Spider robot capable of picking up objects

By integrating movement and gripping functions into the robotic arm, the problem of low flexibility of existing picking robots in limited space environments is solved, achieving a compact structure and high-precision gripping, thus improving the robot's operational flexibility and efficiency.

CN224223904UActive Publication Date: 2026-05-12BEIJING POLYTECHNIC
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Utility models(China)
Current Assignee / Owner
BEIJING POLYTECHNIC
Filing Date
2025-05-06
Publication Date
2026-05-12

AI Technical Summary

Technical Problem

Existing picking robots are heavy and have low flexibility due to the separate design of the mobile end and the gripping end, which limits their application in environments with limited space.

Method used

Integrating movement and gripping functions into the robotic arm, it achieves high-precision gripping through flexible joints and end effectors, and adopts a compact overall structure design to reduce the number of parts and volume.

Benefits of technology

This enables robots to operate more flexibly in environments with limited space, improves space utilization and gripping accuracy, and ensures smooth and efficient task execution.

✦ Generated by Eureka AI based on patent content.

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Abstract

The spider robot capable of picking up the objects comprises a supporting seat, mechanical arms used for picking up the objects are arranged on the periphery of the supporting seat, the mechanical arms comprise the first mechanical arm, the second mechanical arm and the third mechanical arm, and the third mechanical arm is arranged between the first mechanical arm and the supporting seat. The moving function and the clamping function are integrated on the robot, so that the overall structure of the robot is more compact, complex moving mechanisms and clamping mechanisms do not need to be independently arranged, the number of parts is reduced, the overall size is reduced, more flexible shuttling and operation can be achieved in the limited space environment, the space utilization rate is effectively increased, and the cost is reduced. In the process that the mechanical arm drives the machine body to move, the position and the posture of the mechanical arm can be accurately controlled through movable connection of all components of the mechanical arm, high-precision clamping action is achieved through flexible joints of the mechanical arm and the mechanical arm body carried at the tail end of the mechanical arm, and it is guaranteed that the robot is smoother and more efficient when executing tasks.
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Description

Technical Field

[0001] This utility model belongs to the field of robotics technology, specifically relating to a spider robot capable of picking up objects. Background Technology

[0002] Robots are intelligent devices that integrate multiple disciplines such as mechanics, electronics, computers, and sensors. They can autonomously perform tasks according to preset programs or through artificial intelligence algorithms. They come in a variety of forms, ranging from humanoid appearances to unique structures designed for specific scenarios. They are used in precise production operations in industry and are applied in many fields such as medicine, logistics, and exploration, greatly expanding the boundaries of human capabilities, improving efficiency, and improving lives.

[0003] A picking robot is an intelligent device that can move autonomously and use a robotic arm on its body to pick up items according to usage needs. Existing picking robots usually design the moving end and the gripping end separately. The two independent control systems occupy more space and bring a heavier body weight, which reduces the robot's flexibility and limits its use in some space-constrained environments. Utility Model Content

[0004] The technical problem to be solved by this utility model is to overcome the shortcomings of the prior art and provide a spider robot that can pick up objects.

[0005] The technical solution adopted to solve the above-mentioned technical problems is as follows: a spider robot capable of picking up objects is provided, including a support base. The support base is surrounded by robotic arms for picking up objects. The robotic arms include a first robotic arm, a second robotic arm, and a third robotic arm. The first robotic arm and the support base, the first robotic arm and the second robotic arm, and the second robotic arm and the third robotic arm are rotatably connected. The third robotic arm includes a stand, a drive motor, a drive gear, a driven gear, a connecting arm, a fifth motor, and a robotic arm body. A stand is fixedly connected to the side surface of the third robotic arm. A displacement motor is fixedly connected to the side surface of the stand. A shaft is fixedly connected to the output end of the displacement motor. The side surface of the shaft is fixedly connected to a traveling wheel.

