Automatic fixing device for mobile composite robot

Abstract

The utility model discloses an automatic fixing device for a mobile composite robot, which relates to the technical field of robot positioning and comprises a robot chassis, a mounting groove is arranged at the bottom of the robot chassis, a movable wheel is movably mounted in the mounting groove, a movable shaft is arranged on the movable wheel, and a driving mechanism is mounted on the robot chassis. The driving mechanism comprises a lifting rod movably installed on the robot chassis, a lifting cross beam is fixedly installed at the upper end of the lifting rod, a lead screw nut is fixedly installed in the middle of the lifting cross beam, a threaded lead screw is connected into the lead screw nut, a second clutch is arranged on the threaded lead screw, and a driving motor is fixedly installed in the robot chassis. A driving shaft is arranged at the output tail end of the driving motor and provided with a first clutch, and the lower end of the lifting rod is connected with a fixing mechanism. According to the automatic fixing device for the movable composite robot, the driving mechanism and the fixing mechanism are used in cooperation, the robot can be fixed to the working position, and the working stability of the robot is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of robot positioning, in particular to an automatic fixing device for a mobile composite robot. Background Art

[0002] Robots are intelligent machines capable of performing a variety of tasks, automated through programming and sensor technology. These robots play a vital role in industries such as industry, healthcare, and services. In industry, robots can perform repetitive, dangerous, or tedious tasks, improving production efficiency and quality. In healthcare, robots can assist doctors in surgery, provide precise diagnosis and treatment, and reduce the workload of medical staff. Furthermore, service robots are widely used in industries such as catering, hospitality, and retail, providing convenient and efficient customer service.

[0003] The existing robot chassis is generally a wheeled structure. Due to the wheeled structure of the chassis, the robotic arm on the trolley will shake when running quickly, and the stability is poor. Therefore, an automatic fixing device for a mobile composite robot is proposed. Utility Model Content

[0004] The purpose of the utility model is to provide an automatic fixing device for a mobile composite robot to solve the problem of poor stability of the robot chassis in the prior art.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a mobile composite robot automatic fixing device, comprising a robot chassis, a mounting groove is provided at the bottom of the robot chassis, a movable wheel is movably installed in the mounting groove, a movable wheel is provided with a movable shaft, a driving mechanism is installed on the robot chassis, and the driving mechanism includes a lifting rod movably installed on the robot chassis, a lifting beam is fixedly installed on the upper end of the lifting rod, a screw nut is fixedly installed in the middle position of the lifting beam, a threaded screw is connected in the screw nut, and a second screw is provided on the threaded screw. A clutch, a driving motor is fixedly installed in the robot chassis, the output end of the driving motor is provided with a driving shaft, the driving shaft is provided with a first clutch, the lower end of the lifting rod is connected with a fixing mechanism, the fixing mechanism includes a fixed suction cup fixedly installed at the lower end of the lifting rod, the fixed suction cup is connected with a metal pipe, an air inlet is opened on the side wall of the metal pipe, the air inlet is provided with a solenoid valve, an exhaust hose is connected to the metal pipe, the end of the exhaust hose is connected to an exhaust pump, and the end of the driving shaft is fixed to the input shaft at the upper end of the exhaust pump, and the driving shaft can drive the exhaust pump to operate.

[0006] Preferably, the drive shaft and the threaded screw are provided with helical gears, and the helical gears are meshed with each other, so that the drive shaft can drive the threaded screw to rotate.

[0007] Preferably, a coupling is provided at the output end of the drive motor, and the drive shaft is fixed to the output end of the drive motor through the coupling, so that the drive motor can drive the drive shaft to rotate.

[0008] Preferably, a movable hole is opened at the bottom of the robot chassis, the lifting rod is movably installed on the robot chassis through the movable hole, and the screw nut is movably installed in the robot chassis through a threaded screw, and the threaded screw can drive the screw nut to move up and down.

[0009] Preferably, a one-way valve is provided at the connection between the exhaust hose and the metal pipe, and the one-way valve only allows the gas in the metal pipe to pass through the exhaust hose in one direction.

[0010] Preferably, the air pump is provided with bolts, and the air pump is fixed to the robot chassis by the bolts, and the air pump can extract the gas in the fixed suction cup.

[0011] Preferably, one end of the air extraction hose is connected to the air extraction pump, and the other end of the air extraction hose is connected to the metal pipe, and the fixed suction cup is connected to the air extraction hose through the metal pipe.

[0012] Compared with the prior art, the beneficial effects of the present invention are:

[0013] In this application, the driving motor can drive the driving shaft to rotate, and after the driving shaft rotates, it will drive the threaded screw to rotate. After the threaded screw rotates, it will drive the lifting beam on the screw nut to move up and down. After the lifting beam moves up and down, it will drive the fixed suction cup on the lifting rod to move up and down, thereby controlling the extension and retraction of the positioning suction cup, and the extended fixed suction cup will contact the ground.

