A robot with a scissor hand

Abstract

The utility model relates to robot technical field, and disclose a kind of robot with scissors hand, the robot with scissors hand, including fuselage, the fuselage top side is provided with arm, the arm is provided with two groups, wherein one the arm is provided with shearing assembly, wherein another the arm is provided with auxiliary assembly, the shearing assembly includes rectangular frame. The robot with scissors hand, when the higher hardness object needs to be sheared, by setting shearing assembly, first make the arm of rectangular frame motion to the outside of the object, start the first asynchronous motor on rectangular frame, make the rotation of rotating shaft, drive driving arc-shaped shear disc rotation, cooperate with the rotation of rotating lever to make driven arc-shaped shear disc synchronous rotation, when driving arc-shaped shear disc and driven arc-shaped shear disc mutually approach synchronous motion, cooperate with sawtooth to better the higher hardness object is sheared, improve the practicality of robot body.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, specifically to a robot equipped with scissor arms. Background Technology

[0002] Currently, robotics technology has been widely applied and explored in various fields. The development of robots with specific functions has become a key direction for improving production efficiency, expanding application scenarios, and solving complex task requirements. Among them, robots with scissor-like hands have shown unique application potential in many scenarios.

[0003] In practical applications, existing technologies have some shortcomings in enabling robots with scissor-like hands to perform tasks flexibly. Their shearing structures are simple and often only adaptable to specific objects. They cannot adapt well to sheet-like objects with different hardness through multiple shearing mechanisms, and their practicality and adaptability need to be improved.

[0004] In light of this, we propose a robot with scissor-like arms. Utility Model Content

[0005] The purpose of this invention is to provide a robot with scissor arms to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, this utility model provides the following technical solution: A robot equipped with scissor arms includes a body, a head located at the center of the top of the body, legs located at both ends of the bottom of the body, and arms located on both sides of the top of the body. The legs and arms are arranged in two sets, one arm equipped with a cutting component, and the other arm equipped with an auxiliary component. The cutting component includes: A rectangular frame is fixedly installed at one end of the arm away from the machine body. A first asynchronous motor is fixedly installed on the inner wall of the rectangular frame, and a rotating shaft is fixedly installed at the output end of the first asynchronous motor. An active arc-shaped shear disc is fixedly installed on the outside of the rotating shaft. A rotating rod is rotatably installed inside the side wall of the rectangular frame through a bearing component. A driven arc-shaped shear disc is fixedly installed on the outside of the rotating rod. The active arc-shaped shear disc engages with the driven arc-shaped shear disc. The saw teeth are fixedly installed on the concave sides of both the active and driven arc-shaped shear discs.

[0007] In a further embodiment, the serrations are provided in multiple sets to better cut the object.

[0008] In a further embodiment, the auxiliary component includes a fixed plate. A fixed plate is fixedly installed at one end of the arm away from the rectangular frame and away from the machine body. A second asynchronous motor is fixedly installed on the outer wall of the fixed plate. An active gear is fixedly installed on the outside of the output shaft of the second asynchronous motor. A driven gear is rotatably installed inside the fixed plate through bearing components. The active gear meshes with the driven gear.

[0009] In a further embodiment, a movable block is hinged to one end of the active gear plate, a V-shaped block is hinged to one end of the driven gear plate, and a hinge block is hinged to one end of the fixed plate. Two hinge blocks are provided, and the ends of the two hinge blocks away from the fixed plate are respectively hinged to the other ends of the movable block and the V-shaped block.

[0010] In a further embodiment, an active linear shear disc is fixedly installed on the outer wall of the V-shaped block.

[0011] In a further embodiment, an L-shaped frame is fixedly installed on one end of the outer wall of the moving block, and the other end of the L-shaped frame is fixedly connected to the fixed end of a hydraulic rod. A driven linear shear disc is fixedly installed on the piston end of the hydraulic rod to better cut objects.

[0012] In a further embodiment, the robot body is equipped with a control system that controls the movement of the head, legs, arms, first asynchronous motor, second asynchronous motor, and hydraulic rods, thereby better controlling the robot's movement.

[0013] Compared with the prior art, this utility model provides a robot with scissor arms, which has the following beneficial effects: 1. This robot equipped with scissor arms can cut hard objects by first moving the arm containing the rectangular frame to the outside of the object, and then activating the first asynchronous motor on the rectangular frame to rotate the shaft, which in turn drives the active arc-shaped scissor disc to rotate. The driven arc-shaped scissor disc rotates synchronously with the rotating rod. When the active and driven arc-shaped scissor discs move close to each other and move synchronously, the scissor teeth can better cut hard objects, improving the robot's practicality.

