Multi-dimensional quick-change robot

Abstract

The utility model provides a multi-dimensional quick-change robot, which comprises a connecting mechanism, a robot body and a robot body, the connecting mechanism comprises a support frame and at least two quick-change plates, the support frame comprises two connecting side plates, and two ends of each quick-change plate are detachably connected to the two connecting side plates respectively; the mechanical arm is correspondingly connected to the quick-change plate; and the mechanical feet are rotationally connected to the two connecting side plates correspondingly, the sole assembly of any mechanical foot is provided with an adsorption part, and the adsorption parts are arranged towards the moving face. The mechanical arm and the mechanical foot are detachably connected through the connecting mechanism, and the use scene and the flexibility of the mechanical arm are widened. In the structural design, the quick-change plate can be matched with different mechanical arms, so that quick-change connection between the different mechanical arms and the mechanical foot is realized, and the matched connection relationship between the mechanical arms and the mechanical foot is further improved. Compared with conventional mechanical equipment, the device has the advantages of being high in controllability and use flexibility, high in compatibility, wide in application range and the like.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field, concretely points to a kind of multidimensional quick-change robot. BACKGROUND

[0002] In the field of industrial automation and intelligent robots, the development of mechanical arms and mobile robots has attracted much attention. Mechanical arms are widely used in material handling, assembly, welding, spraying and other industrial scenarios due to their high flexibility and high precision. However, traditional mechanical arms are usually fixed to specific workstations, and their operating range is limited by the mechanical structure, making it difficult to adapt to complex dynamic production environments or mobile operation requirements. As an important branch of mobile robots, biped robots simulate human biped walking mechanism and have strong terrain adaptability and flexible movement. However, existing biped robots have limited load capacity and single operation function, and can only complete mobile tasks, making it difficult to perform fine or heavy load operations and limiting its application in the industrial field.

[0003] Currently, mechanical arms and biped robots on the market are mostly independent devices, with independent functions. Mechanical arms rely on fixed bases or tracks for positioning, and biped robots lack integrated operation tools, making it difficult to achieve "mobile + operation" collaborative operation. At the same time, the dynamic balance characteristics of biped robots and the high load and high inertia characteristics of mechanical arms are naturally contradictory. The reaction force of mechanical arm operation may damage the stability of robot walking, and the vibration and posture change of biped movement may affect the positioning accuracy of mechanical arm. The existing technology lacks optimization design for the assembly characteristics of both mechanical structures, making it difficult to balance the stability and precision of integrated system. Especially, existing mechanical arms have different numbers and actions according to different use scenarios, and the fixed installation structure of existing products greatly limits their use scenarios, making it difficult to freely adjust the actual operation position according to actual use requirements, and also difficult to ensure the stability during movement. SUMMARY

[0004] Therefore, the technical problem to be solved by the utility model is to overcome the low compatibility of different mechanical arms and mechanical feet in the prior art, and to provide a multidimensional quick-change robot.

[0005] To solve the above technical problems, the utility model provides a kind of multidimensional quick-change robot, it includes: connecting mechanism, the connecting mechanism includes support frame and at least two quick-change plates, the support frame includes two connecting side plates, two the connecting side plate is along first direction parallel interval arrangement, the both ends of the quick-change plate are respectively detachably connected to the top of two the connecting side plate, wherein, at least one assembly area is equipped on the quick-change plate;At least one mechanical arm, at least one the mechanical arm is connected in at least one the assembly area corresponding;Two mechanical feet, two the mechanical foot is rotatably connected on two the connecting side plate, any the mechanical foot includes sole component, the sole component is located the free end of the mechanical foot, it includes at least one suction accessory, the suction accessory is towards moving surface arrangement.

[0006] In an embodiment of the utility model, different kinds of the quick-change plate are equipped with different numbers of assembly areas;And / or, the assembly area on different kinds of the quick-change plate is different in position.

[0007] In an embodiment of the utility model, at least one connecting flange is equipped on the quick-change plate, and at least one the mechanical arm is connected to at least one the connecting flange corresponding.

[0008] In an embodiment of the utility model, the mechanical arm includes first rotating part and at least two arm joints, wherein the first rotating part is rotatably connected to the assembly area, at least two the arm joint is relatively rotatably connected, and one of the arm joints is rotatably connected to the first rotating part.

[0009] In an embodiment of the utility model, the mechanical foot includes second rotating part and at least two leg joints, wherein the second rotating part is rotatably connected to the connecting side plate, at least two the leg joint is relatively rotatably connected, and one of the leg joints is rotatably connected to the second rotating part.

