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WO2018161196A1 - Mécanisme robotisé d'aide aux familles - Google Patents

Mécanisme robotisé d'aide aux familles Download PDF

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Publication number
WO2018161196A1
WO2018161196A1 PCT/CN2017/075675 CN2017075675W WO2018161196A1 WO 2018161196 A1 WO2018161196 A1 WO 2018161196A1 CN 2017075675 W CN2017075675 W CN 2017075675W WO 2018161196 A1 WO2018161196 A1 WO 2018161196A1
Authority
WO
WIPO (PCT)
Prior art keywords
motor
bracket
fixed
shaft
sleeve
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2017/075675
Other languages
English (en)
Chinese (zh)
Inventor
肖丽芳
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Individual
Original Assignee
Individual
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Individual filed Critical Individual
Priority to PCT/CN2017/075675 priority Critical patent/WO2018161196A1/fr
Publication of WO2018161196A1 publication Critical patent/WO2018161196A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators

Definitions

  • the utility model belongs to the field of service robot equipment, and particularly relates to a novel home service robot mechanism.
  • a novel home service robot mechanism comprising a mechanical arm, a vehicle body and a screw lifting mechanism, wherein the uppermost end of the mechanical arm is a mechanical hand grasping: the bottom of the mechanical hand grasping
  • the end is connected to the driving shaft of the electric motor 1 through a turbine: the robot grip and the turbine are concentrically fixed and fixed to the bracket 1 by bolts; the motor 1 is fixed on the top surface of the bracket 1 by bolts;
  • the bracket 1 is connected to the bracket 2 by bolts; the top end of the bracket 2 is suspended and fixed to the motor 2 by bolts; and the motor 1 and the motor 2 are concentrically fixed on a vertical line; the bottom end of the bracket 2 is screwed horizontally Fixing the sleeve 1; one side of the sleeve 1 is connected to the motor 3 via a shaft; the motor 3 is mounted on one side of the bracket 3; the bottom end of the bracket 3 is connected with a bracket 4;
  • the bracket 4 is a vertically fixed rectangular
  • the effective stroke of the screw lifting mechanism is 400 mm, and the lead screw is lifted by the motor.
  • the motor 1, the motor 2, the motor 3, the motor 4, and the motor 5 are of the MAXON motor.
  • the shaft 3 and the motor 5 are mounted vertically on the base and connected to each other by a timing belt.
  • FIG. 1 is a three-dimensional schematic view of a mechanical arm of the present invention.
  • Figure 2 is a front elevational view of the structure of the present invention.
  • Figure 3 is a cross-sectional view showing the structure of the present invention.
  • a novel home service robot mechanism includes a mechanical arm (1), a vehicle body (25), a screw lifting mechanism (27), and an uppermost end of the mechanical arm (1).
  • the bottom end of the robot grip (2) is connected to the driving shaft (5) of the motor 1 (4) through the turbine (3): the robot grip (2) and the turbine (3) It is concentrically fixed and bolted to bracket 1 (6).
  • the motor 1 (4) is fixed to the top surface of the bracket 1 (6) by bolts; the bracket 1 (6) is bolted to the bracket 2 (7).
  • the top end of the bracket 2 (7) is suspended by a bolt to fix the motor 2 (8) .
  • the motor 1 (4) and the motor 2 (8) are concentrically fixed on a vertical line; the bottom end of the bracket 2 (7) is fixed in a horizontal direction by a sleeve 1 (9).
  • the motor 3 (10) is connected to one side of the sleeve 1 (9) by a shaft.
  • the motor 3 (10) is mounted on one side of the bracket 3 (11); the bottom end of the bracket 3 (11) is connected to the bracket 4 (12).
  • the bracket 4 (12) is a vertically fixed rectangular solid structure.
  • a groove-type reinforcing frame (13) is mounted on the front surface of the bracket 4 (12) by bolts; a bracket 5 (14) is connected to the bottom end of the bracket 4 (12).
  • the bracket 4 (12) and the bracket 5 (14) are integrally formed by stamping.
  • the bottom end of the bracket 5 (14) is horizontally fixed with a shaft 2 (15).
  • the shaft 2 (15) is inserted into the sleeve 2 (16) and is connected in-plane with a rolling bearing (17) of a size matching with the shaft 2 (15).
  • the other end of the sleeve 2 (16) is screwed to the top end of the bracket 6 (18); the driven end of the shaft 2 (15) is connected to the motor 4 (19) via a timing belt.
  • the (19) is juxtaposed and fixed on one side of the bracket 6 (18); the bottom end of the bracket 6 (18) is connected to the shaft 3 (20) by screws.
  • the shaft 3 (20) is connected to the sleeve 3 (22) by a rolling bearing 2 (21).
  • the sleeve 3 (22) is fixed to the face of the base (23) by screws.
  • An electric motor 5 (24) is mounted on the back of the sleeve 3 (22).
  • the lower end of the base (21) is bolted to the triangular body (25); the three-corner of the triangular body (25) is fixed with a universal wheel (26).
  • a screw lift mechanism (27) is added to the triangular body (25).
  • the effective travel of the lead screw lifting mechanism (27) is 400 mm, and the lead screw is lifted by the motor.
  • the motor 1 (4), the motor 2 (8), the motor 3 (10), the motor 4 (19), and the motor 5 (24) are of the type MAXON motor; the shaft 3 (20) and the motor 5 (24) Mounted vertically on the base (21) and connected to each other by a timing belt.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un mécanisme robotisé d'aide aux familles comprenant un bras mécanique (1), un corps de véhicule (25) et un mécanisme de levage à vis-mère (27). L'extrémité supérieure du bras mécanique (1) est un élément de préhension de manipulateur (2). Un arbre d'entraînement (5) d'un moteur (1 (4)) est relié à l'extrémité inférieure de l'élément de préhension de manipulateur (2) au moyen d'une turbine (3). L'élément de préhension de manipulateur (2) et la turbine (3) sont fixés concentriquement et à demeure sur un support (1 (6)) au moyen de boulons. Le moteur (1 (4)) est fixé à la surface supérieure du support (1 (6)) au moyen d'un boulon, et le support (1 (6)) est relié à un support (2 (7)) au moyen d'un boulon. Un moteur (2 (8)) est suspendu et fixé à l'extrémité supérieure du support (2 (7)) au moyen d'un boulon, et le moteur (1 (4)) et le moteur (2 (8)) sont fixés concentriquement sur une ligne verticale. Un manchon (1 (9)) est fixé à l'extrémité inférieure du support (2 (7)) dans la direction horizontale au moyen d'une vis. Un moteur (3 (10)) est relié à un côté du manchon (1 (9)) au moyen d'un arbre. Le mécanisme présente un faible coût et une structure simple.
PCT/CN2017/075675 2017-03-05 2017-03-05 Mécanisme robotisé d'aide aux familles Ceased WO2018161196A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/CN2017/075675 WO2018161196A1 (fr) 2017-03-05 2017-03-05 Mécanisme robotisé d'aide aux familles

