A mounting connection mechanism and robot

Abstract

The utility model provides a kind of mounting connection mechanism and robot, it is related to robot parts technical field, and mounting connection mechanism is set in machine body and is used to connect mounting machine, the mounting connection mechanism includes first connecting rod and second connecting rod, further include longitudinal rotation subassembly and transverse limiting component, one end of the first connecting rod is hinged with the machine body and another end is equipped with first mounting point, the longitudinal rotation subassembly is connected in the machine body and the first connecting rod, and it is used to drive the vertical rotation of the first connecting rod, one end of the second connecting rod is movably connected the machine body by the longitudinal rotation subassembly and another end thereof is equipped with second mounting point, the transverse limiting component is connected in the machine body and the first connecting rod and is used for the transverse limiting of the first connecting rod.The utility model can guarantee the stability and flexibility of mounting.

Description

Technical Field

[0001] This utility model relates to the field of robot component technology, and more specifically, to a mounting and connecting mechanism and a robot. Background Technology

[0002] Robots are being widely used in various fields and occasions.

[0003] In related technologies, the rear end of robots, such as agricultural robots, is connected to the loader via a connecting arm. However, during movement, such as turning, the connecting arm may bend or break due to excessive swing angle, affecting the operation results. Utility Model Content

[0004] The problem this invention aims to solve is that the connection between the robot and the mounter is prone to breakage or bending during movement.

[0005] To address the aforementioned problems, in a first aspect, this utility model provides a mounting connection mechanism, disposed on the machine body and used to connect a mounting machine. The mounting connection mechanism includes a first connecting rod and a second connecting rod, and further includes a longitudinal rotation component and a lateral limiting component. One end of the first connecting rod is hinged to the machine body, and the other end is provided with a first mounting point. The longitudinal rotation component is connected to the machine body and the first connecting rod, and is used to drive the first connecting rod to rotate vertically. One end of the second connecting rod is movably connected to the machine body through the longitudinal rotation component, and the other end is provided with a second mounting point. The lateral limiting component is connected to the machine body and the first connecting rod and is used to laterally limit the first connecting rod.

[0006] Optionally, the longitudinal rotation assembly includes a lifting rod, a rotating shaft, and a rotation drive. The rotating shaft is disposed on the machine body and configured to rotate relative to the machine body. One end of the lifting rod is hinged to the rotating shaft, and the other end is hinged to the first connecting rod. One end of the second connecting rod is connected to the rotating shaft. The rotation drive is used to drive the rotation of the rotating shaft.

[0007] Optionally, the rotating shaft includes a drive arm, a shaft body, and a mounting ear. The shaft body is rotatably mounted on the machine body about its own axis. The drive arm and the mounting ear are fixedly mounted on the shaft body. One end of the drive arm is connected to the shaft body, and the other end is hinged to one end of the lifting rod. The rotation drive is hinged to the machine body. The drive arm is also used to hinge to the output end of the rotation drive. The mounting ear is used to hinge to one end of the second connecting rod.

[0008] Optionally, the drive arm includes a fixedly connected mounting part and a plurality of hinges, the mounting part being fixedly connected to the shaft, and the plurality of hinges being respectively connected to the lifting rod and the rotation drive component.

[0009] Optionally, the length of the lifting rod is configured to be adjustable.

[0010] Optionally, the lifting rod includes a first connecting section, an intermediate section, and a third connecting section. One end of the first connecting section is hinged to the drive arm, one end of the third connecting section is hinged to the first connecting rod, and the two ends of the intermediate section are threadedly connected to the other ends of the first connecting section and the other end of the first connecting section, respectively.

[0011] Optionally, the lateral limiting component includes a telescopic rod, one end of which is hinged to the machine body and the other end of which is hinged to the first connecting rod.

[0012] Optionally, it also includes a limiting member, one end of which is connected to the body, and the other end is annular and used to limit the second connecting rod.

[0013] Optionally, there are two first connecting rods, which are respectively located on both sides of the machine body.

