CN111633626B - Multi-degree-of-freedom robot based on computer - Google Patents
Multi-degree-of-freedom robot based on computer Download PDFInfo
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- CN111633626B CN111633626B CN202010521922.2A CN202010521922A CN111633626B CN 111633626 B CN111633626 B CN 111633626B CN 202010521922 A CN202010521922 A CN 202010521922A CN 111633626 B CN111633626 B CN 111633626B
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- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
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Abstract
The invention relates to a robot, in particular to a computer-based multi-degree-of-freedom robot, which comprises a flat seat, a round swivel seat, an electric push rod III, a convex pin, a vertical bar, a crawler belt, crawler wheels and a transverse bar. The utility model discloses a crawler wheel, including a flat seat, two round swivel mounts, two round electric putter III, the expansion end of two electric putter III is fixed connection respectively on the upper and lower both sides of two flat seats, equal vertical sliding connection has the vertical retort on two round swivel mounts, two round equal fixedly connected with protruding round pins on the swivel mount, two protruding round pins on the same round swivel mount are located the upper and lower both sides of flat seat respectively, equal vertical sliding connection has the vertical retort on two round swivel mounts, the equal fixedly connected with horizontal bar of lower extreme of two vertical retort about every horizontal bar, both ends all rotate and are connected with the athey wheel about every horizontal bar, through the track transmission between two athey wheels.
Description
Technical Field
The invention relates to a robot, in particular to a multi-degree-of-freedom robot based on a computer.
Background
Application number CN201510423848.X discloses a four-footed reversible software robot of crawling based on intelligent material, for solving the problem that the mechanical structure that traditional rigid body robot exists is complicated, by less, environmental suitability is poor, the control mode is complicated, the quality is heavy, with high costs. The upper reversing body comprises an upper disc, two upper reversing body climbing feet, two downward lugs and two upper shape memory springs, the lower reversing body comprises a lower disc, two lower reversing body climbing feet, two upward lugs and two lower shape memory springs, the upper reversing body and the lower reversing body are arranged up and down, the downward lugs on the upper reversing body and the upward lugs on the lower reversing body face inwards, an acute angle between a first straight line and a third straight line is 45 degrees, the lower end of the shaft cylinder penetrates through the upper round hole and the lower round hole, and the end socket is arranged below the lower disc and is fixedly connected with the shaft cylinder. The invention can be used for military reconnaissance, scientific exploration, disaster rescue and other complex environments or motions in narrow spaces. However, the crawler of the invention cannot be lifted and rotated, and cannot adapt to more terrain movement.
Disclosure of Invention
The invention provides a multi-degree-of-freedom robot based on a computer, which has the beneficial effects that a crawler can be lifted and rotated, and the multi-degree-of-freedom robot is suitable for moving in more terrains.
The invention relates to a robot, in particular to a computer-based multi-degree-of-freedom robot, which comprises a flat seat, a round swivel seat, an electric push rod III, a convex pin, a vertical bar, a crawler belt, crawler wheels and a transverse bar.
The utility model discloses a motor-driven crawler wheel, including a flat seat, two round swivel mounts, two round electric putter III, the movable end of two electric putter III is fixed connection respectively on the upper and lower both sides of flat seat, equal vertical sliding connection has the vertical retort on two round swivel mounts, two round equal two protruding round pins of fixedly connected with on the swivel mount, two protruding round pin on the same round swivel mount are located the upper and lower both sides of flat seat respectively, equal vertical sliding connection has the vertical retort on two round swivel mounts, the equal fixedly connected with horizontal bar of lower extreme of two vertical retort about every horizontal bar, both ends are all rotated and are connected with the athey wheel about every horizontal bar, through the track transmission between two athey wheels on the same horizontal bar, every ath.
