CN107199551B

CN107199551B - Power-assisted robot

Info

Publication number: CN107199551B
Application number: CN201710592440.4A
Authority: CN
Inventors: 刘国才; 李满天; 邓静; 蔡昌荣; 王鑫; 蒋振宇; 李爱镇; 王鹏飞; 查富生
Original assignee: Shenzhen Academy of Aerospace Technology
Current assignee: Shenzhen Academy of Aerospace Technology
Priority date: 2017-07-19
Filing date: 2017-07-19
Publication date: 2020-04-17
Anticipated expiration: 2037-07-19
Also published as: CN107199551A

Abstract

A power-assisted robot has a multidirectional moving vehicle body and a gripping device: the multidirectional moving vehicle body is provided with a first moving arm, a second moving arm and a transmission part for connecting the first moving arm and the second moving arm, and the first moving arm, the second moving arm and the transmission part are respectively provided with at least one multidirectional rolling device; the multidirectional rolling device is provided with a plurality of coaxially arranged rolling units and a plurality of coaxially arranged driving units, each rolling unit is provided with a circular ring-shaped support, a plurality of rotating wheels are distributed on the circular ring-shaped support along the circumference of the circular ring-shaped support, the rotating shafts of the rotating wheels are parallel to the tangential direction of the outer circumference of the circular ring-shaped support and are vertical to the rotating shafts of the circular ring-shaped support, the circular ring-shaped supports are fixedly connected one by one, and the driving units are used for driving the circular ring; the clamping device is provided with a clamping mechanism and a holding part, the clamping mechanism is used for clamping an object, and the holding part is used for receiving acting force input by a user. The invention provides a power-assisted robot which realizes multidirectional flexible movement and steering through an integrated structure.

Description

Power-assisted robot

Technical Field

The invention belongs to the technical field of machinery, and particularly relates to a power-assisted robot.

Background

With the rapid increase in modern productivity, the demand for object transportation has seen explosive growth. The existing transportation devices are mostly concentrated in the large and medium-sized machinery fields, such as travelling cranes, suspension arms and the like, and are difficult to be applied in daily life.

In daily life, some carrying devices, such as a trolley, a shopping trolley and the like, are also arranged, and objects exceeding the self weight of people can be carried by rolling wheels. However, the existing handheld transportation equipment is limited to the structure of the wheels and the vehicle body, and has the motion capability in only one direction, poor motion reliability, poor flexibility during steering, large pushing force required to be applied, and great labor for use. If an external steering control mechanism is adopted, the structure of the vehicle body is overstaffed, the dead weight is increased rapidly, and additional side effects are brought.

Disclosure of Invention

In order to overcome the defects of the prior art, the invention provides a power-assisted robot which realizes multidirectional flexible movement and steering in an integrated structure, does not need an additional steering control mechanism and reduces the labor burden of a carrier.

The purpose of the invention is realized by the following technical scheme:

a power-assisted robot comprises a multidirectional moving vehicle body and a clamping device arranged on the multidirectional moving vehicle body:

the multidirectional moving vehicle body is provided with a first moving arm, a second moving arm and a transmission part for connecting the first moving arm and the second moving arm, and the first moving arm, the second moving arm and the transmission part are respectively provided with at least one multidirectional rolling device;

the multidirectional rolling device is provided with a plurality of coaxially arranged rolling units and a plurality of coaxially arranged driving units, each rolling unit is provided with a circular ring-shaped support, a plurality of rotating wheels are annularly distributed on the circular ring-shaped support along the circumference of the circular ring-shaped support, the rotating shafts of the rotating wheels are parallel to the tangential direction of the outer circumference of the circular ring-shaped support and are vertical to the rotating shafts of the circular ring-shaped support, the circular ring-shaped supports are fixedly connected one by one, and the driving units are used for driving the circular ring-shaped supports to rotate;

the clamping device is provided with a clamping mechanism and a holding part, the clamping mechanism is used for clamping an object, and the holding part is used for receiving acting force input by a user.

As an improvement of the above technical solution, the transmission part further includes a rotation acting part for realizing rotation opening and closing between the first moving arm and the second moving arm, the rotation acting part includes a first rotation part and a second rotation part which can rotate relatively, the first rotation part is connected with the first moving arm, and the second rotation part is connected with the second moving arm.

