Teleoperated mobile robot with special grasp projection

Abstract

The utility model discloses a kind of special remote control mobile robots of grabbing projection, including mobile car, rotary disc is rotatably installed in the mobile car, rotary frame is rotatably installed on rotary disc, and rotary driving device one is installed on rotary disc. Through the setting of flexible pad, the clamping jaw one and the clamping jaw two can automatically adjust the angle and the force of fitting according to the outline of object, improve the compatibility of the clamping jaw one and the clamping jaw two to different shape objects, and through the feedback of sensor, the clamping jaw one and the clamping jaw two can be adjusted, so that the clamping force can be adjusted;After limit magnetic block is clamped into limit frame one and limit frame two, rotary driving device one can be placed flat by ratchet wheel Rotary frame is carried by rotary disc, then the output end of rotary driving device one is rotated, the gear can be driven to rotate, so that the rotary disc can drive the rotary frame to turn, so that it can be more quickly when carrying in close range and carrying work with height difference.

Description

Technical Field

[0001] This utility model relates to the field of mobile robot technology, and in particular to a special teleoperated mobile robot for grasping and projecting. Background Technology

[0002] The arm of the educational robot is designed to enhance students' hands-on skills and scientific literacy through interactive learning. This robotic arm helps students better understand principles of physics and engineering by simulating real-world operating environments.

[0003] Existing mobile robots with grasping capabilities have relatively limited functions, fixed grasping effects, and a small range of adjustment. This means that they can only be moved back and forth after grasping, making it difficult for them to play an auxiliary role in educational experiments. Utility Model Content

[0004] Therefore, it is necessary to provide a special teleoperated mobile robot for grasping and projecting, which addresses the aforementioned technical problems.

[0005] To achieve the above objectives, this utility model provides a special teleoperated mobile robot for grasping and projecting, comprising a mobile vehicle, a turntable rotatably mounted inside the mobile vehicle, a rotating frame rotatably mounted on the turntable, a first rotary drive device mounted on the turntable, a ratchet mounted at the output end of the first rotary drive device, several pawls hinged to the rotating frame, the pawls cooperating with the ratchet, a first limit frame mounted on the ratchet, a gear rotatably mounted on the turntable, a second limit frame mounted on the gear, a limit magnetic block slidably engaged on the rotating frame, an electromagnet mounted on the rotating frame, the electromagnet cooperating with the limit magnetic block, a gear ring mounted on the mobile vehicle, the gear ring meshing with the gear; and also including a first gripper and a second gripper, the first gripper and the second gripper inserted into the rotating frame, the insertion ends of the first gripper and the second gripper both limited by fasteners, the first gripper and the second gripper covered with flexible pads, and sensors mounted on the first gripper and the second gripper.

[0006] Preferably, a clamping frame is rotatably mounted on the rotating frame, and a second rotary drive device is mounted on the rotating frame. The output end of the second rotary drive device is connected to the clamping frame in a transmission manner, and both the first clamp and the second clamp are inserted into the clamping frame.

[0007] Preferably, both gripper one and gripper two are provided with meshing tooth structures, and gripper one and gripper two are connected by meshing tooth structures. A rotary drive device three is installed on the clamping frame, and the output end of the rotary drive device three is connected to gripper one in a transmission manner.

[0008] Preferably, a U-shaped limiting frame is installed on the rotating frame, and the limiting magnetic block is slidably engaged in the U-shaped limiting frame.

[0009] Preferably, a support frame is installed on the turntable, and a bearing is installed on the support frame, with the gear fixedly connected to the inner ring of the bearing.

[0010] Preferably, the support frame is configured to cooperate with the rotating frame.

[0011] Compared with existing technologies, this technical solution has at least one of the following beneficial effects:

[0012] By setting up a flexible pad, grippers one and two can automatically adjust their contact angle and force according to the contour of the object, which improves the compatibility of grippers one and two with objects of different shapes. Furthermore, through sensor feedback, the gripping angle of grippers one and two can be adjusted, thereby adjusting the gripping force.

[0013] After the limiting magnetic block is inserted into the limiting frame one and the limiting frame two, the rotary drive device one can flatten the rotating frame through the ratchet. The rotating frame is supported by the turntable. When the output end of the rotary drive device one rotates again, it can drive the gear to rotate, so that the turntable can drive the rotating frame to rotate. This makes it faster in short-distance handling and handling work with height differences. Attached Figure Description

[0014] Figure 1 This is a perspective view of the gear section in an embodiment of the present invention;

[0015] Figure 2 This is an exploded view of the ratchet portion of an embodiment of the present invention;

[0016] Figure 3 This is a perspective view of an embodiment of the present utility model;

[0017] Figure 4 This is a perspective view of one of the grippers according to an embodiment of the present invention;

[0018] In the diagram: 1. Moving vehicle; 2. Rotating frame; 3. Rotary drive device one; 4. Ratchet; 5. Pawl; 6. Limiting frame one; 7. Gear; 8. Limiting frame two; 9. Limiting magnetic block; 10. Electromagnet; 11. Gear ring; 12. Clamping frame; 13. Rotary drive device two; 14. Grip one; 15. Grip two; 16. Rotary drive device three; 17. U-shaped limiting frame; 18. Support frame; 19. Bearing; 101. Turntable. Detailed Implementation

[0019] To make the above-mentioned objects, 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. Many specific details are set forth in the following description to provide a full understanding of this utility model. However, this utility model can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this utility model. Therefore, this utility model is not limited to the specific embodiments disclosed below.

