Robot

Abstract

The utility model provides a robot which comprises a chassis component, a driving component and a driving component, the chassis component comprises a chassis frame and a moving component arranged at the bottom of the chassis frame, and the moving component is used for driving the chassis frame to move; the angle adjusting component comprises a swing frame rotationally connected with the chassis frame; the clamping part comprises a clamping assembly arranged on the swing frame; and the launching component is arranged on the swing frame. The clamping component and the launching component are arranged on the swing frame, and the launching angle is adjusted by adjusting the inclination angle of the swing frame, so that a series of actions such as grabbing and launching which need to be completed in a robot match are completed; meanwhile, the robot is simple in structure and light in weight, and has advantages in robot matches with weight requirements.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical structure and motor control, in particular to a robot. Background Art

[0002] With the rapid development of technology fields such as computers, automation, and artificial intelligence, research related to robotics technology has become a focus of attention in the industry.

[0003] The Robot Competition, also known as the Robot World Championship, is a world-class competition that aims to expand the interest of middle school and college students in science, technology, engineering and mathematics by promoting educational robots, and to enhance and promote young people's teamwork, leadership and problem-solving skills.

[0004] Among them, grasping robots are a common type of robot in robot competitions. They often appear on the field with functions such as movement, grasping, and even launching. How to improve the grasping robots and complete the movement and launching functions required by the competition content is an important part of robot competitions. Utility Model Content

[0005] Based on this, in order to solve the above problems, the utility model provides a robot, and its specific technical solution is as follows:

[0006] A robot, comprising:

[0007] The chassis component comprises a chassis frame and a moving assembly arranged at the bottom of the chassis frame, wherein the moving assembly is used to drive the chassis frame to move;

[0008] An angle adjustment component includes a swing frame rotatably connected to the chassis frame;

[0009] A clamping component, comprising a clamping assembly arranged on the swing frame;

[0010] The launching component is arranged on the swing frame.

[0011] The above-mentioned robot sets the gripping component and the launching component on the swing frame, and adjusts the launching angle by adjusting the tilt angle of the swing frame, so as to complete a series of actions such as grasping and launching required in the robot competition; at the same time, the robot has a simple structure and light weight, which has an advantage in robot competitions with weight requirements.

[0012] Furthermore, the clamping component also includes a rotating component that drives the clamping component to rotate; the rotating component includes a fixed bracket arranged on the swing frame, a rotating motor arranged on the fixed bracket, and a rotating fixed block driven by the rotating motor, and the clamping component is arranged on the rotating fixed block.

[0013] Furthermore, the clamping assembly includes two clamping units that can move relatively; the clamping unit includes a clamping cylinder arranged on the rotating fixed block, a clamping arm driven by the clamping cylinder, and a clamping limiter arranged on the clamping arm.

[0014] Furthermore, the projectile is a ring-shaped object or a disc-shaped object, and the clamping limiter is provided with a clamping space adapted to the projectile; the clamping limiter includes a clamping support arm arranged perpendicular to the clamping arm, and limit blocks arranged at the upper and lower ends of the clamping support arm, each of the clamping units is provided with at least two clamping support arms, and the at least four clamping support arms are arranged along a preset circumference, and the clamping support arms are adapted to the projectile.

[0015] Furthermore, the clamping assembly further comprises a guide unit, the guide unit comprises a guide rail arranged on the rotating fixed block and a guide slide seat adapted to the guide rail, and the clamping arm is arranged on the guide slide seat.

[0016] Furthermore, the launching component includes a mounting frame fixedly mounted on the swing frame and two launching units respectively arranged on both sides of the mounting frame, the launching unit includes a launching motor, and a driving pulley, a friction belt, and a driven pulley driven by the launching motor in sequence, and a launching space is formed between the two friction belts.

[0017] Furthermore, a groove is provided on the outer edge side of the friction belt.

[0018] Furthermore, the installation frame is a concave-shaped frame as a whole, and the two transmitting units are respectively arranged on both sides of the concave-shaped frame.

[0019] Furthermore, the robot also includes a loading component, and the loading component includes a loading cylinder arranged on the rotating fixed block and a loading block arranged at the end of a driving rod of the loading cylinder.