The multi freedom robot based on computer still includes perpendicular cylinder, electric putter II, well convex seat, sliding hole pole and sliding hole, the equal fixedly connected with sliding hole pole in right side of two circle rotary bases, all be provided with the sliding hole on two sliding hole poles, convex seat in the right side middle part fixedly connected with of flat seat, the equal fixedly connected with electric putter II in both sides around the well convex seat, the equal fixedly connected with of expansion end of two electric putter II erects the cylinder, two are erected the cylinder and are sliding connection respectively on two sliding holes.
The multi-degree-of-freedom robot based on the computer further comprises two track rods and a circuit box, the left side of the flat base is fixedly connected with the two track rods, the two track rods are connected with the circuit box in a sliding mode, and the circuit box is fixed on the two track rods in a screw pressing mode.
The multi-degree-of-freedom robot based on the computer further comprises lower extending arms, rotating strips, rubber wheel shafts and rubber wheels, the lower extending arms are fixedly connected to the front end and the rear end of the lower side of the flat seat, the middle portions of the two rotating strips are hinged to the lower portions of the two lower extending arms respectively, one rubber wheel shaft is rotatably connected between the left ends of the two rotating strips, the other rubber wheel shaft is rotatably connected between the right ends of the two rotating strips, and the rubber wheels are fixedly connected to the middle portions of the two rubber wheel shafts.
The multi-degree-of-freedom robot based on the computer further comprises an electric push rod I, an upright slide rod, a transverse cylinder and a transverse hole, wherein the upright slide rod is connected to the flat seat in a vertical sliding mode, the electric push rod I is fixedly connected to the flat seat, the movable end of the electric push rod I is fixedly connected to the upper portion of the upright slide rod, the transverse cylinder is fixedly connected to the lower end of the upright slide rod, the transverse hole is formed in a rotating strip located on the rear side, the transverse cylinder is connected to the transverse hole in a sliding mode, and the two rubber wheel shafts are all driven by the.
The multi-degree-of-freedom robot based on the computer further comprises a friction wheel, a round seat, a middle shaft, a vertical arm rod and a transverse arm rod, wherein the middle shaft is fixedly connected to the lower end of the round seat, the middle shaft is rotatably connected to the middle portion of the flat seat, the friction wheel driven by a motor is arranged on the upper side of the flat seat, the friction wheel and the round seat are in friction transmission, a bolt is fixedly connected to the transverse arm rod, the bolt is located on the lower side of the flat seat, the vertical arm rod is fixedly connected to the upper side of the round seat, and the transverse arm rod is fixedly connected to the.
The multi freedom robot based on computer still includes the lead screw, the slider, minor axis I, horizontal rocking arm, electric putter IV, the sliding seat, bracing piece and minor axis II, sliding connection has the slider on the xarm pole, fixedly connected with lead screw on the vertical arm pole, the lead screw cooperatees with the slider through the screw thread, the vertical minor axis I that is provided with on the slider, minor axis I passes through motor drive, the left end fixed connection of horizontal rocking arm is on minor axis I, the right-hand member of horizontal rocking arm is provided with horizontal minor axis II, minor axis II passes through motor drive, minor axis II's right-hand member fixedly connected with sliding seat, vertical sliding connection has the bracing piece on the sliding seat, electric putter IV's one end fixed connection is on the upper portion of bracing piece, electric putter.
The multi-degree-of-freedom robot based on the computer further comprises an arc-shaped bottom rod, and the lower end of the supporting rod is fixedly connected with the arc-shaped bottom rod.
The multi-degree-of-freedom robot based on the computer has the beneficial effects that:
the invention relates to a multi-degree-of-freedom robot based on a computer, wherein a crawler can lift and rotate, and is suitable for moving in more terrains. When the crawler wheels rotate, the crawler belts on the crawler wheels are driven to rotate, and then the robot is driven to move, so that the two crawler belts generate differential speed to control the robot to turn; the two circular rotating seats can rotate on the flat seat by taking the axis of the two circular rotating seats as a shaft, so that the two cross bars are driven to rotate by taking the axes of the two circular rotating seats as the shaft respectively, and the two tracks are driven to rotate by taking the axes of the two circular rotating seats as the shaft respectively, so that a certain angle is formed between the two tracks, and the robot can adapt to more terrain movement; two electric putter III can drive two tracks and rise and reduce when flexible to make the robot can remove in the uneven topography of height.