[0006] By integrating the movement and gripping functions into the robotic arm, the robot's overall structure becomes more compact, reducing the number of parts and overall size. Through flexible joints and end effectors, high-precision gripping actions are achieved.

[0007] Furthermore, the first robotic arm includes two parallel first sidewalls. A first connecting rod is provided at one end of the first sidewall near the support base. Both ends of the first connecting rod are fixedly connected to the first sidewall. A connecting base is provided between the first connecting rod and the sidewall of the support base. One end of the connecting base is rotatably connected to the first connecting rod. The other end of the connecting base passes through the sidewall of the support base and is fixedly connected to a first gear. A first motor is provided on one side of the first gear. A second gear is fixedly connected to the output end of the first motor. The second gear meshes with the first gear.

[0008] With the above technical solution, when the output end of the first motor rotates, the second gear starts to rotate and drives the first gear to rotate. When the first gear rotates, it drives the entire robotic arm to rotate axially through the connecting base. The axial rotation of the robotic arm expands its operating contact range.

[0009] Furthermore, a third gear is fixedly connected to the centerline of the first connecting rod, and a fourth gear is rotatably connected to the third gear. A second motor is provided on one side of the fourth gear, the bottom end of the second motor is fixedly connected to the first side wall, and the output end of the second motor is fixedly connected to the centerline of the fourth gear.

[0010] With the above technical solution, when the output end of the second motor rotates, due to the fixed connection between the third gear and the first connecting rod, the fourth gear begins to rotate around the outer edge of the third gear, and through the fixed connection between the second motor and the first side wall, the first robotic arm begins to swing up and down around the first connecting rod.

[0011] Furthermore, the second robotic arm includes two parallel second sidewalls, which are connected to the first sidewall via a second connecting rod. The first sidewall is fixedly connected to both ends of the second connecting rod, and the second sidewall is rotatably connected to both ends of the second connecting rod.

[0012] Through the above technical solution, the second sidewall can swing up and down around the second connecting rod.

[0013] Furthermore, a fifth gear is fixedly connected to the centerline of the second connecting rod, and a sixth gear is rotatably connected to the fifth gear. A third motor is provided on one side of the sixth gear, the bottom end of the third motor is fixedly connected to the second side wall, and the output end of the third motor is fixedly connected to the centerline of the sixth gear.

[0014] With the above technical solution, when the output end of the third motor rotates, due to the fixed connection between the fifth gear and the second connecting rod, the sixth gear begins to rotate around the outer edge of the fifth gear, and through the fixed connection between the third motor and the second side wall, the second robotic arm can swing up and down around the second connecting rod.

[0015] Furthermore, the third robotic arm and the second robotic arm extend in the same direction and are connected by a third link. One end of the third link is fixedly connected to the upright frame, and the side surface of the third link is rotatably connected to the second robotic arm.

[0016] The above technical solution increases the flexibility of the third robotic arm when it can rotate axially.

[0017] Furthermore, a support plate is fixedly connected between the second sidewalls, and a fourth motor is fixedly connected to the support plate. The output end of the fourth motor is fixedly connected to the third connecting rod.

[0018] Through the above technical solution, the rotation of the output end of the fourth motor drives the rotation of the third link, and the rotation of the third link drives the rotation of the third robotic arm.

[0019] Furthermore, both the active gear and the driven gear are rotatably connected to the upright frame, the output end of the drive motor is fixedly connected to the active gear, and the active gear meshes with the driven gear.

[0020] Furthermore, the side surface of the driven tooth is fixedly connected to the connecting arm, and a fifth motor is fixedly connected to the inner side wall of the connecting arm. The output end of the fifth motor is fixedly connected to the robot body.

[0021] Furthermore, a battery compartment is provided on the upper surface of the support base, and a camera device is provided on the upper surface of the battery compartment.