[0020] Furthermore, the moving component includes a driving unit respectively arranged at right angles to the four frames of the chassis frame, the driving unit includes a moving motor rotatably connected to the bottom of the chassis frame and a moving wheel driven by the moving motor, and the moving motor is transmission-connected to the moving wheel through a coupling. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The present invention can be further understood from the following description in conjunction with the accompanying drawings. The components in the figures are not necessarily drawn to scale, but the emphasis is placed on illustrating the principles of the embodiments. In different views, the same reference numerals designate corresponding parts.

[0022] Figure 1 This is a schematic diagram of the structure of the robot described in one embodiment of the utility model Figure 1 ;

[0023] Figure 2 This is a schematic diagram of the structure of the robot described in one embodiment of the utility model Figure 2 ;

[0024] Figure 3 This is a schematic diagram of the structure of the clamping component of an embodiment of the utility model. Figure 1 ;

[0025] Figure 4 yes Figure 2 A magnified view of the structure at E in the middle;

[0026] Figure 5 It is a structural schematic diagram of a launching component described in an embodiment of the utility model.

[0027] Description of reference numerals:

[0028] 1. Chassis components; 2. Angle adjustment components; 3. Clamping components; 4. Launching components; 5. Loading components;

[0029] 11. Chassis frame; 12. Moving components; 13. Drive unit;

[0030] 131. Mobile motor; 132. Mobile wheel; 133. Coupling;

[0031] 21. Swinging frame;

[0032] 31. Clamping assembly; 32. Rotating assembly; 33. Clamping unit; 34. Guide unit;

[0033] 321, a fixed bracket; 322, a rotating motor; 323, a rotating fixed block;

[0034] 331. Clamping cylinder; 332. Clamping arm; 333. Clamping limiter;

[0035] 3331, clamping arm; 3332, limiting block;

[0036] 341. Guide rail; 342. Guide slide;

[0037] 41. Mounting frame; 42. Launching unit;

[0038] 421, launching motor; 422, driving pulley; 423, friction belt; 424, driven pulley;

[0039] 51. Loading cylinder; 52. Loading block. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical solution and advantages of the utility model more clear, the utility model is further described in detail below in conjunction with its embodiments. It should be understood that the specific implementation methods described here are only used to explain the utility model and do not limit the protection scope of the utility model.

[0041] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only and do not represent the only implementation method.

[0042] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art in the technical field of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0043] In the present invention, “first” and “second” do not represent specific quantities and orders, but are merely used to distinguish names.

[0044] like Figure 1 and Figure 2 As shown, a robot in one embodiment of the utility model includes:

[0045] The chassis component 1 includes a chassis frame 11 and a moving assembly 12 disposed at the bottom of the chassis frame 11, wherein the moving assembly 12 is used to drive the chassis frame 11 to move;

[0046] An angle adjustment component 2, including a swing frame 21 rotatably connected to the chassis frame 11;

[0047] The clamping component 3 includes a clamping assembly 31 arranged on the swing frame 21;

[0048] The transmitting component 4 is arranged on the swing frame 21 .

[0049] The above-mentioned robot sets the clamping component 3 and the launching component 4 on the swing frame 21, and adjusts the launching angle by adjusting the inclination angle of the swing frame 21, so as to complete a series of actions such as grasping and launching required in the robot competition; at the same time, the robot has a simple structure and light weight, which is more advantageous in robot competitions with weight requirements.

[0050] like Figure 2 and Figure 3, Figure 4 As shown, in one embodiment, the clamping component 3 also includes a rotating component 32 that drives the clamping component 31 to rotate; the rotating component 32 includes a fixed bracket 321 arranged on the swing frame 21, a rotating motor 322 arranged on the fixed bracket 321, and a rotating fixed block 323 driven by the rotating motor 322, and the clamping component 31 is arranged on the rotating fixed block 323. Specifically, the rotating motor 322 is a 60KG steering gear. In this way, the rotating fixed block 323 is driven to rotate by the rotating motor 322, so that the clamping component 31 rotates relative to the swing frame 21, and can grab the projectile outside the chassis frame 11; at the same time, a 60KG steering gear plus a rotating fixed block 323 with a special structure solves the problems of large volume and structural complexity of the existing rotating structure.