[0014] The beneficial effects of the mounting and connecting mechanism of this utility model are as follows: one end of the first connecting rod is hinged to the machine body and the other end is provided with a first mounting point. The longitudinal rotation component is connected to the machine body and the first connecting rod and is used to drive the first connecting rod to rotate vertically. Thus, by swinging the end of the first connecting rod away from the machine body in the vertical direction, the position of the first mounting point is raised or lowered, thereby realizing the up and down movement of the relevant connecting parts of the mounting machine; one end of the second connecting rod is movably connected to the machine body through the longitudinal rotation component and the other end is provided with a second mounting point, thus ensuring that the connection position between the second connecting rod and the mounting machine moves with the mounting machine. The system employs adaptive motion to prevent breakage at the connection point. A lateral limiting component connects to the body and the first link, limiting the lateral movement of the first link to prevent excessive lateral swing and ensuring stability during the raising or lowering of the first mounting point. In summary, the longitudinal rotation component and lateral limiting component ensure the relative movement amplitude and speed between the second mounting point on the second link and the first mounting point on the first link. This ensures flexibility while effectively adapting to turning and other operational scenarios, preventing breakage at the connection point and improving operational stability.

[0015] On the other hand, this utility model also provides a robot, including the mounting and connecting mechanism as described in any of the preceding claims.

[0016] The robot provided by this utility model has the same beneficial effects as the mounting and connecting mechanism compared to the prior art, and will not be described again here. Attached Figure Description

[0017] Figure 1This invention illustrates a three-dimensional model of a robot with a mounting and connecting mechanism according to an embodiment of the present invention. Figure 1 ;

[0018] Figure 2 This invention illustrates a three-dimensional model of a robot with a mounting and connecting mechanism according to an embodiment of the present invention. Figure 2 ;

[0019] Figure 3 A three-dimensional view of the mounting and connecting mechanism in an embodiment of this utility model is shown;

[0020] Figure 4 A schematic diagram of the drive arm in an embodiment of this utility model is shown;

[0021] Figure 5 An embodiment of the present invention is shown. Figure 3 Enlarged structural diagram at point A;

[0022] Figure 6 A schematic diagram of the segmented storage structure of the limiting component in an embodiment of this utility model is shown.

[0023] Explanation of reference numerals in the attached figures:

[0024] 1. Body; 2. First connecting rod; 3. Telescopic rod; 4. Lifting rod; 41. First connecting section; 42. Intermediate section; 43. Third connecting section; 5. Rotating shaft; 51. Drive arm; 52. Shaft; 53. Mounting lug; 6. Track; 7. First mounting point; 8. Third mounting point; 9. Second connecting rod; 10. Rotation drive component; 11. Second mounting point; 12. Limiting component; 121. Rod body; 122. Pull ring; 13. Seat; 14. Elastic blocking part; 15. Magnetic layer. Detailed Implementation

[0025] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings.

[0026] In the attached diagram, the Z-axis represents the vertical direction, i.e., up and down, with the positive direction of the Z-axis representing up and the negative direction representing down. The X-axis represents the horizontal direction and is designated as the front and back position, with the positive direction of the X-axis representing the front and the negative direction representing the back. The Y-axis represents the left and right position, with the positive direction of the Y-axis representing the left and the negative direction representing the right. It should be noted that the aforementioned representations of the Z, Y, and X axes are merely for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0027] In the description of this specification, references to terms such as "embodiment," "one embodiment," and "one implementation" indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or implementation is included in at least one embodiment or illustrative embodiment of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or implementation. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or implementations.

[0028] Reference Figure 1 , Figure 2 and Figure 3 As shown in the figure, this utility model embodiment proposes a mounting connection mechanism, which is disposed on the body 1 and used to connect a mounting machine. The mounting connection mechanism includes a first connecting rod 2 and a second connecting rod 9, and also includes a longitudinal rotation component and a lateral limiting component. One end of the first connecting rod 2 is hinged to the body 1 and the other end is provided with a first mounting point 7. The longitudinal rotation component is connected to the body 1 and the first connecting rod 2 and is used to drive the first connecting rod 2 to rotate vertically. One end of the second connecting rod 9 is movably connected to the body 1 through the longitudinal rotation component and the other end is provided with a second mounting point 11. The lateral limiting component is connected to the body 1 and the first connecting rod 2 and is used to limit the lateral movement of the first connecting rod 2.

