阅读说明：本技术 一种机械臂小车 (Mechanical arm trolley ) 是由 孙建 唐开强 王岚 陈春林 胡希 陈坤 杜秉瑞 于 2019-10-18 设计创作，主要内容包括：本发明创造公开了一种机械臂小车,包括下底板、上底板、机械臂、机械手、电源模块、控制模块、电机驱动模块以及四个电动驱动轮；电源模块、控制模块以及电机驱动模块均安装在上底板上；机械臂的后端可拆卸安装在上底板的前侧边处；机械手可拆卸安装在机械臂的前端；控制模块与电机驱动模块电连接,电机驱动模块分别与四个电动驱动轮电连接；控制模块还与机械臂以及机械手的驱动机构电连接。该机械臂小车利用可拆卸安装各个模块,能够实现积木化组装要求；利用控制模块分别与电机驱动模块、机械臂的驱动机构以及机械手的驱动机构电连接,实现对小车行走、机械臂伸展以及机械手夹持进行控制,较好地满足编程实践要求。(The invention creatively discloses a mechanical arm trolley, which comprises a lower bottom plate, an upper bottom plate, a mechanical arm, a power supply module, a control module, a motor driving module and four electric driving wheels, wherein the lower bottom plate is provided with a plurality of driving wheels; the power supply module, the control module and the motor driving module are all arranged on the upper base plate; the rear end of the mechanical arm is detachably arranged at the front side edge of the upper bottom plate; the mechanical arm is detachably arranged at the front end of the mechanical arm; the control module is electrically connected with the motor driving module, and the motor driving module is respectively electrically connected with the four electric driving wheels; the control module is also electrically connected with the mechanical arm and a driving mechanism of the manipulator. The mechanical arm trolley can meet the requirements of modular assembly by detachably mounting each module; the control module is respectively electrically connected with the motor driving module, the driving mechanism of the mechanical arm and the driving mechanism of the mechanical arm, so that the walking of the trolley, the extension of the mechanical arm and the clamping of the mechanical arm are controlled, and the programming practice requirements are better met.)

1. The utility model provides a robotic arm dolly which characterized in that: the mechanical arm comprises a lower bottom plate (1), an upper bottom plate (2), a mechanical arm, a power module (6), a control module (7), a motor driving module (8) and four electric driving wheels;

the upper bottom plate (2) is arranged above the lower bottom plate (1) through four supporting upright posts (3); the power module (6), the control module (7) and the motor driving module (8) are all arranged on the upper base plate (2); the four electric driving wheels are detachably mounted at the left side and the right side of the lower side surface of the lower bottom plate (1) in pairs respectively; the rear end of the mechanical arm is detachably arranged at the front side edge of the upper base plate (2); the manipulator is detachably arranged at the front end of the mechanical arm and is provided with two clamping rods (31); the front end parts of the two clamping rods (31) are provided with bending sections (32) in a bending and extending manner, and the two bending sections (32) are bent oppositely;

the control module (7) is electrically connected with the motor driving module (8), the motor driving module (8) is respectively electrically connected with the four electric driving wheels, and the control module (7) controls the four electric driving wheels to rotate through the motor driving module (8); the control module (7) is also electrically connected with the mechanical arm and a driving mechanism of the mechanical arm and is used for respectively controlling the actions of the mechanical arm and the mechanical arm; the power module (6) respectively supplies power to the control module (7), the motor driving module (8), the mechanical arm and the mechanical arm.

2. The robotic arm cart of claim 1, wherein: the electric driving wheel consists of a walking driving motor (4), a speed reducer and a walking wheel (5); the walking driving motor (4) and the speed reducer are detachably mounted on the lower side surface of the lower bottom plate (1), and the walking driving motor (4) drives the speed reducer to rotate; the traveling wheel (5) is fixedly arranged on an output shaft of the speed reducer; the motor driving module (8) is electrically connected with the walking driving motor (4).