[0010] In an embodiment of the utility model, the sole component includes mounting plate and assembly block, one side of the mounting plate is connected to the free end of the leg joint, the other side is connected the assembly block, the suction accessory is arranged on the assembly block, and is towards moving surface arrangement.

[0011] In an embodiment of the utility model, a plurality of suction accessories are equipped on the sole component, and the suction accessory is configured as magnet.

[0012] In an embodiment of the utility model, the support frame further includes stop lever and at least one lifting ring, the stop lever and the lifting ring are respectively arranged on the opposite sides of the connecting side plate in second direction, wherein the both ends of the stop lever are connected to two the connecting side plate respectively.

[0013] In one embodiment of the utility model, the quick change board is provided with a plurality of first connecting holes, the connecting side plate top is equipped with a plurality of second connecting holes, and the connecting piece is arranged through the first connecting hole and the second connecting hole.

[0014] In one embodiment of the utility model, the multi-dimensional quick change robot further comprises a control mechanism, and the mechanical arm and the mechanical foot are connected to the control mechanism respectively.

[0015] Compared with the prior art, the above technical scheme of the utility model has the following advantages:

[0016] The multi-dimensional quick change robot has the mechanical arm and the mechanical foot connected detachably through the connecting mechanism, which not only endows the traditional mechanical foot with functions other than moving and transferring but also widens the use scene and flexibility of the mechanical arm. In the structural design, the quick change board can be adapted to different mechanical arms, thereby realizing quick change connection between different mechanical arms and the mechanical foot and further improving the cooperation and connection relationship therebetween. Compared with conventional mechanical equipment, the application has the advantages of controllability, high use flexibility, strong compatibility and wide application range, and provides a new idea for the assembly and connection of mechanical equipment. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to make the content of the utility model more easily understood clearly, the utility model is further described in detail below according to the specific embodiments of the utility model and in combination with the drawings.

[0018] Figure 1 is the three-dimensional structure schematic diagram of the multi-dimensional quick change robot when connecting the first kind of quick change board in the preferred embodiment of the utility model;

[0019] Figure 2 is Figure 1 the three-dimensional structure schematic diagram of another view of the multi-dimensional quick change robot shown in the figure;

[0020] Figure 3 is Figure 1 the enlarged structure schematic diagram of A in the multi-dimensional quick change robot shown in the figure;

[0021] Figure 4 is Figure 1 the three-dimensional structure schematic diagram of the mechanical foot in the multi-dimensional quick change robot shown in the figure;

[0022] Figure 5 is the three-dimensional structure schematic diagram of the multi-dimensional quick change robot when connecting the second kind of quick change board in the preferred embodiment of the utility model.

[0023] The description reference signs are as follows: 100, connecting mechanism; 110, support frame; 111, connecting side plate; 112, stop lever; 113, lifting ring; 120, quick-change plate; 121, connecting flange; 200, mechanical arm; 210, first rotating part; 220, arm joint; 300, mechanical foot; 310, second rotating part; 320, leg joint; 330, sole assembly; 331, mounting plate; 332, assembly block; 333, suction accessory; X, first direction; Y, second direction; Z, third direction. DETAILED DESCRIPTION

[0024] The utility model will be further explained in connection with the drawings and specific embodiments, so that the person skilled in the art can better understand the utility model and can be implemented, but the embodiment is not as the limitation of the utility model.

[0025] Embodiment:

[0026] Referring to Figure 1 and Figure 2 It is shown that the embodiment provides a multi-dimensional quick-change robot, which comprises:

[0027] Connecting mechanism 100: the connecting mechanism 100 includes a support frame 110 and at least two quick-change plates 120, the support frame 110 includes two connecting side plates 111, two connecting side plates 111 are arranged in parallel along the first direction, and the two ends of the quick-change plate 120 are detachably connected to the top of two connecting side plates 111, wherein at least one assembly area is arranged on the quick-change plate 120;

[0028] At least one mechanical arm 200: at least one mechanical arm 200 is connected to at least one assembly area; two mechanical feet 300: two mechanical feet 300 are rotatably connected to two connecting side plates 111 respectively, and any mechanical foot 300 comprises a sole assembly 330, the sole assembly 330 is located at the free end of the mechanical foot 300, and comprises at least one suction accessory 333, the suction accessory 333 is arranged towards the moving surface. In the multi-dimensional quick-change robot of the embodiment, the mechanical arm 200 is used for connection, processing and other actions, the mechanical foot 300 is used to drive the mechanical arm 200 to move, and the connecting mechanism 100 is used to realize quick-change connection between the mechanical arm 200 and the mechanical foot 300.