[0020] Please see Figures 1 to 4 This application provides a special grasping and projection teleoperated mobile robot, including a mobile vehicle 1. The mobile vehicle 1 can perform movement and turning operations according to the traveling mechanism installed on its bottom. A turntable 101 is rotatably mounted on the mobile vehicle 1, and a rotating frame 2 is rotatably mounted on the turntable 101. A rotation drive device 3 is mounted on the turntable 101. The rotation drive device 3 can be a servo motor. A ratchet 4 is fixedly mounted on the output end of the rotation drive device 3. Several pawls 5 are hinged on the rotating frame 2. The cooperation between the ratchet 4 and the pawls 5 is prior art. The pawls 5 are configured to cooperate with the ratchet 4. A limit frame 6 is fixedly mounted on the ratchet 4. A gear 7 is rotatably mounted on the turntable 101, and a second limit frame 8 is fixedly mounted on the gear 7. A limit magnet 9 is slidably engaged on the rotating frame 2. An electromagnet 1 is fixedly mounted on the rotating frame 2. 0. Electromagnet 10 is existing technology, which can generate magnetism after being energized. Electromagnet 10 is set in conjunction with limiting magnetic block 9. Gear ring 11 is fixedly installed on the moving vehicle 1, and gear ring 11 meshes with gear 7. It also includes gripper 14 and gripper 25. Gripper 14 and gripper 25 are both inserted into the rotating frame 2. The insertion ends of gripper 14 and gripper 25 are limited by fasteners, which are limited by tightening screws or nuts, but do not affect the rotation of gripper 14 and gripper 25. Gripper 14 and gripper 215 are covered with flexible pads. Sensors are installed on gripper 14 and gripper 215. The sensors can be ultrasonic, light, camera, etc. The above sensors and rotary drive device 13, rotary drive device 26, etc. should be connected to the signal processor.

[0021] In this embodiment, after the mobile cart 1 moves to a suitable position, under the influence of the gravity of the rotating frame 2 and the engagement of the ratchet 4 and the pawl 5, when the rotary drive device 1 3 drives the ratchet 4 to rotate clockwise, it can drive the rotating frame 2 to achieve directional adjustment within 90°. When the turntable 101 needs to drive the rotating frame 2 to rotate, the electromagnet 10 is de-energized, allowing the limiting magnetic block 9 to slide freely and engage with the limiting bracket 1 6 on the ratchet 4 and the limiting bracket 2 8 on the gear 7. Afterwards, when the rotary drive device 1 3 rotates clockwise again, the rotating frame 2 is limited and leveled by the turntable 2 and the mobile cart 1 and no longer rotates due to gravity. The gear 7 meshes with the gear ring 11 during the rotation process, allowing the turntable 101 to drive the rotating frame 2 to rotate. After the rotation is completed, the electromagnet 10 is energized to attract the limiting magnetic block 9. After attraction, the rotation drive device 3 drives the ratchet 4 to rotate counterclockwise. The ratchet 4 and the pawl 5 engage to lift the rotating frame 2 for clamping. When the ratchet 4 rotates clockwise, it can still engage with the pawl 5 under the gravity of the rotating frame 2, thereby driving the rotating frame 2 to gradually flatten. A spring can be installed on the electromagnet 10. When the angle of the turntable 101 is adjusted and the openings of the limiting frame 1 6 and the limiting frame 2 8 are horizontal rather than vertical, the electromagnet 10 attracts the limiting magnetic block 9 and compresses the spring. The compressed spring allows the limiting magnetic block 9 to slide horizontally into the openings of the limiting frame 1 6 and the limiting frame 2 8 for secondary angle adjustment. When grippers 14 and 25 grip, the flexible pads covering them prevent damage to the surface of the object being gripped. The sensors installed on grippers 14 and 25 allow for adjustment of the gripping force, enabling control of different opening and closing gripping ranges for different objects. By simply plugging and unplugging and locking with fasteners, different types of grippers can be replaced in a short time to grip different objects.

[0022] In some embodiments, to further improve the adjustable gripping range of gripper 14 and gripper 15, a clamping frame 12 is rotatably mounted on the rotating frame 2, and a rotary drive device 13 is fixedly mounted on the rotating frame 2. The rotary drive device 13 can be a servo motor, and its output end is connected to the clamping frame 12. Gripper 14 and gripper 15 are both inserted into the clamping frame 12. Thus, when the rotating frame 2 is tilted after the gripping angle is adjusted, the rotary drive device 13 can drive the clamping frame 12 to swing and flatten, so that gripper 14 and gripper 15 on the clamping frame 12 can be flattened by the clamping frame 12, enabling stable gripping of objects.