[0014] 2. To improve the practicality and adaptability of this robot equipped with scissor arms, auxiliary components are incorporated. When a smooth cut is needed on a soft object, the arm with the fixed plate moves to the outside of the object, activating the second asynchronous motor on the fixed plate. This causes the active gear plate to rotate, and the driven gear plate to rotate synchronously. The hinge block, in conjunction with the V-shaped block, causes the moving block and V-shaped block to move synchronously towards each other, bringing the active and driven linear shears closer together to complete the cut. Furthermore, activating the hydraulic rod on the L-shaped frame adjusts the relative vertical distance between the active and driven linear shears, enabling the robot to cut a smooth cut on soft objects and further enhancing its practicality and adaptability. Attached Figure Description

[0015] Figure 1 This is a first-view schematic diagram of the overall structure of this utility model; Figure 2 This is a second-view schematic diagram of the overall structure of this utility model; Figure 3 This is a third-view schematic diagram of the overall structure of this utility model; Figure 4 This utility model Figure 3 Enlarged structural diagram of region A in the middle; Figure 5 This is a first-view schematic diagram of the auxiliary component of this utility model; Figure 6 This is a second-view schematic diagram of the auxiliary component of this utility model.

[0016] Explanation of icon numbers: 1. Fuselage; 2. Head; 3. Legs; 4. Arms; 5. Cutting assembly; 51. Rectangular frame; 52. First asynchronous motor; 53. Rotating shaft; 54. Active arc-shaped shear plate; 55. Rotating rod; 56. Driven arc-shaped shear plate; 57. Sawtooth; 6. Auxiliary components; 61. Fixed plate; 62. Second asynchronous motor; 63. Driven gear plate; 64. Driven gear plate; 65. Moving block; 66. V-block; 67. Hinge block; 68. Driven linear shear plate; 69. L-shaped frame; 610. Hydraulic rod; 611. Driven linear shear plate. Detailed Implementation

[0017] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0018] In this application, the term "above" indicates the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. It is primarily used to better describe this application and its embodiments, and is not intended to limit the indicated device, element, or component to having a specific orientation, or to construct and operate in a specific orientation. Furthermore, the term "above" may also be used in certain circumstances to indicate a dependency or connection relationship. Those skilled in the art can understand the specific meaning of these terms in this application according to the specific circumstances.

[0019] Please see Figures 1-6 This utility model provides a technical solution: A robot with scissor arms includes a body 1, a head 2 located at the top center of the body 1, legs 3 located at both ends of the bottom of the body 1, and arms 4 located on both sides of the top of the body 1. The legs 3 and arms 4 are arranged in two sets.

[0020] In one embodiment of this utility model, a shearing component 5 is provided on one arm 4. The shearing component 5 includes a rectangular frame 51. The rectangular frame 51 is fixedly installed at one end of the arm 4 away from the body 1. A first asynchronous motor 52 is fixedly installed on the inner wall of the rectangular frame 51. A rotating shaft 53 is fixedly installed at the output end of the first asynchronous motor 52. An active arc-shaped shearing disc 54 is fixedly installed on the outside of the rotating shaft 53. A rotating rod 55 is rotatably installed inside the side wall of the rectangular frame 51 through a bearing component. A driven arc-shaped shearing disc 56 is fixedly installed on the outside of the rotating rod 55. The active arc-shaped shearing disc 54 engages with the driven arc-shaped shearing disc 56. Saw teeth 57 are fixedly installed on the concave sides of both the active arc-shaped shearing disc 54 and the driven arc-shaped shearing disc 56. In addition, multiple sets of saw teeth 57 are provided to better cut objects.

[0021] In this embodiment, when it is necessary to cut sheet-like objects with high hardness, the robot's control system first manipulates the arm 4, which is equipped with a rectangular frame 51, to move along a preset trajectory until the rectangular frame 51 moves to the outside of the object to be cut, preparing the position for the subsequent cutting action. After the position is ready, the control system sends a start command to the first asynchronous motor 52 (self-locking type) fixedly installed on the rectangular frame 51. The first asynchronous motor 52 then starts to run, and the power at its output end is directly transmitted to the rotating shaft 53 fixedly connected to it, causing the rotating shaft 53 to rotate. Since the active arc-shaped shear disc 54 is fixedly installed outside the rotating shaft 53, the rotation of the rotating shaft 53 will synchronously drive the active arc-shaped shear disc 54 to perform circular motion. The active arc-shaped shear disc 54 and the driven arc-shaped shear disc 56 are in a meshing state, and the rotation of the active arc-shaped shear disc 54 will be transmitted through... The interaction between the teeth causes the driven arc-shaped shear disc 56 to rotate around the rotating rod 55 (the rotating rod 55 is rotatably mounted inside the side wall of the rectangular frame 51 via bearing components, providing rotational support for the driven arc-shaped shear disc 56). During their rotation, when the movement directions of the active arc-shaped shear disc 54 and the driven arc-shaped shear disc 56 bring them closer together, the multiple sets of saw teeth 57 fixedly mounted on their concave sides will gradually come into contact with the object to be cut. With their sharp structure and multiple distribution, these saw teeth 57 can apply concentrated and uniform shearing force to the object during the continuous approaching movement of the active arc-shaped shear disc 54 and the driven arc-shaped shear disc 56. Through the biting and cutting action between the saw teeth 57 and the object, the shearing of sheet-like objects with high hardness is completed more efficiently, significantly improving the practicality of the robot body when handling such objects.

