A mobile robot

Abstract

The utility model belongs to the field of robot, concretely relates to a mobile manipulator, including the bearing car plate, the top fixed connection of bearing car plate has the rotary rudder machine, the output fixed connection of rotary rudder machine has the swing frame, be provided with the adjusting assembly on the swing frame, the adjusting assembly includes the linkage block, the outer wall fixed connection of swing frame has the linkage block, the outer wall fixed connection of linkage block has the transmission rod, the top fixed connection of bearing car plate has the guide slide rail. This mobile manipulator drives swing frame rotation with rotary rudder machine, linkage transmission rod, force slide along guide slide rail and move, drive the synchronous adjustment of sliding frame to position counterweight box, can according to the different operating posture of manipulator, automatic, real -time adaptation adjustment equipment overall gravity center, the accurate control of electric cylinder seat counterweight box lifting, further optimizes the gravity center height, effectively avoids the risk of toppling caused by gravity center deviation, promotes the operating safety and scene adaptability.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, specifically to a mobile robotic arm. Background Technology

[0002] In robotics applications, the five-fingered bionic robotic hand, as an end-user device, has become an important vehicle for showcasing the integration of mechanics and intelligence due to its multi-degree-of-freedom, multi-finger coordination, and high flexibility. By simulating human hand movements, it can complete diverse posture changes and action executions, conveying the agility and adaptability of mechanical devices in various scenarios.

[0003] Currently, traditional mobile robotic arms rely on fixed counterweights or manual operation for center of gravity adjustment. During operation, the center of gravity is prone to shift due to dynamic changes in the robotic arm's posture (such as extension or turning of the robotic arm), which can cause equipment to tip over and work to be interrupted. In view of this, we propose a mobile robotic arm. Utility Model Content

[0004] The main objective of this invention is to provide a mobile robotic arm that can solve the problems mentioned in the background section.

[0005] To achieve the above objectives, the present invention proposes a mobile robotic arm, comprising a support platform, a rotary servo motor fixedly connected to the top of the support platform, a swing frame fixedly connected to the output end of the rotary servo motor, and an adjustment assembly provided on the swing frame, the adjustment assembly comprising: A linkage block is fixedly connected to the outer wall of the swing frame, and a transmission rod is fixedly connected to the outer wall of the linkage block; The top of the load-bearing vehicle plate is fixedly connected to the guide slide rail, and the outer wall of the guide slide rail is slidably connected to the force-bearing slide block; A connecting rod is fixedly connected to the outer wall of the force-bearing slide, and a sliding frame is fixedly connected to the end of the connecting rod away from the force-bearing slide.

[0006] Preferably, an electric cylinder base is fixedly connected to the bottom of the sliding frame, and a counterweight box is fixedly connected to the output end of the electric cylinder base.

[0007] Preferably, the top of the counterweight box is detachably connected to a cover plate, and the counterweight box is provided with a counterweight groove.

[0008] Preferably, the counterweight box has a slot for taking out and putting in counterweights, and a counterweight block is placed in the counterweight slot.

[0009] Preferably, a guide column is fixedly connected to the bottom of the counterweight box, and the outer wall of the guide column is slidably connected to the inner wall of the sliding frame.

[0010] Preferably, an L-shaped connecting plate is fixedly connected to the outer wall of the swing frame, and a robotic arm is fixedly connected to the outer wall of the L-shaped connecting plate.

[0011] Preferably, a drive wheel is fixedly connected to the bottom of the support plate, an auxiliary leg is fixedly connected to the bottom of the support plate, a ball is rotatably connected to the bottom of the auxiliary leg, and an avoidance groove is provided on the support plate.

[0012] This utility model provides a mobile robotic arm. It has the following beneficial effects: (1) The mobile robotic arm drives the swing frame to rotate via a rotary servo motor, which in turn moves the linkage transmission rod and the force-bearing slide along the guide rail, causing the sliding frame to adjust the position of the counterweight box synchronously. It can automatically and in real time adapt and adjust the overall center of gravity of the equipment according to different working postures of the robotic arm (such as reaching forward to grab heavy objects and swinging backward to transfer materials). The electric cylinder seat precisely controls the lifting and lowering of the counterweight box, further optimizing the height of the center of gravity. This dynamic control mechanism allows the robotic arm to maintain a stable state in various complex working scenarios (heavy-load grabbing, turning in narrow passages), effectively avoiding the risk of tipping caused by the center of gravity shift, and improving the safety of operation and the adaptability of the scenario.