As a further improvement of the above technical solution, the rotation acting portion is a gear transmission set, the first rotating portion and the second rotating portion are transmission gears engaged with each other, the first rotating portion is fixedly connected with the first moving arm and rotatably held on the transmission portion, and the second rotating portion is fixedly connected with the second moving arm and rotatably held on the transmission portion.

As a further improvement of the above technical solution, the clamping device has a device body, the device body has a first upright and a second upright which are oppositely arranged, the first upright is disposed on the first moving arm, and the second upright is disposed on the second moving arm;

the clamping mechanism is provided with a first clamping part and a second clamping part, the first clamping part is arranged on the first upright post, the second clamping part is arranged on the second upright post, and the first clamping part and the second clamping part can approach along the horizontal direction to enable the object to be clamped or far away so as to enable the object to be released.

As a further improvement of the above technical means, the gripping mechanism is held by the apparatus body so as to be linearly movable in the vertical direction, and the gripping apparatus has a driving mechanism for driving the gripping mechanism to linearly move.

As a further improvement of the above technical solution, the driving unit has stators and rotors rotatably held on the stators, the plurality of stators are fixedly connected with the first moving arm one by one, and the plurality of rotors are respectively fixedly connected with the circular ring-shaped bracket.

As a further improvement of the above technical solution, the driving unit has a fixed axle, the fixed axle connects a plurality of stators one by one to make the stators fixedly connected, and has a connecting end for connecting with the first moving arm/the second moving arm/the transmission part.

As a further improvement of the above technical solution, the stator has a first shaft hole along an axial direction thereof, the plurality of stators are linearly distributed to form a stator array, end keyholes for realizing transmission are respectively formed on front and rear end faces of the stator array, the end keyholes are coaxial with the first shaft hole, the fixed wheel shaft penetrates through the first shaft hole and the end keyholes together, and the fixed wheel shaft is in key connection with the end keyholes through a stop key part;

the multidirectional rolling device is provided with a connecting seat, the connecting seat is provided with a first wall and a second wall which are perpendicular to each other, the first wall is connected with the lower surfaces of the first moving arm/the second moving arm/the transmission part, and the second wall is fixedly connected with the connecting end.

As a further improvement of the above technical solution, the rotor has a circular ring structure and is rotatably sleeved outside the stator, and at least one circular ring bracket is sleeved outside the rotor and has a movement characteristic of rotating integrally with the rotor.

As a further improvement of the above technical solution, the circular ring-shaped brackets are connected by a first connecting portion, the first connecting portion has a front locking portion, a spacer sleeve and a rear locking portion, the spacer sleeve is disposed between the adjacent circular ring-shaped brackets, the plurality of circular ring-shaped brackets are linearly distributed to form a circular ring-shaped bracket array, and the front locking portion and the rear locking portion are respectively pressed against the front and rear end faces of the circular ring-shaped bracket array to fixedly connect the plurality of rolling units.

The invention has the beneficial effects that:

(1) the multi-direction rolling device is provided with a plurality of rolling units and a driving unit for driving the rolling units to rotate, each rolling unit is provided with a circular bracket and a rotating wheel which can rotate respectively, the rolling is realized to move back and forth through the rotation of the circular bracket, and the steering is realized through the lateral sliding of the rotating wheel;

(2) the power-assisted robot is provided with a clamping device, wherein the clamping device is provided with a clamping mechanism for clamping an object and a holding part for receiving an acting force input by a user, so that the object can be clamped and pushed to be transported by the user.

In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

Fig. 1 is an overall schematic view of a power-assisted robot provided in embodiment 1 of the present invention;

fig. 2 is a schematic side view of an application of the power-assisted robot provided in embodiment 1 of the present invention;

fig. 3 is an application axis measuring view of the power-assisted robot provided in embodiment 1 of the present invention;

fig. 4 is an overall schematic view of a multidirectional moving vehicle body of the power-assisted robot provided in embodiment 1 of the present invention;

fig. 5 is a partially enlarged view of a multidirectional moving vehicle body of the power-assisted robot provided in embodiment 1 of the present invention;

fig. 6 is a partial enlarged view of a multidirectional moving vehicle body of the power-assisted robot provided in embodiment 1 of the present invention, with an upper support plate and a lower support plate removed;

fig. 7 is a first schematic view of a multidirectional rolling device of a multidirectional moving vehicle body of a power-assisted robot according to embodiment 1 of the present invention;

fig. 8 is a second schematic view of a multidirectional rolling device of a multidirectional moving vehicle body of a power-assisted robot according to embodiment 1 of the present invention;

fig. 9 is a third schematic view of a multidirectional rolling device of a multidirectional moving vehicle body of a power-assisted robot according to embodiment 1 of the present invention;

fig. 10 is a fourth schematic view of a multidirectional rolling device of a multidirectional moving vehicle body of a power-assisted robot according to embodiment 1 of the present invention;