[0023] In some embodiments, to facilitate gripping by gripper 14 and gripper 25, both gripper 14 and gripper 25 are provided with meshing tooth structures, and gripper 14 and gripper 25 are connected by meshing tooth structures. A rotary drive device 3 16 is fixedly installed on the clamping frame 12. The rotary drive device 3 16 can be a servo motor, and the output end of the rotary drive device 3 16 is connected to gripper 14 for transmission.

[0024] In some embodiments, in order to facilitate the sliding of the limiting magnetic block 9 along a fixed direction after it is separated from the electromagnet 10, a U-shaped limiting frame 17 is fixedly installed on the rotating frame 2, and the limiting magnetic block 9 is slidably engaged in the U-shaped limiting frame 17.

[0025] In some embodiments, to facilitate the rotational mounting of the gear 7 on the turntable 101, a support frame 18 is fixedly mounted on the turntable 101, and a bearing 19 is mounted on the support frame 18. The support frame 18 is fixedly connected to the outer ring of the bearing 19, and the gear 7 is fixedly connected to the inner ring of the bearing 19. Thus, when the turntable 101 rotates, the gear 7 can rotate accordingly, allowing for adjustment of the rotation angle at any time. During the rotation of the limiting magnetic block 9, which is engaged between the first limiting frame 6 and the second limiting frame 8, it is limited by the support frame 18 and the U-shaped limiting frame 17, preventing it from falling off or being thrown out of the first limiting frame 6 and the second limiting frame 8.

[0026] In some embodiments, a support frame 18 is provided to support the flattened rotating frame 2. The support frame 18 can support the flattened rotating frame 2 and prevent the rotating frame 2 from continuing to rotate due to gravity and rubbing against the gear ring 11 or the like.

[0027] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0028] The above embodiments only illustrate several implementation methods of this utility model, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.

[0029] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0030] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0031] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

Claims

1. A tele-operated mobile robot with special grab projection, comprising a mobile vehicle (1), characterized in that, The mobile vehicle (1) is provided with a rotating disc (101) rotatably installed thereon, a rotating frame (2) rotatably installed on the rotating disc (101), a rotating driving device one (3) installed on the rotating disc (101), a ratchet wheel (4) installed at the output end of the rotating driving device one (3), a plurality of pawls (5) hingedly connected to the rotating frame (2), the pawls (5) being arranged in cooperation with the ratchet wheel (4), a limiting frame one (6) installed on the ratchet wheel (4), a gear wheel (7) rotatably installed on the rotating disc (101), a limiting frame two (8) installed on the gear wheel (7), a limiting magnetic block (9) slidingly connected to the rotating frame (2), an electromagnet (10) installed on the rotating frame (2) and arranged in cooperation with the limiting magnetic block (9), a gear ring (11) installed on the mobile vehicle (1) and meshingly connected with the gear wheel (7); further comprising a clamping jaw one (14) and a clamping jaw two (15), the clamping jaw one (14) and the clamping jaw two (15) being inserted into the rotating frame (2), the insertion end of the clamping jaw one (14) and the clamping jaw two (15) being limited by a fastener, the clamping jaw one (14) and the clamping jaw two (15) being covered with a flexible pad, and the clamping jaw one (14) and the clamping jaw two (15) being provided with a sensor.

2. The tele-operated mobile robot of special grasp-and-throw projection according to claim 1, characterized in that, The rotating frame (2) is provided with a clamping frame (12) rotatably installed thereon, and a rotating driving device two (13) installed on the rotating frame (2) and drivingly connected with the clamping frame (12), the clamping jaw one (14) and the clamping jaw two (15) being both inserted into the clamping frame (12).

3. The tele-operated mobile robot of special grasp-and-throw projection according to claim 2, characterized in that, The clamping jaw one (14) and the clamping jaw two (15) are both provided with meshing tooth structures, the clamping jaw one (14) and the clamping jaw two (15) being meshingly connected through the meshing tooth structures, and the clamping frame (12) being provided with a rotating driving device three (16) and drivingly connected with the clamping jaw one (14) at the output end.

4. The tele-operated mobile robot of special grasp-and-throw according to claim 1, wherein, The rotating frame (2) is provided with a U-shaped limiting frame (17), and the limiting magnetic block (9) is slidingly connected into the U-shaped limiting frame (17).

5. The tele-operated mobile robot of special grasp-and-throw according to claim 1, wherein, The rotating disc (101) is provided with a supporting frame (18), the supporting frame (18) is provided with a bearing (19), and the gear wheel (7) is fixedly connected with the inner ring of the bearing (19).

6. The tele-operated mobile robot of special grasp-and-throw projection according to claim 5, characterized in that, The supporting frame (18) is arranged in cooperation with the rotating frame (2).

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