[0013] (2) The three sets of guide rails of the mobile robot provide stable guidance for the force-bearing slide and the sliding frame. The cooperation between the transmission rod and the sliding groove of the force-bearing slide ensures that the adjustment component runs smoothly without jamming. The guide column constructs a precise guide path for the lifting of the counterweight box, ensuring the stability of the counterweight box during lifting. Attached Figure Description

[0014] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0015] Figure 1 This is a schematic diagram of the overall three-dimensional structure of the present invention; Figure 2 This is a schematic diagram of the guide rail and clearance slot of this utility model. Figure 3 This is a schematic diagram of the L-shaped connecting plate and the rolling ball part of this utility model; Figure 4 This is an exploded structural diagram of the linkage block and sliding frame of this utility model.

[0016] Explanation of the reference numerals: 1. Carrying platform; 2. Rotary servo motor; 3. Swing frame; 4. Adjustment assembly; 41. Linkage block; 42. Transmission rod; 43. Guide rail; 44. Force-bearing slide; 45. Connecting rod; 46. Sliding frame; 47. Electric cylinder base; 48. Counterweight box; 5. Cover plate; 6. Counterweight slot; 7. Pick-up and drop-off slot; 8. Counterweight block; 9. Guide column; 10. L-shaped connecting plate; 11. Robotic arm; 12. Drive wheel; 13. Auxiliary leg; 14. Roller ball; 15. Clearance slot.

[0017] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0018] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings. 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.

[0019] Please see Figures 1-4 This utility model proposes a mobile robotic arm, including a support platform 1. A rotary servo motor 2 is fixedly connected to the top of the support platform 1. The rotary servo motor 2 is a high-precision servo motor that can precisely control the rotation angle of a swing frame 3. The output end of the rotary servo motor 2 is fixedly connected to the swing frame 3. An adjustment component 4 is provided on the swing frame 3. The adjustment component 4 includes a linkage block 41. The linkage block 41 is fixedly connected to the outer wall of the swing frame 3. A transmission rod 42 is fixedly connected to the outer wall of the linkage block 41. A guide rail 43 is fixedly connected to the top of the support platform 1. The outer wall of the guide rail 43 is slidably connected to... There is a force-bearing slide 44, which has a sliding groove. The outer wall of the transmission rod 42 is slidably connected to the inner wall of the sliding groove. The arc-shaped transmission rod 42 will push the force-bearing slide 44 to move on the guide slide rail 43. The outer wall of the force-bearing slide 44 is fixedly connected to a connecting rod 45. The end of the connecting rod 45 away from the force-bearing slide 44 is fixedly connected to a sliding frame 46. There are three sets of guide slide rails 43. One set of guide slide rails 43 guides the movement of the force-bearing slide 44, and the other two sets of guide slide rails 43 guide the movement of the sliding frame 46.

[0020] In this utility model, the bottom of the sliding frame 46 is fixedly connected to the electric cylinder base 47, the output end of the electric cylinder base 47 is fixedly connected to the counterweight box 48, the top of the counterweight box 48 is detachably connected to the cover plate 5, and the connection between the cover plate 5 and the counterweight box 48 is completed by screws. The counterweight box 48 is provided with a counterweight groove 6 and a pick-and-place slot 7. A counterweight block 8 is placed in the counterweight groove 6. Notches are provided on both sides of the counterweight block 8, which facilitates holding the counterweight block 8. Both the pick-and-place slot 7 and the notches are chamfered to avoid scratching the hands when picking up or placing the counterweight block 8.

[0021] Furthermore, a guide column 9 is fixedly connected to the bottom of the counterweight box 48. The outer wall of the guide column 9 is slidably connected to the inner wall of the sliding frame 46. The movement of the guide column 9 guides the lifting and lowering of the counterweight box 48. An L-shaped connecting plate 10 is fixedly connected to the outer wall of the swing frame 3. A robot arm 11 is fixedly connected to the outer wall of the L-shaped connecting plate 10. The L-shaped connecting plate 10 and the swing frame 3 are fixed with bolts.