Drawings
The invention is described in further detail below with reference to the accompanying drawings and specific embodiments.
FIG. 1 is a schematic diagram of an overall structure of a computer-based multi-degree-of-freedom robot according to the present invention;
FIG. 2 is a schematic view of the overall structure of a multi-degree-of-freedom robot based on a computer according to the present invention;
FIG. 3 is a first schematic structural view of a flat seat;
FIG. 4 is a second schematic structural view of the flat base;
FIG. 5 is a first schematic structural view of a circular rotating base;
FIG. 6 is a second schematic view of the circular rotary base;
FIG. 7 is a schematic view of a structure of a rotating bar;
FIG. 8 is a schematic structural view of a circular seat;
fig. 9 is a schematic structural view of a slider.
In the figure: a flat seat 1; an electric push rod I101; a vertical slide bar 102; a vertical cylinder 103; an electric push rod II 104; a convex base 105; a lower boom 106; a transverse cylinder 107; a track rod 108; a friction wheel 109; a circuit box 2; a round rotary seat 3; a slide hole lever 301; a slide hole 302; an electric push rod III 303; a male pin 304; vertical bars 305; a track 306; a crawler wheel 307; a cross bar 308; a rotating bar 4; a rubber hub 401; a rubber wheel 402; a transverse bore 403; a round seat 5; a middle shaft 501; a vertical arm lever 502; a lead screw 503; a cross arm lever 504; a slide block 6; a short axis I601; a horizontal swivel arm 602; an electric push rod IV 603; a slide mount 604; a support rod 605; an arcuate foot bar 606; short axis II 607.
Detailed Description
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
The first embodiment is as follows:
the embodiment is described below with reference to fig. 1 to 9, and the invention relates to a robot, more specifically to a computer-based multi-degree-of-freedom robot, which comprises a flat seat 1, a circular rotating seat 3, an electric push rod III303, a convex pin 304, a vertical bar 305, a crawler 306, a crawler wheel 307 and a transverse bar 308, wherein the crawler 306 in the invention can be lifted and rotated to adapt to more terrain movement.
The utility model discloses a crawler wheel, including flat seat 1, round swivel base 3, two round swivel bases 3, two protruding round pins 304 of equal fixedly connected with, two protruding round pins 304 on the same round swivel base 3 are located flat seat 1's upper and lower both sides respectively, equal vertical sliding connection has vertical retort 305 on two round swivel bases 3, the equal fixedly connected with electric putter III303 of upside of two round swivel bases 3, two electric putter III 303's expansion end fixed connection is respectively on the upper portion of two vertical retort 305, the equal fixedly connected with horizontal bar 308 of lower extreme of two vertical retort 305, both ends all rotate about every horizontal bar 308 and are connected with crawler wheel 307, through the track 306 transmission between two crawler wheel 307 on the same horizontal bar 308, every crawler wheel 307 all passes through motor drive. When the crawler wheel 307 rotates, the crawler 306 thereon is driven to rotate, and the robot is further driven to move, so that the two crawlers 306 generate differential speed, and the robot can be controlled to turn; the two circular rotating bases 3 can rotate on the flat base 1 by taking the axes of the two circular rotating bases as axes, so that the two cross bars 308 are driven to rotate by taking the axes of the two circular rotating bases 3 as axes respectively, and the two tracks 306 are driven to rotate by taking the axes of the two circular rotating bases 3 as axes respectively, so that a certain angle is formed between the two tracks 306, and the robot can adapt to movement of more terrains; when the two electric push rods III303 stretch, the two tracks 306 can be driven to rise and fall, so that the robot can move on uneven terrains.