[0029] Specifically, the loader is typically mounted on the end of the machine body 1, such as the rear or side. The loader can be a rotary tillage mechanism, a seeding mechanism, or a weeding mechanism, etc. The first link 2 and the second link 9 both serve as mounting connecting rods, with the first link 2 serving as the main connecting rod and the second link 9 serving as an auxiliary connecting rod. The first link 2 is generally set in pairs, while the number of second links 9 can be configured as a single one. The number of both can be set as needed. Together, they can serve as mounting connecting rods with mounting connection points, improving towing capacity and stability. The first mounting point 7 and the second mounting point 11 serve as dynamic mounting connection points, allowing the loader a certain degree of freedom during operation. When necessary, they can also be used in conjunction with the third mounting point 8 directly provided on the machine body 1 to achieve mounting on the machine body 1. The machine has a towing function; of course, the first link 2 and the second link 9 also have a towing function on the loader. The longitudinal rotation component is connected between the machine body 1 and the first link 2. The longitudinal rotation component is used to drive the first link 2 so that the end of the first link 2 away from the machine body 1, that is, the first mounting point 7, swings vertically, which can realize the lifting or lowering of the other end of the first link 2, that is, the first mounting point 7. Since the second link 9 is provided, one end of the second link 9 is movably connected to the machine body 1 through the longitudinal rotation component, which ensures the adaptive movement of the connection point between the second link 9 and the loader and avoids the breakage of the connection position. The longitudinal rotation component can be a crank-connecting rod structure; the lateral limiting component can be an adaptive tie rod. The lateral limiting component is used to limit the swing amplitude of the first link 2.

[0030] In this embodiment, one end of the first connecting rod 2 is hinged to the body 1 and the other end is provided with a first mounting point 7. The longitudinal rotation component is connected to the body 1 and the first connecting rod 2 and is used to drive the first connecting rod 2 to rotate vertically. By swinging the end of the first connecting rod 2 away from the body 1 in the vertical direction, the position of the first mounting point 7 is raised or lowered, thereby realizing the up and down movement of the relevant connecting parts of the loader. One end of the second connecting rod 9 is movably connected to the body 1 through the longitudinal rotation component and the other end is provided with a second mounting point 11, thus ensuring that the connection position of the second connecting rod 9 and the loader adapts to the movement of the loader. To prevent breakage at the connection point, the lateral limiting component is connected to the body 1 and the first connecting rod 2 and is used to laterally limit the first connecting rod 2, preventing excessive lateral swing of the first connecting rod 2 and ensuring the stability of the lifting or lowering of the first mounting point 7. In summary, by setting the longitudinal rotation component and the lateral limiting component, the relative movement amplitude and speed between the two mounting points, including the second mounting point 11 on the second connecting rod 9 and the first mounting point 7 on the first connecting rod 2, are ensured. While ensuring flexibility, it can effectively adapt to working scenarios such as turning, avoid problems such as breakage at the connection point, and improve operational stability.

[0031] like Figure 3As shown, in an optional embodiment of the present invention, the longitudinal rotation assembly includes a lifting rod 4, a rotating shaft 5, and a rotation drive 10. The rotating shaft 5 is disposed on the machine body 1 and configured to rotate relative to the machine body 1. One end of the lifting rod 4 is hinged to the rotating shaft 5, and the other end is hinged to the first connecting rod 2. One end of the second connecting rod 9 is connected to the rotating shaft 5. The rotation drive 10 is used to drive the rotation of the rotating shaft 5.