3. The robotic arm cart of claim 1, wherein: the mechanical arm comprises a mounting plate (11), a support plate (43), a bottom steering engine (33), two side plates (13), a right side driving steering engine (14), a left side driving steering engine (16), a synchronous large arm (18), a driving large arm (44), a driving small arm (21), a swing arm (22), a triangular plate (25), a pull rod (19), an upper connecting rod (23) and a lower connecting rod (24); the mounting plate (11) is mounted on the upper base plate (2) through four mounting columns (10); the bottom steering engine (33) is arranged below the mounting plate (11), and a driving shaft of the bottom steering engine (33) upwards penetrates through the mounting plate (11); the middle part of the supporting plate (43) is fixedly arranged on a driving shaft of the bottom steering engine (33), and the supporting plate (43) is parallel to the mounting plate (11); the two side plates (13) are respectively vertically arranged on the left side and the right side of the supporting plate (43), the middle part of the supporting plate (43) is vertically provided with a middle side plate (15), and the middle side plate (15) is parallel to the side plates (13); a left driving steering engine (16) and a right driving steering engine (14) are respectively and fixedly arranged on the outer side plate surfaces of the two side plates (13), and driving shafts of the left driving steering engine (16) and the right driving steering engine (14) extend into the area between the two side plates (13); a short arm (17) is fixedly arranged on the end part of a driving shaft of the left driving steering engine (16); one end of the driving small arm (21) is hinged with the end part of the short arm (17) in a swinging mode, and the other end of the driving small arm (21) is hinged with one end of the swinging arm (22) in a swinging mode; one end of the driving large arm (44) is fixedly arranged on the end part of a driving shaft of the right driving steering engine (14); one end of the synchronous large arm (18) is hinged on the middle side plate (15) in a swinging mode, and the other end of the synchronous large arm (18) is hinged in the middle of the swinging arm (22) in a swinging mode; the other end of the swing arm (22) is installed on the left side edge of the manipulator in a swing and hinge mode; one end of the pull rod (19) is hinged and installed on the side plate (13) on the right side in a swinging mode; one ends of the upper connecting rod (23) and the lower connecting rod (24) are hinged and arranged on the right side edge of the manipulator in a swinging mode; the other end of the pull rod (19), the other end of the upper connecting rod (23) and the other end of the lower connecting rod (24) are respectively installed at three top corners of the triangular plate (25) in a swing-type hinged mode; the other end of the driving large arm (44) and the other end of the lower connecting rod (24) are coaxially hinged and arranged at the vertex angle of the triangular plate (25); the driving large arm (44) is parallel to the synchronous large arm (18), and the swing arm (22) is parallel to the lower connecting rod (24); the control module (7) is respectively and electrically connected with the right side driving steering engine (14) and the left side driving steering engine (16) and is used for driving a driving shaft of the steering engines to rotate; the power module (6) respectively supplies power for the right side driving steering engine (14) and the left side driving steering engine (16).

4. The robotic arm cart of claim 3, wherein: the driving large arm (44) and the synchronous large arm (18) are relatively and fixedly installed through a synchronous installation structure; the synchronous mounting structure comprises a synchronous mounting plate (20), two mounting bolts and two fastening nuts; side edge positioning holes are formed in the driving large arm (44) and the synchronous large arm (18); positioning lugs are arranged on the left side and the right side of the synchronous mounting plate (20), rectangular notches with edges extending to the middle are arranged on the left side and the right side, and a wide notch is arranged in the middle of each of the two rectangular notches; the synchronous mounting plate (20) is clamped between the driving large arm (44) and the synchronous large arm (18), and the positioning lug is embedded into the side positioning hole at the corresponding position; the screw rod ends of the two mounting bolts respectively penetrate through the driving large arm (44) and the synchronous large arm (18) and extend into the rectangular notches on the corresponding sides; the two fastening nuts are respectively arranged at the two wide notches; the two mounting bolts are respectively screwed on the two fastening nuts.

5. The robotic arm cart of claim 3, wherein: the swing arm (22) and the lower connecting rod (24) are relatively fixedly installed through a transverse connecting plate (42).