[0022] Furthermore, a power wheel 12 is fixedly connected to the bottom of the support plate 1, an auxiliary leg 13 is fixedly connected to the bottom of the support plate 1, and a ball bearing 14 is rolledly connected to the bottom of the auxiliary leg 13. The ball bearing 14 is made of polyurethane, which is wear-resistant and can assist in supporting the support plate 1. A clearance slot 15 is provided on the support plate 1. There are three sets of clearance slots 15, one large and two small. The large one is used to avoid the electric cylinder seat 47, and the small one is used to avoid the guide column 9.

[0023] It should be noted that the above electrical components are all existing technology 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 appliances 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 known by those skilled in the art through technical manuals or conventional experimental methods. No specific restrictions are made here.

[0024] In operation, the rotary servo motor 2 is activated, and its high-precision servo drive characteristics drive the swing frame 3 to rotate precisely. The linkage block 41 and transmission rod 42 move in an arc shape with the swing frame 3. The transmission rod 42 slides smoothly along the sliding groove (lined with a wear-resistant bushing) of the force-bearing slide 44, pushing the force-bearing slide 44 to move stably in a straight line along the guide rail 43. The connecting rod 45 slides synchronously with the sliding frame 46, dynamically adjusting the overall center of gravity of the equipment according to the actual working direction of the robot arm 11 (e.g., when reaching forward to grab, the counterweight box 48 moves backward; when swinging backward, the counterweight box 48 moves forward). Before performing a heavy-load grabbing task, the electric cylinder seat 47 drives the counterweight box 48 to descend along the chrome-plated guide column 9, actively lowering the height of the equipment's center of gravity and enhancing operational stability.

[0025] The above description is only a preferred embodiment of the present utility model and does not limit the patent scope of the present utility model. All equivalent structural transformations made under the inventive concept of the present utility model using the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present utility model.

Claims

1. A mobile manipulator comprising a load carrying vehicle platform (1) characterised in that: A rotary servo motor (2) is fixedly connected to the top of the supporting vehicle plate (1), and a swing frame (3) is fixedly connected to the output end of the rotary servo motor (2). An adjustment component (4) is provided on the swing frame (3), and the adjustment component (4) includes: Linkage block (41), the outer wall of the swing frame (3) is fixedly connected to the linkage block (41), and the outer wall of the linkage block (41) is fixedly connected to the transmission rod (42). The top of the carrying plate (1) is fixedly connected to the guide rail (43), and the outer wall of the guide rail (43) is slidably connected to the force-bearing slide block (44). A connecting rod (45) is fixedly connected to the outer wall of the force-bearing slide (44), and a sliding frame (46) is fixedly connected to the end of the connecting rod (45) away from the force-bearing slide (44).

2. A mobile manipulator according to claim 1, wherein: The bottom of the sliding frame (46) is fixedly connected to an electric cylinder base (47), and the output end of the electric cylinder base (47) is fixedly connected to a counterweight box (48).

3. A mobile manipulator according to claim 2, wherein: The top of the counterweight box (48) is detachably connected to a cover plate (5), and a counterweight groove (6) is provided on the counterweight box (48).

4. A mobile manipulator according to claim 3, wherein: The counterweight box (48) has a slot (7) for taking out and putting in, and a counterweight block (8) is placed in the counterweight slot (6).

5. A mobile manipulator according to claim 4, wherein: The bottom of the counterweight box (48) is fixedly connected to a guide column (9), and the outer wall of the guide column (9) is slidably connected to the inner wall of the sliding frame (46).

6. The mobile manipulator of claim 1, wherein: The outer wall of the swing frame (3) is fixedly connected to an L-shaped connecting plate (10), and the outer wall of the L-shaped connecting plate (10) is fixedly connected to a robot arm (11).

7. The mobile manipulator of claim 1, wherein: The bottom of the support plate (1) is fixedly connected to a power wheel (12), the bottom of the support plate (1) is fixedly connected to an auxiliary leg (13), the bottom of the auxiliary leg (13) is rolledly connected to a ball (14), and the support plate (1) is provided with an avoidance slot (15).

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