The second embodiment is as follows:
the embodiment is described below with reference to fig. 1 to 9, the computer-based multi-degree-of-freedom robot further includes a vertical cylinder 103, an electric push rod II104, a central boss 105, a sliding hole rod 301 and a sliding hole 302, the sliding hole rods 301 are fixedly connected to the right sides of the two circular bases 3, the sliding holes 302 are arranged on the two sliding hole rods 301, the central boss 105 is fixedly connected to the middle of the right side of the flat base 1, the electric push rods II104 are fixedly connected to the front side and the rear side of the central boss 105, the vertical cylinder 103 is fixedly connected to the movable end of the two electric push rods II104, and the two vertical cylinders 103 are respectively connected to the two sliding holes 302 in a sliding manner. When the electric push rod II104 stretches, the vertical cylinder 103 can be driven to move back and forth, and then the slide hole rod 301 is driven to rotate, so that the rotary seat 3 is controlled to rotate by taking the axis of the rotary seat as a shaft.
The third concrete implementation mode:
the embodiment is described below with reference to fig. 1 to 9, the computer-based multi-degree-of-freedom robot further includes two track rods 108 and a circuit box 2, the two track rods 108 are fixedly connected to the left side of the flat base 1, the circuit box 2 is slidably connected to the two track rods 108, and the circuit box 2 is fixed to the two track rods 108 by means of screw compression. The circuit box 2 is used for placing a power supply, a circuit board and a computer for controlling, and the circuit box 2 can slide left and right on the two track rods 108 to adjust the position of the circuit box 2 and change the gravity center of the robot when needed.
The fourth concrete implementation mode:
the embodiment is described below with reference to fig. 1 to 9, the computer-based multi-degree-of-freedom robot further includes lower extending arms 106, rotating strips 4, rubber wheel shafts 401 and rubber wheels 402, the lower extending arms 106 are fixedly connected to the front and rear ends of the lower side of the flat base 1, the middle portions of the two rotating strips 4 are respectively hinged to the lower portions of the two lower extending arms 106, one rubber wheel shaft 401 is rotatably connected between the left ends of the two rotating strips 4, the other rubber wheel shaft 401 is rotatably connected between the right ends of the two rotating strips 4, and the rubber wheels 402 are fixedly connected to the middle portions of the two rubber wheel shafts 401. In some terrains where it is not suitable to use the tracks 306 for moving, the two rotation bars 4 can be rotated to one side, so that one of the rubber wheels 402 is in contact with the ground, one end of the two tracks 306 is lifted, the other end of the two tracks 306 is in contact with the ground, and the robot adopts a three-point contact with the ground, which is equivalent to a three-wheel moving form, so that the robot can adapt to more terrains.
The fifth concrete implementation mode:
the embodiment is described below with reference to fig. 1 to 9, the computer-based multi-degree-of-freedom robot further includes an electric push rod I101, a vertical slide rod 102, a horizontal cylinder 107 and a horizontal hole 403, the vertical slide rod 102 is vertically and slidably connected to the horizontal seat 1, the electric push rod I101 is fixedly connected to the horizontal seat 1, the movable end of the electric push rod I101 is fixedly connected to the upper portion of the vertical slide rod 102, the horizontal cylinder 107 is fixedly connected to the lower end of the vertical slide rod 102, the horizontal hole 403 is formed in the rotating strip 4 located on the rear side, the horizontal cylinder 107 is slidably connected to the horizontal hole 403, and both the two rubber wheel shafts 401 are driven by a motor. When the electric push rod I101 stretches, the vertical slide rod 102 and the transverse cylinder 107 can be driven to move up and down, and when the transverse cylinder 107 moves up and down, the two rotating strips 4 can be controlled to rotate towards one side, so that the robot adopts a form of three-point contact with the ground.
