponding side, and a clamping motor 386 for driving the first clamping arms 382 to rotate is provided on the clamping plate 381.

[0025] The multi-form trolley of the utility model realizes flexible clamping and carrying functions by carrying a multi-axis mechanical arm assembly, and achieves the purpose of simulating an engineering vehicle in coordination with the movement of the trolley, which greatly enriches the use scenarios of the robot trolley.

[0026] The above specific implementations are only descriptions of the preferred implementations of the utility model, and do not limit the protection scope of the utility model. Under the premise of not departing from the design concept and spirit of the utility model, various deformations, substitutions and improvements made by ordinary technicians in this field to the technical solution of the utility model based on the text description and drawings provided by the utility model should all fall within the protection scope of the utility model. The protection scope of the utility model is determined by the claims.

Claims

1. An engineering education vehicle, characterized in that: The invention comprises a vehicle body (1) and a transport assembly, wherein the vehicle body (1) comprises a chassis (11) and a rectangular bin (12), wherein the rectangular bin (12) is mounted on the chassis (11), two wheels (13) are respectively arranged on both sides of the vehicle body (1), a driving motor (14) for driving the wheels (13) is arranged in the vehicle body (1), a battery for power supply is arranged in the vehicle body (1), a circuit board assembly (15) is arranged on the vehicle body (1), and the transport assembly comprises a pan-tilt platform (2) and a six-axis robot arm (3), wherein the pan-tilt platform (2) is arranged on the top of the rectangular bin (12), the six-axis robot arm (3) is arranged on the pan-tilt platform (2), and the six-axis robot arm (3) is provided with a visual sensor module (4).

2. The engineering education vehicle according to claim 1, characterized in that: The pan / tilt platform (2) comprises an outer frame (21) and a rotating platform (22); a planar rotating motor (23) for driving the rotating platform (22) to rotate is provided on the top of the rectangular warehouse (12); the rotating platform (22) rotates with a vertical direction as an axis; a first rotating base (24) is provided on the top of the rotating platform (22); and the six-axis robot arm (3) is rotatably connected to the first rotating base (24).

3. The engineering education vehicle according to claim 2, characterized in that: The six-axis robot arm (3) comprises a first rotating arm (31) rotatably connected to a first rotating base (24); a first rotating motor (32) for driving the first rotating arm (31) to rotate relative to a planar rotating base is provided on the first rotating base (24); a second rotating arm (33) is rotatably connected to one end of the first rotating arm (31) away from the planar rotating base; a second rotating motor (34) for driving the second rotating arm (33) to rotate relative to the first rotating arm (31) is provided on the second rotating arm (33); a third rotating arm (35) is rotatably connected to one end of the second rotating arm (33) away from the first rotating arm (31); a third rotating motor (36) for driving the third rotating arm (35) to rotate relative to the second rotating arm (33) is provided on the third rotating arm (35); a fourth rotating motor (37) is provided on one end of the third rotating arm (35) away from the second rotating arm (33); a clamping assembly (38) is provided on the output shaft of the fourth rotating motor (37).

4. The engineering education vehicle according to claim 3, characterized in that: The clamping assembly (38) comprises a clamping plate (381), on which a pair of first clamping arms (382) are provided, and the ends of the first clamping arms (382) on both sides that are close to each other are provided with gears (383) and mesh with each other, and the ends of the first clamping arms (382) on both sides that are away from each other are respectively rotatably connected to the second clamping arms (384), and the end of the second clamping arm (384) away from the first clamping arm (382) is retracted inwardly, and the end of the clamping plate (381) away from the fourth rotating motor (37) is rotatably connected to a pair of connecting arms (385), and the ends of the connecting arms (385) on both sides that are away from the clamping plate (381) are respectively rotatably connected to the middle part of the second clamping arm (384) on the corresponding side, and the clamping plate (381) is provided with a clamping motor (386) for driving the first clamping arm (382) to rotate.

5. The engineering education vehicle according to claim 3, characterized in that: The third rotating arm (35) is provided with a mounting plate (41), and the visual sensor module (4) is arranged on the mounting plate (41).

6. The engineering education vehicle according to claim 1, characterized in that: There are four drive motors (14), which are fixed at the bottom of the rectangular bin (12). Each drive motor (14) drives a wheel (13), and the wheel (13) is a Mecanum wheel.

7. The engineering education vehicle according to claim 1, characterized in that: The circuit board assembly (15) is arranged on a side of the top of the rectangular bin (12) close to the rear of the vehicle, and a protection frame (16) for protecting the circuit board assembly (15) is provided on the rectangular bin (12).

8. The engineering education vehicle according to claim 1, characterized in that: An ultrasonic sensor assembly (5) is provided on the side of the rectangular bin (12) close to the front of the vehicle, and an anti-collision frame (17) is provided on the bottom of the rectangular bin (12) close to the front of the vehicle.

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