[0022] In one embodiment of this utility model, an auxiliary component 6 is provided on the other arm 4. The auxiliary component 6 includes a fixing plate 61. The fixing plate 61 is fixedly installed on the end of the arm 4 away from the rectangular frame 51 and away from the body 1. A second asynchronous motor 62 is fixedly installed on the outer wall of the fixing plate 61. A drive gear 63 is fixedly installed on the outside of the output shaft of the second asynchronous motor 62. A driven gear 64 is rotatably installed inside the fixing plate 61 through bearing components. The drive gear 63 meshes with the driven gear 64. In addition, a moving block 65 is hingedly installed inside the drive gear 63, a V-block 66 is hingedly installed inside the driven gear 64, and a hinge block 67 is hingedly installed inside the fixing plate 61. Two blocks 67 are provided. The ends of the two hinged blocks 67 away from the fixed plate 61 are respectively hinged to the other end of the moving block 65 and the other end of the V-shaped block 66. In addition, an active linear shear disc 68 is fixedly installed on the outer wall of the V-shaped block 66. In addition, one end of the L-shaped frame 69 is fixedly installed on the outer wall of the moving block 65. The other end of the L-shaped frame 69 is fixedly connected to the fixed end of the hydraulic rod 610. The piston end of the hydraulic rod 610 is fixedly installed with a driven linear shear disc 611 for better cutting of objects. In addition, the body 1 is equipped with a control system that controls the operation of the head 2, legs 3, arms 4, first asynchronous motor 52, second asynchronous motor 62 and hydraulic rod 610 for better control of the robot body's movement.

[0023] In this embodiment, when it is necessary to cut a flat slit on a sheet-like object with low hardness, the robot's control system first controls the arm 4 without the rectangular frame 51 (i.e., the arm 4 with the fixed plate 61) to move the fixed plate 61 to the outside of the object to be cut, ensuring the accuracy of the cutting position. Then, the control system activates the second asynchronous motor 62 (self-locking type) fixedly mounted on the outer wall of the fixed plate 61. The output shaft of the second asynchronous motor 62 begins to rotate, and the externally fixed drive gear 63 rotates synchronously. The drive gear 63 and the driven gear 64 are in a meshing state (the driven gear 64 is rotatably mounted inside the fixed plate 61 via bearings). (Stable rotation) The rotation of the driving gear disk 63 drives the driven gear disk 64 to rotate at a corresponding speed, and the two rotate in opposite directions. One end of a moving block 65 is hinged inside the driving gear disk 63. When the driving gear disk 63 rotates, it drives one end of the moving block 65 to make a circular motion through the hinge point, thereby causing the moving block 65 to move as a whole. At the same time, one end of a V-shaped block 66 is hinged inside the driven gear disk 64. The rotation of the driven gear disk 64 drives one end of the V-shaped block 66 to make a circular motion through the hinge point, thereby causing the V-shaped block 66 to move as a whole. One end of two hinge blocks 67 is hinged inside the fixed plate 61. The other ends of these two hinge blocks 67 are respectively connected to the moving block 64. The other end of the moving block 65 is hinged to the other end of the V-block 66. When the moving block 65 and the V-block 66 are displaced under the drive of the driving gear 63 and the driven gear 64, the two hinged blocks 67 will adjust their angles by rotating, guiding the moving block 65 and the V-block 66 to move synchronously towards each other. Since the driving linear shear disc 68 is fixedly installed on the outer wall of the V-block 66, and the other end of the L-shaped frame 69 fixedly installed on the outer wall of the moving block 65 is connected to the hydraulic rod 610 (the piston end of the hydraulic rod 610 is fixedly installed with the driven linear shear disc 611), the synchronous movement of the moving block 65 and the V-block 66 will drive the driving linear shear disc 68 and the driven linear shear disc 611. The two devices move closer together to each other, ultimately completing the shearing of sheet-like objects with low hardness. In addition, when the control system activates the hydraulic rod 610 on the L-shaped frame 69, the piston end of the hydraulic rod 610 will extend and retract, thereby driving the driven linear shear disc 611 to move up and down, adjusting the relative vertical distance between the active linear shear disc 68 and the driven linear shear disc 611. Through this distance adjustment, it is possible to adapt to objects with low hardness of different thicknesses, ensuring that during the shearing process, the active linear shear disc 68 and the driven linear shear disc 611 can contact the object at the optimal relative position, thereby cutting a smooth cut, effectively improving the practicality of the robot body and its adaptability to different shearing requirements.