[0029] It should be noted that, for the convenience of description, the width direction of the support frame 110 is defined as the first direction X, the length direction of the support frame 110 is defined as the second direction Y, and the height direction of the support frame 110 is defined as the third direction Z, wherein the first direction X, the second direction Y and the third direction Z are arranged perpendicular to each other in pairs, and the first direction X and the second direction Y are located in the same plane.

[0030] Referring to Figure 1 and Figure 2 shown, in this embodiment, the connecting side plate 111 is used to provide a connection platform for the mechanical foot 300, and is also used to connect the quick-change plate 120, thereby playing a role in assembling and connecting the whole robot. The support frame 110 in this embodiment also includes a stop rod 112 and at least one lifting ring 113, which are respectively arranged on the opposite sides of the connecting side plate 111 in the second direction Y.

[0031] Referring to Figure 3 shown, specifically, both ends of the stop rod 112 are connected to two connecting side plates 111, and both ends are fixed to the left and right connecting side plates 111 to form a transverse limiting barrier, and together with the side plates form a rectangular frame structure, thereby improving the torsional stiffness of the torso. The lifting ring 113 is used for lifting, transporting and installing the whole robot. In addition, the two connecting side plates 111, the quick-change plate 120 and the stop rod 112 together form a device connection space for the installation and connection of other drive structures. Further, the quick-change plate 120 is provided with a plurality of first connecting holes, and the connecting side plate 111 is provided with a plurality of second connecting holes, and a connecting member is arranged to pass through the corresponding first connecting hole and second connecting hole. Specifically, the connecting member in this embodiment is preferably a screw, and the second connecting hole is arranged at the edge of the quick-change plate 120, so that the quick-change plate 120 can have more space for the installation and connection of the mechanical arm 200. The quick-change plate 120 is preferably a horizontally arranged runway type solid plate structure, and in this embodiment, the multi-dimensional quick-change robot is only provided with one mechanical arm 200, so that in this embodiment, only one connection area is arranged on the quick-change plate 120, and the connection area is arranged at the center of the quick-change plate 120, so as to ensure the installation stability of the mechanical arm 200.

[0032] Further, the quick-change plate 120 is provided with a connecting flange 121, and the mechanical arm 200 is connected to the connecting flange 121. In this embodiment, the mechanical arm 200 includes a first rotating part 210 and at least two arm joints 220, wherein the first rotating part 210 is rotatably connected to the assembly area, the at least two arm joints 220 are rotatably connected to each other, and one of the arm joints 220 is rotatably connected to the first rotating part 210. Further, the specific structure of the mechanical arm 200 is arranged as a general connection structure in the industry, such as a linkage structure, a linear motor, a transmission assembly and a buffer structure, etc., which will not be described in detail herein. Based on the above structure configuration, the mechanical arm 200 in this embodiment can stably move in three dimensions above the quick-change plate 120.

[0033] Referring to Figure 4As shown, the mechanical foot 300 in the embodiment includes a second rotating part 310 and at least two leg joints 320, wherein the second rotating part 310 is rotationally connected to the connecting side plate 111, the at least two leg joints 320 are rotationally connected to each other, and one of the leg joints 320 is rotationally connected to the second rotating part 310. Based on this, the mechanical foot 300 in the embodiment can stably move in three dimensions above the quick-change plate 120.

[0034] Further, the multi-dimensional quick-change robot in the embodiment contacts and moves with a magnetic plane, in order to improve the stability in the moving process, a plurality of suction accessories 333 are arranged at the position where the multi-dimensional quick-change robot is attached to the magnetic moving plane. Specifically, the suction accessories 333 in the embodiment are preferably magnets, which can ensure that the instep assembly 330 is always stably adsorbed to the magnetic moving plane. Specifically, the instep assembly 330 includes a mounting plate 331 and an assembly block 332, one side of the mounting plate 331 is connected to the free end of the leg joint 320, the other side is connected to the assembly block 332, the suction accessories 333 are arranged on the assembly block 332 and are arranged towards the moving plane, wherein the mounting plate 331 is used to connect the leg joint 320 to provide driving force for the instep assembly 330, and the assembly block 332 is used to provide a mounting and connecting platform for the plurality of suction accessories 333. In different embodiments, a buffer spring or the like structure can be arranged between the mounting plate 331 and the assembly block 332, so that the instep assembly 330 has a buffering and protection effect during movement.

[0035] In other embodiments, the types of suction accessories 333 can be set to other elements having adsorption and fixing effects according to the characteristics of the actual moving plane, and the specific number and mounting and connecting positions can also be adaptively adjusted according to actual use requirements, and the utility model does not make specific limitations on this.