[0022] The beneficial effects of this utility model are as follows:

[0023] By integrating mobility and gripping functions into the robot, the overall structure becomes more compact. This eliminates the need for separate, complex mobility and gripping mechanisms, reducing the number of parts and overall size. This allows for more flexible movement and operation in confined spaces, effectively improving space utilization. As the robotic arm moves the robot body, the interconnected movement of its components enables precise control of position and posture. Its flexible joints and end effector enable high-precision gripping actions, ensuring smoother and more efficient task execution. Attached Figure Description

[0024] Figure 1 This is a first-view structural diagram of the overall structure of this utility model;

[0025] Figure 2 This is a second-view structural diagram of the overall structure of this utility model;

[0026] Figure 3 This is a three-dimensional schematic diagram of the internal structure of the second robotic arm of this utility model;

[0027] Figure 4 This is a three-dimensional schematic diagram of the internal structure of part of this utility model;

[0028] Figure 5 yes Figure 2 Enlarged view of point A in the middle;

[0029] Figure 6 This is a partial structural schematic diagram of the present invention;

[0030] Figure 7 This is a structural diagram of the robotic arm body of this utility model.

[0031] Reference numerals: 1. Support base; 2. First robotic arm; 201. First side wall; 202. First connecting rod; 203. Connecting base; 205. First motor; 206. Second gear; 207. First gear; 208. Third gear; 209. Second motor; 210. Fourth gear; 211. Second connecting rod; 212. Fifth gear; 3. Second robotic arm; 301. Second side wall; 302. Fourth motor; 303. Third connecting rod; 304. Third motor; 305. Sixth gear; 306. Support plate; 4. Upright pole; 5. Displacement motor; 6. Traveling wheel; 7. Frame; 8. Drive motor; 9. Driving gear; 10. Driven gear; 11. Connecting arm; 12. Fifth motor; 13. Robotic arm body; 14. Battery compartment; 15. Camera device. Detailed Implementation

[0032] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0033] like Figure 1 - Figure 7 As shown, a spider robot capable of picking up objects includes a support base 1. Around the support base 1 are robotic arms for picking up objects. The robotic arms include a first robotic arm 2, a second robotic arm 3, and a third robotic arm. The first robotic arm 2 and the support base 1, the first robotic arm 2 and the second robotic arm 3, and the second robotic arm 3 and the third robotic arm are all rotatably connected. The third robotic arm includes a stand 7, a drive motor 8, an active gear 9, a driven gear 10, a connecting arm 11, a fifth motor 12, and a robotic arm body 13. A vertical rod 4 is fixedly connected to the side surface of the third robotic arm. A displacement motor 5 is fixedly connected to the side surface of the vertical rod 4. A shaft is fixedly connected to the output end of the displacement motor 5, and the side surface of the shaft is fixedly connected to a traveling wheel 6.

[0034] The first robotic arm 2 includes two parallel first sidewalls 201. A first connecting rod 202 is provided at one end of the first sidewall 201 near the support base 1. Both ends of the first connecting rod 202 are fixedly connected to the first sidewall 201. A connecting base 203 is provided between the first connecting rod 202 and the sidewall of the support base 1. One end of the connecting base 203 is rotatably connected to the first connecting rod 202. The other end of the connecting base 203 passes through the sidewall of the support base 1 and is fixedly connected to a first gear 207. A first motor 205 is provided on one side of the first gear 207. A second gear 206 is fixedly connected to the output end of the first motor 205. The second gear 206 meshes with the first gear 207.

[0035] When the output end of the first motor 205 rotates, the second gear 206 starts to rotate and drives the first gear 207 to rotate. When the first gear 207 rotates, it drives the entire robotic arm to rotate axially through the connecting base 203. The axial rotation of the robotic arm expands its operating contact range.

[0036] A third gear 208 is fixedly connected to the axis of the first connecting rod 202. A fourth gear 210 is rotatably connected to the third gear 208. A second motor 209 is provided on one side of the fourth gear 210. The bottom end of the second motor 209 is fixedly connected to the first side wall 201. The output end of the second motor 209 is fixedly connected to the axis of the fourth gear 210.