FIG. 11 is a cross-sectional isometric view A-A of the multi-directional rolling device of the multi-directional motion car body of the power-assisted robot of FIG. 10;

FIG. 12 is a schematic cross-sectional view B-B of the multi-directional rolling device of the multi-directional motion car body of the power-assisted robot of FIG. 10 with wheel bearings removed;

fig. 13 is a schematic structural view of a gripping device of a power-assisted robot according to embodiment 1 of the present invention;

fig. 14 is a schematic view of a C-direction full cross section of the gripper device of the power-assisted robot in fig. 13.

Description of the main element symbols:

10000-power-assisted robot, 1000-multidirectional moving vehicle body, 0100-first moving arm, 0200-second moving arm, 0300-transmission part, 0310-transmission bracket, 0311-upper support plate, 0312-lower support plate, 0313-support column, 0320-rotation action part, 0321-first rotation part, 0322-second rotation part, 0400-multidirectional rolling device, 0410-rolling unit, 0411-circular bracket, 0412-rotating wheel, 0420-driving unit, 0421-stator, 0421 a-first shaft hole, 0421 b-end keyhole, 0421 c-extension shaft end, 0422-rotor, 0430-first connection part, 0431-front locking part, 0432-spacer, 0433-rear locking part, 0440-fixed wheel shaft, 0441-connection end, 0442-stop key part, 0450-second connecting part, 0451-second shaft hole, 0452-first bearing hole, 0453-second bearing hole, 0460-wheel bearing, 0500-connecting seat, 0510-first wall, 0520-second wall, 2000-clamping device, 2100-device body, 2110-first upright post, 2120-second upright post, 2200-clamping mechanism, 2210-first clamping part, 2220-second clamping part, 2300-holding part, 2400-driving mechanism, 2410-driving wheel, 2420-driven driving wheel, 2430-flexible part, 2440-driving motor and 2450-sliding block.

Detailed Description

To facilitate an understanding of the present invention, a power-assisted robot will be described more fully below with reference to the accompanying drawings. Preferred embodiments of the power-assisted robot are given in the accompanying drawings. However, the assisted robot may be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. In contrast, when an element is referred to as being "directly on" another element, there are no intervening elements present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the power assisted robot herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Example 1

Referring to fig. 1 to 3, the power-assisted robot 10000 has a multi-directional moving body 1000 and a clamping device 2000 disposed on the multi-directional moving body 1000. Wherein, multidirectional motion automobile body 1000 is used for realizing the multidirectional motion and the nimble steering of helping hand robot 10000, and clamping device 2000 is used for the centre gripping object so that transport.

Referring to fig. 4, the multidirectional moving vehicle 1000 includes a first moving arm 0100, a second moving arm 0200, and a transmission portion 0300 connecting the first moving arm 0100 and the second moving arm 0200, and is used for realizing multidirectional flexible movement and steering. The structure of each part is described in detail as follows.

The first moving arm 0100, the second moving arm 0200 and the transmission part 0300 have at least one multi-directional rolling device 0400, respectively, and the multi-directional rolling device 0400 has a plurality of coaxially arranged rolling units and a plurality of coaxially arranged driving units. Wherein the scrolling unit is used for scrolling on the ground, and the driving unit is used for driving the scrolling unit to scroll, so that the multidirectional scrolling device 0400 has an autonomous scrolling capability.

Specifically, the first moving arm 0100 and the second moving arm 0200 are connected by the transmission part 0300 to form a base structure of the multi-directional moving vehicle body 1000, and can move on the ground by the rolling motion of the plurality of multi-directional rolling devices 0400, and have the capability of multi-directional movement and free steering.