[0024] All electrical components mentioned in this application are electrically connected to the control system and power supply built into the body 1. The control system is a conventional and known device that can control the head 2, legs 3, arms 4, first asynchronous motor 52, second asynchronous motor 62, and hydraulic rod 610. All standard parts used in this application can be purchased from the market. The specific connection methods of each part are all conventional methods such as riveting and welding, which are mature in the prior art. The standard parts are all conventional models in the prior art. In addition, the circuit connection adopts conventional connection methods in the prior art. It should be noted that the above electrical components are all prior art products. Those skilled in the art should select, install, and complete the circuit debugging work according to the needs of use to ensure that all electrical components can work normally. The components are all general standard parts or components known to those skilled in the art. Their structure and principle can be learned by those skilled in the art through technical manuals or conventional experimental methods. No specific restrictions are made here. The supporting structures of the hydraulic drive structure mentioned in this application, such as hydraulic tanks and hydraulic pumps, are existing equipment and will not be described in detail here.

[0025] The present invention has been described in detail above. However, modifications or improvements can be made to it, which will be obvious to those skilled in the art. Therefore, any modifications or improvements that do not depart from the spirit of the present invention are within the protection scope of the present invention.

Claims

1. A robot with scissor-like arms, comprising a body (1), a head (2) disposed at the top center of the body (1), legs (3) disposed at both ends of the bottom of the body (1), and arms (4) disposed on both sides of the top of the body (1), wherein the legs (3) and arms (4) are provided in two sets, characterized in that: One of the arms (4) is provided with a shearing component (5), and the other arm (4) is provided with an auxiliary component (6). The shearing component (5) includes: A rectangular frame (51) is fixedly installed at one end of the arm (4) away from the body (1). A first asynchronous motor (52) is fixedly installed on the inner wall of the rectangular frame (51). A rotating shaft (53) is fixedly installed at the output end of the first asynchronous motor (52). An active arc-shaped shear disc (54) is fixedly installed on the outside of the rotating shaft (53). A rotating rod (55) is rotatably installed inside the side wall of the rectangular frame (51) through a bearing component. A driven arc-shaped shear disc (56) is fixedly installed on the outside of the rotating rod (55). The active arc-shaped shear disc (54) engages with the driven arc-shaped shear disc (56). The saw teeth (57) are fixedly installed on the concave sides of both the active arc-shaped shear disc (54) and the driven arc-shaped shear disc (56).

2. The robot with scissor arms according to claim 1, characterized in that: The saw teeth (57) are provided in multiple sets.

3. The robot with scissor arms according to claim 1, characterized in that: The auxiliary component (6) includes a fixed plate (61). The fixed plate (61) is fixedly installed at one end of the arm (4) away from the rectangular frame (51) away from the body (1). A second asynchronous motor (62) is fixedly installed on the outer wall of the fixed plate (61). An active gear (63) is fixedly installed on the outside of the output shaft of the second asynchronous motor (62). A driven gear (64) is rotatably installed inside the fixed plate (61) through a bearing. The active gear (63) meshes with the driven gear (64).

4. The robot with scissor arms according to claim 3, characterized in that: The active gear plate (63) has a movable block (65) hinged to one end inside, the driven gear plate (64) has a V-shaped block (66) hinged to one end inside, and the fixed plate (61) has a hinge block (67) hinged to one end inside. There are two hinge blocks (67), and the ends of the two hinge blocks (67) away from the fixed plate (61) are respectively hinged to the other end of the movable block (65) and the other end of the V-shaped block (66).

5. The robot with scissor arms according to claim 4, characterized in that: An active linear shear disc (68) is fixedly installed on the outer wall of the V-shaped block (66).

6. The robot with scissor arms according to claim 5, characterized in that: The outer wall of the movable block (65) is fixedly installed with one end of an L-shaped frame (69), and the other end of the L-shaped frame (69) is fixedly connected to the fixed end of a hydraulic rod (610). The piston end of the hydraulic rod (610) is fixedly installed with a driven linear shear disc (611).

7. The robot with scissor arms according to claim 6, characterized in that: The body (1) is equipped with a control system that controls the operation of the head (2), legs (3), arms (4), first asynchronous motor (52), second asynchronous motor (62) and hydraulic rod (610).

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