一种具身机器人的执行机构

Abstract

本实用新型公开了一种具身机器人的执行机构，所述具身机器人的执行机构包括：总安装板、油门执行机构、叉臂升降执行机构、叉臂角度执行机构、方向执行机构、档位执行机构以及刹车执行机构；所述油门执行机构、叉臂升降执行机构、叉臂角度执行机构、方向执行机构以及刹车执行机构均固定安装在所述总安装板，所述档位执行机构安装在所述方向执行机构上。本实用新型通过分别设置油门执行机构、叉臂升降执行机构、叉臂角度执行机构、方向执行机构、档位执行机构以及刹车执行机构，与叉车对应的功能装置配合实现对应功能的自动执行，实现了叉车驾驶的无人控制，极大的节省了人力成本。

Claims

1. An actuator for a body robot, characterized by The actuators of the android include: a main mounting plate, a throttle actuator, a fork arm lifting actuator, a fork arm angle actuator, a direction actuator, a gear actuator, and a brake actuator; the throttle actuator, fork arm lifting actuator, fork arm angle actuator, direction actuator, and brake actuator are all fixedly mounted on the main mounting plate, and the gear actuator is mounted on the direction actuator.

2. The embodied robot of claim 1, wherein: The throttle actuator includes a first motor, a first linear motion module, a pedal mounting plate, an accelerator pedal, a roller shaft, a pedal roller, and a first mounting bracket. The first motor is located at the upper end of the first linear motion module. First slide rails are respectively provided on both sides of the first linear motion module. First sliders are slidably connected to the first slide rails. The pedal mounting plate is connected to the first slider. One end of the accelerator pedal is fixedly connected to the pedal mounting plate. The end of the accelerator pedal away from the pedal mounting plate is connected to the pedal roller through the roller shaft. A second reinforcing rib is provided at the connection between the accelerator pedal and the pedal mounting plate. The side of the first linear motion module away from the accelerator pedal is fixedly connected to the main mounting plate through the first mounting bracket.

3. The embodied robot of claim 1, wherein: The forklift lifting actuator includes a second motor, a second linear motion module, a forklift mounting bracket, a fixed bracket, a pull rod, a first screw, a second screw, and a lever clamp. The second linear motion module is fixedly connected to the main mounting plate via the forklift mounting bracket. A second motor is installed at the upper end of the second linear motion module, and second slide rails are respectively installed on both sides of the second linear motion module. A second slider is slidably connected to the second slide rail, and a fixed bracket is connected to the second slider. The lower end of the pull rod is hinged to the fixed bracket via the first screw, and the upper end of the pull rod is hinged to the lever clamp via the second screw. The lever clamp is fixedly mounted to the forklift lifting lever of the forklift.

4. The embodied robot of claim 3, wherein: The structure of the fork arm angle actuator is the same as that of the fork arm lifting actuator.

5. The embodied robot of claim 1, wherein: The directional actuator includes a third mounting bracket, a fourth mounting bracket, a first adjusting screw, a mounting base, and a clamping pressure plate. The upper end of the third mounting bracket has a first mounting hole, and the lower end of the fourth mounting bracket has a third mounting hole. A third screw is inserted into both the first and third mounting holes, and a first nut is screwed onto the third screw. The third and fourth mounting brackets are hinged together via the third screw. A second mounting hole is provided on the third mounting bracket, into which a fourth screw is inserted. A fourth mounting hole is provided on the fourth mounting bracket, into which a fifth screw is inserted. The first adjusting screw is connected to both the fourth and fifth screws. A mounting base and a clamping pressure plate are respectively provided on the side of the third mounting bracket. A fisheye screw is connected to the mounting base via a pin, and a second nut is screwed onto the pin to fix the fisheye screw. The mounting base is fixed to the clamping pressure plate via the fisheye screw, and a nut is screwed onto the fisheye screw. The mounting base is fixedly connected to the main mounting plate.

6. The embodied robot of claim 5, wherein: The steering actuator also includes a third motor and a steering wheel connecting plate. A rotating motor is provided at the upper end of the fourth mounting bracket. An output bearing is connected to the output end of the rotating motor. The output bearing is connected to the steering wheel connecting plate. A connecting plate pressure plate is provided on the steering wheel connecting plate.

7. The embodied robot of claim 5, wherein: The gear shifting mechanism includes a push rod adjusting plate, a mechanism fixing plate, an electric push rod, a gear shift buckle, a second adjusting screw, a guide rod, and a push rod mounting plate. The push rod adjusting plate has adjusting holes and multiple guide holes. A second adjusting screw is inserted into the adjusting hole, and a guide rod is installed in each guide hole. The guide rod is inserted into the mechanism fixing plate, which is connected to the second adjusting screw. The mechanism fixing plate is fixedly mounted on the fourth mounting bracket. A push rod mounting plate is fixedly mounted on the side of the push rod adjusting plate, and the electric push rod is connected to the push rod mounting plate. A gear shift buckle is located on the top of the electric push rod.

8. The embodied robot of claim 1, wherein: The braking actuator includes a third linear motion module, a third motor, a fifth mounting bracket, and a brake pedal; the third linear motion module has third guide rails on both sides, a third slider is slidably connected to the third guide rails, and a brake pedal is connected to the third slider; the third linear motion module is fixedly connected to the main mounting plate through the fifth mounting bracket.

9. The embodied robot of claim 1, wherein: The main mounting plate is provided with multiple foot cup mounting parts, and the throttle actuator, fork arm lifting actuator, fork arm angle actuator, direction actuator, and foot cup mounting parts are all screwed with supporting foot cups.

10. The somnobot according to claim 1, wherein: The main mounting plate is also provided with a number of first reinforcing ribs.

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