[0032] Specifically, the rotation drive component 10 can be selected according to the number of first connecting rods 2. When there are two first connecting rods 2, two rotation drive components 10 can be simultaneously configured on both sides. The rotation drive components 10 synchronously drive the movement of the same rotating shaft component 5 to avoid uneven force on the rotating shaft component 5. The drive component 10 can be a hydraulic cylinder or a motor, used to drive the rotating shaft component 5 to rotate and flip within a certain angle. When the rotating shaft component 5 rotates or flips under the drive of the rotation drive component 10, the first connecting rod 2 can be raised or lowered by the lifting rod 4. It should also be noted that by setting the second connecting rod 9 on the rotating shaft component 5, the adaptive action of the connection point with the loader can be ensured, the connection point can be prevented from breaking, and the loading stability can be guaranteed.

[0033] It should be noted that the first mounting point 7, the third mounting point 8, and the second mounting point 11 can all be set as mounting ears, which facilitates connection with the loader via pins or the like.

[0034] like Figure 4 and Figure 5 As shown, in an optional embodiment of this utility model, the rotating shaft 5 includes a drive arm 51, a shaft 52, and a mounting ear 53. The shaft 52 is rotatably mounted on the machine body 1 around its own axis. The drive arm 51 and the mounting ear 53 are fixedly mounted on the shaft 52. One end of the drive arm 51 is connected to the shaft 52, and the other end is hinged to one end of the lifting rod 4. The rotating drive member 10 is hingedly mounted on the machine body 1. The drive arm 51 is also used to hinge with the output end of the rotating drive member 10. The mounting ear 53 is used to hinge with one end of the second connecting rod 9.

[0035] Specifically, the rotating drive component 10 includes a hydraulic cylinder. The number of drive arms 51 is determined by the number of lifting rods 4, and generally two are provided and distributed at both ends of the shaft 52. The shaft 52 can be rotatably mounted on the machine body 1 and is located above the lifting rods 4. The drive arms 51 mainly have two functions: driving the longitudinal rotating assembly, which is mainly achieved by the rotating drive component 10; and driving the first connecting rod 2 to lift it through the lifting rods 4. The position is raised or lowered by the rotation of the drive arms 51 through the telescopic rod 2. When the rotating drive component 10 extends, it drives the rotating shaft 5 to rotate around the rotating shaft, thereby lifting... The lever 4 drives the first connecting rod 2 to rise. When the rotating drive component 10 shortens, it drives the rotating shaft component 5 to rotate in the opposite direction around the rotating shaft, so as to drive the first connecting rod 2 to fall through the lifting lever 4. With the second connecting rod 9 set, the overall movement of the loader or the overall movement of some structures will not be affected. Then, through the first connecting rods 2 on both sides, the relative movement amplitude and speed between the two mounting points, including the second mounting point 11 on the upper second connecting rod 9 and the first mounting point 7 on the lower first connecting rod 2, can be limited. While ensuring flexibility, it can effectively adapt to working scenarios such as turning, avoid problems such as breakage at the connection position, and improve the stability of operation.

[0036] like Figure 3 and Figure 4 As shown, in an optional embodiment of the present invention, the drive arm 51 includes a fixedly connected mounting part and a plurality of hinges. The mounting part is fixedly connected to the shaft 52, and the plurality of hinges are respectively connected to the lifting rod 4 and the rotation drive member 10.

[0037] Specifically, the drive arm 51 has a claw-shaped structure. One end, which is the mounting part, is fixedly sleeved on the shaft 52 to ensure stability. The other end is a multi-branched claw. The branches of the claw are respectively hinged to the lifting rod 4 and the rotation drive component 10. The angle between each branch of the claw is an acute angle, which can ensure the structural stability of the casting. While ensuring that the rotation is completed by the rotation drive component 10, the first connecting rod 2 is driven to rotate, lift or lower by the lifting rod 4.

[0038] like Figure 3 As shown, in an optional embodiment of this utility model, the length of the lifting rod 4 is configured to be adjustable.

[0039] Specifically, the length of the lifting rod 4 is adjustable. After the loader is installed, the length of the lifting rod 4 is configured according to the actual lifting height of the loader, which improves the adaptability to the loader and ensures application in various lifting motion states. The lifting rod 4 can be an electric telescopic rod, or a guide rail and rod body that are locked with a nut to ensure the telescopic design of the lifting rod 4.