The sixth specific implementation mode:
the embodiment is described below with reference to fig. 1 to 9, the computer-based multi-degree-of-freedom robot further includes a friction wheel 109, a circular seat 5, a center shaft 501, a vertical arm 502, and a horizontal arm 504, the center shaft 501 is fixedly connected to the lower end of the circular seat 5, the center shaft 501 is rotatably connected to the middle of the flat seat 1, the friction wheel 109 driven by a motor is disposed on the upper side of the flat seat 1, the friction wheel 109 and the circular seat 5 are in friction transmission, a bolt is fixedly connected to the horizontal arm 504, the bolt is located on the lower side of the flat seat 1, the vertical arm 502 is fixedly connected to the upper side of the circular seat 5, and the horizontal arm 504 is fixedly connected to the upper portion of the vertical. When the friction wheel 109 rotates, the round base 5 is driven to rotate through the middle shaft 501, and then the vertical arm rod 502 and the horizontal arm rod 504 are driven to rotate by taking the axis of the middle shaft 501 as an axis.
The seventh embodiment:
the embodiment is described below with reference to fig. 1 to 9, the computer-based multi-degree-of-freedom robot further comprises a lead screw 503, a slide block 6, a short shaft I601, a horizontal rotating arm 602, electric putter IV603, sliding seat 604, bracing piece 605 and minor axis II607, sliding connection has slider 6 on the xarm pole 504, fixedly connected with lead screw 503 on the vertical arm pole 502, lead screw 503 cooperatees with slider 6 through the screw thread, vertically on the slider 6 be provided with minor axis I601, minor axis I601 passes through motor drive, the left end fixed connection of horizontal rocking arm 602 is on minor axis I601, the right-hand member of horizontal rocking arm 602 is provided with horizontal minor axis II607, minor axis II607 passes through motor drive, the right-hand member fixed connection of minor axis II607 has sliding seat 604, vertical sliding connection has bracing piece 605 on sliding seat 604, one end fixed connection of electric putter IV603 is on the upper portion of bracing piece 605, the other end fixed connection of electric putter IV603 is on sliding seat 604. The orientation of the sliding block 6 is adjusted by rotating the cross arm rod 504 by taking the axis of the central shaft 501 as a shaft, the short shaft I601 drives the horizontal rotating arm 602 to horizontally rotate when rotating, and then the direction of the horizontal rotating arm 602 is adjusted again, the short shaft II607 rotates on a vertical plane, the rotating direction of the sliding seat 604 is adjusted again, when the robot sinks in a complicated terrain, the electric push rod IV603 controls the supporting rod 605 to move downwards relative to the sliding seat 604, so that the supporting rod 605 is supported on the ground, the part of the robot that sinks in is supported out, and the position and the angle of the supporting rod 605 are adjusted by adopting a multi-degree of freedom manner, so that the supporting rod 605 is.
The specific implementation mode is eight:
the embodiment is described below with reference to fig. 1 to 9, and the computer-based multi-degree-of-freedom robot further includes an arc-shaped bottom rod 606, and the arc-shaped bottom rod 606 is fixedly connected to the lower end of the support rod 605. The curved bottom bar 606 is intended to contact the ground so that the support bar 605 can be supported on the ground at a variety of angles.