In an exemplary embodiment, the first moving arm 0100 and the second moving arm 0200 are respectively formed of a square tube, and the lower surfaces thereof are respectively provided with a multi-directional rolling device 0400. In a preferred embodiment, the first moving arm 0100 and the second moving arm 0200 are symmetrically disposed on both sides of the transmission part 0300, and the multi-directional rolling devices 0400 of the first moving arm 0100 and the second moving arm 0200 are also symmetrically disposed.

Referring to fig. 5 to 6, preferably, the transmission portion 0300 further has a rotating portion 0320 for realizing the rotating opening and closing between the first moving arm 0100 and the second moving arm 0200, the rotating portion 0320 has a first rotating portion 0321 and a second rotating portion 0322 capable of rotating relatively, the first rotating portion 0321 is connected to the first moving arm 0100, and the second rotating portion 0322 is connected to the second moving arm 0200.

Specifically, under the transmission of the rotation action portion 0320, the first moving arm 0100 and the second moving arm 0200 can rotate relatively to assume a relatively opened or closed state, so as to adjust the relative position between the first moving arm 0100 and the second moving arm 0200 to meet the requirements of different working environments.

The rotating action part 0320 can adopt various structural forms, such as hinge joint, flexible transmission and the like. In an exemplary embodiment, the rotation acting part 0320 is a gear transmission set, the first rotating part 0321 and the second rotating part 0322 are transmission gears engaged with each other, the first rotating part 0321 and the first moving arm 0100 are fixedly connected and rotatably held on the transmission part 0300, and the second rotating part 0322 and the second moving arm 0200 are fixedly connected and rotatably held on the transmission part 0300.

Specifically, the transmission part 0300 has a transmission bracket 0310, and the transmission bracket 0310 is connected to the first rotating part 0321 and the second rotating part 0322 through bearings, so that the first rotating part 0321 and the second rotating part 0322 are rotatably held on the transmission part 0300. In a geared relationship, the first rotating part 0321 and the second rotating part 0322 have a synchronous rotation characteristic, and the first moving arm 0100 and the second moving arm 0200 rotate synchronously. The rotation synchronization means that the rotation time and the rotation angle are consistent, and the multidirectional moving vehicle body 1000 always has good dynamic balance.

In an exemplary embodiment, the transmission bracket 0310 has opposing upper and lower plates 0311 and 0312 and a support column 0313 connecting the upper and lower plates 0311 and 0312. Preferably, the supporting columns 0313 are plural. The transmission bracket 0310 is provided with 2 rotation action parts 0320 which are respectively arranged on the upper support plate and the lower support plate to further enhance the transmission coordination.

Referring to fig. 7, the multi-directional scrolling device 0400 has a plurality of scrolling units 0410 and a plurality of driving units 0420, the scrolling unit 0410 is used for assuming the scrolling function of the multi-directional scrolling device 0400, and the driving units 0420 are used for driving the scrolling unit 0410 to move. Here, due to the structural arrangement of the plurality of scroll units 0410 and the driving unit 0420, the multi-directional scroll device 0400 has a full degree of freedom scroll in a plurality of directions, and flexible movement of the multi-directional scroll device 0400 is realized in a compact structure. The structure of the device is described in detail below.

Referring to fig. 7-8, the multi-directional scrolling device 0400 has a plurality of scrolling units 0410, and the scrolling units 0410 are coaxially arranged. The rolling unit 0410 has a circular ring shaped support 0411, and the circular ring shaped support 0411 can rotate under the driving of the driving unit 0420 to roll on the ground as a whole. Obviously, the rolling direction of the circular ring shaped holder 0411 is the first moving direction of the multi-directional rolling device 0400.

Wherein, the circular ring-shaped support 0411 is provided with a plurality of rotating wheels 0412 along the circumference of the circular ring-shaped support 0411, the rotation axis of the rotating wheels 0412 is parallel to the tangential direction of the outer circumference of the circular ring-shaped support 0411 and is perpendicular to the rotation axis of the circular ring-shaped support 0411, and the plurality of circular ring-shaped supports 0411 are fixedly connected one by one.

Specifically, the plurality of rotating wheels 0412 are rotatably held on the circular ring shaped holder 0411, and the rotation axes of the plurality of rotating wheels 0412 have a coplanar relationship, and the coplanar relationship is perpendicular to the rotation axis of the circular ring shaped holder 0411. In this configuration, on the one hand, the rotating wheel 0412 has a motion state of rolling with the circular ring-shaped support 0411; on the other hand, the rotating wheel 0412 contacting the ground may still rotate under the action of the external force. Since the rotation of the rotating wheel 0412 is perpendicular to the rotation of the circular ring shaped holder 0411, the multidirectional rolling device 0400 has freedom of movement in two directions perpendicular to each other.