6. The robotic arm cart of claim 3, wherein: the manipulator comprises a clamping driving steering engine (26), a steering engine mounting plate (27), a gear mounting plate (29), an articulated seat (37), a driven gear (34) and a driving gear (35); the clamping driving steering engine (26) is fixedly arranged on the steering engine mounting plate (27); two supporting side lugs (38) are arranged on the side edges of the hinge seat (37), a hinge mounting hole is formed in the middle of the hinge seat (37), and a diagonal bracing arm (28) is obliquely arranged on the upper side of the hinge seat (37); an upper rectangular through hole is formed in the right side plate surface of the steering engine mounting plate (27), and a lower rectangular through hole is formed in the right side plate surface of the gear mounting plate (29); the upper side edge of the hinge seat (37) is embedded into the upper rectangular through hole, and the inclined support arm (28) obliquely extends to the upper part of the steering engine mounting plate (27); the lower side edge of the hinge seat (37) is embedded into the lower rectangular through hole; the gear mounting plate (29) is fixedly arranged below the steering engine mounting plate (27) through split bolts, and the two supporting side lugs (38) are clamped between the steering engine mounting plate (27) and the gear mounting plate (29); the end parts of the swing arm (22) and the lower connecting rod (24) are both installed on the hinge installation hole in a swing and hinged mode; the end part of the upper connecting rod (23) is hinged and installed on the upper end part of the inclined supporting arm (28) in a swinging way; a driving shaft of the clamping driving steering engine (26) penetrates through the gear mounting plate (29) downwards, and the driving gear (35) is fixedly mounted on the driving shaft of the clamping driving steering engine (26) through a central mounting hole (41); the rear end parts of the two clamping rods (31) are fixedly arranged on one clamping gear (30), the two clamping gears (30) are rotatably arranged at the front side edge of the gear mounting plate (29), and the two clamping gears (30) are meshed with each other; the driven gear (34) is coaxially arranged on one clamping gear (30), and the driving gear (35) is meshed with the driven gear (34); the control module (7) is electrically connected with the clamping driving steering engine (26) and is used for controlling the driving shaft of the steering engine to rotate; the power module (6) supplies power for the clamping driving steering engine (26).

7. The robotic arm cart of claim 6, wherein: a widening gear (36) is fixedly arranged on the lower side surface of the driving gear (35); the widening gear (36) is overlapped with the teeth of the driving gear (35); the widening gear (36) is meshed with the driven gear (34); the widened gear (36) is provided with a right-angle notch (39) which is convenient for clamping and driving the protrusion of the driving shaft of the steering engine (26).

8. The robotic arm cart of claim 6, wherein: a side deflector rod (40) which is convenient for manual rotation and adjustment is arranged on the side edge of the driving gear (35) in a radial extending manner; an arc-shaped notch (39) is arranged at the side edge of the driven gear (34) and close to the clamping opening of the two clamping rods (31).

9. The robotic arm cart of claim 3, wherein: two transverse supporting plates (12) are transversely and detachably arranged between the two side plates (13).

10. The robotic arm cart of claim 1, wherein: a wireless communication module (9) is fixedly arranged on the side edge of the upper bottom plate (2); the control module (7) is electrically connected with the wireless communication module (9); the power supply module (6) supplies power to the wireless communication module (9).

Technical Field

The invention relates to a trolley, in particular to a mechanical arm trolley.

Background

At present, in the existing modular trolley of building blocks, no trolley which can realize modular construction of the mechanical arm is available, and the programming control of the mechanical arm can realize better programming practice. Therefore, a mechanical arm trolley is needed to be designed, modular assembly can be achieved, various motion control of the mechanical arm is achieved through programming development of a control module, and programming practical requirements are well met.

Disclosure of Invention

The invention has the following aims: the mechanical arm trolley can realize modular assembly, realizes various motion control of the mechanical arm through programming development of the control module, and better meets the programming practice requirements.