[0040] like Figure 3As shown, in an optional embodiment of the present invention, the lifting rod 4 includes a first connecting section 41, an intermediate section 42 and a third connecting section 43. One end of the first connecting section 41 is hinged to the driving arm 51, one end of the third connecting section 43 is hinged to the first connecting rod 2, and the two ends of the intermediate section 42 are threadedly connected to the other end of the first connecting section 41 and the other end of the first connecting section 41, respectively.

[0041] Specifically, the two ends of the intermediate section 42 are equipped with bidirectional threads, and the first connecting section 41 and the third connecting section 43 respectively mate with the threads at their corresponding ends. The combination of the intermediate section 42 with the first connecting section 41 or the intermediate section 42 with the third connecting section 43 is a threaded sleeve and a threaded rod. Thus, when the intermediate section 42 is screwed, the lifting rod 4 can be quickly extended or shortened as a whole. The outside of the intermediate section 42 may have a friction part, such as a rectangular screw block.

[0042] like Figure 3 As shown, in an optional embodiment of the present invention, the lateral limiting component includes a telescopic rod 3, one end of which is hinged to the body 1 and the other end is hinged to the first connecting rod 2.

[0043] Specifically, the telescopic rod 3 is an adaptive telescopic rod, preferably a hydraulic telescopic rod, which can adaptively extend and retract under the movement of the first link 2 to ensure the limiting effect on the first link 2 and improve lateral stability. In practice, the telescopic rod 3 can swing and extend and retract around the machine body 1 with the first link 2.

[0044] like Figure 3 and Figure 5 As shown, as an optional embodiment of the present invention, it further includes a limiting member 12, one end of which is connected to the body 1, and the other end is annular and used to limit the second connecting rod 9.

[0045] Specifically, the body 1 is provided with a limiting member 12, one end of which is connected to the body 1 and the other end is in a ring shape, used to support the second link 9. The limiting member 12 plays the role of supporting and limiting, and can restrict the free movement of the end of the second link 9 when the second mounting point 11 of the second link 9 is not externally mounted.

[0046] like Figure 5 and Figure 6As shown, the limiting member 12 includes a rod body 121 and a pull ring 122. The body 1 is provided with a seat 13. One end of the rod body 121 is connected to the seat 13 by a pin. The other end of the rod body 121 is threadedly connected to one end of the pull ring 122. The other end of the pull ring 122 is provided with a ring opening. The seat 13 is provided with a latch. The size of the latch matches the diameter of the pull ring 122. A magnetic layer 15 is provided inside the latch. An elastic blocking part 14 is provided on the outer edge of the latch.

[0047] Specifically, when the second mounting point 11 of the second link 9 is externally mounted, the supporting and limiting function of the limiting member 12 is not required. In order to avoid the limiting member 12 affecting the movement of the second link 9 during the robot's movement, the pull ring 122 can be detached from the rod body 121 by screwing it on, and the pull ring 122 can be inserted into the bayonet. The elastic blocking part 14 on the outer edge of the bayonet and the magnetic layer 15 inside can fix and limit the pull ring 122 so that it will not fall off. As a result, the total length of the rod body 121 is shortened compared to the limiting member 12, which will not affect the movement of the second link 9. When it is necessary to restrict the free movement of the end of the second link 9, the pull ring 122 can be removed from the bayonet and connected to the rod body 121. The elastic blocking part 14 can be made of rubber material, which has both rigidity and elasticity.

[0048] like Figure 1 and Figure 3 As shown, in an optional embodiment of the present invention, the first connecting rod 2 is provided in two parts and is respectively provided on both sides of the body 1.

[0049] Specifically, in conjunction with the preceding statements, by symmetrically arranging the first connecting rods 2 on the left and right sides of the body 1, and correspondingly providing two telescopic rods 3 and two lifting rods 4, which respectively cooperate with the first connecting rods 2, and the structure of the rotating shaft 5 also cooperates with it, so as to synchronously drive the longitudinal lifting of the two first connecting rods 2, and cooperate with the lateral limiting, the connection of the loader is more stable, ensuring the stable operation.

[0050] Secondly, such as Figure 1 and Figure 2 As shown in the figure, this utility model embodiment also provides a robot, including the mounting and connection mechanism provided in the above embodiment.