Preferably, the plurality of rotating wheels 0412 is evenly distributed along the contour circumference of the circular ring shaped stent 0411. Specifically, the plurality of rotating wheels 0412 are distributed at equal intervals within 360 ° of the circumference of the contour, so that the movement of the rolling unit 0410 is uniform and smooth. As the number of the rotating wheels 0412 increases, the linear motion of the rolling unit 0410 along the rotation axis of the circular ring shaped stent 0411 is further subdivided, and better steering flexibility can be provided.

Preferably, the circular ring-shaped stents 0411 are connected by a first connection portion 0430, the first connection portion 0430 has a front locking portion 0431, a spacer 0432 and a rear locking portion 0433, the spacer 0432 is disposed between adjacent circular ring-shaped stents 0411, the plurality of circular ring-shaped stents 0411 are linearly distributed to form an array of circular ring-shaped stents 0411, and the front locking portion 0431 and the rear locking portion 0433 are respectively pressed against the front and rear end faces of the array of circular ring-shaped stents 0411 to fixedly connect the plurality of rolling units 0410.

Specifically, the circular ring-shaped scaffold 0411 array is a linear array distributed along the rotation axis of the circular ring-shaped scaffold 0411, wherein adjacent circular ring-shaped scaffolds 0411 are separated by spacers 0432, and the front locking portion 0431 and the rear locking portion 0433 are locked at the front and rear end surfaces of the circular ring-shaped scaffold 0411 array. In an exemplary embodiment, the outermost circular ring-shaped brackets 0411 are respectively provided with a connecting hole, and the front locking part 0431 and the rear locking part 0433 are respectively locked and connected with the circular ring-shaped brackets 0411 through a threaded fastener, so that the whole linear array is integrally fixed.

Referring to fig. 9-12, the multi-directional rolling device 0400 has a plurality of driving units 0420, and the plurality of driving units 0420 are coaxially arranged. The driving unit 0420 has a stator 0421 and a rotor 0422 rotatably held on the stator 0421, the plurality of stators 0421 are fixedly connected one by one, and the plurality of rotors 0422 are respectively fixedly connected with the annular bracket 0411.

Specifically, the drive unit 0420 takes the form of a rotary electric machine. Generally, the rotor 0422 is made of a permanent magnet and has magnetism. The stator 0421 has a stator 0421 core and a field coil provided on the stator 0421 core for generating a rotating magnetic field. In an exemplary embodiment, the stator 0421 core has a plurality of salient poles distributed along the circumference of its contour, and the salient poles are respectively provided with excitation windings, and when electricity is supplied to the excitation windings, a rotating magnetic field is generated.

Under the action of the magnetic field of the stator 0421, the rotor 0422 can perform a rotational motion, thereby driving the circular ring-shaped support 0411 connected with the rotor 0422 to rotate. When the multidirectional rolling device 0400 is applied, the stator 0421 is fixedly connected to the first moving arm 0100/the second moving arm 0200/the transmission part 0300, so as to provide structural support for the rotation of the rotor 0422.

Preferably, the rotor 0422 has a circular ring structure and is rotatably sleeved outside the stator 0421, and the at least one circular ring support 0411 is sleeved outside the rotor 0422 and has a movement characteristic of rotating integrally with the rotor 0422.

Specifically, the stator 0421 is held inside the circular ring of the rotor 0422, so that the drive unit 0420 has an outer rotor structure. Here, the annular ring-shaped holder 0411 may be directly sleeved on the rotor 0422, and form a fixed connection with the rotor 0422 to have an integral rotating relationship. Meanwhile, the annular bracket 0411 is sleeved outside the rotor 0422, so that the axial size of the multidirectional rolling device 0400 can be further compressed, and the structural compactness is improved.

Preferably, the first connection portion 0430 is sleeved outside the rotor 0422 and has a movement characteristic of rotating integrally with the rotor 0422. Specifically, the first connection portion 0430 may adopt various structures, such as a cylinder, a circular cylindrical structure, and the like. In an exemplary embodiment, the first connection portion 0430 is a circular ring structure corresponding to the outer rotor structure of the driving unit 0420, and is sleeved outside the rotor 0422 and integrally and rotatably movable. Here, the connecting structure of the rolling unit 0410 can be simplified, and the axial dimension of the multidirectional rolling device 0400 can be compressed.