The working principle of the invention is as follows: when the crawler wheel 307 rotates, the crawler 306 thereon is driven to rotate, and the robot is further driven to move, so that the two crawlers 306 generate differential speed, and the robot can be controlled to turn; the two circular rotating bases 3 can rotate on the flat base 1 by taking the axes of the two circular rotating bases as axes, so that the two cross bars 308 are driven to rotate by taking the axes of the two circular rotating bases 3 as axes respectively, and the two tracks 306 are driven to rotate by taking the axes of the two circular rotating bases 3 as axes respectively, so that a certain angle is formed between the two tracks 306, and the robot can adapt to movement of more terrains; when the two electric push rods III303 stretch, the two tracks 306 can be driven to rise and fall, so that the robot can move on uneven terrains. When the electric push rod II104 stretches, the vertical cylinder 103 can be driven to move back and forth, and then the slide hole rod 301 is driven to rotate, so that the rotary seat 3 is controlled to rotate by taking the axis of the rotary seat as a shaft. The circuit box 2 is used for placing a power supply, a circuit board and a computer for controlling, and the circuit box 2 can slide left and right on the two track rods 108 to adjust the position of the circuit box 2 and change the gravity center of the robot when needed. In some terrains where it is not suitable to use the tracks 306 for moving, the two rotation bars 4 can be rotated to one side, so that one of the rubber wheels 402 is in contact with the ground, one end of the two tracks 306 is lifted, the other end of the two tracks 306 is in contact with the ground, and the robot adopts a three-point contact with the ground, which is equivalent to a three-wheel moving form, so that the robot can adapt to more terrains. When the electric push rod I101 stretches, the vertical slide rod 102 and the transverse cylinder 107 can be driven to move up and down, and when the transverse cylinder 107 moves up and down, the two rotating strips 4 can be controlled to rotate towards one side, so that the robot adopts a form of three-point contact with the ground. When the friction wheel 109 rotates, the round base 5 is driven to rotate through the middle shaft 501, and then the vertical arm rod 502 and the horizontal arm rod 504 are driven to rotate by taking the axis of the middle shaft 501 as an axis. The orientation of the sliding block 6 is adjusted by rotating the cross arm rod 504 by taking the axis of the central shaft 501 as a shaft, the short shaft I601 drives the horizontal rotating arm 602 to horizontally rotate when rotating, and then the direction of the horizontal rotating arm 602 is adjusted again, the short shaft II607 rotates on a vertical plane, the rotating direction of the sliding seat 604 is adjusted again, when the robot sinks in a complicated terrain, the electric push rod IV603 controls the supporting rod 605 to move downwards relative to the sliding seat 604, so that the supporting rod 605 is supported on the ground, the part of the robot that sinks in is supported out, and the position and the angle of the supporting rod 605 are adjusted by adopting a multi-degree of freedom manner, so that the supporting rod 605 is. The curved bottom bar 606 is intended to contact the ground so that the support bar 605 can be supported on the ground at a variety of angles.
It is to be understood that the above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and that various changes, modifications, additions and substitutions which are within the spirit and scope of the present invention and which may be made by those skilled in the art are also within the scope of the present invention.
Claims (1)
1. A multi-degree-of-freedom robot based on a computer comprises a flat seat (1), a round rotary seat (3), an electric push rod III (303), a convex pin (304), vertical bars (305), a crawler (306), crawler wheels (307) and transverse bars (308), and is characterized in that: the front end and the rear end of the flat seat (1) are respectively and rotatably connected with a round swivel seat (3), the two round swivel seats (3) are respectively and fixedly connected with two convex pins (304), the two convex pins (304) on the same round swivel seat (3) are respectively positioned at the upper side and the lower side of the flat seat (1), the two round swivel seats (3) are respectively and vertically and slidably connected with vertical bars (305), the upper sides of the two round swivel seats (3) are respectively and fixedly connected with electric push rods III (303), the movable ends of the two electric push rods III (303) are respectively and fixedly connected to the upper parts of the two vertical bars (305), the lower ends of the two vertical bars (305) are respectively and fixedly connected with transverse bars (308), the left end and the right end of each transverse bar (308) are respectively and rotatably connected with crawler wheels (307), the two crawler wheels (307) on the same transverse bar (308) are transmitted through crawler belts (306), and each;
