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CN-224223904-U - Spider robot capable of picking up objects

CN224223904UCN 224223904 UCN224223904 UCN 224223904UCN-224223904-U

Abstract

The utility model discloses a spider robot capable of picking up objects, which comprises a supporting seat, wherein mechanical arms for picking up objects are arranged around the supporting seat, each mechanical arm comprises a first mechanical arm, a second mechanical arm and a third mechanical arm, and a moving function and a clamping function are integrated into the robot between the first mechanical arm and the supporting seat, so that the whole structure of the robot is more compact without independently arranging a complex moving mechanism and a clamping mechanism, the number of parts is reduced, the whole volume is reduced, the space utilization rate is effectively improved by flexibly shuttling and operating in the environment with limited space, the mechanical arm can accurately control the position and the gesture through the movable connection between each component part of the mechanical arm in the process of driving the machine body to move, and the robot body carried by the flexible joint and the tail end of the mechanical arm realizes high-precision clamping action and ensures that the robot is smoother and more efficient in executing tasks.

Inventors

  • Ren Tianci
  • ZHANG HAN
  • YANG QIMING
  • Zhu Congjia
  • CHEN YUHANG
  • LI YUTING
  • ZHAO CHENYANG
  • Ren Tianshuo
  • HOU ZHIQUAN
  • WANG SIJIA
  • ZHAO JIAYI
  • Shi Zeyao
  • LI XINYING

Assignees

  • 北京电子科技职业学院

Dates

Publication Date
20260512
Application Date
20250506

Claims (10)

  1. 1. The utility model provides a can pick up thing spider robot, includes supporting seat (1), wherein supporting seat (1) is provided with the arm that is used for picking up article all around, and the arm includes first arm (2), second arm (3) and third arm, between first arm (2) and supporting seat (1), be rotation connection between first arm (2) and second arm (3) and between second arm (3) and the third arm, the third arm includes grudging post (7), driving motor (8), driving tooth (9), driven tooth (10), connection cantilever crane (11), fifth motor (12) and manipulator body (13), the side surface fixedly connected with pole setting (4) of third arm, the side surface fixedly connected with displacement motor (5) of pole setting (4), the output fixedly connected with axle of displacement motor (5), the side surface and travelling wheel (6) of axle are fixedly connected with.
  2. 2. The spider robot according to claim 1, wherein the first mechanical arm (2) comprises two parallel first side walls (201), the first side walls (201) are provided with first connecting rods (202) near one ends of the supporting base (1), two ends of each first connecting rod (202) are fixedly connected with the first side walls (201) respectively, a connecting base (203) is arranged between each first connecting rod (202) and the side wall of the supporting base (1), one end of each connecting base (203) is rotatably connected with the corresponding first connecting rod (202), the other end of each connecting base (203) penetrates through the side wall of the supporting base (1) and is fixedly connected with a first gear (207), one side of each first gear (207) is provided with a first motor (205), the output end of each first motor (205) is fixedly connected with a second gear (206), and the second gears (206) are meshed with the first gears (207).
  3. 3. The spider robot of claim 2, wherein a third gear (208) is fixedly connected to the axial lead of the first connecting rod (202), a fourth gear (210) is rotatably connected to the third gear (208), a second motor (209) is arranged on one side of the fourth gear (210), the bottom end of the second motor (209) is fixedly connected to the first side wall (201), and the output end of the second motor (209) is fixedly connected to the axial lead of the fourth gear (210).
  4. 4. A spider robot according to claim 3, wherein the second mechanical arm (3) comprises two parallel second side walls (301), the second side walls (301) are connected with the first side walls (201) through second connecting rods (211), the first side walls (201) are fixedly connected with two ends of the second connecting rods (211), and the second side walls (301) are rotatably connected with two ends of the second connecting rods (211).
  5. 5. The spider robot of claim 4, wherein a fifth gear (212) is fixedly connected to the axial lead of the second connecting rod (211), a sixth gear (305) is rotatably connected to the fifth gear (212), a third motor (304) is arranged on one side of the sixth gear (305), the bottom end of the third motor (304) is fixedly connected to the second side wall (301), and the output end of the third motor (304) is fixedly connected to the axial lead of the sixth gear (305).
  6. 6. The spider robot of claim 5, wherein the third mechanical arm and the second mechanical arm (3) extend in the same direction, the third mechanical arm and the second mechanical arm (3) are connected through a third connecting rod (303), one end of the third connecting rod (303) is fixedly connected with the stand (7), and the side surface of the third connecting rod (303) is rotatably connected with the second mechanical arm (3).
  7. 7. The spider robot of claim 6, wherein a support plate (306) is fixedly connected between the second side walls (301), the support plate (306) is fixedly connected with a fourth motor (302), and an output end of the fourth motor (302) is fixedly connected with a third connecting rod (303).
  8. 8. The spider robot according to claim 1, wherein the driving teeth (9) and the driven teeth (10) are both rotatably connected with the stand (7), the output end of the driving motor (8) is fixedly connected with the driving teeth (9), and the driving teeth (9) are meshed with the driven teeth (10).
  9. 9. The spider robot of claim 1, wherein the side surface of the driven tooth (10) is fixedly connected with the connecting arm support (11), a fifth motor (12) is fixedly connected with the side inner wall of the connecting arm support (11), and the output end of the fifth motor (12) is fixedly connected with the manipulator body (13).
  10. 10. The spider robot of claim 1, wherein the upper surface of the support base (1) is provided with a battery compartment (14), and the upper surface of the battery compartment (14) is provided with an imaging device (15).