Preferably, the driving unit 0420 has a fixed axle 0440, the fixed axle 0440 connects the plurality of stators 0421 one by one to fixedly connect the stators 0421, and has a connection end 0441 for connecting the first moving arm 0100/the second moving arm 0200/the transmitting part 0300. Further preferably, the stator 0421 has a first shaft hole 0421a along the axial direction thereof, the first shaft hole 0421a is a through hole, and the plurality of stators 0421 are linearly distributed to constitute a stator 0421 array.

Specifically, the stator 0421 array is a linear array distributed along the axial direction of the rotor 0422, and the first shaft holes 0421a of the stators 0421 are coaxial and are kept through. The fixed axle 0440 penetrates through the first axle holes 0421a one by one to connect the stators 0421, and the fixed axle 0440 and the first axle holes 0421a can be in clearance fit or interference fit. Since the fixed axle 0440 has the connection end 0441 for connecting the first moving arm 0100/second moving arm 0200/transmitting part 0300, the fixed axle 0440, the stator 0421 is fixed together with the first moving arm 0100/second moving arm 0200/transmitting part 0300 without a rotational movement.

When the fixed wheel shaft 0440 is in interference fit with the first shaft hole 0421a, the fixed wheel shaft 0440 and the stator 0421 are connected into a whole through the first shaft hole 0421a under the action of force; when the fixed axle 0440 is in clearance fit with the first axle hole 0421a, the fixed axle 0440 has a tendency to move relatively, and needs to be locked by a locking mechanism, such as key connection, thread fastening, etc.

In an exemplary embodiment, the front and rear end faces of the stator 0421 array are respectively provided with an end key hole 0421b for realizing transmission, the end key hole 0421b is coaxial with the first shaft hole 0421a, the fixed wheel shaft 0440 penetrates through the first shaft hole 0421a and the end key hole 0421b together, and the fixed wheel shaft 0440 is in key connection with the end key hole 0421b through the stop key part 0442.

Specifically, the stop keys 0442 may be integrally connected to the fixed axle 0440, or external components may be present. The stop keys 0442 are placed in the end keyholes 0421b and are loosened by screwing. The end keyholes 0421b can adopt various structural forms, such as square holes, spline holes and the like; the stop keys 0442 and end keyholes 0421b have a conforming profile, such as a square key, spline, etc., to prevent relative movement of the stator 0421 and the fixed axle 0440.

Preferably, the multi-directional rolling device 0400 has a connecting seat 0500, the connecting seat 0500 has a first wall 0510 and a second wall 0520 perpendicular to each other, the first wall 0510 is connected to the lower surface of the first moving arm 0100/the second moving arm 0200/the transmission part 0300, and the second wall 0520 is fixedly connected to the connecting end 0441. Specifically, the connecting base 0500 is used to connect the multidirectional rolling device 0400 with the first moving arm 0100/the second moving arm 0200/the transmission portion 0300, and also provides protection for each component of the multidirectional rolling device 0400.

Preferably, adjacent rotors 0422 are connected by a second connection portion 0450, and the second connection portion 0450 has a second shaft hole 0451 and two bearing holes, i.e., a first bearing hole 0452 and a second bearing hole 0453, disposed at two ends of the second shaft hole 0451. The second shaft hole 0451, the first bearing hole 0452 and the second bearing hole 0453 are coaxial with the rotation axis of the rotor 0422, and wheel bearings 0460 are respectively arranged in the bearing holes.

Specifically, the first bearing hole 0452, the second bearing hole 0451 and the second bearing hole 0453 form a three-stage hole structure with two large ends and a small middle part. Stepped surfaces are respectively arranged between the second shaft hole 0451 and the first bearing hole 0452 and between the second shaft hole 0453 so as to position and mount the wheel bearing 0460. The wheel bearing 0460 may be of different bearing types according to different load conditions and use conditions.