[0051] In one embodiment, the clamping assembly 31 includes two clamping units 33 that can move relative to each other; the clamping unit 33 includes a clamping cylinder 331 disposed on a rotating fixed block 323, a clamping arm 332 driven by the clamping cylinder 331, and a clamping stopper 333 disposed on the clamping arm 332. In this way, the two clamping arms 332 are driven to approach each other by the two clamping cylinders 331, and the clamping stopper 333 is used to clamp or press the object to be launched, so that the clamping assembly 31 completes the clamping function.

[0052] In one embodiment, the projectile is a ring or a disc, and the clamping limiter 333 is provided with a clamping space adapted to the projectile; the clamping limiter 333 includes a clamping support arm 3331 arranged perpendicular to the clamping arm 332, and a limit block 3332 arranged at the upper and lower ends of the clamping support arm 3331, each clamping unit 33 is provided with at least two clamping support arms 3331, and at least four clamping support arms 3331 are arranged along a preset circumference, and the clamping support arms 3331 are adapted to the projectile. In this way, at least four clamping support points are formed for the projectile using at least four clamping support arms 3331, thereby ensuring that the robot remains stable when performing the clamping function.

[0053] In one embodiment, the clamping assembly 31 further includes a guide unit 34, which includes a guide rail 341 disposed on the rotating fixed block 323 and a guide slide 342 adapted to the guide rail 341, and the clamping arm 332 is disposed on the guide slide 342. In this way, the guide slide 342 slides on the guide rail 341, thereby ensuring that the clamping arm 332 remains stable during clamping. Specifically, the guide rail 341 is a 9mm slide rail, and in this way, the combination of the 9mm slide rail and the clamping cylinder 331 achieves the lightest structure and the maximum clamping force.

[0054] like Figure 1 and Figure 2 , Figure 5As shown, in one embodiment, the launching component 4 includes a mounting frame 41 fixedly mounted on the swing frame 21 and two launching units 42 respectively arranged on both sides of the mounting frame 41, and the launching unit 42 includes a launching motor 421, and a driving pulley 422, a friction belt 423, and a driven pulley 424 which are driven by the launching motor 421 in sequence, and a launching space is formed between the two friction belts 423. In the existing launching robot, a hydraulic cylinder or an electric cylinder is usually used to push the projectile and realize the launching function. However, the hydraulic cylinder or electric cylinder system is complex and has a large volume, which is not conducive to the pitch control of the hydraulic cylinder or electric cylinder system. In this way, the launching space formed between the two friction belts 423 is used to make friction contact with the projectile, and the friction belt 423 is used to perform rapid transmission friction, so that the projectile is launched from the launching space; at the same time, the launching component 4 has a simple structure and fast startup, which is convenient for satisfying the function of rapid launching.

[0055] In a specific implementation, the transmitting motor 421 is a 3508 motor.

[0056] In one embodiment, a groove is provided on the outer edge of the friction belt 423. Thus, the groove on the outer edge of the friction belt 423 increases the friction between the projectile and the friction belt 423, preventing the projectile from slipping on the friction belt 423, thereby ensuring the launch function of the launch component 4.

[0057] In one embodiment, the mounting frame 41 is a concave-shaped frame as a whole, and the two launching units 42 are respectively arranged on both sides of the concave-shaped frame. In this way, the concave-shaped frame is easy to be installed on the swing frame 21, and the symmetrical structure is stable, which is convenient for adjusting the launch path.

[0058] In one embodiment, the robot further includes a loading component 5, which includes a loading cylinder 51 disposed on a rotating fixed block and a loading block 52 disposed at the end of a driving rod of the loading cylinder 51. Thus, the loading cylinder 51 drives the loading block 52, thereby moving the projectile in the clamping space of the clamping assembly 31 into the launching space.