[0014] In this application, the driving shaft can drive the vacuum pump to operate. After the vacuum pump is running, the air in the fixed suction cup can be extracted, so that the fixed suction cup is adsorbed on the smooth ground, the robot is fixed in the working position, and the stability of the robot's operation is improved. After the solenoid valve is opened, air will enter the fixed suction cup through the air inlet, so that the fixed suction cup can be lifted off the ground, making it easier to fold up the fixed suction cup. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0016] Figure 2 It is a schematic diagram of the local structure of the utility model;

[0017] Figure 3 Schematic diagram of the driving mechanism of the present utility model;

[0018] Figure 4 This is a schematic diagram of the fixing mechanism of the present utility model.

[0019] Numbers in the figure: 1. Robot chassis; 2. Mounting groove; 3. Movable wheel; 4. Movable shaft; 5. Driving mechanism; 501. Lifting rod; 502. Lifting beam; 503. First clutch; 504. Driving motor; 505. Driving shaft; 506. Bevel gear; 507. Screw nut; 508. Threaded screw; 509. Second clutch; 6. Fixing mechanism; 601. Fixed suction cup; 602. Solenoid valve; 603. Metal pipe; 604. Exhaust hose; 605. Air inlet; 606. Exhaust pump. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0021] like Figure 1 and Figure 2 As shown, the utility model provides a technical solution for an automatic fixing device of a mobile composite robot, including a robot chassis 1, a mounting groove 2 is opened at the bottom of the robot chassis 1, a movable wheel 3 is movably installed in the mounting groove 2, a movable shaft 4 is provided on the movable wheel 3, a driving mechanism 5 is installed on the robot chassis 1, and a fixing mechanism 6 is connected to the lower end of the lifting rod 501. Through the coordinated use of the driving mechanism 5 and the fixing mechanism 6, the robot can be fixed in the working position, thereby improving the working stability of the robot.

[0022] like Figure 2 and Figure 3 As shown, the driving mechanism 5 includes a lifting rod 501 movably mounted on the robot chassis 1, a lifting beam 502 is fixedly mounted on the upper end of the lifting rod 501, a screw nut 507 is fixedly mounted in the middle position of the lifting beam 502, a threaded screw 508 is connected to the screw nut 507, a second clutch 509 is provided on the threaded screw 508, a driving motor 504 is fixedly mounted in the robot chassis 1, a driving shaft 505 is provided at the output end of the driving motor 504, a first clutch 503 is provided on the driving shaft 505, bevel gears 506 are provided on the driving shaft 505 and the threaded screw 508, and the bevel gears 506 are meshed together in pairs, a coupling is provided at the output end of the driving motor 504, and the driving shaft 505 is fixed to the output end of the driving motor 504 through the coupling.

[0023] Specifically, the driving motor 504 can drive the driving shaft 505 to rotate. After the driving shaft 505 rotates, it will drive the threaded screw 508 to rotate. After the threaded screw 508 rotates, it will drive the lifting beam 502 on the screw nut 507 to move up and down. After the lifting beam 502 moves up and down, it will drive the fixed suction cup 601 on the lifting rod 501 to move up and down, thereby controlling the extension and retraction of the positioning suction cup 601, and the extended fixed suction cup 601 will contact the ground.

[0024] like Figure 2 and Figure 4 As shown, the fixing mechanism 6 includes a fixed suction cup 601 fixedly installed at the lower end of the lifting rod 501, and a metal pipe 603 is connected to the fixed suction cup 601. An air inlet 605 is opened on the side wall of the metal pipe 603, and an electromagnetic valve 602 is provided on the air inlet 605. An exhaust hose 604 is connected to the metal pipe 603, and an exhaust pump 606 is connected to the end of the exhaust hose 604, and the end of the drive shaft 505 is fixed to the input shaft at the upper end of the exhaust pump 606. A one-way valve is provided at the connection between the exhaust hose 604 and the metal pipe 603, and the one-way valve only allows the gas in the metal pipe 603 to pass through the exhaust hose 604 in one direction.

[0025] Specifically, the driving shaft 505 can drive the vacuum pump 606 to operate. After the vacuum pump 606 is in operation, the air in the fixed suction cup 601 can be extracted, so that the fixed suction cup 601 is adsorbed on the smooth ground, the robot is fixed in the working position, and the stability of the robot's operation is improved. After the solenoid valve 602 is opened, the air will enter the fixed suction cup 601 through the air inlet 605, so that the fixed suction cup 601 can be separated from the ground, making it easier to fold up the fixed suction cup 601.