The technical scheme is as follows: the invention provides a mechanical arm trolley which comprises a lower bottom plate, an upper bottom plate, a mechanical arm, a power supply module, a control module, a motor driving module and four electric driving wheels;

the upper bottom plate is arranged above the lower bottom plate through four supporting upright posts; the power supply module, the control module and the motor driving module are all arranged on the upper base plate; the four electric driving wheels are detachably mounted at the left side and the right side of the lower side surface of the lower bottom plate in pairs respectively; the rear end of the mechanical arm is detachably arranged at the front side edge of the upper bottom plate; the manipulator is detachably arranged at the front end of the mechanical arm and is provided with two clamping rods; the front end parts of the two clamping rods are bent and extended to form bending sections, and the two bending sections are bent relatively;

the control module is electrically connected with the motor driving module, the motor driving module is respectively electrically connected with the four electric driving wheels, and the control module controls the four electric driving wheels to rotate through the motor driving module; the control module is also electrically connected with the mechanical arm and a driving mechanism of the mechanical arm and is used for respectively controlling the actions of the mechanical arm and the mechanical arm; the power module supplies power to the control module, the motor driving module, the mechanical arm and the mechanical arm respectively.

Furthermore, the electric driving wheel consists of a walking driving motor, a speed reducer and a walking wheel; the walking driving motor and the speed reducer are detachably arranged on the lower side surface of the lower bottom plate, and the walking driving motor drives the speed reducer to rotate; the traveling wheel is fixedly arranged on an output shaft of the speed reducer; the motor driving module is electrically connected with the walking driving motor.

Further, the mechanical arm comprises a mounting plate, a support plate, a bottom steering engine, two side plates, a right side driving steering engine, a left side driving steering engine, a synchronous large arm, a driving small arm, a swing arm, a triangular plate, a pull rod, an upper connecting rod and a lower connecting rod; the mounting plate is mounted on the upper base plate through four mounting columns; the bottom steering engine is arranged below the mounting plate, and a driving shaft of the bottom steering engine upwards penetrates through the mounting plate; the middle part of the supporting plate is fixedly arranged on a driving shaft of the steering engine at the bottom, and the supporting plate is parallel to the mounting plate; the two side plates are respectively vertically arranged on the left side and the right side of the supporting plate, the middle part of the supporting plate is vertically provided with a middle side plate, and the middle side plate is parallel to the side plates; the left driving steering engine and the right driving steering engine are respectively and fixedly arranged on the outer side plate surfaces of the two side plates, and driving shafts of the left driving steering engine and the right driving steering engine extend into an area between the two side plates; a short arm is fixedly arranged on the end part of a driving shaft of the left driving steering engine; one end of the driving small arm is hinged with the end part of the short arm in a swinging mode, and the other end of the driving small arm is hinged with one end of the swinging arm in a swinging mode; one end of the driving large arm is fixedly arranged on the end part of a driving shaft of the right driving steering engine; one end of the synchronous big arm is arranged on the middle side plate in a swing-type hinged manner, and the other end of the synchronous big arm is arranged in the middle of the swing arm in a swing-type hinged manner; the other end of the swinging arm is hinged on the left side edge of the manipulator in a swinging manner; one end of the pull rod is hinged on the side plate on the right side in a swinging manner; one ends of the upper connecting rod and the lower connecting rod are hinged and arranged on the right side edge of the manipulator in a swinging mode; the other end of the pull rod, the other end of the upper connecting rod and the other end of the lower connecting rod are respectively arranged at three top corners of the triangular plate in a swing hinge mode; the other end of the driving large arm and the other end of the lower connecting rod are coaxially hinged and arranged at the vertex angle of the triangular plate; the driving big arm is parallel to the synchronous big arm, and the swing arm is parallel to the lower connecting rod; the control module is respectively and electrically connected with the right side driving steering engine and the left side driving steering engine and is used for driving a driving shaft of the steering engine to rotate; the power module supplies power for the right side driving steering engine and the left side driving steering engine respectively.

Furthermore, the driving large arm and the synchronous large arm are relatively and fixedly installed through a synchronous installation structure; the synchronous mounting structure comprises a synchronous mounting plate, two mounting bolts and two fastening nuts; side edge positioning holes are formed in the driving large arm and the synchronous large arm; positioning lugs are arranged on the left side and the right side of the synchronous mounting plate, rectangular notches with edges extending to the middle are arranged on the left side and the right side, and wide notches are arranged in the middle of the two rectangular notches; the synchronous mounting plate is clamped between the driving large arm and the synchronous large arm, and the positioning lug is embedded into the side positioning hole at the corresponding position; the screw rod ends of the two mounting bolts respectively penetrate through the driving large arm and the synchronous large arm and extend into the rectangular notches on the corresponding sides; the two fastening nuts are respectively arranged at the two wide notches; the two mounting bolts are respectively screwed on the two fastening nuts.