[0037] When the output end of the second motor 209 rotates, due to the fixed connection between the third gear 208 and the first connecting rod 202, the fourth gear 210 begins to rotate around the outer edge of the third gear 208. And through the fixed connection between the second motor 209 and the first side wall 201, the first robotic arm 2 begins to swing up and down around the first connecting rod 202.

[0038] The second robotic arm 3 includes two parallel second sidewalls 301. The second sidewalls 301 are connected to the first sidewall 201 by a second connecting rod 211. The first sidewall 201 is fixedly connected to the two ends of the second connecting rod 211, and the second sidewall 301 is rotatably connected to the two ends of the second connecting rod 211. The second sidewall 301 can swing up and down around the second connecting rod 211.

[0039] The fifth gear 212 is fixedly connected to the axis of the second connecting rod 211. The fifth gear 212 is rotatably connected to the sixth gear 305. The third motor 304 is provided on one side of the sixth gear 305. The bottom end of the third motor 304 is fixedly connected to the second side wall 301. The output end of the third motor 304 is fixedly connected to the axis of the sixth gear 305.

[0040] When the output end of the third motor 304 rotates, due to the fixed connection between the fifth gear 212 and the second connecting rod 211, the sixth gear 305 begins to rotate around the outer edge of the fifth gear 212. And through the fixed connection between the third motor 304 and the second side wall 301, the second robotic arm 3 can swing up and down around the second connecting rod 211.

[0041] The third robotic arm and the second robotic arm 3 extend in the same direction and are connected by a third link 303. One end of the third link 303 is fixedly connected to the stand 7, and the side surface of the third link 303 is rotatably connected to the second robotic arm 3.

[0042] The third robotic arm can rotate axially, increasing its flexibility.

[0043] A support plate 306 is fixedly connected between the second sidewalls 301, and a fourth motor 302 is fixedly connected to the support plate 306. The output end of the fourth motor 302 is fixedly connected to the third connecting rod 303.

[0044] The rotation of the output end of the fourth motor 302 drives the third link 303 to rotate, and the rotation of the third link 303 drives the third robotic arm to rotate.

[0045] Both the driving gear 9 and the driven gear 10 are rotatably connected to the frame 7. The output end of the drive motor 8 is fixedly connected to the driving gear 9, and the driving gear 9 meshes with the driven gear 10.

[0046] The side surface of the driven gear 10 is fixedly connected to the connecting arm 11, and the inner side wall of the connecting arm 11 is fixedly connected to the fifth motor 12. The output end of the fifth motor 12 is fixedly connected to the robot body 13.

[0047] A battery compartment 14 is provided on the upper surface of the support base 1, and a camera device 15 is provided on the upper surface of the battery compartment 14.

[0048] When this utility model is in use, the displacement motor 5 is started first, and the traveling wheel 6 rotates to drive the device body to move. When it moves to the vicinity of the object to be picked up, the positional relationship between the robotic arm and the object can be adjusted through the movable connection between the first robotic arm 2, the second robotic arm 3 and the stand 7. After the position adjustment is completed, the drive motor 8 is started to drive the driven tooth 10 to rotate, thereby causing the two symmetrically arranged connecting arms 11 to unfold to both sides. The robotic arm body 13 is used to pick up the object. After the object is successfully picked up, the object is transported to the delivery area through the cooperation between the first robotic arm 2, the second robotic arm 3 and the stand 7.

[0049] The above are merely preferred embodiments of the present utility model and are not intended to limit the scope of protection of the present utility model.