[0026] Working principle: When in use, the robot body can be installed on the robot chassis 1, and the robot body can be moved to the working position through the robot chassis 1. After the robot body moves to the working position, the drive motor 504 can be started. After starting the drive motor 504, it will drive the drive shaft 505 to rotate. At this time, the second clutch 503 can be controlled to engage. After the second clutch 503 is engaged, the drive shaft 505 will drive the threaded screw 508 to rotate. After the threaded screw 508 rotates, it will drive the lifting beam 502 on the screw nut 507 to move up and down. After the lifting beam 502 moves up and down, it will drive the fixed suction cup 601 on the lifting rod 501 to move up and down. When it moves to the working position, the fixed suction cup 601 is made to contact the smooth ground. After the fixed suction cup 601 contacts the smooth ground, the first clutch 503 can be controlled to engage. After the first clutch 503 is engaged, the driving shaft 505 can drive the air pump 606 to operate. After the air pump 606 is operating, the air in the fixed suction cup 601 can be extracted, so that the fixed suction cup 601 is adsorbed on the smooth ground, the robot is fixed in the working position, and the stability of the robot's work is improved. The solenoid valve 602 can be controlled to open. After the solenoid valve 602 is opened, air will enter the fixed suction cup 601 through the air inlet 605, so that the fixed suction cup 601 can be separated from the ground, making it easier to fold up the fixed suction cup 601.

[0027] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the present invention is defined by the appended claims, not the foregoing description, and all variations within the meaning and range of equivalents of the claims are intended to be encompassed within the present invention. Any reference sign in a claim should not be construed as limiting the claim to which it relates.

Claims

1. An automatic fixing device for a mobile composite robot, comprising a robot chassis (1), a mounting groove (2) provided at the bottom of the robot chassis (1), a movable wheel (3) movably mounted in the mounting groove (2), and a movable shaft (4) provided on the movable wheel (3), characterized in that: The robot chassis (1) is provided with a driving mechanism (5), the driving mechanism (5) comprising a lifting rod (501) movably mounted on the robot chassis (1), a lifting beam (502) fixedly mounted on the upper end of the lifting rod (501), a screw nut (507) fixedly mounted in the middle of the lifting beam (502), a threaded screw (508) connected to the screw nut (507), a second clutch (509) provided on the threaded screw (508), a driving motor (504) fixedly mounted in the robot chassis (1), a driving shaft (505) provided at the output end of the driving motor (504), the driving shaft (505) A first clutch (503) is provided on the lifting rod (501), the lower end of the lifting rod (501) is connected to a fixing mechanism (6), the fixing mechanism (6) comprises a fixing suction cup (601) fixedly mounted on the lower end of the lifting rod (501), a metal pipe (603) is connected to the fixing suction cup (601), an air inlet (605) is provided on the side wall of the metal pipe (603), a solenoid valve (602) is provided on the air inlet (605), an air extraction hose (604) is connected to the metal pipe (603), the end of the air extraction hose (604) is connected to an air extraction pump (606), and the end of the driving shaft (505) is fixed to the input shaft at the upper end of the air extraction pump (606).

2. The automatic fixing device for a mobile composite robot according to claim 1, characterized in that: The driving shaft (505) and the threaded screw (508) are provided with helical gears (506), and the helical gears (506) are meshed with each other.

3. The automatic fixing device for a mobile composite robot according to claim 2, characterized in that: The output end of the drive motor (504) is provided with a coupling, and the drive shaft (505) is fixed to the output end of the drive motor (504) via the coupling.

4. The automatic fixing device for a mobile composite robot according to claim 3, characterized in that: A movable hole is provided at the bottom of the robot chassis (1), the lifting rod (501) is movably mounted on the robot chassis (1) through the movable hole, and the screw nut (507) is movably mounted in the robot chassis (1) through the threaded screw (508).

5. The automatic fixing device for a mobile composite robot according to claim 4, characterized in that: A one-way valve is provided at the connection between the exhaust hose (604) and the metal pipe (603), and the one-way valve only allows the gas in the metal pipe (603) to pass through the exhaust hose (604) in one direction.

6. The automatic fixing device for a mobile composite robot according to claim 1, characterized in that: Bolts are provided on the air pump (606), and the air pump (606) is fixed in the robot chassis (1) via the bolts.

7. The automatic fixing device for a mobile composite robot according to claim 1, characterized in that: One end of the air extraction hose (604) is connected to the air extraction pump (606), and the other end of the air extraction hose (604) is connected to the metal pipe (603).

8. The automatic fixing device for a mobile composite robot according to claim 1, characterized in that: The fixed suction cup (601) is connected to the air extraction hose (604) via a metal pipe (603).

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