[0051] Specifically, this embodiment can be implemented as described in the previous embodiment. The robot is configured to have self-walking capabilities, such as being equipped with tracks 6. Rotation drive docking points can also be provided on the body 1 to drive the rotation of the working mechanism of the mounter. Therefore, the mounter can be mounted through the mounting connection structure for purposes such as rotary tillage, sowing, and weeding. This robot can be used for agricultural operations.

[0052] The above description is merely a specific embodiment of the present invention, enabling those skilled in the art to understand or implement the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features of the present invention.

[0053] Although the present invention has been disclosed above, its protection scope is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and all such changes and modifications will fall within the protection scope of the present invention.

Claims

1. A mounting and connecting mechanism, characterized in that, The mounting connection mechanism is set on the body (1) and used to connect the mounting machine. The mounting connection mechanism includes a first link (2) and a second link (9), and also includes a longitudinal rotation component and a lateral limiting component. One end of the first link (2) is hinged to the body (1) and the other end is provided with a first mounting point (7). The longitudinal rotation component is connected to the body (1) and the first link (2) and is used to drive the first link (2) to rotate vertically. One end of the second link (9) is movably connected to the body (1) through the longitudinal rotation component and the other end is provided with a second mounting point (11). The lateral limiting component is connected to the body (1) and the first link (2) and is used for lateral limiting of the first link (2).

2. The mounting and connecting mechanism according to claim 1, characterized in that, The longitudinal rotation assembly includes a lifting rod (4), a rotating shaft (5), and a rotation drive (10). The rotating shaft (5) is disposed on the body (1) and configured to rotate relative to the body (1). One end of the lifting rod (4) is hinged to the rotating shaft (5), and the other end is hinged to the first connecting rod (2). One end of the second connecting rod (9) is connected to the rotating shaft (5). The rotation drive (10) is used to drive the rotation of the rotating shaft (5).

3. The mounting and connecting mechanism according to claim 2, characterized in that, The rotating shaft (5) includes a drive arm (51), a shaft (52) and a mounting ear (53). The shaft (52) is rotatably mounted on the body (1) around its own axis. The drive arm (51) and the mounting ear (53) are fixedly mounted on the shaft (52). One end of the drive arm (51) is connected to the shaft (52), and the other end is hinged to one end of the lifting rod (4). The rotating drive (10) is hingedly mounted on the body (1). The drive arm (51) is also used to hinge to the output end of the rotating drive (10). The mounting ear (53) is used to hinge to one end of the second connecting rod (9).

4. The mounting and connecting mechanism according to claim 3, characterized in that, The drive arm (51) includes a fixedly connected mounting part and multiple hinges. The mounting part is fixedly connected to the shaft (52), and the multiple hinges are respectively connected to the lifting rod (4) and the rotation drive (10).

5. The mounting and connecting mechanism according to claim 3, characterized in that, The length of the lifting rod (4) is configured to be adjustable.

6. The mounting and connecting mechanism according to claim 5, characterized in that, The lifting rod (4) includes a first connecting section (41), an intermediate section (42) and a third connecting section (43). One end of the first connecting section (41) is hinged to the drive arm (51), one end of the third connecting section (43) is hinged to the first connecting rod (2), and the two ends of the intermediate section (42) are threaded to the other end of the first connecting section (41) and the other end of the first connecting section (41) respectively.

7. The mounting and connecting mechanism according to claim 1, characterized in that, The lateral limiting component includes a telescopic rod (3), one end of which is hinged to the body (1) and the other end is hinged to the first connecting rod (2).

8. The mounting and connecting mechanism according to any one of claims 1-7, characterized in that, It also includes a limiting member (12), one end of which is connected to the body (1), and the other end is annular and used to limit the second connecting rod (9).

9. The mounting and connecting mechanism according to any one of claims 1-7, characterized in that, The first connecting rod (2) is provided in two parts and is respectively located on both sides of the body (1).

10. A robot, characterized in that, Includes the mounting and connecting mechanism as described in any one of claims 1-9.

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