[0059] In one embodiment, the mobile assembly 12 includes a driving unit 13 respectively arranged at right angles to four frames of the chassis frame 11, and the driving unit 13 includes a mobile motor 131 rotatably connected to the bottom of the chassis frame 11 and a mobile wheel 132 driven by the mobile motor 131, and the mobile motor 131 is connected to the mobile wheel 132 through a coupling 133. Specifically, the mobile motor 131 is an M3508 reduction motor composed of a motor and a reducer, equipped with a C620 electric speed controller with FOC control technology, built-in multiple sensors, supporting PWM signal input control and CAN bus command control, and using the CAN bus to read the status information such as the motor rotor position in real time, thereby meeting the mobile drive and positioning functions of the robot in the robot competition and realizing the positioning clamping function.

[0060] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0061] The above-mentioned embodiments only express several implementation methods of the utility model, and the description is relatively specific and detailed, but it cannot be understood as limiting the scope of the utility model patent. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the utility model, which all belong to the protection scope of the utility model. Therefore, the protection scope of the utility model patent shall be based on the attached claims.

Claims

1. A robot, characterized in that: include: A chassis component (1) comprises a chassis frame (11) and a moving component (12) arranged at the bottom of the chassis frame (11), wherein the moving component (12) is used to drive the chassis frame (11) to move; An angle adjustment component (2) comprises a swing frame (21) rotatably connected to the chassis frame (11); A clamping component (3) comprising a clamping assembly (31) arranged on the swing frame (21); The emitting component (4) is arranged on the swing frame (21).

2. A robot according to claim 1, characterized in that: The clamping component (3) further comprises a rotating component (32) for driving the clamping component (31) to rotate; The rotating assembly (32) comprises a fixed bracket (321) arranged on the swing frame (21), a rotating motor (322) arranged on the fixed bracket (321), and a rotating fixed block (323) driven by the rotating motor (322), and the clamping assembly (31) is arranged on the rotating fixed block (323).

3. A robot according to claim 2, characterized in that: The clamping assembly (31) comprises two clamping units (33) which can move relative to each other; The clamping unit (33) comprises a clamping cylinder (331) arranged on the rotating fixed block (323), a clamping arm (332) driven by the clamping cylinder (331), and a clamping limiter (333) arranged on the clamping arm (332).

4. A robot according to claim 3, characterized in that: The projectile is a ring-shaped object or a disc-shaped object, and the clamping limiter (333) is provided with a clamping space adapted to the projectile; The clamping limiter (333) comprises a clamping support arm (3331) arranged perpendicular to the clamping arm (332), and limit blocks (3332) arranged at the upper and lower ends of the clamping support arm (3331), each clamping unit (33) is provided with at least two clamping support arms (3331), and the at least four clamping support arms (3331) are arranged along a preset circumference, and the clamping support arms (3331) are adapted to projectiles.

5. A robot according to claim 3, characterized in that: The clamping assembly (31) further comprises a guide unit (34), wherein the guide unit (34) comprises a guide rail (341) arranged on the rotating fixed block (323) and a guide slide (342) adapted to the guide rail (341), and the clamping arm (332) is arranged on the guide slide (342).

6. A robot according to claim 1, characterized in that: The launching component (4) comprises a mounting frame (41) fixedly mounted on the swing frame (21) and two launching units (42) respectively arranged on both sides of the mounting frame (41); the launching unit (42) comprises a launching motor (421), and a driving pulley (422), a friction belt (423), and a driven pulley (424) which are sequentially driven by the launching motor (421); a launching space is formed between the two friction belts (423).

7. A robot according to claim 6, characterized in that: A groove is provided on the outer edge side of the friction belt (423).

8. A robot according to claim 6, characterized in that: The installation frame (41) is an overall concave-shaped frame, and the two emission units (42) are respectively arranged on both sides of the concave-shaped frame.

9. A robot according to claim 2, characterized in that: The robot further comprises a loading component (5), wherein the loading component (5) comprises a loading cylinder (51) arranged on the rotating fixed block and a loading block (52) arranged at the end of a driving rod of the loading cylinder (51).

10. A robot according to claim 1, characterized in that: The moving assembly (12) comprises driving units (13) respectively arranged at right angles to four frames of the chassis frame (11); the driving unit (13) comprises a moving motor (131) rotatably connected to the bottom of the chassis frame (11) and a moving wheel (132) driven by the moving motor (131); the moving motor (131) is transmission-connected to the moving wheel (132) via a coupling (133).

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