Further preferably, the stators 0421 have protruding shaft ends 0421c, the protruding shaft ends 0421c of adjacent stators 0421 are oppositely arranged, and the protruding shaft ends 0421c are sleeved on the inner ring of the wheel bearing 0460. Specifically, the projecting shaft ends 0421c of the adjacent stators 0421 are arranged in a face-to-face manner to be inserted into the first bearing hole 0452 and the second bearing hole 0453, respectively, on the same second connecting portion 0450. Here, the protruding shaft end 0421c contacts with the inner ring of the wheel bearing 0460, and the first bearing hole 0452/second bearing hole 0453 contacts with the outer ring of the wheel bearing 0460, so that the second connecting portion 0450, the rotor 0422 and the rolling unit 0410 can rotate on the stator 0421, thereby implementing a multi-directional movement.

Further preferably, the circular ring-shaped support 0411 is fixedly connected to the second connecting portion 0450, so that the connection strength and the transmission sensitivity between the circular ring-shaped support 0411, the second connecting portion 0450 and the rotor 0422 are further enhanced.

In one implementation, the multi-directional scrolling device 0400 has 2 scrolling units 0410 and 2 driving units 0420. The 2 rolling units 0410 are all sleeved on the same driving unit 0420, that is, the first driving unit 0420, and the first driving unit 0420 has a connection end 0441 for connecting the first moving arm 0100/the second moving arm 0200/the transmission portion 0300.

The other driving unit 0420, i.e., the second driving unit 0420, is connected in series with the first driving unit 0420 through the second connecting portion 0450, so that the structure of the multi-directional rolling device 0400 is compact, the power output of the multi-directional rolling device 0400 can be further enhanced, the multi-directional rolling device 0400 has a wider output range and a wider load range, and a heavy object can be carried and transported. The rotating wheel 0412 is annularly arranged on the annular ring 0411 to provide the multi-directional movement capability of the multi-directional rolling device 0400.

In another practical application, the number of the rolling units 0410 and the driving units 0420 depends on the load-bearing limit and the usage condition.

Referring to fig. 1, 13 to 14, the clamping device 2000 has a clamping mechanism 2200 and a holding portion 2300, wherein the clamping mechanism 2200 is used for clamping an object, and the holding portion 2300 is used for receiving a force input by a user. Specifically, the clamping mechanism 2200 may take various structural forms, such as a clamping form, a sleeving form, a material basket form, and the like; the grip 2300 may take various forms such as a handle and may have a sensor for receiving an input force to achieve inductive reception.

Preferably, the clamping device 2000 has a device body 2100, the device body 2100 being used for connecting a multidirectional moving vehicle body. In an exemplary embodiment, the device body 2100 has a first post 2110 and a second post 2120 disposed opposite to each other, the first post 2110 being disposed on a first moving arm, and the second post 2120 being disposed on a second moving arm.

Further preferably, the clamping mechanism 2200 has a first clamping portion 2210 and a second clamping portion 2220, the first clamping portion 2210 is disposed on the first column 2110, the second clamping portion 2220 is disposed on the second column 2120, and the first clamping portion 2210 and the second clamping portion 2220 can approach in the horizontal direction to clamp or separate the object so as to release the object.

Specifically, when the user applies a force to approach or separate the first clamping portion 2210 and the second clamping portion 2220, the force is transmitted to the first moving arm and the second moving arm through the first post 2110 and the second post 2120, respectively. Under the action of horizontal force, the rotation action part acts, and the first rotation part and the second rotation part rotate synchronously to enable the first moving arm and the second moving arm to rotate to close or open, so that the first clamping part 2210 and the second clamping part 2220 can approach or separate, and clamping or releasing of an object is realized.

Further preferably, the clamp mechanism 2200 is held by the apparatus body 2100 so as to be linearly movable in the vertical direction, and the clamp apparatus 2000 has a driving mechanism 2400 for driving the clamp mechanism 2200 to linearly move. Specifically, the driving mechanism 2400 may adopt various structural forms to implement linear driving of the clamping mechanism 2200, including various forms such as a linear motor, a linear guide rail, a telescopic cylinder, and an electric push rod.