Further, the swing arm and the lower connecting rod are relatively fixedly installed through a transverse connecting plate.

Further, the manipulator comprises a clamping driving steering engine, a steering engine mounting plate, a gear mounting plate, a hinge seat, a driven gear and a driving gear; the clamping driving steering engine is fixedly arranged on the steering engine mounting plate; two supporting side lugs are arranged on the side edge of the hinge seat, a hinge mounting hole is formed in the middle of the hinge seat, and a diagonal bracing arm is obliquely arranged on the upper side of the hinge seat; an upper rectangular through hole is formed in the right side plate surface of the steering engine mounting plate, and a lower rectangular through hole is formed in the right side plate surface of the gear mounting plate; the upper side edge of the hinge seat is embedded into the upper rectangular through hole, and the inclined strut arm obliquely extends to the upper part of the steering engine mounting plate; the lower side edge of the hinge seat is embedded into the lower rectangular through hole; the gear mounting plate is fixedly arranged below the steering engine mounting plate through a split bolt, and the two supporting side lugs are clamped between the steering engine mounting plate and the gear mounting plate; the end parts of the swing arm and the lower connecting rod are both arranged on the hinge mounting hole in a swing-type hinged manner; the end part of the upper connecting rod is hinged and arranged on the upper end part of the inclined supporting arm in a swinging mode; a driving shaft of the clamping driving steering engine penetrates through the gear mounting plate downwards, and the driving gear is fixedly mounted on the driving shaft of the clamping driving steering engine through a central mounting hole; the rear end parts of the two clamping rods are fixedly arranged on one clamping gear, the two clamping gears are rotatably arranged at the front side edge of the gear mounting plate, and the two clamping gears are meshed with each other; the driven gear is coaxially arranged on a clamping gear, and the driving gear is meshed with the driven gear; the control module is electrically connected with the clamping driving steering engine and is used for controlling a driving shaft of the steering engine to rotate; the power module supplies power for the clamping driving steering engine.

Furthermore, a widening gear is fixedly arranged on the lower side surface of the driving gear; the tooth of the widening gear coincides with that of the driving gear; the widening gear is meshed with the driven gear; the widened gear is provided with a right-angle notch which is convenient for clamping and driving the driving shaft of the steering engine to protrude.

Furthermore, a side deflector rod convenient for manual rotation adjustment is arranged on the side edge of the driving gear in a radially extending manner; an arc-shaped notch is arranged at the side edge of the driven gear and close to the clamping opening of the two clamping rods.

Furthermore, two transverse supporting plates are transversely detachably mounted between the two side plates.

Furthermore, a wireless communication module is fixedly arranged on the side edge of the upper base plate; the control module is electrically connected with the wireless communication module; the power module supplies power to the wireless communication module.

Compared with the prior art, the invention has the beneficial effects that: each module is detachably mounted, so that the requirement of building block assembly can be met; the front end parts of the two clamping rods are bent and extended to form bending sections, so that articles can be clamped conveniently; the control module is respectively electrically connected with the motor driving module, the driving mechanism of the mechanical arm and the driving mechanism of the mechanical arm, so that the walking of the trolley, the extension of the mechanical arm and the clamping of the mechanical arm are controlled, and the programming practice requirements are better met.

Drawings

FIG. 1 is a schematic perspective view of the present invention;

FIG. 2 is a schematic view of the structure of the robot arm according to the present invention;

FIG. 3 is a schematic view of the bottom structure of the manipulator according to the present invention;

FIG. 4 is a schematic view of the structure of the clamping rod of the present invention;

FIG. 5 is a schematic view of the hinge base structure of the present invention;

FIG. 6 is a schematic view of the driven gear structure of the present invention;

FIG. 7 is a schematic view of the driving gear structure of the present invention;

fig. 8 is a schematic view of the widened gear structure of the invention.

Detailed Description

The technical solutions of the present invention will be described in detail below with reference to the accompanying drawings, but the scope of the present invention is not limited to the embodiments.