[0036] Referring to Figure 5 As shown, two mechanical arms 200 can be connected to the second quick-change plate 120 in the embodiment, and the two mechanical arms 200 are arranged at intervals along the first direction X. Correspondingly, the quick-change plate 120 is provided with two assembly areas and two connecting flanges 121. In different embodiments, more types of quick-change plates 120 can be configured, and different types of quick-change plates 120 are provided with different numbers of assembly areas and / or the assembly areas on different types of quick-change plates 120 are arranged at different positions, so that they can have more flexible use modes. The multi-dimensional quick-change robot further includes a control mechanism, and the mechanical arms 200 and the mechanical foot 300 are respectively connected to the control mechanism. In actual production and processing, an operator can real-time control the above structure through the control mechanism, thereby improving the use flexibility of the device, and parameters can also be preset through the control mechanism, thereby improving the automation degree of the device.

[0037] In summary, the multi-dimensional quick-change robot, the mechanical arm 200 and the mechanical foot 300 are detachably connected through the connecting mechanism 100, on the one hand, the traditional mechanical foot 300 is endowed with the function of moving and transferring, on the other hand, the use scene and flexibility of the mechanical arm 200 are also widened. In the structure design, the quick-change plate 120 can be adapted to different mechanical arms 200, thereby realizing quick-change connection between different mechanical arms 200 and the mechanical foot 300, and further improving the cooperation and connection relationship between the two. Compared with conventional mechanical equipment, the application has the advantages of controllability, high use flexibility, strong compatibility, wide application range and the like, and provides a new idea for the assembly and connection of mechanical equipment.

[0038] Obviously, the above embodiments are only examples for clearly illustrating, and are not limited to the embodiments. For those skilled in the art, other different forms of changes or variations can be made on the basis of the above description. Here, all the embodiments are not required to be exhausted. The obvious changes or variations derived therefrom are still within the protection scope of the utility model.

Claims

1. A multidimensional quick-change robot, characterized in that: include: A connecting mechanism, the connecting mechanism including a support frame and at least two quick-change plates, the support frame including two connecting side plates, the two connecting side plates being arranged parallel and spaced apart along a first direction, the two ends of the quick-change plate being detachably connected to the top of the two connecting side plates respectively, wherein the quick-change plate is provided with at least one assembly area; At least one robotic arm, wherein at least one robotic arm is correspondingly connected to at least one of the assembly areas; Two mechanical feet are rotatably connected to two connecting side plates, and each mechanical foot includes a foot assembly located at the free end of the mechanical foot. The foot assembly includes at least one suction element, which is disposed facing the moving surface.

2. The multidimensional quick-change robot according to claim 1, characterized in that: Different types of quick-change plates have different numbers of assembly areas; And / or, the assembly areas on the quick-change plates of different species are positioned differently.

3. The multidimensional quick-change robot according to claim 1, characterized in that: The quick-change plate is provided with at least one connecting flange, and at least one of the robotic arms is correspondingly connected to at least one of the connecting flanges.

4. The multidimensional quick-change robot according to claim 1, characterized in that: The robotic arm includes a first rotating part and at least two arm joints, wherein the first rotating part is rotatably connected to the assembly area, the at least two arm joints are rotatably connected relative to each other, and one of the arm joints is rotatably connected to the first rotating part.

5. The multidimensional quick-change robot according to claim 1, characterized in that: The mechanical foot includes a second rotating part and at least two leg joints, wherein the second rotating part is rotatably connected to the connecting side plate, the at least two leg joints are rotatably connected relative to each other, and one of the leg joints is rotatably connected to the second rotating part.

6. The multidimensional quick-change robot according to claim 5, characterized in that: The foot assembly includes a mounting plate and an assembly block. One side of the mounting plate is connected to the free end of the leg joint, and the other side is connected to the assembly block. The suction element is disposed on the assembly block and is oriented towards the moving surface.

7. The multidimensional quick-change robot according to claim 1, characterized in that: The foot assembly is provided with multiple adsorption elements, which are configured as magnets.

8. The multidimensional quick-change robot according to claim 1, characterized in that: The support frame also includes a stop bar and at least one lifting ring. The stop bar and the lifting ring are respectively disposed on opposite sides of the connecting side plate in the second direction, wherein the two ends of the stop bar are respectively connected to the two connecting side plates.

9. The multidimensional quick-change robot according to claim 1, characterized in that: The quick-change plate is provided with a plurality of first connection holes, and the top of the connecting side plate is provided with a plurality of second connection holes. The connector passes through and connects to the corresponding first connection holes and second connection holes.

10. The multidimensional quick-change robot according to claim 1, characterized in that: The multidimensional quick-change robot also includes a control mechanism, and the robotic arm and the robotic leg are respectively connected to the control mechanism.

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