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2017/075675 WO2018161196A1 (fr) 2017-03-05 2017-03-05 Mécanisme robotisé d'aide aux familles

Publications (1)

Publication Number Publication Date
WO2018161196A1 true WO2018161196A1 (fr) 2018-09-13

Family

ID=63447170

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2017/075675 Ceased WO2018161196A1 (fr) 2017-03-05 2017-03-05 Mécanisme robotisé d'aide aux familles

Country Status (1)

Country Link
WO (1) WO2018161196A1 (fr)

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104723327A (zh) * 2013-12-20 2015-06-24 广西大学 一种五自由度非偏置式垂直多关节型电动机械手
JP2016002123A (ja) * 2014-06-13 2016-01-12 国立大学法人 筑波大学 装着式動作補助装置
CN205271989U (zh) * 2015-12-05 2016-06-01 迈赫机器人自动化股份有限公司 一种全液压自主移动抓取平台
JP2016129923A (ja) * 2015-01-14 2016-07-21 サンナイス株式会社 無人車
CN106255575A (zh) * 2014-04-28 2016-12-21 川崎重工业株式会社 产业用机器人
CN206527733U (zh) * 2017-01-09 2017-09-29 新疆大学 一种新型家庭服务机器人机构

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104723327A (zh) * 2013-12-20 2015-06-24 广西大学 一种五自由度非偏置式垂直多关节型电动机械手
CN106255575A (zh) * 2014-04-28 2016-12-21 川崎重工业株式会社 产业用机器人
JP2016002123A (ja) * 2014-06-13 2016-01-12 国立大学法人 筑波大学 装着式動作補助装置
JP2016129923A (ja) * 2015-01-14 2016-07-21 サンナイス株式会社 無人車
CN205271989U (zh) * 2015-12-05 2016-06-01 迈赫机器人自动化股份有限公司 一种全液压自主移动抓取平台
CN206527733U (zh) * 2017-01-09 2017-09-29 新疆大学 一种新型家庭服务机器人机构

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