the multi-degree-of-freedom robot based on the computer further comprises vertical cylinders (103), electric push rods II (104), a middle convex seat (105), sliding hole rods (301) and sliding holes (302), the sliding hole rods (301) are fixedly connected to the right sides of the two circular rotary seats (3), the sliding holes (302) are formed in the two sliding hole rods (301), the middle part of the right side of the flat seat (1) is fixedly connected with the middle convex seat (105), the electric push rods II (104) are fixedly connected to the front side and the rear side of the middle convex seat (105), the vertical cylinders (103) are fixedly connected to the movable ends of the two electric push rods II (104), and the two vertical cylinders (103) are respectively connected to the two sliding holes (302) in a sliding mode;
the computer-based multi-degree-of-freedom robot further comprises two track rods (108) and a circuit box (2), the left side of the flat base (1) is fixedly connected with the two track rods (108), the two track rods (108) are connected with the circuit box (2) in a sliding mode, and the circuit box (2) is fixed on the two track rods (108) in a screw pressing mode;
the multi-degree-of-freedom robot based on the computer further comprises lower extending arms (106), rotating strips (4), rubber wheel shafts (401) and rubber wheels (402), wherein the lower extending arms (106) are fixedly connected to the front end and the rear end of the lower side of the flat base (1), the middle parts of the two rotating strips (4) are respectively hinged to the lower parts of the two lower extending arms (106), one rubber wheel shaft (401) is rotatably connected between the left ends of the two rotating strips (4), the other rubber wheel shaft (401) is rotatably connected between the right ends of the two rotating strips (4), and the rubber wheels (402) are fixedly connected to the middle parts of the two rubber wheel shafts (401);
the multi-degree-of-freedom robot based on the computer further comprises an electric push rod I (101), a vertical slide rod (102), a transverse cylinder (107) and a transverse hole (403), the vertical slide rod (102) is vertically and slidably connected to a flat seat (1), the electric push rod I (101) is fixedly connected to the flat seat (1), the movable end of the electric push rod I (101) is fixedly connected to the upper portion of the vertical slide rod (102), the transverse cylinder (107) is fixedly connected to the lower end of the vertical slide rod (102), the transverse hole (403) is formed in a rotating strip (4) located on the rear side, the transverse cylinder (107) is slidably connected to the transverse hole (403), and two rubber wheel shafts (401) are driven by the motor;
the multi-degree-of-freedom robot based on the computer further comprises a friction wheel (109), a round seat (5), a middle shaft (501), a vertical arm rod (502) and a cross arm rod (504), wherein the middle shaft (501) is fixedly connected to the lower end of the round seat (5), the middle shaft (501) is rotatably connected to the middle of the flat seat (1), the friction wheel (109) driven by a motor is arranged on the upper side of the flat seat (1), the friction wheel (109) and the round seat (5) are in friction transmission, a bolt is fixedly connected to the cross arm rod (504), the bolt is positioned on the lower side of the flat seat (1), the vertical arm rod (502) is fixedly connected to the upper side of the round seat (5), and the cross arm rod (504) is fixedly connected to the upper portion of the vertical arm;
the multi-degree-of-freedom robot based on the computer further comprises a lead screw (503), a sliding block (6), a short shaft I (601), a horizontal rotating arm (602), an electric push rod IV (603), a sliding seat (604), a supporting rod (605) and a short shaft II (607), wherein the sliding block (6) is connected on the cross arm rod (504) in a sliding manner, the lead screw (503) is fixedly connected on the vertical arm rod (502), the lead screw (503) is matched with the sliding block (6) through threads, the short shaft I (601) is vertically arranged on the sliding block (6), the short shaft I (601) is driven by a motor, the left end of the horizontal rotating arm (602) is fixedly connected on the short shaft I (601), the right end of the horizontal rotating arm (602) is provided with the transverse short shaft II (607), the short shaft II (607) is driven by the motor, the right end of the short shaft II (607) is fixedly connected, one end of the electric push rod IV (603) is fixedly connected to the upper part of the support rod (605), and the other end of the electric push rod IV (603) is fixedly connected to the sliding seat (604);
the multi-degree-of-freedom robot based on the computer further comprises an arc-shaped bottom rod (606), and the lower end of the supporting rod (605) is fixedly connected with the arc-shaped bottom rod (606).
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| CN202010521922.2A CN111633626B (en) | 2020-06-10 | 2020-06-10 | Multi-degree-of-freedom robot based on computer |
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| CN202010521922.2A CN111633626B (en) | 2020-06-10 | 2020-06-10 | Multi-degree-of-freedom robot based on computer |
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| CN111633626B true CN111633626B (en) | 2021-02-26 |
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