Further preferably, the driving mechanism 2400 adopts a flexible transmission manner. Specifically, the driving mechanism 2400 has a driving transmission wheel 2410, a driven transmission wheel 2420 and a flexible member 2430 tensioned on the driving transmission wheel 2410 and the driven transmission wheel 2420, and transmits motion and power between the driving transmission wheel 2410 and the driven transmission wheel 2420 through the flexible member 2430. In general, the flexible transmission mainly includes chain transmission, belt transmission, rope transmission, etc. Under the chain transmission relationship, the driving transmission wheel 2410 and the driven transmission wheel 2420 are chain wheels, and the flexible part 2430 is a transmission chain; in a belt transmission relationship, the driving transmission wheel 2410 and the driven transmission wheel 2420 are belt wheels, and the flexible part 2430 is a transmission belt; under the rope transmission relationship, the driving transmission wheel 2410 and the driven transmission wheel 2420 are both pulleys, and the flexible part 2430 is a flexible rope.

Further, the driving mechanism 2400 further has a driving motor 2440, and the driving motor 2440 is used for driving the driving transmission wheel 2410 to rotate, so as to realize power output. In an exemplary embodiment, drive mechanism 2400 also has slider 2450. The first column 2110 and the second column 2120 are respectively provided with a driving mechanism 2400 for driving the first clamping portion 2210 and the second clamping portion 2220 to move linearly up and down. The slider 2450 is connected to the flexible member 2430 and the first clamping portion 2210/the second clamping portion 2220, respectively, and the first clamping portion 2210/the second clamping portion 2220 are driven to move up and down along the vertical direction by the rotation of the flexible member 2430.

In all examples shown and described herein, any particular value should be construed as merely exemplary, and not as a limitation, and thus other examples of example embodiments may have different values.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

The above examples are merely illustrative of several embodiments of the present invention, and the description thereof is more specific and detailed, but not to be construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims

1. A power-assisted robot is characterized by comprising a multidirectional moving vehicle body and a clamping device arranged on the multidirectional moving vehicle body:

the clamping device is provided with a clamping mechanism and a holding part, the clamping mechanism is used for clamping an object, and the holding part is used for receiving acting force input by a user;

the transmission part is also provided with a rotation acting part for realizing the rotation opening and closing between the first moving arm and the second moving arm, the rotation acting part is provided with a first rotating part and a second rotating part which can rotate relatively, the first rotating part is connected with the first moving arm, and the second rotating part is connected with the second moving arm.

2. The power-assisted robot of claim 1, wherein the rotation acting portion is a gear transmission set, the first and second rotating portions are intermeshing gears, the first rotating portion is fixedly connected to the first moving arm and rotatably retained on the transmission portion, and the second rotating portion is fixedly connected to the second moving arm and rotatably retained on the transmission portion.

3. The power-assisted robot of claim 1, wherein the gripping device has a device body having a first upright disposed on the first moving arm and a second upright disposed on the second moving arm in an opposing arrangement;

4. A power-assisted robot according to claim 1, wherein the gripping mechanism is held on the device body so as to be linearly movable in a vertical direction, and the gripping device has a driving mechanism for driving the gripping mechanism to linearly move.

5. The power-assisted robot as claimed in claim 1, wherein the driving unit has stators and rotors rotatably held on the stators, the plurality of stators are fixedly connected to the first moving arm one by one, and the plurality of rotors are respectively fixedly connected to the circular ring shaped brackets.

6. The robot as claimed in claim 5, wherein the driving unit has a fixed axle connecting the plurality of stators one by one to fixedly connect the stators, and a connection end for connecting the first moving arm/the second moving arm/the transmission part.

7. The power-assisted robot as claimed in claim 6, wherein the stator has a first axial hole along its axial direction, a plurality of stators are linearly distributed to form a stator array, the front and rear end faces of the stator array have end keyholes for realizing transmission, respectively, the end keyholes are coaxial with the first axial hole, the fixed wheel shaft passes through the first axial hole and the end keyholes together, and the fixed wheel shaft is connected with the end keyholes through stop keys;

8. The power-assisted robot as claimed in claim 5, wherein the rotor has a circular ring structure and is rotatably sleeved outside the stator, and at least one circular ring bracket is sleeved outside the rotor and has a motion characteristic of rotating integrally with the rotor.

9. The power-assisted robot of claim 8, wherein the circular ring-shaped brackets are connected through a first connecting part, the first connecting part is provided with a front locking part, a spacer sleeve and a rear locking part, the spacer sleeve is arranged between the adjacent circular ring-shaped brackets, the circular ring-shaped brackets are linearly distributed to form a circular ring-shaped bracket array, and the front locking part and the rear locking part are respectively pressed on the front end surface and the rear end surface of the circular ring-shaped bracket array to fixedly connect the plurality of rolling units.