Description

Spider robot capable of picking up objects Technical Field The utility model belongs to the technical field of robots, and particularly relates to a spider robot capable of picking up objects. Background The robot is intelligent equipment integrating multiple disciplinary technologies such as machinery, electronics, computers, sensors and the like, can autonomously execute tasks according to a preset program or through an artificial intelligent algorithm, has various forms from human-like appearance to unique structures specially designed for specific scenes, is accurate in production operation in industry, is applied to various fields such as medical treatment, logistics, exploration and the like, greatly expands human capability boundaries, improves efficiency and improves life. The object picking robot is intelligent equipment capable of autonomously moving and clamping objects by using a mechanical arm arranged on a machine body according to use requirements, the existing object picking robot is usually designed to separate a moving end from a clamping end, and two independent control systems occupy larger use space, bring heavier machine body weight, reduce flexibility of the robot and limit the use in environments with limited space. Disclosure of utility model The technical problem to be solved by the utility model is to overcome the defects in the prior art and provide the spider robot capable of picking up objects. The technical scheme includes that the robot comprises a supporting seat, wherein mechanical arms for picking up objects are arranged around the supporting seat, each mechanical arm comprises a first mechanical arm, a second mechanical arm and a third mechanical arm, the first mechanical arms are connected with the supporting seat in a rotating mode, the second mechanical arms are connected with the third mechanical arms in a rotating mode, each third mechanical arm comprises a vertical frame, a driving motor, driving teeth, driven teeth, a connecting arm frame, a fifth motor and a manipulator body, vertical rods are fixedly connected to the side surfaces of the third mechanical arms, displacement motors are fixedly connected to the side surfaces of the vertical rods, shafts are fixedly connected to the output ends of the displacement motors, and the side surfaces of the shafts are fixedly connected with travelling wheels. Through above-mentioned technical scheme, through with remove the function with press from both sides and get the function integration in the arm, make the overall structure of robot more compact, reduced spare part quantity, reduced whole volume, through nimble joint and end effector, realize the action of getting of pressing from both sides of high accuracy. Further, first arm includes two parallel arrangement's first lateral wall, first lateral wall is close to supporting seat one end and is provided with first connecting rod, first connecting rod both ends respectively with first lateral wall fixed connection, be provided with the connection base between first connecting rod and the supporting seat lateral wall, connection base one end rotates with first connecting rod to be connected, the connection base other end runs through supporting seat lateral wall and fixedly connected with first gear, first gear one side is provided with first motor, first motor output fixedly connected with second gear, second gear and first gear engagement. Through above-mentioned technical scheme, when first motor output rotated, the second gear began to rotate and drove first gear and rotate, and the whole axial rotation that carries out of arm is driven through the connection base when first gear rotated, through the axial rotation of arm, enlarges its operation contact range. Further, a third gear is fixedly connected to the axis of the first connecting rod, a fourth gear is rotatably connected to the third gear, a second motor is arranged on one side of the fourth gear, the bottom end of the second motor is fixedly connected with the first side wall, and the output end of the second motor is fixedly connected with the axis of the fourth gear. Through the technical scheme, when the output end of the second motor rotates, the fourth gear starts to rotate around the outer edge of the third gear due to the fixed connection relation between the third gear and the first connecting rod, and the first mechanical arm starts to swing around the first connecting rod in the upper-lower range through the fixed connection between the second motor and the first side wall. Further, the second mechanical arm comprises two second side walls which are arranged in parallel, the second side walls are connected with the first side walls through second connecting rods, the first side walls are fixedly connected with two ends of the second connecting rods, and the second side walls are rotatably connected with two ends of the second connecting rods. Through the technical scheme, the second side wall can s