Claims

1. A spider robot capable of picking up objects, comprising a support base (1), characterized in that: The support base (1) is surrounded by a robotic arm for picking up items. The robotic arm includes a first robotic arm (2), a second robotic arm (3) and a third robotic arm. The first robotic arm (2) and the support base (1), the first robotic arm (2) and the second robotic arm (3) and the second robotic arm (3) are rotatably connected. The third robotic arm includes a stand (7), a drive motor (8), an active gear (9), a driven gear (10), a connecting arm (11), a fifth motor (12) and a robotic arm body (13). A pole (4) is fixedly connected to the side surface of the third robotic arm. A displacement motor (5) is fixedly connected to the side surface of the pole (4). A shaft is fixedly connected to the output end of the displacement motor (5). The side surface of the shaft is fixedly connected to the travel wheel (6).

2. The object-collecting spider robot according to claim 1, characterized in that, The first robotic arm (2) includes two parallel first sidewalls (201). A first connecting rod (202) is provided at one end of the first sidewall (201) near the support base (1). Both ends of the first connecting rod (202) are fixedly connected to the first sidewall (201). A connecting base (203) is provided between the first connecting rod (202) and the sidewall of the support base (1). One end of the connecting base (203) is rotatably connected to the first connecting rod (202). The other end of the connecting base (203) passes through the sidewall of the support base (1) and is fixedly connected to a first gear (207). A first motor (205) is provided on one side of the first gear (207). A second gear (206) is fixedly connected to the output end of the first motor (205). The second gear (206) meshes with the first gear (207).

3. The object-collecting spider robot according to claim 2, characterized in that, A third gear (208) is fixedly connected to the axis of the first connecting rod (202). The third gear (208) is rotatably connected to a fourth gear (210). A second motor (209) is provided on one side of the fourth gear (210). The bottom end of the second motor (209) is fixedly connected to the first side wall (201). The output end of the second motor (209) is fixedly connected to the axis of the fourth gear (210).

4. The object-collecting spider robot according to claim 3, characterized in that, The second robotic arm (3) includes two parallel second sidewalls (301), which are connected to the first sidewall (201) by a second link (211). The first sidewall (201) is fixedly connected to the two ends of the second link (211), and the second sidewall (301) is rotatably connected to the two ends of the second link (211).

5. The object-collecting spider robot according to claim 4, characterized in that, A fifth gear (212) is fixedly connected to the axis of the second connecting rod (211). The fifth gear (212) is rotatably connected to a sixth gear (305). A third motor (304) is provided on one side of the sixth gear (305). The bottom end of the third motor (304) is fixedly connected to the second side wall (301). The output end of the third motor (304) is fixedly connected to the axis of the sixth gear (305).

6. The object-collecting spider robot according to claim 5, characterized in that, The third robotic arm and the second robotic arm (3) extend in the same direction. The third robotic arm and the second robotic arm (3) are connected by a third link (303). One end of the third link (303) is fixedly connected to the stand (7), and the side surface of the third link (303) is rotatably connected to the second robotic arm (3).

7. A spider robot capable of picking up objects according to claim 6, characterized in that, A support plate (306) is fixedly connected between the second sidewalls (301), and a fourth motor (302) is fixedly connected to the support plate (306). The output end of the fourth motor (302) is fixedly connected to the third connecting rod (303).

8. The object-collecting spider robot according to claim 1, characterized in that, The active tooth (9) and the driven tooth (10) are rotatably connected to the frame (7), and the output end of the drive motor (8) is fixedly connected to the active tooth (9). The active tooth (9) meshes with the driven tooth (10).

9. A spider robot capable of picking up objects according to claim 1, characterized in that, The side surface of the driven tooth (10) is fixedly connected to the connecting arm (11), and the inner side wall of the connecting arm (11) is fixedly connected to the fifth motor (12). The output end of the fifth motor (12) is fixedly connected to the robot body (13).

10. A spider robot capable of picking up objects according to claim 1, characterized in that, The upper surface of the support base (1) is provided with a battery compartment (14), and the upper surface of the battery compartment (14) is provided with a camera device (15).